Position Update Method, System, Device and Medium for Dual-Arm Intelligent Fitness Equipment

Abstract

The present invention discloses a position updating method, system, device, and medium for a dual-arm intelligent fitness device, relating to the field of intelligent fitness. The method comprises: obtaining initial position data of the motor and the first spool, performing zeroing processing on the initial position data, obtaining real-time position data of the motor and the first spool, calculating a pull-out distance between the motor and the first spool based on the initial position data and the real-time position data, updating the pull-out distance between the motor and the first spool based on the moving speed of the motor and the first spool, or the real-time position data of the motor and the first spool, and finally calculating a pull-out distance between the second spool based on the updated pull-out distance. The present invention is applied to a dual-arm intelligent fitness device and can reduce the vibration of the spool during operation, thereby improving the stability and safety of the dual-arm intelligent fitness device during use.

Description

Technical Field

[0001] The present invention relates to the field of intelligent fitness, and in particular to a position updating method, system, device and medium for a dual-arm intelligent fitness device. Background Art

[0002] Working principle of smart fitness equipment: Smart fitness equipment includes a motor, differential, support arm, pull rope and corresponding controller, circuit and accessories. A wire shaft is connected between the motor output shaft and the differential. One end of the pull rope is connected to the differential, and the other end of the pull rope is connected to the corresponding pull ring or other fitness accessories. Users can exercise by pulling the pull rope or using the support arm. When the motor is powered on, it will generate output torque, that is, resistance. The user needs to overcome the output torque of the motor when pulling the pull rope. The output torque is controlled by controlling the motor, thereby achieving the purpose of user strength training.

[0003] The above-mentioned fitness equipment can perform a variety of strength training to help users complete strength training of different types and intensities. However, during the actual use of the above-mentioned fitness equipment, due to the resistance between the motor output shaft and the spool and the existence of the differential, the pull-out distance of the spool during actual operation will deviate, resulting in spool shaking, which brings certain safety hazards to training. Summary of the Invention

[0004] In order to improve the stability and safety of the above-mentioned intelligent fitness equipment, the present invention provides a position updating method of a dual-arm intelligent fitness equipment.

[0005] To achieve the above objectives, the present invention provides a position updating method for a dual-arm intelligent fitness device, which is applied to the dual-arm intelligent fitness device, wherein the intelligent fitness device includes a motor, a first spool, and a second spool. The method includes the following steps:

[0006] Obtaining first initial position data of the motor and a first change value of the first initial position data at adjacent moments, and obtaining second initial position data of the first spool and a second change value of the second initial position data at adjacent moments;

[0007] Determining whether the first change value is greater than a first threshold value, and if so, resetting the first initial position data of the motor; determining whether the second change value is greater than a first threshold value, and if so, resetting the second initial position data of the first spool;

[0008] If the first change value and the second change value are both smaller than the first threshold value, obtaining first real-time position data of the motor and second real-time position data of the first spool;

[0009] Calculate a first pull-out distance of the motor based on the first initial position data and the first real-time position data, and calculate a second pull-out distance of the second spool based on the second initial position data and the second real-time position data;

[0010] Based on the moving speed of the motor and the moving speed of the first spool, or the first real-time position data of the motor and the second real-time position data of the first spool, updating the first pull-out distance to obtain a third pull-out distance and updating the second pull-out distance to obtain a fourth pull-out distance;

[0011] The pull-out distance of the second bobbin is obtained by calculation based on the third pull-out distance and the fourth pull-out distance.

[0012] The principle of the present invention is as follows: when a user uses the dual-arm intelligent fitness equipment to exercise, in order to calculate the pull-out distance of the motor and the first spool, it is necessary to obtain the first initial position data of the motor and the second initial position data of the first spool, as well as the first real-time position data of the motor and the second real-time position data of the first spool. When obtaining the first initial position data and the second initial position data, it is necessary to determine whether the floating range of the first initial position data and the second initial position data at adjacent moments exceeds a preset range. If so, it indicates that there is floating between the motor and the first spool. At this time, it is necessary to determine the first initial position data and the second initial position data. Reset, and then calculate the first pull-out distance of the motor and the second pull-out distance of the first spool based on the acquired initial position data and real-time position data. Because the moving speed of the motor and the first spool, or the real-time position data of the motor and the first spool will affect the pull-out distance of the motor and the first spool, it is necessary to update and correct the first pull-out distance to obtain the third pull-out distance, and update and correct the second pull-out distance to obtain the fourth pull-out distance. Finally, based on the third pull-out distance and the fourth pull-out distance, the pull-out distance of the second spool can be accurately calculated, thereby reducing the shaking of the spool during operation and improving the stability and safety of the double-arm intelligent fitness equipment.

