Tension control method, non-volatile readable storage medium and sitting leg-striding apparatus

Abstract

The application relates to the technical field of force control, and discloses a tension control method and a sitting posture leg kicking device. The method comprises the following steps: acquiring the component gravity of a leg kicking component and a specified training force input by the sitting posture leg kicking device, determining the rotation posture information of the leg kicking component on the sitting posture leg kicking device, calculating the tension according to the rotation posture information, the component gravity and the specified training force, controlling a motor component to drive a rope component to output the tension, so that the resultant force of the tension and the component gravity outputs a fixed resistance, the size of the fixed resistance is consistent with the size of the specified training force, and the direction of the fixed resistance is opposite to the direction of the horizontal thrust. The tension output by the embodiment can adaptively change along with the posture change of the leg kicking component, the influence of the component gravity of the leg kicking component can be offset in the change process, the user can ensure that the resistance provided by the leg kicking component to the user during the movement process is fixed, and therefore, the tension control method is relatively intelligent.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of force control, in particular to a tension control method, a non-volatile readable storage medium and a sitting leg-pushing device. BACKGROUND

[0002] Please refer to Figure 1 and Figure 2 , Figure 1 The state diagram of the sitting leg-pushing device when the user's legs are in a flexion state on the sitting leg-pushing device provided by the related art. Figure 2 The state diagram of the sitting leg-pushing device when the user's legs are in an extension state on the sitting leg-pushing device provided by the related art. As shown in Figure 1 and Figure 2 , the user sits on the support seat 11 and uses the legs to push the leg-pushing assembly 12 forward, on the one hand, the leg-pushing assembly 12 is subjected to the pushing force of the user, and on the other hand, the leg-pushing assembly 12 is subjected to the tension of the rope assembly 13, wherein the tension of the rope assembly is controlled by the motor assembly. The leg-pushing assembly 12 moves towards the user or away from the user under the action of the pushing force and the tension.

[0003] The tension provided by the related art is generated by the sitting leg-pushing device according to the weight force set by the user, but the leg-pushing assembly 12 itself has a large gravity, which will cause the instability of the resistance to the leg movement during the movement. Please refer to Figure 3 , when the leg-pushing assembly 12 is on the right side of the dotted line, the gravity of the leg-pushing assembly 12 will constitute resistance to the leg movement when the user operates the leg-pushing assembly 12 with the legs. Please refer to Figure 4 , when the leg-pushing assembly 12 is on the left side of the dotted line, the gravity of the leg-pushing assembly 12 will constitute assistance to the leg movement when the user operates the leg-pushing assembly 12 with the legs. Regardless of whether the leg-pushing assembly 12 constitutes resistance or assistance, since the tension control method of the related art is relatively single, it cannot change adaptively according to the position change of the leg-pushing assembly 12, so that the user will feel the fluctuation of the resistance during the movement, thereby causing an adverse effect on the user's training. SUMMARY

[0004] An object of an embodiment of the present application is to provide a tension control method and a sitting leg-pushing device, and to solve the technical problem of resistance fluctuation in the related art.

[0005] In a first aspect, the embodiments of the present application provide a tension control method. The sitting leg kicking device comprises a support seat, a leg kicking assembly, a motor assembly and a rope assembly. The leg kicking assembly is rotatably installed on the support seat. The motor assembly is installed on the support seat. One end of the rope assembly is connected to the leg kicking assembly. The other end of the rope assembly is wound around the motor assembly. The motor assembly can drive the rope assembly to drive the leg kicking assembly to rotate in a first circumferential direction. The tension control method comprises:

[0006] Obtaining the component gravity of the leg kicking assembly and a specified training force input by the sitting leg kicking device. The leg kicking assembly can be subjected to a horizontal thrust to rotate in a second circumferential direction opposite to the first circumferential direction.

[0007] Determining the rotation posture information of the leg kicking assembly on the sitting leg kicking device.

[0008] Calculating the tension according to the rotation posture information, the component gravity and the specified training force.

[0009] Controlling the motor assembly to drive the rope assembly to output the tension, so that the resultant force of the tension and the component gravity outputs a fixed resistance. The size of the fixed resistance is consistent with the size of the specified training force. The direction of the fixed resistance is opposite to the direction of the horizontal thrust.

[0010] Optionally, the calculation of the tension according to the rotation posture information, the component gravity and the specified training force comprises:

[0011] Calculating a first component force in a preset direction according to the rotation posture information and the component gravity.

[0012] Calculating a second component force in the preset direction according to the rotation posture information and the specified training force.

[0013] Calculating the tension according to the second component force, the first component force and the rotation posture information.

