Control method and device of fitness equipment, electronic equipment and medium

Abstract

Embodiments of the present application are applicable to the technical field of motion control, and provide a control method and device of a fitness device, electronic equipment and a medium, the fitness device comprising a first fluid driver and a second fluid driver, the first fluid driver and the second fluid driver being communicated through a valve, the method comprising: acquiring a motion state of the fitness device and determining a motion direction of the fitness device, the motion state comprising a motion mode and a motion stage; determining a target output force of the fitness device according to the motion state and the motion direction; and adjusting the valve according to the target output force, the valve being used to adjust a resistance generated when fluid flows between the first fluid driver and the second fluid driver. In the above manner, the control of a flow control damping fitness device using fluid resistance as an output force can be realized, so that the resistance provided by the flow control damping fitness device is consistent with the force habit of human body exercise.

Description

Technical Field

[0001] This application belongs to the field of motion control technology, and in particular relates to a control method, device, electronic equipment and medium for fitness equipment. Background Technology

[0002] Fitness equipment typically stimulates muscles by applying resistance to human movement. Gym equipment generally uses the weight of a load as the resistance source, supplemented by ropes and pulleys for guidance, to provide appropriate exercise resistance. However, this method provides resistance directly related to the mass of the load, making it more suitable for gyms and homes, and less portable. Another type of active fitness equipment generates active resistance through motors. While this type overcomes the strong correlation between output resistance and the equipment's own mass, it consumes more energy, has a larger motor, and still has considerable mass, making it less portable.

[0003] Fluid-controlled damping fitness equipment provides resistance by adjusting the flow damping of the fluid. When idle, this equipment can be emptied of fluid, reducing its size and offering better portability and lower energy consumption compared to conventional fitness equipment. However, fluid-controlled damping equipment struggles to control the output force to suit individual user needs.

[0004] Because the fluid resistance in flow-controlled damping fitness equipment is generated by the resistance of fluid flowing through a small orifice, the output force of this equipment can only always be opposite to the actual direction of movement. This means that when the movement is reversed, the force output by the flow-controlled damping fitness equipment will also be reversed. In contrast, in general fitness equipment, the resistance is always in the same direction. In general fitness equipment, if a user is stretching, the equipment only provides resistance during the stretching phase; after stretching, the equipment does not provide resistance during the reset phase. However, when using flow-controlled damping fitness equipment for stretching, the equipment provides resistance during the reset phase after stretching. Obviously, this does not conform to existing fitness habits. Therefore, when controlling flow-controlled damping fitness equipment, it is necessary to consider the different output force characteristics between flow-controlled damping fitness equipment and general fitness equipment to maintain reasonable force application habits of the human body during exercise. Therefore, controlling flow-controlled damping fitness equipment presents challenges. Summary of the Invention

[0005] In view of this, embodiments of this application provide a control method, device, electronic device, and medium for fitness equipment, so as to control fitness equipment that uses fluid damping as resistance, so that the resistance provided by the fitness equipment is consistent with the force application habits of the human body during exercise.

[0006] A first aspect of this application provides a method for controlling a fitness device, the fitness device including a first fluid actuator and a second fluid actuator, the first fluid actuator and the second fluid actuator being connected via a valve, the method comprising:

[0007] The motion state of the fitness equipment is acquired, and the motion direction of the fitness equipment is determined. The motion state includes a motion mode and a motion stage. The motion mode is used to characterize the motion direction corresponding to when the fitness equipment outputs fitness resistance, and the motion stage is used to characterize the timing when the fitness equipment outputs fitness resistance.

[0008] The target output force of the fitness equipment is determined based on the motion state and the motion direction.

[0009] The valve is adjusted according to the target output force. The valve is used to adjust the resistance generated when fluid flows between the first fluid actuator and the second fluid actuator.

[0010] A second aspect of this application provides a control device for a fitness device, the fitness device including a first fluid actuator and a second fluid actuator, the first fluid actuator and the second fluid actuator being connected via a valve, the device comprising:

[0011] The acquisition module is used to acquire the motion state of the fitness equipment and determine the motion direction of the fitness equipment. The motion state includes a motion mode and a motion stage. The motion mode is used to characterize the direction of the resistance output by the fitness equipment, and the motion stage is used to characterize the timing of the fitness equipment outputting resistance to the user.

[0012] A determining module is used to determine the target output force of the fitness equipment based on the motion state and the motion direction;

[0013] An adjustment module is used to adjust the valve according to the target output force, the valve being used to adjust the resistance generated when fluid flows between the first fluid actuator and the second fluid actuator.

[0014] A third aspect of this application provides a fitness device, the fitness device including a first fluid actuator and a second fluid actuator, the connection between the first fluid actuator and the second fluid actuator including a valve, the fitness device being controlled by the method described in the first aspect above.

[0015] A fourth aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.

[0016] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0017] A sixth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to perform the method described in the first aspect.

[0018] Compared with the prior art, the embodiments of this application have the following advantages:

[0019] The fitness device in this embodiment may include a first fluid actuator and a second fluid actuator, which are connected by a valve. Fluid can be injected into the first and second fluid actuators to allow the fitness device to assume a certain posture. When a user exercises with the fitness device, pressure can be applied to the first and second fluid actuators, allowing fluid to flow through the valve and changing their shape, thus achieving another posture. Flow resistance exists between the first and second fluid actuators, and this resistance can be used as the output force of the fitness device to stimulate the user's muscles, enabling the user to achieve their fitness goals. During the user's exercise, the device's motion status and direction can be determined. The motion status may include the motion mode and direction; the desired exercise method can be determined based on the motion mode; and whether to output resistance to the user can be determined based on the exercise stage. Then, based on the exercise mode, exercise stage, and exercise direction, the target output force required by the fitness equipment can be determined. Since the resistance generated when the fluid flows between the first and second fluid actuators is related to the valve opening size, the valve can be adjusted to change the resistance generated when the fluid flows between the first and second fluid actuators, so that the fitness equipment can output the target output force. In this embodiment, based on the user's exercise mode, exercise stage, and exercise direction during the exercise process, the output force of the fitness equipment can be controlled by adjusting the valve, thereby meeting the user's resistance needs under different conditions, so that the resistance provided by the fitness equipment matches the force application habits of the human body during exercise. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0021] Figure 1This is a schematic diagram of a fitness device provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of a valve state provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the minimum and maximum angles of a fitness device provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the minimum and maximum angle ranges of a fitness device provided in an embodiment of this application;

[0025] Figure 5 This is a flowchart illustrating the steps of a control method for a fitness device provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram illustrating the determination of a motion pattern according to an embodiment of this application;

[0027] Figure 7 This is a schematic diagram illustrating how to determine the direction of motion according to an embodiment of this application;

[0028] Figure 8 This is a schematic diagram of a force control algorithm provided in an embodiment of this application;

[0029] Figure 9 This is a flowchart illustrating the steps of another control method for a fitness device provided in this application embodiment;

[0030] Figure 10 This is a schematic diagram illustrating the determination of reverse intent provided in an embodiment of this application;

[0031] Figure 11 This is another schematic diagram illustrating the determination of reverse intent provided in an embodiment of this application;

[0032] Figure 12 This is a control flowchart of a fitness device under a stretching force mode provided in an embodiment of this application;

[0033] Figure 13 This is a control flowchart of a fitness device under compression force mode provided in an embodiment of this application;

[0034] Figure 14 This is a schematic diagram of another fitness device provided in an embodiment of this application;

[0035] Figure 15 This is a schematic diagram of another fitness device provided in an embodiment of this application;

[0036] Figure 16 This is a schematic diagram of a control device for a fitness device provided in an embodiment of this application;

[0037] Figure 17 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0038] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0039] To better illustrate the control method of the fitness equipment in this application, the fitness equipment provided in this application will first be introduced.