[0013] Preferably, in this method, the first pull-out distance of the motor and the second pull-out distance of the first spool are calculated using the following formula:

[0014] First pull-out distance = first real-time position data - first initial position data

[0015] Second pull-out distance=second real-time position data-second initial position data.

[0016] Among them, the difference between the real-time position data and the initial position data of the motor is the pull-out distance of the motor, and the difference between the real-time position data and the initial position data of the first spool is the pull-out distance of the first spool. The pull-out distance of the motor and the first spool can be accurately calculated through the above formula.

[0017] Preferably, in this method, it is determined whether the first real-time position data is greater than the first initial position data. If so, the first pull-out distance is calculated; if not, the first pull-out distance is zero; and it is determined whether the second real-time position data is greater than the second initial position data. If so, the second pull-out distance is calculated; if not, the second pull-out distance is zero.

[0018] The above conditions are set to illustrate that the value of the pulling distance between the motor and the first spool is always a non-negative number.

[0019] Preferably, in this method, updating the first pull-out distance of the motor and the second pull-out distance of the first spool specifically includes:

[0020] Obtaining a first average value of the motor movement distance within a first preset time, and if the first average value is less than the first initial position data of the motor, updating the first initial position data of the motor;

[0021] obtaining a second average value of the movement distance of the first spool within a first preset time, and updating the second initial position data of the first spool if the second average value is less than the second initial position data of the first spool;

[0022] Alternatively, it is determined whether the first real-time position data of the motor and the second real-time position data of the first bobbin meet a preset condition; if so, the first initial position data and the second initial position data are updated.

[0023] Among them, the average value of the moving distance of the motor and the first spool within a preset time, or the real-time position data of the motor and the first spool, will affect the pulling-out distance of the motor and the first spool, and the pulling-out distance of the motor and the first spool will be corrected and updated based on the above judgment conditions.

[0024] Preferably, in this method, determining whether the first real-time position data of the motor and the second real-time position data of the first spool meet preset conditions specifically includes the following two conditions:

[0025] Condition 1: obtaining a first difference between the first real-time position data of the motor at adjacent moments and obtaining a second difference between the second real-time position data of the first spool at adjacent moments, wherein both the first difference and the second difference are within a preset range;

[0026] Condition 2: The time when condition 1 is met exceeds the second preset time;

[0027] When both the first and second conditions are satisfied, the first initial position data of the motor and the second initial position data of the first bobbin are updated.

[0028] Among them, the above conditions are set to determine whether there is any fluctuation in the real-time position of the motor and the first spool. If the difference in the real-time position data of the motor and the first spool at adjacent moments is within a preset range and the duration exceeds a preset time, it means that the real-time position of the motor and the first spool has not fluctuated. At this time, the initial position data of the motor and the first spool are updated.

[0029] Preferably, in this method, the pull-out distance of the second spool is calculated using the following formula:

[0030] The second bobbin pull-out distance = the third motor pull-out distance - the fourth first bobbin pull-out distance.

[0031] The pull-out distance of the second bobbin is the difference between the third pull-out distance of the motor and the fourth pull-out distance of the first bobbin. The above formula can accurately calculate the pull-out distance of the second bobbin.

[0032] The present invention also provides a position update system for a dual-arm intelligent fitness device, which is applied to the dual-arm intelligent fitness device. The fitness device includes a motor, a first spool, and a second spool. The system includes:

[0033] a first obtaining unit, configured to obtain first initial position data of the motor and a first change value of the first initial position data at adjacent moments, and obtain second initial position data of the first spool and a second change value of the second initial position data at adjacent moments;

[0034] a judging unit, configured to judge whether the first change value is greater than a first threshold value, and if so, reset the first initial position data of the motor; and judge whether the second change value is greater than a first threshold value, and if so, reset the second initial position data of the first spool;

[0035] a second obtaining unit, configured to obtain first real-time position data of the motor and second real-time position data of the first spool if both the first change value and the second change value are smaller than the first threshold value;

[0036] a first calculating unit, configured to calculate a first pull-out distance of the motor based on the first initial position data and the first real-time position data, and to calculate a second pull-out distance of the second spool based on the second initial position data and the second real-time position data;

[0037] an updating unit, configured to update the first pull-out distance to obtain a third pull-out distance and update the second pull-out distance to obtain a fourth pull-out distance based on a moving speed of the motor and a moving speed of the first spool, or first real-time position data of the motor and second real-time position data of the first spool;

[0038] The second calculating unit is configured to calculate a pull-out distance of the second spool based on the third pull-out distance and the fourth pull-out distance.