[0014] Optionally, the rotation posture information comprises a first included angle between the leg kicking assembly and the support seat. The calculation of the first component force in the preset direction according to the rotation posture information and the component gravity comprises:

[0015] Calculating a first cosine value of the first included angle.

[0016] Calculating the first component force in the preset direction according to the first cosine value and the component gravity.

[0017] Optionally, the rotation posture information comprises a first included angle between the leg-pressing component and the support seat, and the second component force in the preset direction is calculated according to the rotation posture information and the specified training force, which comprises:

[0018] calculating a first sine value of the first included angle;

[0019] calculating a second component force in the preset direction according to the first sine value and the specified training force.

[0020] Optionally, the rotation posture information comprises a second included angle between the rope component and the leg-pressing component, and the pulling force is calculated according to the second component force, the first component force and the rotation posture information, which comprises:

[0021] calculating a force difference between the second component force and the first component force;

[0022] calculating a second sine value of the second included angle;

[0023] calculating the pulling force according to the force difference and the second sine value.

[0024] Optionally, the preset direction is perpendicular to the leg-pressing component.

[0025] Optionally, the rotation posture information comprises a first included angle between the leg-pressing component and the support seat, and the determination of the rotation posture information of the leg-pressing component on the sitting leg-pressing device comprises:

[0026] calculating a rope length of the rope component;

[0027] determining a first distance from a connecting point of the rope component and the leg-pressing component to a rotation shaft point of the leg-pressing component and the support seat;

[0028] determining a second distance from the rotation shaft point to an out-point of the rope component;

[0029] calculating the first included angle according to the rope length, the first distance and the second distance.

[0030] Optionally, the rotation posture information further comprises a second included angle between the rope component and the leg-pressing component, and the determination of the rotation posture information of the leg-pressing component on the sitting leg-pressing device further comprises:

[0031] calculating a third included angle according to the rope length, the first distance and the second distance, the third included angle being a supplementary angle of the second included angle;

[0032] determining the second included angle according to the third included angle.

[0033] In a second aspect, an embodiment of the present application provides a non-volatile readable storage medium, which stores computer executable instructions for causing a controller to perform the tension control method.

[0034] In a third aspect, an embodiment of the present application provides a sitting leg kicking apparatus, comprising:

[0035] a support seat;

[0036] a leg kicking assembly rotatably mounted on the support seat;

[0037] a motor assembly mounted on the support seat;

[0038] a rope assembly, one end of which is connected to the leg kicking assembly, and the other end of which is wound around the motor assembly; and

[0039] a controller electrically connected to the motor assembly, configured to perform the tension control method.

[0040] In the tension control method provided by the embodiment of the present application, the component gravity of the leg kicking assembly and the specified training force input by the sitting leg kicking apparatus are obtained, the leg kicking assembly can be subjected to a horizontal thrust force to rotate in a second circumferential direction, the second circumferential direction is opposite to the first circumferential direction, the rotation posture information of the leg kicking assembly on the sitting leg kicking apparatus is determined, the tension force is calculated according to the rotation posture information, the component gravity and the specified training force, the motor assembly is controlled to drive the rope assembly to output the tension force, so that the resultant force of the tension force and the component gravity outputs a fixed resistance, the size of the fixed resistance is consistent with the size of the specified training force, and the direction of the fixed resistance is opposite to the direction of the horizontal thrust force. The tension force output by the embodiment can change in real time, dynamically and adaptively following the change of the posture of the leg kicking assembly. In the above change process, the tension force can offset the influence of the component gravity of the leg kicking assembly, so as to ensure that the user feels that the resistance given by the leg kicking assembly to the user is fixed during the movement, so as to ensure the accuracy of the training and improve the training effect and certainty. Therefore, the tension control method provided by the embodiment is more intelligent. BRIEF DESCRIPTION OF DRAWINGS

[0041] One or more embodiments are illustrated by way of example in the accompanying drawings that are not intended to be limiting of the embodiments so as to illustrate exemplary principles of the embodiments. The same reference numerals in different drawings represent the same element or components in the drawings and a consistent of drawings is not limited to a scale.

