Split type treadmill control method capable of adaptively correcting gaits and treadmill

Abstract

The invention relates to the technical field of sports equipment and rehabilitation, in particular to a split type treadmill control method capable of correcting gaits in a self-adaptive mode and a treadmill. The method comprises the following steps: acquiring air pressure and air pressure variation of each air bag in air-floating treadmills on two sides of the treadmill in a static scene or a dynamic scene to determine a static contact area or a dynamic contact area of the air-floating treadmills and feet, and converting the acquired air pressure variation into foot pressure; calculating a sole load index, a pressure ratio of the inner side to the outer side of a foot and a foot pressure gravity center according to the foot pressure, and adjusting the air pressure of all air bags of the air-floating treadmill to realize that the hardness grade and the inclination angle of the air-floating treadmill adapt to gait characteristics and training requirements of a user; by monitoring the air pressure and the air pressure variation in the air bag of the air floating treadmill in the dynamic scene and adjusting the air pressure of the air bag in the dynamic contact area, the foot pressure gravity center is always located in the gravity center shifting area, and the problems that an existing treadmill cannot adapt to training requirements, is poor in adaptability and is long in gait correction scheme adjusting period are solved.

Description

Technical Field

[0001] The invention relates to the technical field of sports equipment and rehabilitation, and in particular to a control method of a split treadmill capable of adaptively correcting gait and a treadmill. Background Art

[0002] Existing treadmills have begun to integrate running posture analysis and gait training functions, but due to the inherent limitations of their mechanical structure and control system, these devices are still unable to achieve real-time response and adaptive adjustment to the user's gait changes. With the development of technology, especially the integration of artificial intelligence and Internet of Things technologies, intelligent and personalized training of treadmills has become possible. Users have a growing demand for equipment that can perform personalized gait training and correction at home. Especially in the growth process of children, gait training plays a vital role in their physical development and sports health. Therefore, the development of smart treadmills that can provide real-time feedback and customized training programs is crucial to meet this growing market demand.

[0003] The mechanical structure of a treadmill is usually composed of a fixed plane, and its control system usually does not have the function of dynamically responding to changes in the user's gait, which limits the application potential of treadmills in gait correction. Gait training often requires the use of surfaces with different inclination angles to simulate natural walking conditions in order to compensate for the user's incorrect force pattern and correct the gait. At present, some children's gait training institutions use treadmills to monitor gait abnormalities in dynamic conditions, and specify personalized correction plans based on the evaluation results, including customized orthopedic aids, specific sports training, etc., to help children strengthen their foot and lower limb muscles and improve movement coordination. This process requires regular re-evaluation of their gait and continuous adjustment of the correction plan. The adjustment cycle is long and the adaptability is poor.

[0004] Therefore, it is necessary to propose a split treadmill control method and a treadmill that can adaptively correct gait. By integrating gait monitoring and real-time feedback systems into the treadmill, users can be provided with instant gait analysis and timely adaptively adjust the working state of the treadmill, providing more intelligent and personalized solutions for the evaluation, training and correction of various gait problems. Summary of the invention

[0005] The purpose of this application is to propose a split treadmill control method and a treadmill that can adaptively correct gait in response to the above-mentioned technical problems.

[0006] In a first aspect, the present invention provides a split-type treadmill control method capable of adaptively correcting gait, comprising the following steps: Obtain the air pressure and air pressure change of each airbag in the bilateral air-floating treadmill in a static scene or a dynamic scene, determine the static contact area or dynamic contact area between the air-floating treadmill on each side and the foot according to the air pressure change of all airbags in the air-floating treadmill on each side, calculate the pressure on all airbags in the static contact area or the dynamic contact area on each side, and convert the pressure on all airbags in the static contact area or the dynamic contact area on each side into the foot pressure; The plantar load index is calculated based on the foot pressure in the static contact area on each side, and the arch type is determined based on the plantar load index to determine the hardness level of the required air-floating treadmill. Each hardness level corresponds to an air pressure range, and the air pressure of all air bags in the air-floating treadmill on each side is adjusted so that the air pressure is within the air pressure range corresponding to the hardness level of the required air-floating treadmill. The pressure ratio between the inner side and the outer side of the foot is calculated according to the foot pressure in the static contact area on each side, and the foot state is judged according to the pressure ratio between the inner side and the outer side of the foot to determine the required mechanical compensation level of the air floating treadmill. Each mechanical compensation level corresponds to an air pressure difference. The air pressure of all the air bags in the air floating treadmill on each side is adjusted so that the air pressure difference between the air bag on the leftmost side and the air bag on the rightmost side of the air floating treadmill on each side reaches the air pressure difference corresponding to the required mechanical compensation level of the air floating treadmill. The standard foot pressure center of gravity is determined according to the dynamic contact area on each side, and a circular area with the standard foot pressure center of gravity as the center and the set standard deviation threshold as the radius is used as the center of gravity offset area. The foot pressure center of gravity is calculated according to the pressure exerted on all airbags in the dynamic contact area on each side. If the foot pressure center of gravity is not within the center of gravity offset area, the air pressure of the airbags in the dynamic contact area on each side is adjusted until the foot pressure center of gravity is within the center of gravity offset area.