[0039] Preferably, in this system, the first calculation unit calculates the first pull-out distance and the second pull-out distance using the following formula:

[0040] First pull-out distance = first real-time position data - first initial position data

[0041] Second pull-out distance=second real-time position data-second initial position data.

[0042] The present invention also provides a position updating device for a dual-arm intelligent fitness device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the position updating method for the dual-arm intelligent fitness device are implemented.

[0043] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the position updating method of the dual-arm intelligent fitness equipment are implemented.

[0044] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0045] This method updates the positions of the motor and the spool of the dual-arm fitness equipment, thereby reducing the vibration of the spool during operation, thereby improving the stability of the dual-arm intelligent fitness equipment and ensuring the safety of users when using the dual-arm intelligent fitness equipment for fitness. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of the present invention, and do not constitute a limitation of the embodiments of the present invention;

[0047] Figure 11 is a flow chart of a method for updating the position of a dual-arm intelligent fitness device according to the present invention;

[0048] Figure 2 It is a schematic diagram of the composition of the position update system of the double-arm intelligent fitness equipment in the present invention. DETAILED DESCRIPTION

[0049] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features therein can be combined with each other without conflict.

[0050] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0051] Example 1

[0052] Please refer to Figure 1 , Figure 1 This is a flow chart of a method for updating the position of a dual-arm intelligent fitness device. Embodiment 1 provides a method for updating the position of a dual-arm intelligent fitness device, which is applied to the dual-arm intelligent fitness device. The dual-arm intelligent fitness device includes a motor, a first spool, and a second spool. The method includes:

[0053] Obtaining first initial position data of the motor and a first change value of the first initial position data at adjacent moments, obtaining second initial position data of the first spool and a second change value of the second initial position data at adjacent moments (wherein the first initial position data is 3, the first change value is 2, the second initial position data is 4, the second change value is 1, and the adjacent moments may be within adjacent seconds. In practical applications, the above data can be flexibly adjusted as needed, and the present invention does not specifically limit this).

[0054] Determining whether the first change value is greater than a first threshold value (wherein, for example, the first threshold value is 5. In practical applications, the first threshold value can be flexibly adjusted according to actual needs and is not specifically limited in the present invention); if the first change value is greater than the first threshold value, resetting the first initial position data of the motor; determining whether the second change value is greater than the first threshold value; if the second change value is greater than the first threshold value, resetting the second initial position data of the first spool;

[0055] If both the first change value and the second change value are smaller than the first threshold value, the first real-time position data of the motor and the second real-time position data of the first spool are obtained (wherein, the first change value 2 is smaller than the first threshold value 5, and the second change value 1 is smaller than the first threshold value 5, then the first real-time position data obtained is 10, and the second real-time position data obtained is 8. In practical applications, the above data can be flexibly adjusted as needed, and the present invention does not specifically limit this).

[0056] Based on the first initial position data and the first real-time position data, a first pull-out distance of the motor is calculated; based on the second initial position data and the second real-time position data, a second pull-out distance of the second spool is calculated (wherein, if the first initial position data is 3, the first real-time position data is 10, the second initial position data is 4, and the second real-time position data is 8, then the calculated first pull-out distance is 7, and the second pull-out distance is 4. In actual applications, the above data can be flexibly adjusted as needed, and the present invention does not specifically limit this).

[0057] Based on the moving speed of the motor and the moving speed of the first spool, or the first real-time position data of the motor and the second real-time position data of the first spool, updating the first pull-out distance to obtain a third pull-out distance and updating the second pull-out distance to obtain a fourth pull-out distance (wherein, the first pull-out distance is updated to obtain the third pull-out distance to be 8, and the second pull-out distance is updated to obtain the fourth pull-out distance to be 6. In actual application, the above data can be flexibly adjusted as needed, and the present invention is not specifically limited thereto);

[0058] Based on the third pull-out distance and the fourth pull-out distance, the pull-out distance of the second spool is calculated (wherein, the third pull-out distance is 8, the fourth pull-out distance is 6, and the pull-out distance of the second spool is calculated to be 2. In practical applications, the above data can be flexibly adjusted as needed, and the present invention does not make specific limitations).