[0042] Figure 1 a state diagram of a sitting leg kicking apparatus when a user's leg is in a bent leg state on the sitting leg kicking apparatus provided by the related art;

[0043] Figure 2 A state diagram of a sitting leg-pumping device for a user of the related art when the user's legs are in an extended state on the sitting leg-pumping device;

[0044] Figure 3 An equivalent diagram of the leg-pumping assembly to the right of the dashed line for the related art;

[0045] Figure 4 An equivalent diagram of the leg-pumping assembly to the left of the dashed line for the related art;

[0046] Figure 5 An equivalent diagram of a sitting leg-pumping device for an embodiment of the present application;

[0047] Figure 6 A circuit schematic diagram of a sitting leg-pumping device for an embodiment of the present application;

[0048] Figure 7 A diagram of a sitting leg-pumping device based on Figure 5 A diagram of a sitting leg-pumping device based on

[0049] Figure 8 A flowchart of a tension control method for an embodiment of the present application;

[0050] Figure 9 A diagram of a sitting leg-pumping device based on Figure 5 A diagram of a sitting leg-pumping device based on

[0051] Figure 10 A diagram of a sitting leg-pumping device based on Figure 5 A diagram of a sitting leg-pumping device based on

[0052] Figure 11 A structural diagram of a tension control device for an embodiment of the present application;

[0053] Figure 12 A circuit structural diagram of a controller for an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0055] It should be noted that the various features of the embodiments of the present application can be combined with each other, and all within the scope of the present application, if there is no conflict. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the order in the flowchart. Furthermore, the "first", "second", "third" and the like used in the present application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.

[0056] The embodiment of the present application provides a sitting leg kicking device, please see Figure 5 With Figure 6 , the sitting leg kicking device 500 comprises a support seat 51, a leg kicking assembly 52, a motor assembly 53, a rope assembly 54 and a controller 55.

[0057] The support seat 51 is used to support various parts, wherein, as shown in Figure 5 , the support seat 51 is provided with a seat 56, and a user can sit on the seat 56 to operate the leg kicking assembly 52.

[0058] The leg kicking assembly 52 is rotatably installed on the support seat 51. In some embodiments, the leg kicking assembly 52 comprises a pedal 521 and a connecting rod 522, one end of the connecting rod 522 is connected with the pedal 521, and the other end of the connecting rod 522 is rotatably installed on the support seat 51, and a user can push the pedal 521 with both legs, so that the pedal 521 drives the connecting rod 522 to rotate relative to the support seat 51.

[0059] The motor assembly 53 is installed on the support seat 51 and is used to drive the rope assembly 54 to move.

[0060] One end of the rope assembly 54 is connected to the leg kicking assembly 52, and the other end of the rope assembly 54 is wound on the motor assembly 53, and the motor assembly 53 can drive the rope assembly 54 to drive the leg kicking assembly 52 to rotate in a first circumferential direction, and the first circumferential direction can be a clockwise direction or a counterclockwise direction.

[0061] The controller 55 is electrically connected with the motor assembly 53.

[0062] The embodiment combines Figure 7 The working principle of the sitting leg kicking device 500 is described as follows:

[0063] Please refer to Figure 7 , a user inputs a specified training force on the input interface of the sitting leg kicking device 500, such as inputting a specified training force Fm corresponding to 30 Kg.

[0064] The user sits on the seat 56 and starts to apply a horizontal pushing force F1 to the pedal 521 with his legs. It should be understood that the horizontal pushing force in the present application should be interpreted as a pushing force in the horizontal direction or close to the horizontal direction. At the same time, the controller 55 controls the motor assembly 53 to drive the rope assembly 54 to output a pulling force F2 according to the specified training force input by the user, wherein the pulling force F2 can offset the influence of the gravity of the leg-pushing assembly 52. Specifically, the leg-pushing assembly 52 is subjected to the pulling force F2, and the following effects occur: the pulling force F2 not only offsets the influence of the gravity of the leg-pushing assembly 52, but also generates a fixed resistance F3 in the horizontal direction of the leg-pushing assembly 52, the size of the fixed resistance F3 is consistent with the size of the specified training force Fm, and the direction of the fixed resistance F3 is opposite to the direction of the horizontal pushing force F1. In this way, the user feels that the resistance given by the leg-pushing assembly 52 to the user is fixed, which is beneficial to ensure the accuracy of the training. It should be understood that the “the size of the fixed resistance F3 is consistent with the size of the specified training force Fm” in the present application should be interpreted as that the size of the fixed resistance F3 is equal to the size of the specified training force Fm or the size of the fixed resistance F3 is almost close to the size of the specified training force Fm.

[0065] It can be understood that, as shown in Figure 7 , if the horizontal pushing force F1 is greater than or equal to the fixed resistance F3, the leg-pushing assembly 52 will rotate in a direction away from the user. During the pushing process, the rope of the rope assembly 54 will gradually become longer.