[0040] Figure 1 This is a schematic diagram of a fitness device provided in an embodiment of this application. The fitness device is a fluid-controlled damping fitness device, which uses the resistance of a fluid as its output force. The fluid can be a gas or a liquid; for example, a fluid-controlled damping fitness device can be a liquid-controlled damping fitness device. In this embodiment, a liquid is used as the fluid to illustrate the solution in this application.

[0041] like Figure 1 As shown, the fitness equipment may include a first and a second grip bar that can rotate relative to each other, and the first and second grip bars are connected to each other in a scissor shape. Stretching or compression exercises can be performed using the fitness equipment, such as... Figure 1 As shown, during stretching, the first and second grips move away from each other; during compression, the first and second grips move closer together.

[0042] like Figure 1As shown, the fitness equipment may further include a first fluid actuator and a second fluid actuator. The two ends of the first and second fluid actuators are respectively fixed to a first grip bar and a second grip bar. The first and second fluid actuators are connected by a variable-area valve, the size of which can be controlled by a motor. When using the fitness equipment, fluid can be injected into the first and second fluid actuators and then sealed; for example, liquid can be injected separately. Then, when the first and second grip bars approach each other, the fitness equipment performs a compression movement. The volume of the first fluid actuator is compressed, while the volume of the second fluid actuator is stretched. Due to the incompressibility of liquid, the liquid inside the first fluid actuator attempts to flow to the second fluid actuator through the valve at the connection point. Because the flow velocity of the liquid is limited by the valve area, corresponding resistance is generated, thus outputting force to the user during the liquid flow. Similarly, when the first and second grip bars move away from each other, the fitness equipment performs a stretching movement. The volume of the first fluid actuator is stretched, while the volume of the second fluid actuator is compressed. The liquid inside the second fluid actuator attempts to flow to the first fluid actuator through the valve at the connection point. By adjusting the valve size, corresponding stretching resistance can be generated.

[0043] Figure 2 This is a schematic diagram of the valve state provided in the embodiments of this application, such as... Figure 2 As shown, when the valve is fully closed, fluid cannot flow between the first and second fluid actuators; therefore, the volumes of the first and second fluid actuators cannot be changed, and the output force of the fitness equipment is high resistance. When the valve is fully open, fluid can flow freely between the first and second fluid actuators, and the output force of the fitness equipment is low resistance, allowing the user to easily change the posture of the fitness equipment. When the valve is in the adjustment state, different levels of fitness resistance can be output to the user by adjusting the valve size according to the user's selected fitness mode.

[0044] The relative movement between the first grip and the second grip will change the angle between the first grip and the second grip, that is... Figure 1 In the context of θ, the effective stroke of fitness equipment during stretching and compression exercises cannot be arbitrarily large; it is limited by the minimum compression and maximum elongation of the fluid actuator. To prevent damage to the fluid actuator due to unlimited elongation or compression, additional mechanical constraints can be applied to physically protect it, ensuring that the stroke is always kept within two extreme positions: the angle between the first and second grip bars remains at its minimum and maximum angle positions. The minimum and maximum angles between the first and second grip bars can be defined as follows: Figure 3 θ min and θmax As shown. Setting both the minimum and maximum angles to fixed angles imposes strict requirements on movement. Therefore, to facilitate user operation, the maximum and minimum angles can be set within a certain angle range, such as... Figure 4 As shown, the maximum angle can be within the maximum angle range [θ]. max2 ,θ max Within the range of minimum angles, the minimum angle can be found in the minimum angle interval [θ]. min ,θ min2 Within. The minimum and maximum angle ranges can be adjusted. By adjusting the size of the minimum and maximum angle ranges, the strictness of the standard for completing the movement can be adjusted.

[0045] The fitness equipment in this application has motion modes, which characterize the direction of motion corresponding to the output of fitness resistance. The fitness equipment can include three motion modes: stretching resistance mode, compression resistance mode, and no resistance mode. In stretching resistance mode, the user needs to perform stretching exercises; that is, the fitness equipment needs to provide the user-set fitness resistance during the stretching process. During compression, it provides slight resistance so that the fitness equipment can be easily returned to its initial position. In compression resistance mode, the user needs to perform compression exercises; that is, the fitness equipment needs to provide the user-set fitness resistance during the compression process. During stretching, it provides slight resistance so that the fitness equipment can be easily returned to its initial position. In no resistance mode, the fitness equipment is in a free-movement state and can always output slight resistance. In no resistance mode, the user can adjust the fitness equipment to a suitable initial position.

[0046] The fitness equipment in this application has a direction of motion, which is used to characterize the direction of relative motion between the first grip bar and the second grip bar. The direction of motion can include a stretching direction, a compression direction, and no direction. The stretching direction is the direction of motion in which the first grip bar and the second grip bar move away from each other; the compression direction is the direction of motion in which the first grip bar and the second grip bar move closer to each other; and no direction means that the first grip bar and the second grip bar are relatively stationary.

[0047] The fitness device in this application has a movement phase, which characterizes the timing when the fitness device outputs resistance. The movement phase can include a force-bearing phase and a relaxation phase. The force-bearing phase is when the fitness device needs to output the user-set resistance, and the relaxation phase is when the fitness device outputs minimal resistance. In the stretching force-bearing mode, the phase where the user stretches the fitness device is the force-bearing phase; the phase where the user compresses the fitness device after it has been stretched to its maximum angle range, causing it to return to its initial position, is the relaxation phase. In the compression force-bearing mode, the phase where the user compresses the fitness device is the force-bearing phase; the phase where the user stretches the fitness device after it has been compressed to its minimum angle range, causing it to return to its initial position, is the relaxation phase.

[0048] The technical solution of this application will be described below through specific embodiments.

[0049] Reference Figure 5 The diagram illustrates a step-by-step flowchart of a control method for a fitness device according to an embodiment of this application, which may specifically include the following steps:

[0050] S501, acquire the motion state of the fitness equipment and determine the motion direction of the fitness equipment. The motion state includes a motion mode and a motion stage. The motion mode is used to characterize the motion direction corresponding to when the fitness equipment outputs fitness resistance, and the motion stage is used to characterize the timing when the fitness equipment outputs fitness resistance.

[0051] The method in this embodiment is applied to fitness equipment, which can be a fluid-controlled damping fitness device. This device provides resistance through fluid damping, where the fluid can include gas or liquid; for example, the fluid-controlled damping fitness device can be a liquid-controlled damping fitness device. This embodiment uses a liquid as the fluid to illustrate the solution in this application.

[0052] During exercise, users can set different fitness modes to train different muscles. Based on the set fitness mode, the exercise mode and resistance of the fitness equipment can be determined. In this embodiment, the fitness resistance is the output force of the fitness equipment set by the user for exercise.

[0053] In one possible implementation, the fitness equipment can be equipped with corresponding physical function buttons to set the corresponding exercise modes and fitness resistance. The fitness equipment can also communicate with other electronic products via Bluetooth or infrared. Users can set fitness modes through electronic products that are connected to the fitness equipment. These electronic products can be mobile phones, tablets, computers, wristbands, mini remote controls, etc., and the mini remote control can be detachably assembled with the fitness equipment.