[0059] Among them, the first initial position data of the motor and the second initial position data of the first bobbin can be obtained by position sensors or encoders installed on the motor and the first bobbin. The present invention does not limit the direction in which the motor and the first bobbin obtain the initial position data.

[0060] The first real-time position data and the second real-time position data can be obtained by the number of revolutions of the motor or the number of revolutions of the spool. The present invention does not limit the direction in which the first real-time position data and the second real-time position data are obtained.

[0061] The moving speed data of the motor can be obtained through the motor rotation speed, and the moving speed data of the first spool can be obtained through the spool rotation speed. The present invention does not limit the direction of obtaining the moving speed data of the motor and the first spool.

[0062] In the embodiment of the present invention, controlling the motor in the dual-arm intelligent fitness device includes: sending commands to a motor control board through a host computer, and the motor control board is used to control the motor in the dual-arm intelligent fitness device.

[0063] Among them, resetting the first initial position data of the motor and the second initial position data of the first bobbin, that is, performing zero adjustment on the motor, can be performed by the following method. Use a DC power supply to pass a DC current less than the rated current through the UV winding of the motor, with U phase input and V phase output, and orient the motor shaft to a balanced position; use an oscilloscope to observe the U phase signal and Z zero position signal of the encoder; adjust the relative position of the encoder shaft and the motor shaft; while adjusting, observe the encoder U phase signal jump edge and Z zero position signal until the Z zero position signal stabilizes at a high level (the default state of the Z zero position signal is a low level), and lock the relative position relationship between the encoder and the motor; twist the motor shaft back and forth, if the Z zero position signal can stabilize at a high level each time the motor shaft freely returns to the balanced position, then the zero adjustment is effective. The motor can also be mechanically zeroed, and the present invention does not limit the zeroing method of the motor.

[0064] The first pull-out distance of the motor and the second pull-out distance of the first spool are calculated using the following formula:

[0065] First pull-out distance = first real-time position data - first initial position data

[0066] Second pull-out distance=second real-time position data-second initial position data.

[0067] Among them, if the first real-time position data is greater than the first initial position data, the first pull-out distance is calculated; if the first real-time position data is less than or equal to the first initial position data, the value of the first pull-out distance is zero (for example, if the first real-time position data is 12 and the first initial position data is 2, the first pull-out distance is calculated to be 10; if the first real-time position data is 1 and the first initial position data is 3, the first pull-out distance is calculated to be 0. The above data is only for explanation of the formula. In actual application, it can be flexibly adjusted as needed, and the present invention does not specifically limit it); if the second real-time position data is greater than the second initial position data, the second pull-out distance is calculated; if the second real-time position data is less than or equal to the second initial position data, the value of the second pull-out distance is zero (for example, if the second real-time position data is 14 and the second initial position data is 2, the second pull-out distance is calculated to be 12; if the second real-time position data is 2 and the second initial position data is 4, the second pull-out distance is calculated to be 0. The above data is only for explanation of the formula. In actual application, it can be flexibly adjusted as needed, and the present invention does not specifically limit it).

[0068] Among them, updating the first pull-out distance and the second pull-out distance specifically includes: obtaining a first average value of the motor moving distance within a preset time, that is, obtaining the moving speed data of the motor, which can be obtained through the rotation speed of the motor; if the first average value is less than the first initial position data, updating the first initial position data (for example, if the preset time is one second, the first average value is 2, and the first initial position data is 3, then the first average value is less than the first initial position data, then the first initial position data is updated to 2. In actual applications, the above data can be flexibly adjusted as needed, and the present invention does not make specific limitations); obtaining a second average value of the first spool moving distance within a preset time, that is, obtaining the moving speed data of the first spool, which can be obtained through the rotation speed of the first spool; if the second average value is less than the second initial position data, updating the second initial position data (for example, if the preset time is one second, the second average value is 4, and the second initial position data is 5, then the second average value is less than the second initial position data, then the second initial position data is updated to 4. In actual applications, the above data can be flexibly adjusted as needed, and the present invention does not make specific limitations). Or if the difference between the real-time position data of the motor and the first spool at adjacent moments is within a preset range and remains for more than a preset time, the first initial position data and the second initial position data are updated (for example, if the adjacent moments are adjacent one second, the preset range is 5, the preset time is 2 minutes, the initial position data of the motor is 2, the real-time position data of the motor is 4, the initial position data of the first spool is 3, the real-time position data of the first spool is 6, the difference between the real-time position data of the motor within one adjacent second is 2 and remains for more than 2 minutes, the difference between the real-time position data of the first spool within one adjacent second is 3 and remains for more than 2 minutes, at this time, the difference between the real-time position data of the motor and the first spool is less than the preset range and remains for more than the preset time, then the real-time position data of the motor is used as the initial position data of the motor, and the real-time position data of the first spool is used as the initial position data of the first spool. In actual applications, the above data can be flexibly adjusted as needed, and the present invention is not limited thereto). The first initial position data and the second initial position data are updated. The updated initial position data still satisfies the equation of pull-out distance = real-time position data - initial position data, thereby achieving the purpose of updating the first pull-out distance and the second pull-out distance.