[0066] On the right side of the dashed line, the leg-pushing assembly 52 is in the first state. Since the gravity of the leg-pushing assembly 52 is a movement resistance, and the resistance component of the gravity is smaller and smaller during the movement, as the rope of the rope assembly 54 grows, the pulling force output by the motor assembly 53 is adaptively gradually increased, so that the user feels that the resistance given by the leg-pushing assembly 52 to the user is fixed during this process.

[0067] On the left side of the dashed line, the leg-pushing assembly 52 is in the second state. On the left side of the dashed line, since the gravity of the leg-pushing assembly 52 is a movement assistance, as the rope of the rope assembly 54 grows, the assistance component of the leg-pushing assembly 52 is larger and larger, and the pulling force output by the motor assembly 53 is adaptively continuously increased, so that the user feels that the resistance given by the leg-pushing assembly 52 to the user is fixed during this process.

[0068] If the horizontal pushing force F1 is less than or equal to the fixed resistance F3, the leg-pushing assembly 52 will rotate in a direction close to the user.

[0069] As another aspect of the embodiment of the present application, the embodiment of the present application provides a pulling force control method, which is applied to the sitting leg-pushing exercise equipment described in each of the above embodiments. Referring to Figure 8 , the pulling force control method comprises:

[0070] S81: Obtain the component gravity of the leg press assembly and the specified training force input by the seated leg press machine, the leg press assembly can be subjected to a horizontal thrust force to rotate in a second circumferential direction, the second circumferential direction is opposite to the first circumferential direction.

[0071] In this step, the component gravity is the gravity of the leg press assembly, and the specified training force is the force corresponding to the specified weight input by the user to the seated leg press machine. The horizontal thrust force is the thrust force applied by the user to the leg press assembly, and the direction of the thrust force is horizontal or close to horizontal. When the first circumferential direction is clockwise, the second circumferential direction is counterclockwise, and when the first circumferential direction is counterclockwise, the second circumferential direction is clockwise.

[0072] Obtaining the component gravity of the leg press assembly includes: in response to a start command, calling the component gravity pre-stored on the local of the leg press assembly.

[0073] Obtaining the specified training force input by the seated leg press machine includes: in response to a start operation input by the seated leg press machine, generating a start command, the start command including the specified training force, and parsing the start command to obtain the specified training force.

[0074] S82: Determine the rotation posture information of the leg press assembly on the seated leg press machine.

[0075] In this step, the rotation posture information is the posture information of the leg press assembly when rotating, wherein the rotation posture information includes a first included angle between the leg press assembly and the support seat and a second included angle between the leg press assembly and the rope assembly. The first included angle is the included angle between the connecting rod of the leg press assembly and the plane of the support seat, and the second included angle is the included angle between the connecting rod of the leg press assembly and the rope assembly. The first included angle can be used to indicate the degree of rotation of the leg press assembly relative to the support seat under the action of the thrust force and the tension force, and the second included angle can be used to indicate the degree of rotation of the leg press assembly relative to the rope assembly under the action of the thrust force and the tension force. When the first included angle and the second included angle are determined, the posture of the leg press assembly on the seated leg press machine can be determined.

[0076] When the rotation posture information includes the first included angle between the leg press assembly and the support seat, determining the rotation posture information of the leg press assembly on the seated leg press machine includes: calculating the rope length of the rope assembly, determining the first distance from the connecting point of the rope assembly and the leg press assembly to the rotation axis point of the leg press assembly and the support seat, determining the second distance from the rotation axis point to the rope exit point of the rope assembly, and calculating the first included angle according to the rope length, the first distance and the second distance.

[0077] The sitting leg-pumping device further comprises an encoder for detecting the rotating speed of the motor assembly, and the calculation of the rope length of the rope assembly comprises: determining the circumference of the winding wheel of the motor assembly, a standard counting parameter and a current counting value detected by the encoder when the rope assembly is wound for one round, and calculating the rope length of the rope assembly according to the circumference, the standard counting parameter, the speed reduction ratio of the winding path and the current counting value.

[0078] The first distance and the second distance are set by designers according to engineering experience, wherein the first distance and the second distance are pre-stored on the sitting leg-pumping device, and the first distance and the second distance can be directly called from the local.

[0079] The calculation of the first included angle according to the rope length, the first distance and the second distance comprises: obtaining the first included angle according to the cosine formula in combination with the rope length, the first distance and the second distance.

[0080] When the rotating posture information further comprises a second included angle between the rope assembly and the leg-pumping assembly, the determination of the rotating posture information of the leg-pumping assembly on the sitting leg-pumping device further comprises: calculating a third included angle according to the rope length, the first distance and the second distance, the third included angle being a supplementary angle of the second included angle, and determining the second included angle according to the third included angle.