[0054] In one possible implementation, the fitness device may include fields for recording exercise patterns and fields for measuring exercise resistance; when physical button information, Bluetooth information, or infrared information is detected, the corresponding field values ​​can be updated. During operation, the fitness device can read the fields recording exercise patterns to determine the current exercise pattern.

[0055] Figure 6 This is a schematic diagram illustrating the determination of a motion pattern according to an embodiment of this application. For example... Figure 6 As shown, the user-defined exercise mode can be obtained through physical buttons or other electronic devices to determine whether the exercise mode is a stretching force mode; if the exercise mode is not a stretching force mode, it can be determined whether the exercise mode is a compression force mode; if the exercise mode is not a compression force mode, it means that the exercise mode is a no-force mode, at which point the valve can be fully opened to allow the fitness equipment to move freely.

[0056] The exercise phase of the fitness equipment can be switched between a stress phase and a relaxation phase. When the angle between the first and second grip bars is within a first or second angle range, the exercise phase can be switched if the user exhibits any opposing intention. For example, in stretching stress mode, the initial exercise phase can be set as the stress phase. When the angle between the first and second grip bars is stretched from the initial angle to the maximum angle range, if the user begins to compress, the exercise phase can be switched to the relaxation phase. Conversely, when the angle between the first and second grip bars is compressed from the maximum angle range to the minimum angle range, if the user begins to stretch, the exercise phase can be switched to the stress phase.

[0057] In one possible implementation, the fitness device may include an identifier value that can be used to record the exercise phase of the device. The device can change this identifier value each time it switches between exercise phases. For example, whenever the angle between the first and second grip bars is detected to reach a first or second angle range, if the device detects an intention from the user to change the direction of movement, the identifier value can be changed. By reading this identifier value, the corresponding exercise phase of the fitness device can be determined.

[0058] The direction of motion of the fitness equipment can be determined by the angular velocity of the fitness equipment or the pressure difference between the first pressure of the first fluid actuator and the second pressure of the second fluid actuator.

[0059] When the relative motion between the first and second grips of a fitness device is significant, the direction of motion can be determined by this relative motion. When the relative motion between the first and second grips is significant, the change in their angle is also significant; therefore, this relative motion can be characterized by the angular velocity of the fitness device. The angular velocity of the fitness device can be characterized by the change in the angle between the first and second grips per unit time.

[0060] Fitness equipment can be equipped with angle sensors to collect the angle between the first and second grip bars. Within a unit of time, the angle sensor can collect angle values, thus determining the amount of angle change between the first and second grip bars per unit time. This angle change has magnitude and sign; when the first and second grip bars are relatively far apart, the angle change is positive; when they are relatively close, the angle change is negative. The ratio of the angle change to the unit time is taken as angular velocity, which also has magnitude and sign. The magnitude of the angular velocity can be numerical, and the sign can be positive or negative.

[0061] The relative motion between the first and second grips is significant, meaning the angle change between them is substantial, and the angular velocity of the fitness equipment exceeds a preset speed threshold. When the angular velocity exceeds the preset threshold, the direction of motion can be determined by the sign of the angular velocity. A positive sign indicates that the first and second grips are moving away from each other, and the direction of motion is stretching. A negative sign indicates that the first and second grips are moving closer together, and the direction of motion is compression.

[0062] During exercise, a situation may arise where insufficient muscle strength prevents the first and second grips from moving relative to each other, or the relative movement is minimal. In such cases, it's difficult to determine the direction of movement using angular velocity. However, during exercise, the user outputs force to the first and second fluid actuators, causing them to receive pressure. Based on the pressure difference between the first and second fluid actuators, the direction of movement can be determined.

[0063] The fitness equipment may include a first pressure sensor for acquiring a first pressure from a first fluid actuator, and a second pressure sensor for acquiring a second pressure from a second fluid actuator. If the angular velocity is less than or equal to a velocity threshold, the direction of motion of the fitness equipment can be determined using the first and second pressures.

[0064] The fluid in the first and second fluid actuators flows under the influence of a pressure difference between a first pressure and a second pressure. When the first and second levers are moving away from each other, the second pressure is greater than the first pressure, allowing fluid to flow from the second fluid actuator to the first fluid actuator based on the pressure difference. When the first and second levers are moving closer together, the second pressure is less than the first pressure, allowing fluid to flow from the first fluid actuator to the second fluid actuator based on the pressure difference. Due to the inherent resistance of the fluid, the pressure difference needs to reach a certain threshold to change the volume of the first and second fluid actuators.

[0065] Based on this, the difference between the second pressure and the first pressure can be determined. If the difference is greater than the preset positive pressure difference threshold, the direction of motion can be determined to be the stretching direction. If the difference is less than the preset negative pressure difference threshold, the direction of motion can be determined to be the compression direction. If the difference is not greater than the positive pressure difference threshold and not less than the negative pressure difference threshold, the direction of motion can be determined to be directionless.

[0066] Figure 7 This is a schematic diagram illustrating how to determine the direction of motion according to an embodiment of this application. Figure 7 In this system, the direction of motion is determined by combining the angle detected by the angle sensor and the pressure value detected by the pressure sensor. For example... Figure 7 As shown, when determining the direction of motion, we can first check if the angular velocity is greater than the positive angle threshold. If the angular velocity is greater than the positive angle threshold, it indicates that the magnitude of the velocity is greater than the velocity threshold, and the sign of the angular velocity is positive, therefore the direction of motion is the stretching direction. If the angular velocity is not greater than the positive angle threshold, we can then check if the angular velocity is less than the negative angle threshold. If the angular velocity is less than the negative angle threshold, it indicates that the magnitude of the angular velocity is greater than the velocity threshold, and the sign of the angular velocity is negative, therefore the direction of motion is the compression direction. If the angular velocity is not greater than the positive angle threshold and not less than the negative angle threshold, the direction of motion can be determined by the pressure difference between the second pressure P2 of the second fluid actuator and the first pressure P1 of the first fluid actuator. If the pressure difference is greater than the positive pressure difference threshold, it indicates that the direction of motion is the stretching direction; otherwise, if the pressure difference is less than the negative pressure difference threshold, it indicates that the direction of motion is the compression direction. If the pressure difference is neither greater than the positive pressure difference threshold nor less than the negative pressure difference threshold, then the direction of motion is undefined.

[0067] In one possible implementation, since the angle change between the first and second grips is more indicative of the direction of movement of the fitness equipment, the direction of movement is determined primarily by the angle detected by the angle sensor.

[0068] S502, determine the target output force of the fitness equipment based on the motion state and the motion direction.

[0069] Fitness equipment has different desired motion directions at different stages of different exercise modes. For example, in the stretching force mode, the desired motion direction is the stretching direction during the force application stage and the desired motion direction is the compression direction during the relaxation stage; in the compression force mode, the desired motion direction is the compression direction during the force application stage and the desired motion direction is the stretching direction during the relaxation stage.

[0070] When using fitness equipment, if the actual direction of movement does not match the desired direction, users can generally apply high resistance to prevent the equipment from moving in the opposite direction. For example, in stretching mode, during the loading phase, if the detected direction of movement is compression, the target output force of the fitness equipment is high resistance; in the relaxation phase, if the detected direction of movement is stretching, the target output force of the fitness equipment is high resistance; in compression mode, during the loading phase, if the detected direction of movement is stretching, the target output force provided by the fitness equipment is high resistance; and in the relaxation phase, if the detected direction of movement is compression, the target output force provided by the fitness equipment is high resistance.