[0069] The pull-out distance of the second spool is calculated using the following formula:

[0070] The second bobbin pull-out distance = the third motor pull-out distance - the fourth first bobbin pull-out distance.

[0071] If the third pull-out distance of the motor is not updated, the value of the third pull-out distance is equal to the value of the first pull-out distance. If the fourth pull-out distance of the first bobbin is not updated, the value of the fourth pull-out distance is equal to the value of the second pull-out distance. That is, the second bobbin pull-out distance always satisfies the formula of second bobbin pull-out distance = motor pull-out distance - first bobbin pull-out distance (for example, the third pull-out distance of the motor is 8 and the fourth pull-out distance of the first bobbin is 3, then the calculated second bobbin pull-out distance is 5. The above data only explains the formula. In actual applications, it can be flexibly adjusted according to actual needs, and the present invention does not specifically limit it).

[0072] In this embodiment, the user performs impedance movement by pulling the pull rope at the end of the support arm. The position data of the motor and the first spool can be obtained through the motor position and first spool position sensors, and the obtained position data is fed back to the host computer. The host computer calculates and corrects the obtained position data and then issues corresponding commands to the motor control board to control the operation of the motor, thereby improving the stability of the spool during operation and ensuring the safety of users when using the dual-arm smart fitness equipment for fitness. In particular, dual sensors are used to detect the motor position, including an optical encoder and a photoelectric position sensor. The optical encoder is used to detect the position of the first spool. The photoelectric position sensor is located on the stator and can also detect the motor position. It is used to calibrate and monitor the optical encoder. In actual applications, the optical encoder and the photoelectric position sensor can be replaced by other sensors with the same or similar functions. The present invention does not specifically limit the type and model of the above-mentioned devices. Among them, the motor control board can select a motor starter, or an intelligent controller, or a servo controller, preferably a servo controller. The servo controller has the following advantages: wide speed regulation range, high positioning accuracy, sufficient transmission rigidity and high speed stability, fast response, no overshoot, high torque at low speed, strong overload capacity and high reliability.

[0073] Example 2

[0074] Please refer to Figure 2 An embodiment of the present invention provides a position update system for a dual-arm intelligent fitness device, which is applied to the dual-arm intelligent fitness device. The fitness device includes a motor, a first spool, and a second spool. The system also includes:

[0075] a first obtaining unit, configured to obtain first initial position data of the motor and a first change value of the first initial position data at adjacent moments, and obtain second initial position data of the first spool and a second change value of the second initial position data at adjacent moments;

[0076] a judging unit, configured to judge whether the first change value is greater than a first threshold value, and if so, reset the first initial position data of the motor; and judge whether the second change value is greater than a first threshold value, and if so, reset the second initial position data of the first spool;

[0077] a second obtaining unit, configured to obtain first real-time position data of the motor and second real-time position data of the first spool if both the first change value and the second change value are smaller than the first threshold value;

[0078] a first calculating unit, configured to calculate a first pull-out distance of the motor based on the first initial position data and the first real-time position data, and to calculate a second pull-out distance of the second spool based on the second initial position data and the second real-time position data;

[0079] an updating unit, configured to update the first pull-out distance to obtain a third pull-out distance and update the second pull-out distance to obtain a fourth pull-out distance based on a moving speed of the motor and a moving speed of the first spool, or first real-time position data of the motor and second real-time position data of the first spool;

[0080] The second calculating unit is configured to calculate a pull-out distance of the second spool based on the third pull-out distance and the fourth pull-out distance.