[0081] Please refer to Figure 9 , the rope length of the rope assembly is L0, the first distance is L1, the second distance is L2, the first included angle is α, the second included angle is β, and the third included angle is δ, wherein β+δ=180°, the rope length L0 is the distance from the connecting point A of the rope assembly and the leg-pumping assembly to the rope outlet point B of the rope assembly, the first distance L1 is the distance from the connecting point A to the rotating shaft point O of the leg-pumping assembly and the support seat, and the second distance L2 is the distance from the rotating shaft point O to the rope outlet point B.

[0082] According to the cosine formula: Since the rope length L0, the first distance L1 and the second distance L2 are known values, the first included angle α can be obtained according to the above cosine formula.

[0083] Similarly, according to the cosine formula: Since the rope length L0, the first distance L1 and the second distance L2 are known values, the third included angle δ can be obtained according to the above cosine formula. Since β+δ=180, the second included angle β can be obtained.

[0084] S83: calculating the pulling force according to the rotating posture information, the component gravity and the specified training force.

[0085] In the step, the pulling force is calculated according to the rotating posture information, the component gravity and the specified training force, including the following steps: calculating a first component force in a preset direction according to the rotating posture information and the component gravity, calculating a second component force in the preset direction according to the rotating posture information and the specified training force, and calculating the pulling force according to the second component force, the first component force and the rotating posture information. The preset direction is perpendicular to the leg-pushing component.

[0086] When the rotating posture information includes a first included angle between the leg-pushing component and the supporting seat, the calculating of the first component force in the preset direction according to the rotating posture information and the component gravity includes: calculating a first cosine value of the first included angle, and calculating the first component force in the preset direction according to the first cosine value and the component gravity.

[0087] The calculating of the second component force in the preset direction according to the rotating posture information and the specified training force includes: calculating a first sine value of the first included angle, and calculating the second component force in the preset direction according to the first sine value and the specified training force.

[0088] When the rotating posture information includes a second included angle between the rope component and the leg-pushing component, the calculating of the pulling force according to the second component force, the first component force and the rotating posture information includes: calculating a component force difference between the second component force and the first component force, calculating a second sine value of the second included angle, and calculating the pulling force according to the component force difference and the second sine value.

[0089] The embodiment is combined with Figure 10 The force analysis is performed on the leg-pushing component, and the horizontal pushing force F 推 is determined as the force in the horizontal direction. The leg-pushing component is subjected to the horizontal pushing force F 推 given by the user, the pulling force F 拉 exerted on the leg-pushing component by the motor component through the rope component, and the component gravity F 重 of the leg-pushing component, and the three forces act together, specifically as follows:

[0090] In order to ensure that the user feels a fixed resistance given by the leg-pushing component during the process, the embodiment sets that the horizontal pushing force F 推 is equal to the specified training force input by the user in the sitting leg-pushing device when the leg-pushing component moves at a constant speed. In addition, the horizontal pushing force F 推 , the pulling force F 拉 and the component gravity F 重 have the following constraint relationship: F 推 ×sinα=F 重 ×cosα+F 拉 ×sinβ.

[0091] It can be understood that when the leg-pushing component rotates beyond the virtual line perpendicular to the ground, the first included angle α is greater than 90°, and the cosine value of α becomes negative, and the component gravity F 重From resistance to assistance.

[0092] Since the embodiment is to ensure that the leg press assembly outputs a fixed resistance, the above equation can become:

[0093] As mentioned above, the first component force F 分1 is the component force of the assembly gravity F 重 in the preset direction, wherein the first component force F 分1 =F 重 ×cosα, that is, the first component force F 分1 is the product of the first cosine value of the first included angle and the assembly gravity.

[0094] Since the leg press assembly moves at a constant speed, the horizontal thrust F 推 is equal to the specified training force input by the user in the sitting leg press machine, and the second component force F 分2 can be regarded as the component force of the horizontal thrust F 推 in the preset direction, wherein the second component force F 分2 =F 推 ×sinα, that is, the second component force F 分2 is the product of the first sine value of the first included angle and the horizontal thrust.

[0095] The component force difference ΔF=F 分2 -F 分1 . The second sine value of the second included angle is sinβ, and the pulling force F 拉 is the result of the component force difference divided by the second sine value.

[0096] In some embodiments, when the second included angle between the rope assembly and the leg press assembly is a fixed value, that is, the second included angle β is a fixed value, it means that the included angle between the rope assembly and the leg press assembly is fixed, such as β being 90 degrees, the rope assembly being perpendicular to the leg press assembly, and the above equation can be F 推 ×sinα-F 重 ×cosα=F 拉 .