[0071] When a user uses fitness equipment, if the actual direction of movement of the equipment matches the desired direction of movement, the target output force of the equipment can act as resistance during the exercise phase, allowing the user to exercise in the set fitness mode. During the relaxation phase, the target output force can act as low resistance to match the user's usual exercise habits. For example, in stretching mode, if the detected direction of movement is stretching during the stress phase, the target output force provided by the fitness equipment is fitness resistance. In compression mode, if the detected direction of movement is compression during the stress phase, the target output force provided by the fitness equipment is fitness resistance. In stretching mode, if the detected direction of movement is compression during the relaxation phase, the target output force provided by the fitness equipment is low resistance. In compression mode, if the detected direction of movement is stretching during the relaxation phase, the target output force provided by the fitness equipment is low resistance.

[0072] In summary, determining the output force of fitness equipment requires identifying its motion mode, motion phase, and motion direction. The target output force of the fitness equipment under different motion modes, motion phases, and motion directions is shown in Table 1.

[0073]

[0074]

[0075] Table 1

[0076] Additionally, during the relaxation phase, when the angle between the first and second grips reaches either the first or second angle range, it's necessary to switch to the next exercise phase, at which point the output resistance of the fitness equipment will also change. Therefore, during the relaxation phase, the direction of movement of the fitness equipment needs to be determined based on the angle between the first and second grips.

[0077] In summary, if the exercise phase is a force-bearing phase, the target output force of the fitness equipment is determined based on the exercise mode and direction. If the exercise mode is a stretching force mode and the direction of movement is stretching, the fitness resistance is used as the target output force. If the exercise mode is a stretching force mode and the direction of movement is compression, the target output force is determined as a preset first resistance value, which is the resistance value when the valve is fully closed. If the exercise mode is a compression force mode and the direction of movement is compression, the fitness resistance is used as the target output force. If the exercise mode is a compression force mode and the direction of movement is stretching, the target output force is determined as the first resistance value. The first resistance value can be a set maximum resistance, i.e., the large resistance mentioned above, which is the resistance value that can be provided when the valve is fully closed, but cannot be provided when the valve is not fully closed. The second resistance value can be a set minimum resistance, i.e., the micro resistance mentioned above, which is the resistance value that can be provided when the valve is fully open, but cannot be provided when the valve is not fully open. In one possible implementation, the second resistance value can be set to 0.

[0078] If the exercise phase is the relaxation phase, the target output force can be determined based on the angle between the first and second grip bars of the fitness equipment. If the exercise mode is a stretching force mode and the angle is within the preset minimum angle range, the target output force is determined as the preset first resistance value, which is the resistance when the valve is fully closed. If the exercise mode is a stretching force mode and the angle is not within the preset minimum angle range, the target output force is determined as the preset second resistance value, which is the resistance when the valve is fully open. If the exercise mode is a compression force mode and the angle is within the preset maximum angle range, the target output force is determined as the first resistance value. If the exercise mode is a compression force mode and the angle is not within the preset maximum angle range, the target output force is determined as the second resistance value.

[0079] S503, adjust the valve according to the target output force, the valve being used to adjust the resistance generated when fluid flows between the first fluid actuator and the second fluid actuator.

[0080] Since the valve is used to regulate the resistance generated when the fluid flows between the first fluid actuator and the second fluid actuator, the fitness equipment can output the corresponding target output force by adjusting the size of the valve opening.

[0081] If the target output force is the first resistance value, it can be determined that the fitness equipment needs to provide high resistance. Therefore, all valves are closed to prevent the state of the first and second fluid actuators from changing. If the target output force is the second resistance value, it can be determined that the fitness equipment needs to provide low resistance. Therefore, all valves are opened to allow the state of the first and second fluid actuators to be easily changed.

[0082] If the target output force is the resistance of exercise, the valve control command can be determined based on the resistance, thereby adjusting the valve opening to a certain size.

[0083] Valve control can be achieved through a combination of feedforward and feedback control. Feedforward control involves determining the valve's control command based on the resistance of the exercise equipment and a pre-defined mapping relationship. This mapping relationship is the relationship between the valve opening size and the output force of the exercise equipment. This mapping relationship can be obtained experimentally by measuring the output force of the exercise equipment at common exercise speeds with different valve opening sizes and fitting a curve between the valve opening size and the equipment's output force. Based on this curve and the target output force, the corresponding valve opening size can be determined, thereby determining the corresponding feedforward control command.

[0084] Feedback control involves controlling the valve opening based on the error between the actual output resistance of the fitness equipment and the actual resistance used in the workout, thereby reducing this error. The actual output resistance of the fitness equipment can be estimated using the pressure difference between the first pressure of the first fluid actuator and the second pressure of the second fluid actuator. Based on the first and second pressures, the actual output resistance of the fitness equipment is determined; based on the error between the actual output resistance and the actual resistance used in the workout, the feedback control command can be determined.

[0085] In one possible implementation, the actual output resistance can be determined using the following formula:

[0086] F = A(P1 - P2)

[0087] Where F is the actual output resistance, A is the equivalent cross-sectional area of ​​the fluid actuator, which can be obtained by fitting experimental data, P1 is the first pressure of the first fluid actuator, and P2 is the second pressure of the second fluid actuator.

[0088] The closed-loop automatic control algorithm can control the error between the actual output resistance and the fitness resistance, making the error tend to 0, thereby obtaining the feedback control command for the valve opening size.

[0089] Valve control commands can be derived from both feedforward and feedback control commands. In other words, the sum of the feedforward and feedback control commands constitutes the valve control command.

[0090] Figure 8 This is a schematic diagram of a force control algorithm provided in an embodiment of this application. Figure 8 In the middle, F d The target output force is the resistance encountered during exercise. The valve opening size can be directly mapped from the target output force to obtain the feedforward control command. The actual output resistance F can be calculated based on P1 and P2. Based on the actual output resistance and the target output force, PID control can be used to obtain the feedback control command. Adding the feedforward control command and the feedback control command yields the final valve opening command.

[0091] It should be noted that this embodiment will limit the valve feedback control command so that the actual valve control command always stays within a reasonable range near the feedforward control command, and there will be no situation where the valve opens negatively.

[0092] In this embodiment, the target output force of the fitness equipment can be determined according to the movement state and direction of the fitness equipment. By adjusting the opening size of the valve, the resistance generated when the fluid flows between the first fluid actuator and the second fluid actuator can be changed, so that the fitness equipment outputs the corresponding target output force. This ensures that the fitness equipment can meet the different resistance requirements of users under different conditions, and that the resistance provided by the fitness equipment is consistent with the force application habits of the human body during exercise.

[0093] Furthermore, since determining the target output force of fitness equipment requires the participation of the exercise phase, and the exercise phase of fitness equipment switches between the force application phase and the relaxation phase, it is necessary to continuously determine whether the current frequency of exercise has ended and whether the fitness equipment has entered a new exercise phase. The judgment of the exercise phase transition directly affects the user's sense of control over the fitness equipment and will greatly affect the user experience. Therefore, it is possible to... Figure 9 The control method in the text determines whether the fitness equipment has a reverse intention to switch exercise phases.

[0094] Reference Figure 9 This illustration shows a flowchart of another control method for a fitness device provided in an embodiment of this application, which may specifically include the following steps:

[0095] S901, acquire the motion state of the fitness equipment and determine the motion direction of the fitness equipment. The motion state includes a motion mode and a motion stage. The motion mode is used to characterize the direction of the resistance output by the fitness equipment, and the motion stage is used to characterize the timing of the fitness equipment outputting resistance to the user.