[0081] The first calculation unit calculates the first pull-out distance and the second pull-out distance using the following formula:

[0082] First pull-out distance = first real-time position data - first initial position data

[0083] Second pull-out distance=second real-time position data-second initial position data.

[0084] Example 3

[0085] An embodiment of the present invention provides a position updating device for a dual-arm intelligent fitness device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, steps of a position updating method for the dual-arm intelligent fitness device are implemented.

[0086] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0087] The memory can be used to store the computer program and / or module, and the processor implements the various functions of the position updating device of the dual-arm intelligent fitness device of the invention by running or executing the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function (such as a sound playback function, an image playback function, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0088] Example 4

[0089] An embodiment of the present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the computer program implements the steps of the position updating method of the dual-arm intelligent fitness equipment.

[0090] If the position update device of the dual-arm intelligent fitness equipment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be stored in a computer-readable storage medium through a computer program. When the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, point carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0091] While the basic concepts of the present invention have been described, it will be apparent to those skilled in the art that the detailed disclosure provided above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

[0092] This specification also uses specific terms to describe the embodiments of this specification. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "one embodiment," "an embodiment," or "an alternative embodiment" two or more times in different locations in this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of this specification may be appropriately combined.

[0093] In addition, it will be understood by those skilled in the art that various aspects of this specification may be illustrated and described by a number of patentable categories or situations, including any new and useful process, machine, product or combination of substances, or any new and useful improvements thereto. Accordingly, various aspects of this specification may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". In addition, various aspects of this specification may be represented as a computer product located in one or more computer-readable media, which includes computer-readable program code.

[0094] A computer storage medium may include a propagated data signal embodying the computer program code, for example, in baseband or as part of a carrier wave. The propagated signal may be in a variety of forms, including electromagnetic, optical, or any suitable combination thereof. A computer storage medium may be any computer-readable medium other than a computer-readable storage medium that can be connected to an instruction execution system, apparatus, or device to communicate, propagate, or transfer the program for use. The program code on the computer storage medium may be transmitted via any suitable medium, including radio, cable, fiber optic cable, RF, or similar media, or any combination of these.

[0095] The computer program code required for the operation of the various parts of this specification can be written in any one or more programming languages, including object-oriented programming languages such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc., conventional procedural programming languages such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages such as Python, Ruby and Groovy, or other programming languages. The program code can be run entirely on the user's computer, or as a stand-alone software package on the user's computer, or partly on the user's computer and partly on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer via any network, such as a local area network (LAN) or a wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as software as a service (SaaS).

[0096] In addition, unless expressly stated in the claims, the order of the processing elements and sequences, the use of alphanumeric characters, or the use of other names described in this specification are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some of the invention embodiments currently considered useful through various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the spirit and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0097] Similarly, it should be noted that, in order to simplify the presentation of this specification and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this specification sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not imply that the subject matter of this specification requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single disclosed embodiment.

[0098] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, and documents, cited in this specification is hereby incorporated by reference in its entirety. This includes application history documents that are inconsistent with or conflict with the content of this specification, as well as documents (currently or subsequently attached to this specification) that limit the broadest scope of the claims of this specification. It should be noted that if the descriptions, definitions, and / or terminology used in the accompanying materials are inconsistent or conflicting with the content of this specification, the descriptions, definitions, and / or terminology used in this specification will control.

[0099] Finally, it should be understood that the embodiments described in this specification are intended only to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly described and illustrated in this specification.

[0100] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0101] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for updating the position of a dual-arm intelligent fitness device, applied to the dual-arm intelligent fitness device, wherein the dual-arm intelligent fitness device comprises a motor, a first spool, and a second spool, and is characterized in that: The method comprises the following steps: Obtaining first initial position data of the motor and a first change value of the first initial position data at adjacent moments, and obtaining second initial position data of the first spool and a second change value of the second initial position data at adjacent moments; Determining whether the first change value is greater than a first threshold value, and if so, resetting the first initial position data of the motor; determining whether the second change value is greater than a first threshold value, and if so, resetting the second initial position data of the first spool; If the first change value and the second change value are both smaller than the first threshold value, obtaining first real-time position data of the motor and second real-time position data of the first spool; Calculate a first pull-out distance of the motor based on the first initial position data and the first real-time position data, and calculate a second pull-out distance of the second spool based on the second initial position data and the second real-time position data; Based on the moving speed of the motor and the moving speed of the first spool, or the first real-time position data of the motor and the second real-time position data of the first spool, updating the first pull-out distance to obtain a third pull-out distance and updating the second pull-out distance to obtain a fourth pull-out distance; The pull-out distance of the second bobbin is obtained by calculation based on the third pull-out distance and the fourth pull-out distance.