[0097] When the leg press assembly is moved to the dashed line as shown in Figure 7 , that is, the leg press assembly is perpendicular to the support seat, then F 推 =F 拉 , that is, at the dashed line, the pulling force output by the motor assembly to control the rope assembly is equal to the specified training force set by the user.

[0098] S84: Control the motor assembly to drive the rope assembly to output a pulling force, so that the combined force of the pulling force and the assembly gravity outputs a fixed resistance, and the size of the fixed resistance is consistent with the size of the specified training force, and the direction of the fixed resistance is opposite to the direction of the horizontal thrust.

[0099] Overall, the tension output by the embodiment can adaptively follow the attitude change of the leg-pushing assembly in real time, and the tension can offset the influence of the component gravity of the leg-pushing assembly in the above change process, so as to ensure that the user feels that the resistance provided by the leg-pushing assembly to the user is fixed during the movement, so as to ensure the accuracy of the training and improve the training effect and certainty.

[0100] In order to elaborate the embodiment of the application, the embodiment combines Figure 9 And the following examples are listed as illustrations, as follows:

[0101] 1. The sitting leg-pushing equipment is configured with the first distance L1 and the second distance L2 before leaving the factory.

[0102] 2. The user sits on the sitting leg-pushing equipment and operates the sitting leg-pushing equipment to select a specified weight of 40 Kg and a force corresponding to the specified training force of 40 Kg.

[0103] 3. The leg-pushing assembly is on the right side of the dotted line, the user uses both legs to apply a horizontal pushing force to the leg-pushing assembly, at this time, the component gravity of the leg-pushing assembly is resistance, and the tension output by the motor assembly through the rope assembly is less than the specified training force corresponding to 40 Kg but continues to increase, so that under the action of the component gravity and the tension, although the leg-pushing assembly is constantly rotating and moving away from the user, the user will feel that the resistance applied by the leg-pushing assembly is fixed, and the fixed resistance is the specified training force corresponding to 40 Kg.

[0104] 4. When the leg-pushing assembly moves to the dotted line, the tension output by the motor assembly through the rope assembly is the specified training force corresponding to 40 Kg.

[0105] 5. As the leg-pushing assembly continues to move to the left side of the dotted line, at this time, the tension output by the motor assembly through the rope assembly continues to increase, and the tension will be greater than the specified training force corresponding to 40 Kg, but the component gravity of the leg-pushing assembly is assistance, the user still feels that the resistance applied by the leg-pushing assembly is fixed, and the fixed resistance is the specified training force corresponding to 40 Kg.

[0106] Overall, the embodiment can dynamically and real-timely calculate the tension, and under the action of the tension and the component gravity, no matter where the leg-pushing assembly is rotated to by the horizontal pushing force applied by the user, the user will always feel that the resistance applied by the leg-pushing assembly to the user is fixed, and the fixed resistance is the specified training force set by the user, so as to ensure the training accuracy and certainty of the user.

[0107] It should be noted that in the above various embodiments, the above steps do not necessarily have a certain order, and those skilled in the art can understand from the description of the embodiments of the present application that the above steps can have different execution orders in different embodiments, that is, they can be executed in parallel, or they can be executed in exchange, and the like.

[0108] As another aspect of the embodiments of the present application, the embodiments of the present application provide a resistance control device applied to the sitting leg kicking apparatus described in the above various embodiments. The resistance control device can be a software module including a plurality of instructions stored in a memory accessible by a processor to execute the instructions to complete the tension control method described in the above various embodiments.

[0109] In some embodiments, the resistance control device can also be built by hardware devices, for example, the resistance control device can be built by one or more chips, each chip can work with each other to complete the tension control method described in the above various embodiments. For another example, the resistance control device can also be built by various logic devices, such as general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), single-chip microcomputers, ARM (Acorn RISC Machine) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination of these components.

[0110] Please refer to Figure 11 , the resistance control device 110 includes a force data acquisition module 111, a posture information determination module 112, a tension calculation module 113, and a tension output module 114.

[0111] The force data acquisition module 111 is configured to acquire the component weight of the leg kicking assembly and the specified training force input to the sitting leg kicking apparatus. The leg kicking assembly can be subjected to a horizontal pushing force to rotate in a second circumferential direction opposite to the first circumferential direction.

[0112] The posture information determination module 112 is configured to determine the rotation posture information of the leg kicking assembly on the sitting leg kicking apparatus.

[0113] The tension calculation module 113 is configured to calculate the tension according to the rotation posture information, the component weight, and the specified training force.