[0096] S902, determine the target output force of the fitness equipment based on the motion state and the motion direction.

[0097] S903, adjust the valve according to the target output force, the valve being used to adjust the resistance generated when fluid flows between the first fluid actuator and the second fluid actuator.

[0098] In this embodiment, S901-S903 are similar to S501-S503 in the previous embodiment and can be referenced interchangeably. They will not be described in detail here.

[0099] S904, detect whether the fitness equipment has a reverse intention to switch exercise phases.

[0100] Switching between exercise phases can occur in two situations. One situation is when the time to switch exercise phases has been reached. When the angle between the first and second grip bars of the fitness equipment reaches its minimum or maximum angle range, if a change in the direction of movement is detected, it indicates that the fitness equipment can switch exercise phases. For example, in stretching and applying force mode, during the applying force phase, when the angle between the first and second grip bars reaches its maximum angle range, if the direction of movement is detected as compression, it indicates that the user has the opposite intention to switch exercise phases. At this time, the exercise phase can be switched to the relaxation phase, allowing the user to reset the fitness equipment. Conversely, in stretching and applying force mode, during the relaxation phase, when the angle between the first and second grip bars reaches its minimum angle range, it indicates that the fitness equipment has reset. If the direction of movement is detected as stretching, it indicates that the user has the opposite intention to switch exercise phases. At this time, the exercise phase can be switched to the applying force phase, allowing the user to use the fitness equipment for stretching exercises. In compression mode, during the compression phase, when the angle between the first and second grip bars reaches its minimum range, it indicates that the user's compression movement is complete. If the detected movement direction is the stretching direction, it indicates that the user has a reverse intention to switch the exercise phase. At this time, the exercise phase can be switched to the relaxation phase, allowing the user to reset the fitness equipment. In compression mode, during the relaxation phase, when the angle between the first and second grip bars reaches its maximum range, it indicates that the fitness equipment has reset. If the detected movement direction is the compression direction, it indicates that the user has a reverse intention to switch the exercise phase. At this time, the exercise phase can be switched back to the compression phase, allowing the user to use the fitness equipment for compression movements.

[0101] Another scenario for switching exercise phases occurs when the user wishes to change the exercise phase before the appropriate time to do so. That is, the user wants to switch phases before the angle between the first and second grip bars reaches their maximum or minimum angle range. For example, in stretching mode, during the stretching phase, the user should be stretching, and the exercise equipment should move in the stretching direction, causing the angle between the first and second grip bars to continuously increase. However, if the detected movement direction is not the stretching direction, it indicates the user intends to switch phases. In this case, after accumulating a certain amount of negative intent over a period of time, the current negative intent can be confirmed as genuine, and the current exercise phase can be changed to the relaxation phase. In other words, the user does not need to stretch the angle between the first and second grip bars to their maximum angle range to switch phases. For example, if the user temporarily interrupts the exercise before reaching the maximum angle range at the beginning of stretching, the exercise phase can be switched to the relaxation phase.

[0102] Based on the above description, the reverse intention for switching motion phases can be determined by two aspects. First, if the angle between the first and second grips reaches the minimum or maximum angle range, and the current detected motion direction does not match the expected motion direction for the current phase, it can be determined that the user has a reverse intention, triggering the switching of motion phases. Second, if the angle between the first and second grips has not yet reached the minimum or maximum angle range, the reverse intention can be accumulated based on the currently detected motion direction, and the switching of motion phases can be triggered earlier after accumulating a certain amount of reverse intention over a certain period.

[0103] To facilitate timely switching between exercise phases on a fitness device, the device can detect any reverse intention to switch phases. Since switching exercise phases involves a change in movement direction, this reverse intention can be determined by the direction of movement. However, if the determination is based solely on the user's instantaneous reverse movement, the result may contain some error. To improve the accuracy of reverse intention detection, a cumulative reverse intention measurement can be used. Furthermore, to minimize errors, a cumulative jitter measurement can be used to represent the error in the cumulative reverse intention measurement. Therefore, both the cumulative reverse intention measurement and the cumulative jitter measurement can be used to jointly determine if the fitness device has a reverse intention to switch movement direction. In one possible implementation, the cumulative reverse intention measurement can be the length of time the currently detected movement direction is opposite to the desired movement direction; the cumulative jitter measurement can be the length of time the currently detected movement direction matches the desired movement direction. The fitness device can include two timers: the duration of the first timer can represent the cumulative reverse intention measurement; the duration of the second timer can represent the cumulative jitter measurement. There are two possible outcomes when switching motion phases. The first is changing the desired motion direction from stretching to compression, and the second is changing it from compression to stretching. The first scenario occurs when the current desired motion direction is stretching, for example, during the force application phase of a stretching force pattern or the relaxation phase of a compression force pattern. The second scenario occurs when the current desired motion direction is compression, for example, during the force application phase of a compression force pattern or the relaxation phase of a stretching force pattern.

[0104] When the movement pattern is a stretching stress pattern and the movement phase is a stress phase, or when the movement pattern is a compression stress pattern and the movement phase is a relaxation phase, the following can be used: Figure 10 The method shown determines whether there is a reverse intention to switch motion phases.

[0105] like Figure 10 As shown, the first step is to determine whether the movement direction is the compression direction. Since the desired movement direction is the stretching direction when the movement mode is the stretching force mode and the movement phase is the force phase, or the movement mode is the compression force mode and the movement phase is the relaxation phase, the detected movement direction is the compression direction. Therefore, if the detected movement direction is the compression direction, it indicates that the user may want to switch the movement phase. In this case, the reverse intent accumulation can be increased and the jitter accumulation can be reset, that is, the jitter accumulation can be set to zero. If the movement direction is always the compression direction, the reverse intent accumulation can be increased continuously.

[0106] If the detected motion direction is not the compression direction, it can be determined whether the cumulative reverse intent is greater than zero. If the cumulative reverse intent is greater than zero, it indicates that the user has previously used the fitness equipment to perform reverse movements, and reverse intent may still exist in this case, so the cumulative reverse intent can be increased. However, even if the user has previously used the fitness equipment to perform reverse movements, it also indicates that the user may not have reverse intent, so there is an error in the cumulative reverse intent, and the jitter accumulation can be increased in this case. When the cumulative jitter exceeds the preset jitter threshold, it indicates that there is no reverse intent, and the cumulative reverse intent and jitter accumulation can be reset.

[0107] Then, the existence of reverse intent can be determined jointly based on the accumulated amount of reverse intent and the accumulated amount of jitter intent. For example... Figure 10 As shown, if the accumulated amount of reverse intent exceeds a preset reverse intent threshold, it is determined that the fitness device has a reverse intent, and the accumulated amount of reverse intent and vibration is reset. If the accumulated amount of reverse intent is less than or equal to the reverse intent threshold, it is determined whether the angle between the first and second robotic arms is within a preset maximum angle range. If the angle is within the maximum angle range, it indicates that the fitness device has reached the point of switching exercise stages. If the angle is within the maximum angle range and the direction of movement is not a stretching direction, it indicates that the user has the intention to switch the direction of movement at the point of switching exercise stages, and therefore a reverse intent exists, i.e., the reverse intent is true. If the angle is within the maximum angle range and the direction of movement is a stretching direction, it indicates that although the point of switching exercise stages has been reached, the user does not intend to switch exercise stages, and therefore a reverse intent does not exist, i.e., the reverse intent is false. If the accumulated amount of reverse intent is less than or equal to the reverse intent threshold and the angle is not within the maximum angle range, it indicates that the fitness device does not have a reverse intent, i.e., the reverse intent is false.