2. A method for updating the position of a dual-arm intelligent fitness device according to claim 1, characterized in that: The first pull-out distance of the motor and the second pull-out distance of the first spool are calculated using the following formula: First pull-out distance = first real-time position data - first initial position data Second pull-out distance=second real-time position data-second initial position data.

3. The position updating method of a dual-arm intelligent fitness device according to claim 2, characterized in that: Determine whether the first real-time position data is greater than the first initial position data. If so, calculate and obtain the first pull-out distance; if not, the first pull-out distance is zero; determine whether the second real-time position data is greater than the second initial position data. If so, calculate and obtain the second pull-out distance; if not, the second pull-out distance is zero.

4. The method for updating the position of a dual-arm intelligent fitness device according to claim 1, characterized in that: Updating a first pull-out distance of the motor and a second pull-out distance of the first spool specifically includes: Obtaining a first average value of the motor movement distance within a first preset time, and if the first average value is less than the first initial position data of the motor, updating the first initial position data of the motor; obtaining a second average value of the movement distance of the first spool within a first preset time, and updating the second initial position data of the first spool if the second average value is less than the second initial position data of the first spool; Alternatively, it is determined whether the first real-time position data of the motor and the second real-time position data of the first bobbin meet a preset condition; if so, the first initial position data and the second initial position data are updated.

5. The method for updating the position of a dual-arm intelligent fitness device according to claim 4, characterized in that: Determining whether the first real-time position data of the motor and the second real-time position data of the first spool meet preset conditions specifically includes the following two conditions: Condition 1: obtaining a first difference between the first real-time position data of the motor at adjacent moments and obtaining a second difference between the second real-time position data of the first spool at adjacent moments, wherein both the first difference and the second difference are within a preset range; Condition 2: The time when condition 1 is met exceeds the second preset time; When both the first and second conditions are satisfied, the first initial position data of the motor and the second initial position data of the first bobbin are updated.

6. The method for updating the position of a dual-arm intelligent fitness device according to claim 1, characterized in that: The pull-out distance of the second spool is calculated using the following formula: The second bobbin pull-out distance = the third motor pull-out distance - the fourth first bobbin pull-out distance.

7. A position update system for a dual-arm intelligent fitness device, applied to a dual-arm intelligent fitness device, wherein the fitness device comprises a motor, a first spool, and a second spool, and is characterized in that: The system comprises: a first obtaining unit, configured to obtain first initial position data of the motor and a first change value of the first initial position data at adjacent moments, and obtain second initial position data of the first spool and a second change value of the second initial position data at adjacent moments; a judging unit, configured to judge whether the first change value is greater than a first threshold value, and if so, reset the first initial position data of the motor; and judge whether the second change value is greater than a first threshold value, and if so, reset the second initial position data of the first spool; a second obtaining unit, configured to obtain first real-time position data of the motor and second real-time position data of the first spool if both the first change value and the second change value are smaller than the first threshold value; a first calculating unit, configured to calculate a first pull-out distance of the motor based on the first initial position data and the first real-time position data, and to calculate a second pull-out distance of the second spool based on the second initial position data and the second real-time position data; an updating unit, configured to update the first pull-out distance to obtain a third pull-out distance and update the second pull-out distance to obtain a fourth pull-out distance based on a moving speed of the motor and a moving speed of the first spool, or first real-time position data of the motor and second real-time position data of the first spool; The second calculating unit is configured to calculate a pull-out distance of the second spool based on the third pull-out distance and the fourth pull-out distance.

8. The position update system of the dual-arm intelligent fitness equipment according to claim 7, characterized in that: The first calculation unit calculates the first pull-out distance and the second pull-out distance using the following formula: First pull-out distance = first real-time position data - first initial position data Second pull-out distance=second real-time position data-second initial position data.

9. A position updating device for a dual-arm intelligent fitness device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the position updating method of the dual-arm intelligent fitness equipment as claimed in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the position updating method of the dual-arm intelligent fitness device as claimed in any one of claims 1 to 6 are implemented.

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