[0114] The tension output module 114 is configured to control the motor assembly to drive the rope assembly to output the tension, so that the resultant force of the tension and the component weight outputs a fixed resistance. The size of the fixed resistance is consistent with the size of the specified training force, and the direction of the fixed resistance is opposite to the direction of the horizontal pushing force.

[0115] The pulling force output by the embodiment can change in real time, dynamically and adaptively according to the posture change of the leg-pushing assembly, and the pulling force can offset the influence of the assembly gravity of the leg-pushing assembly in the change process, so as to ensure that the user feels that the resistance provided by the leg-pushing assembly is fixed during the exercise, and thus the accuracy of the training and the training effect and certainty can be ensured.

[0116] In some embodiments, the pulling force calculation module 113 is specifically configured to: calculate a first component force in a preset direction according to the rotation posture information and the assembly gravity, calculate a second component force in the preset direction according to the rotation posture information and the specified training force, and calculate the pulling force according to the second component force, the first component force and the rotation posture information.

[0117] In some embodiments, the rotation posture information includes a first included angle between the leg-pushing assembly and the support seat, and the pulling force calculation module 113 is further specifically configured to: calculate a first cosine value of the first included angle, and calculate the first component force in the preset direction according to the first cosine value and the assembly gravity.

[0118] In some embodiments, the rotation posture information includes a first included angle between the leg-pushing assembly and the support seat, and the pulling force calculation module 113 is further specifically configured to: calculate a first sine value of the first included angle, and calculate the second component force in the preset direction according to the first sine value and the specified training force.

[0119] In some embodiments, the rotation posture information includes a second included angle between the rope assembly and the leg-pushing assembly, and the pulling force calculation module 113 is further specifically configured to: calculate a component force difference between the second component force and the first component force, calculate a second sine value of the second included angle, and calculate the pulling force according to the component force difference and the second sine value.

[0120] In some embodiments, the preset direction is perpendicular to the leg-pushing assembly.

[0121] In some embodiments, the rotation posture information includes a first included angle between the leg-pushing assembly and the support seat, and the posture information determination module 112 is specifically configured to: calculate a rope length of the rope assembly, determine a first distance from a connecting point of the rope assembly and the leg-pushing assembly to a rotation shaft point of the leg-pushing assembly and the support seat, determine a second distance from the rotation shaft point to a rope exit point of the rope assembly, and calculate the first included angle according to the rope length, the first distance and the second distance.

[0122] In some embodiments, the rotation posture information further includes a second included angle between the rope assembly and the leg-pushing assembly, and the posture information determination module 112 is specifically configured to: calculate a third included angle according to the rope length, the first distance and the second distance, the third included angle being a supplementary angle of the second included angle, and determine the second included angle according to the third included angle.

[0123] It should be noted that the above resistance control device can execute the tension control method provided by the embodiments of the present application, has the function modules and beneficial effects corresponding to the execution method. The technical details not described in detail in the resistance control device embodiments can be referred to the tension control method provided by the embodiments of the present application.

[0124] Please refer to Figure 12 , Figure 12 The circuit structure schematic diagram of a controller provided by the embodiments of the present application is shown in the figure, wherein the controller can be any suitable type of device or electronic product, for example, the controller includes a numerical control machine tool, a computer or a mobile phone, and other devices or electronic products with logic calculation and analysis functions. As shown in the figure, Figure 12 The controller 120 includes one or more processors 121 and a memory 122. Among them, Figure 12 Take one processor 121 as an example.

[0125] The processor 121 and the memory 122 can be connected through a bus or other means, Figure 12 Take the connection through the bus as an example.

[0126] The memory 122 is a kind of non-volatile computer readable storage medium, which can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the tension control method in the embodiments of the present application. The processor 121 executes the non-volatile software program, instruction and module stored in the memory 122, thereby executing various functional applications and data processing of the resistance control device, that is, realizing the tension control method provided by the above method embodiments and the functions of each module or unit of the above device embodiments.

[0127] The memory 122 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 122 can optionally include a memory remotely arranged with respect to the processor 121, and these remote memories can be connected to the processor 121 through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0128] The program instructions / modules are stored in the memory 122, and when executed by the one or more processors 121, the tension control method in any of the above method embodiments is executed.

[0129] The embodiments of the present application also provide a non-volatile computer storage medium, and the non-volatile computer storage medium stores computer executable instructions, which are executed by one or more processors, for example Figure 12The tension control method in any of the above method embodiments can be executed by the one processor 121, so that the one or more processors can execute the tension control method.