[0108] When the movement pattern is a stretching stress pattern and the movement phase is a relaxation phase, or when the movement pattern is a compression stress pattern and the movement phase is a stress phase, the following can be used: Figure 11 The method shown determines whether there is a reverse intention to switch motion phases.

[0109] like Figure 11 As shown, the first step is to determine whether the movement direction is the stretching direction. Since the desired movement direction is the compression direction when the movement mode is the stretching force mode and the movement phase is the relaxation phase, or the movement mode is the compression force mode and the movement phase is the force phase, if the detected movement direction is the stretching direction, it indicates that the user may want to switch the movement phase. In this case, the reverse intent accumulation can be increased and the jitter accumulation can be reset. If the movement direction is always the stretching direction, the reverse intent accumulation can be increased continuously.

[0110] If the detected movement direction is not the stretching direction, it can be determined whether the accumulated reverse intent is greater than zero. If the accumulated reverse intent is greater than zero, it indicates that the user has previously used the fitness equipment to perform reverse movements, and reverse intent may still exist in this case, so the accumulated reverse intent can be increased. However, even if the user has previously used the fitness equipment to perform reverse movements, it also indicates that the user may not have reverse intent, so there is an error in the accumulated reverse intent, and the accumulated jitter can be increased in this case. When the accumulated jitter is greater than the preset jitter threshold, it indicates that there is no reverse intent, and the accumulated reverse intent and accumulated jitter can be reset.

[0111] Then, the existence of reverse intent can be determined jointly based on the accumulated amount of reverse intent and the accumulated amount of jitter intent. For example... Figure 11 As shown, if the accumulated amount of reverse intent exceeds a preset reverse intent threshold, it is determined that the fitness device has a reverse intent, and the accumulated amount of reverse intent and jitter is reset. If the accumulated amount of reverse intent is less than or equal to the reverse intent threshold, it is determined whether the angle between the first and second robotic arms is within a preset minimum angle range. If the angle is within the minimum angle range, it indicates that the fitness device has reached the point of switching exercise stages. If the angle is within the minimum angle range and the direction of movement is not compression, it indicates that the user has the intention to switch the direction of movement at the point of switching exercise stages, and therefore a reverse intent exists, i.e., the reverse intent is true. If the angle is within the minimum angle range and the direction of movement is compression, it indicates that although the point of switching exercise stages has been reached, the user does not intend to switch exercise stages, and therefore a reverse intent does not exist, i.e., the reverse intent is false. If the accumulated amount of reverse intent is less than or equal to the reverse intent threshold and the angle is not within the maximum angle range, it indicates that the fitness device does not have a reverse intent, i.e., the reverse intent is false.

[0112] Figure 10 The method for determining reverse intent shown can be the first reverse intent algorithm; Figure 11 The method for determining the reverse intent shown can be a second reverse intent algorithm. The first reverse intent algorithm can be used to obtain the result of the first reverse intent; the second reverse intent algorithm can be used to obtain the result of the second reverse intent. The first reverse intent can be used to characterize the intent to switch the motion direction from the stretching direction to the compression direction; the second reverse intent can be used to characterize the intent to switch the motion direction from the compression direction to the stretching direction.

[0113] During the operation of the fitness equipment, the first and second reverse intent algorithms can be used to continuously detect the user's reverse intent. The reverse determination can be made after the angles of the first and second grip bars reach the maximum and minimum angle ranges, respectively. It has both general determination and user-specific determination functions, which greatly improves the actual use effect of the fitness equipment.

[0114] S905, if the fitness equipment has a reverse intention to switch the exercise phase, then switch the exercise phase of the fitness equipment.

[0115] When the movement mode is a stretching-force mode and the movement phase is a force-bearing phase, a first reverse intent algorithm can be used to detect the first reverse intent. If the first reverse intent is true, the current movement phase can be switched from the force-bearing phase to the relaxation phase; if the first reverse intent is false, the current movement phase can remain in the force-bearing phase. When the movement mode is a stretching-force mode and the movement phase is a relaxation phase, a second reverse intent algorithm can be used to detect the second reverse intent. If the second reverse intent is true, the current movement phase can be switched from the relaxation phase to the force-bearing phase; if the second reverse intent is false, the current movement phase can remain in the relaxation phase.

[0116] When the movement mode is compression-force mode and the movement phase is a force-bearing phase, a second reverse intent algorithm can be used to detect the second reverse intent. If the second reverse intent is true, the current movement phase can be switched from the force-bearing phase to the relaxation phase; if the second reverse intent is false, the current movement phase can remain in the force-bearing phase. When the movement mode is compression-force mode and the movement phase is a relaxation phase, a first reverse intent algorithm can be used to detect the first reverse intent. If the first reverse intent is true, the current movement phase can be switched from the relaxation phase to the force-bearing phase; if the first reverse intent is false, the current movement phase can remain in the relaxation phase.

[0117] In this embodiment, during the control of the fitness equipment, it is possible to detect whether the fitness equipment has a reverse intention. Therefore, when the user has a subjective reverse intention or the reverse timing is reached, the direction of movement and the movement stage can be switched in time to adjust the target output force of the fitness equipment in a timely manner, thereby meeting the user's fitness needs.

[0118] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0119] To better illustrate the solution in this application, the following section introduces the solution by describing the control process of the fitness equipment under different exercise modes.

[0120] Figure 12 This is a control flowchart of a fitness device under a stretching force mode, provided in an embodiment of this application. Figure 12As shown, in the stretching resistance mode, if the current movement phase is the resistance phase, it indicates that the user should perform stretching exercises to increase the angle between the first and second grips, and the fitness equipment should provide resistance. Therefore, if the detected movement direction is the stretching direction, it can be achieved through... Figure 8 The force control algorithm shown adjusts the valve opening size to control a given resistance command. If the detected movement direction is not the stretching direction, it indicates that the user's stretching movement has stopped or even shows a tendency to reverse. In this case, the valve can be closed to prevent the fitness equipment from moving in the opposite direction. Meanwhile, during this process, the valve can be continuously... Figure 10 The first reverse intent detection algorithm shown determines the current reverse intent. If the reverse intent is determined to be true, it is considered that the user intends to reverse at this time, and the movement phase is set to the relaxation phase. The relaxation phase will be entered in the next cycle.

[0121] During the relaxation phase of the exercise (not the exertion phase), the fitness equipment should provide slight resistance so that the user can easily return the first and second grip bars from their initial, smaller angles. Therefore, the valve opening remains fully open, providing slight resistance, until the angle is within the minimum angle range, at which point the valve closes fully, signifying a return to near the original position. Simultaneously, during this process, the user can continuously pass through… Figure 11 The second reverse intent algorithm shown performs reverse intent judgment. If the reverse intent judgment is true, it is considered that the user intends to reverse at this time, and the motion stage is set as the force stage. The force stage will be entered in the next loop.

[0122] Figure 13 This is a control flowchart of a fitness device under compression force mode provided in an embodiment of this application. Figure 13 As shown, in compression mode, if the current movement phase is a compression phase, the user should perform compression movements to decrease the angle, and the fitness equipment should provide the user-set resistance. Therefore, after detecting that the movement direction is compression, it can... Figure 8 The force control algorithm shown determines the valve opening command and adjusts the valve opening size based on the command to control a given resistance command. If the detected movement direction is not the compression direction, it indicates that the user's compression movement has stopped or even has a tendency to reverse. In this case, the valve can be closed to prevent the fitness equipment from moving in the opposite direction. Simultaneously, during this process, the movement can be continuously controlled via... Figure 11 The second reverse intent algorithm shown determines the reverse intent. If the reverse intent is determined to be true, it is considered that the user intends to reverse at this time, and the movement phase is set to the relaxation phase. The relaxation phase will be entered in the next cycle.

[0123] During the relaxation phase of the exercise, the fitness equipment should provide slight resistance so that the user can easily return from a small angle to the initial position at a larger angle. Therefore, the valve opening can remain fully open to provide slight resistance until the angle is within the maximum angle range, at which point the valve closes completely, indicating that the user has returned to near the original position. Simultaneously, during this process, [the equipment] will continuously [pass through / ... Figure 10 The first reverse intent algorithm shown performs reverse intent judgment. If the reverse intent judgment is true, it is considered that the user intends to reverse at this time, and the motion stage is set as the force stage. The force stage will be entered in the next loop.

[0124] In one possible implementation, when using the fitness equipment, the user can first set the equipment to a no-stress mode. In this mode, the initial state of the equipment can be adjusted. For example, when performing stretching exercises, the user can first adjust the angle between the first and second grip bars to their minimum range in no-stress mode. Then, the exercise mode can be set to stretching stress mode, and an appropriate resistance can be set, causing the equipment to enter the stress phase, providing resistance as the user stretches the angle between the first and second grip bars from their minimum to their maximum range. Similarly, when performing compression exercises, the user can first adjust the angle between the first and second grip bars to their maximum range in no-stress mode. Then, the exercise mode can be set to compression stress mode, and an appropriate resistance can be set, causing the equipment to enter the stress phase, providing resistance as the user stretches the angle between the first and second grip bars from their maximum to their minimum range.

[0125] This application also provides a fitness device, which includes a first fluid actuator and a second fluid actuator. The connection between the first fluid actuator and the second fluid actuator includes a valve. The fitness device can be controlled by the steps in the above-described method embodiments. Figure 14 and Figure 15 Each example illustrates a fitness device controlled using the method described in the embodiments of this application. When the user moves the fitness device from... Figure 14 The posture changed to Figure 15 In the posture shown, compression movements can be performed; when the user moves the fitness equipment from... Figure 15 The posture changed to Figure 14 Stretching exercises can be performed in the posture shown.

[0126] Reference Figure 16This illustration shows a schematic diagram of a control device for a fitness device according to an embodiment of this application. The device can be applied to a fitness device, which includes a first fluid actuator and a second fluid actuator connected via a valve. Specifically, the device may include a report acquisition module 1601, a determination module 1602, and an adjustment module 1603, wherein:

[0127] The acquisition module 1601 is used to acquire the motion state of the fitness equipment and determine the motion direction of the fitness equipment. The motion state includes a motion mode and a motion stage. The motion mode is used to characterize the motion direction corresponding to when the fitness equipment outputs fitness resistance, and the motion stage is used to characterize the timing when the fitness equipment outputs fitness resistance.

[0128] The determining module 1602 is used to determine the target output force of the fitness equipment based on the motion state and the motion direction;

[0129] The adjustment module 1603 is used to adjust the valve according to the target output force, the valve being used to adjust the resistance generated when fluid flows between the first fluid actuator and the second fluid actuator.

[0130] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0131] Figure 17 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 17 As shown, the electronic device 170 of this embodiment includes: at least one processor 1700 ( Figure 17 (Only one is shown) a processor, a memory 1701, and a computer program 1702 stored in the memory 1701 and executable on the at least one processor 1700, which, when executing the computer program 1702, implements the steps in any of the above method embodiments.

[0132] The electronic device may include, but is not limited to, a processor 1700 and a memory 1701. Those skilled in the art will understand that... Figure 17 This is merely an example of electronic device 170 and does not constitute a limitation on electronic device 170. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0133] The processor 1700 may be a Central Processing Unit (CPU), or it may be 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. A general-purpose processor may be a microprocessor or any conventional processor.

[0134] In some embodiments, the memory 1701 may be an internal storage unit of the electronic device 170, such as a hard disk or memory of the electronic device 170. In other embodiments, the memory 1701 may be an external storage device of the electronic device 170, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 1700. Furthermore, the memory 1701 may include both internal and external storage units of the electronic device 170. The memory 1701 is used to store operating systems, applications, bootloaders, data, and other programs, such as the program code of computer programs. The memory 1701 can also be used to temporarily store data that has been output or will be output.

[0135] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0136] This application provides a computer program product that, when run on an electronic device, enables the electronic device to perform the steps described in the various method embodiments above.

[0137] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method of an exercise device, characterized by, The fitness equipment includes a first fluid actuator and a second fluid actuator, which are connected via a valve. The fitness equipment also includes a first grip bar and a second grip bar that are rotatable relative to each other. During stretching exercises, the first grip bar and the second grip bar move away from each other; during compression exercises, the first grip bar and the second grip bar move closer together. The two ends of the first fluid actuator and the second fluid actuator are respectively fixed to the first grip bar and the second grip bar. The method includes: The motion state of the fitness equipment is acquired, and the motion direction of the fitness equipment is determined. The motion state includes a motion mode and a motion stage. The motion mode is used to characterize the motion direction corresponding to when the fitness equipment outputs fitness resistance, and the motion stage is used to characterize the timing when the fitness equipment outputs fitness resistance. The target output force of the fitness equipment is determined based on the motion state and the motion direction. The valve is adjusted according to the target output force. The valve is used to adjust the resistance generated when fluid flows between the first fluid actuator and the second fluid actuator.

2. The method of claim 1, wherein, Determining the direction of motion of the fitness equipment includes: The angular velocity of the fitness equipment is determined, the angular velocity including a value and a sign, and the angular velocity is characterized by the change in the angle between the first grip and the second grip per unit time; If the value of the angular velocity is greater than a preset velocity threshold, the direction of motion of the fitness equipment is determined according to the sign of the angular velocity. If the value of the angular velocity is less than or equal to the velocity threshold, the direction of motion of the fitness equipment is determined based on the first pressure of the first fluid actuator and the second pressure of the second fluid actuator.

3. The method as described in claim 2, wherein determining the direction of motion of the fitness equipment based on the sign of the angular velocity comprises: If the sign of the angular velocity is positive, then the direction of motion is determined to be the stretching direction, which is the direction in which the first grip and the second grip move away from each other. If the sign of the angular velocity is negative, then the direction of motion is determined to be the compression direction, which is the direction in which the first grip and the second grip move closer to each other.

4. The method of claim 2, wherein, Determining the direction of motion based on the first pressure of the first fluid actuator and the second pressure of the second fluid actuator includes: Determine the difference between the second pressure and the first pressure; If the difference is greater than a preset positive pressure difference threshold, then the direction of motion is determined to be the stretching direction; If the difference is less than a preset negative pressure difference threshold, then the direction of motion is determined to be the compression direction; If the difference is not greater than the positive pressure difference threshold and the difference is not less than the negative pressure difference threshold, then the direction of motion is determined to be directionless. Specifically, when the direction of motion is the stretching direction, the first fluid actuator extends and the second fluid actuator shortens; when the direction of motion is the compression direction, the first fluid actuator shortens and the second fluid actuator extends.