[0130] The embodiments of the present application also provide a computer program product, which comprises a computer program stored on a non-volatile computer storage medium, and the computer program comprises program instructions, which, when executed by a controller, cause the controller to execute the tension control method.

[0131] The device or equipment embodiments described above are merely illustrative, wherein the unit modules described as separate components can or can not be physically separated, and the components displayed as module units can or can not be physical units, i.e., can be located in one place or distributed on multiple network module units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0132] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Based on such understanding, the above technical solutions or the part that contributes to the related art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some part of the embodiments.

[0133] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of the different aspects of the present application as described above. In order to be brief, they are not provided in details; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tension control method applied to a seated leg-pressing device, the seated leg-pressing device comprising a support base, a leg-pressing assembly, a motor assembly, and a rope assembly, wherein the leg-pressing assembly is rotatably mounted on the support base, one end of the rope assembly is connected to the leg-pressing assembly, and the other end of the rope assembly is wound around the motor assembly, the motor assembly driving the rope assembly to cause the leg-pressing assembly to rotate in a first circumferential direction, characterized in that... The tension control method comprises: obtaining the component gravity of the leg kicking assembly and the specified training force input to the sitting leg kicking device, the leg kicking assembly being capable of rotating in a second circumferential direction under a horizontal thrust force, the second circumferential direction being opposite to the first circumferential direction; determining the rotation posture information of the leg kicking assembly on the sitting leg kicking device; calculating the tension according to the rotation posture information, the component gravity and the specified training force; controlling the motor assembly to drive the rope assembly to output the tension, so that the combined force of the tension and the component gravity outputs a fixed resistance, the size of the fixed resistance being consistent with the size of the specified training force, and the direction of the fixed resistance being opposite to the direction of the horizontal thrust force.

2. The tension control method according to claim 1, characterized by, The calculation of the tension according to the rotation posture information, the component gravity and the specified training force comprises: calculating a first component force in a preset direction according to the rotation posture information and the component gravity; calculating a second component force in the preset direction according to the rotation posture information and the specified training force; calculating the tension according to the second component force, the first component force and the rotation posture information.

3. The tension control method according to claim 2, characterized by, The rotation posture information comprises a first included angle between the leg kicking assembly and the support seat, and the calculation of the first component force in the preset direction according to the rotation posture information and the component gravity comprises: calculating a first cosine value of the first included angle; calculating the first component force in the preset direction according to the first cosine value and the component gravity.

4. The tension control method according to claim 2, characterized by, The rotation posture information comprises a first included angle between the leg kicking assembly and the support seat, and the calculation of the second component force in the preset direction according to the rotation posture information and the specified training force comprises: calculating a first sine value of the first included angle; calculating the second component force in the preset direction according to the first sine value and the specified training force.

5. The tension control method according to claim 2, characterized by, The rotation posture information comprises a second included angle between the rope assembly and the leg kicking assembly, and the calculation of the tension according to the second component force, the first component force and the rotation posture information comprises: calculating a component force difference value between the second component force and the first component force; calculating a second sine value of the second included angle; calculating the tension according to the component force difference value and the second sine value.

6. The tension control method according to claim 2, characterized by, The preset direction is a direction perpendicular to the leg kicking assembly.

7. The tension control method according to any one of claims 1 to 6, characterized by, The rotation posture information comprises a first included angle between the leg kicking assembly and the support seat, and the determination of the rotation posture information of the leg kicking assembly on the sitting leg kicking device comprises: calculating a rope length of the rope assembly; determining a first distance from a connecting point of the rope assembly and the leg kicking assembly to a rotation shaft point of the leg kicking assembly and the support seat; determining a second distance from the rotation shaft point to an out-rope point of the rope assembly; calculating the first included angle according to the rope length, the first distance and the second distance.

8. The tension control method according to claim 7, characterized by, The rotation posture information further comprises a second included angle between the rope assembly and the leg kicking assembly, and the determination of the rotation posture information of the leg kicking assembly on the sitting leg kicking device further comprises: calculating a third included angle according to the rope length, the first distance and the second distance, the third included angle being a supplementary angle of the second included angle; determining the second included angle according to the third included angle.

9. A non-volatile readable storage medium, characterized by The non-volatile readable storage medium stores computer executable instructions for causing the controller to perform the tension control method according to any one of claims 1-8.

10. A seated leg curl and leg press machine comprising: Comprise: a support base; a leg-pushing assembly rotatably mounted on the support base; a motor assembly mounted on the support base; a rope assembly having one end connected to the leg-pushing assembly and the other end wound around the motor assembly; and a controller electrically connected to the motor assembly for performing the tension control method according to any one of claims 1-8. ​

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