5. The method according to any one of claims 1 to 4, characterized in that, Determining the target output force of the fitness equipment based on the motion state and the motion direction includes: If the movement phase is a force-bearing phase, then the target output force of the fitness equipment is determined according to the movement pattern and the movement direction; If the exercise phase is a relaxation phase, the target output force is determined based on the angle between the first and second grip bars of the fitness equipment.

6. The method of claim 5, wherein, Determining the target output force of the fitness equipment based on the movement pattern and the movement direction includes: If the exercise mode is a stretching force mode and the exercise direction is a stretching direction, then the fitness resistance is used as the target output force. If the motion mode is a stretching force mode and the motion direction is a compression direction, then the target output force is determined as a preset first resistance value, where the first resistance value is the resistance value when the valve is in a fully closed state. If the movement mode is a compression force mode and the movement direction is a compression direction, then the fitness resistance is taken as the target output force; If the motion mode is a compression mode and the motion direction is a stretching direction, then the target output force is determined as the first resistance value.

7. The method of claim 5, wherein, Determining the target output force based on the angle between the first and second grip bars of the fitness equipment includes: If the motion mode is a stretching force mode and the angle is within a preset minimum angle range, then the target output force is determined as a preset first resistance value, where the first resistance value is the resistance value when the valve is in a fully closed state. If the motion mode is a stretching force mode and the angle is not within the preset minimum angle range, then the target output force is determined as a preset second resistance value, and the second resistance value is the resistance value when the valve is in the fully open state. If the motion mode is a compression force mode and the angle is within the preset maximum angle range, then the target output force is determined as the first resistance value; If the motion mode is a compression force mode and the angle is not within the preset maximum angle range, then the target output force is determined as the second resistance value.

8. The method according to any one of claims 1-4 or 6-7, characterized in that, The step of adjusting the valve according to the target output force includes: If the target output force is equal to the first resistance value, then all valves are closed. If the target output force is the second resistance value, then control to open all the valves; If the target output force is fitness resistance, then the valve control command of the valve is determined according to the fitness resistance, and the valve is adjusted according to the valve control command; Specifically, at the first resistance value, the volumes of the first fluid actuator and the second fluid actuator cannot be changed; at the second resistance value, the first fluid actuator and the second fluid actuator do not provide resistance; at the fitness resistance, the first fluid actuator and the second fluid actuator provide the resistance set by the user during fitness through the resistance of fluid passing through the valve.

9. The method of claim 8, wherein, The step of determining the valve control command based on the fitness resistance includes: Based on the fitness resistance and the preset mapping relationship, the feedforward opening size of the valve is determined, where the mapping relationship is the relationship between the valve opening size and the target output force of the fitness equipment. The feedforward control command of the valve is determined based on the feedforward opening size of the valve; The feedback control command for the valve is determined based on the first pressure of the first fluid actuator and the second pressure of the second fluid actuator. The valve control command is obtained based on the feedforward control command and the feedback control command.

10. The method of claim 9, wherein, The step of determining the feedback control command for the valve based on the first pressure of the first fluid actuator and the second pressure of the second fluid actuator includes: The actual output resistance of the fitness equipment is determined based on the first pressure and the second pressure. The feedback control command is determined based on the error between the actual output resistance and the fitness resistance.

11. The method of any one of claims 1-4, 6-7, or 9-10, wherein, The method further includes: Detect whether the fitness equipment has a reverse intention to switch exercise phases; If the fitness equipment has the opposite intention of switching exercise stages, then switch the exercise stages of the fitness equipment.

12. The method of claim 11, wherein, The detection of whether the fitness device has a reverse intention to switch exercise phases includes: Determine whether the direction of motion is a compression direction; If the direction of motion is the compression direction, then increase the reverse intention accumulation and reset the jitter accumulation; If the direction of motion is not the compression direction, then determine whether the cumulative amount of the reverse intention is greater than zero; if the cumulative amount of the reverse intention is greater than zero, then increase the cumulative amount of the reverse intention and the cumulative amount of jitter, and reset the cumulative amount of the reverse intention and the cumulative amount of jitter when the cumulative amount of jitter is greater than a preset jitter threshold. The presence of a reverse intent in the fitness device is determined based on the accumulated amount of the reverse intent.

13. The method of claim 12, wherein, Determining whether the fitness device has a reverse intent based on the accumulated reverse intent includes: If the accumulated amount of the reverse intent is greater than the preset reverse intent threshold, it is determined that the fitness device has a reverse intent, and the accumulated amount of the reverse intent and the accumulated amount of the shaking are reset. If the accumulated amount of the reverse intention is less than or equal to the reverse intention threshold, it is determined whether the angle between the first grip and the second grip is within the maximum angle range; if the angle is within the maximum angle range and the direction of movement is not the stretching direction, it is determined that the fitness equipment has a reverse intention; if the angle is not within the maximum angle range, or the angle is within the maximum angle range and the direction of movement is the stretching direction, it is determined that the fitness equipment does not have a reverse intention.

14. The method of claim 12 or 13, wherein, The method of increasing the reverse intent accumulation and resetting the jitter accumulation includes: The fitness device uses a first timer to time and resets a second timer, the duration of which is used to characterize the cumulative amount of the reverse intention and the duration of which is used to characterize the cumulative amount of jitter.

15. The method of claim 11, wherein, The detection of whether the fitness device has a reverse intention to switch exercise phases includes: Determine whether the direction of motion is a stretching direction; If the direction of motion is the stretching direction, then increase the cumulative amount of the reverse intention and reset the cumulative amount of jitter. If the direction of motion is not the stretching direction, then determine whether the cumulative amount of the reverse intention is greater than zero; if the cumulative amount of the reverse intention is greater than zero, then increase the cumulative amount of the reverse intention and the cumulative amount of jitter, and reset the cumulative amount of the reverse intention and the cumulative amount of jitter when the cumulative amount of jitter is greater than a preset jitter threshold. The presence of a reverse intent in the fitness device is determined based on the accumulated amount of the reverse intent.

16. The method of claim 15, wherein, Determining whether the fitness device has a reverse intent based on the accumulated reverse intent includes: If the accumulated amount of the reverse intent is greater than the preset reverse intent threshold, it is determined that the fitness device has a reverse intent, and the accumulated amount of the reverse intent and the accumulated amount of the shaking are reset. If the cumulative amount of the reverse intention is less than or equal to the reverse intention threshold, it is determined whether the angle between the first grip and the second grip is within the minimum angle range; if the angle is within the minimum angle range and the direction of movement is not the compression direction, it is determined that the fitness equipment has a reverse intention; if the angle is not within the minimum angle range, or the angle is within the minimum angle range and the direction of movement is the stretching direction, it is determined that the fitness equipment does not have a reverse intention.

17. An exercise apparatus characterized by The fitness device includes a first fluid actuator and a second fluid actuator, with a valve at the connection between the first fluid actuator and the second fluid actuator. The fitness device includes a first grip bar and a second grip bar that are rotatable relative to each other. When performing a stretching exercise, the first grip bar and the second grip bar move away from each other; when performing a compression exercise, the first grip bar and the second grip bar move closer to each other. The two ends of the first fluid actuator and the second fluid actuator are respectively fixed to the first grip bar and the second grip bar. The fitness device is controlled by the method described in any one of claims 1-16.

18. An electronic 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, it implements the method as described in any one of claims 1-16. 19.A computer readable storage medium, storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-16.

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