[0007] Preferably, the static contact area or dynamic contact area between the air-floating treadmill on each side and the foot is determined according to the air pressure change of all the air bags in the air-floating treadmill on each side, and the pressure of all the air bags in the static contact area or the dynamic contact area on each side is calculated, and the pressure of all the air bags in the static contact area or the dynamic contact area on each side is converted into the foot pressure, which specifically includes: The user stands still on the air-floating treadmill, and selects air bags with a pressure change greater than 0 from all the air bags on each side of the air-floating treadmill, and uses the area formed by the selected air bags as the static contact area between the air-floating treadmill on each side and the foot; the user performs training activities on the air-floating treadmill, and selects air bags with a pressure change greater than 0 from all the air bags on each side of the air-floating treadmill, and uses the area formed by the selected air bags as the dynamic contact area between the air-floating treadmill on each side and the foot; The conversion relationship between the air pressure change of the i-th airbag in the static contact area or dynamic contact area on each side and the pressure it receives is shown in the following formula: ; in, represents the pressure on the i-th airbag in the static contact area or the dynamic contact area, represents the change in air pressure of the ith airbag in the static contact area or the dynamic contact area, k represents the elastic coefficient of the airbag, represents the initial volume of the i-th airbag in the static contact area or the dynamic contact area, represents the initial air pressure of the i-th airbag in the static contact area or the dynamic contact area; Obtain a baseline pressure model of a standard foot on each side of the air-floating treadmill, fit the static contact area or dynamic contact area on each side with the baseline pressure model, and divide the static contact area or dynamic contact area on each side into pressure areas to obtain the static contact area or dynamic contact area after area division, wherein the static contact area or dynamic contact area after area division includes eight foot pressure sub-areas, and the foot pressure sub-areas located on the inner side and the outer side of the arch of the foot are the fifth foot pressure sub-area and the sixth foot pressure sub-area, respectively; The average or weighted average of the pressures on all airbags in each foot pressure sub-area of ​​the static contact area or the dynamic contact area after each side area is divided is calculated respectively to obtain the foot pressure of each foot pressure sub-area in the static contact area or the dynamic contact area after each side area is divided.

[0008] Preferably, the plantar load index is calculated according to the foot pressure in the static contact area on each side, the arch type is judged according to the plantar load index and the hardness level of the required air-floating treadmill is determined, each hardness level corresponds to an air pressure range, and the air pressure of all airbags in the air-floating treadmill on each side is adjusted so that the air pressure is within the air pressure range corresponding to the hardness level of the required air-floating treadmill, specifically including: The sum of the foot pressures of all foot pressure sub-areas in the static contact area after area division on each side is calculated to obtain the total foot area load; The sum of the foot pressures of the fifth foot pressure sub-area and the sixth foot pressure sub-area on each side was calculated to obtain the midfoot area load; The ratio of the load on the midfoot area to the load on the entire foot area on each side was calculated to obtain the plantar load index; The arch types include high arch foot, normal foot and flat foot, the hardness levels include a first hardness level, a second hardness level, a third hardness level, a fourth hardness level and a fifth hardness level, in response to determining that the plantar load index on one side is less than a first threshold, the foot belongs to high arch foot, and the air pressure of all air bags in the air floating treadmill on the corresponding side is adjusted so that the air pressure is within the air pressure range corresponding to the first hardness level; In response to determining that the plantar load index of one side is between the first threshold and the second threshold, the foot is a normal foot, adjusting the air pressure of all air bags in the air floating treadmill on the corresponding side so that the air pressure is within the air pressure range corresponding to the second hardness level, the third hardness level or the fourth hardness level; In response to determining that the plantar load index on one side is greater than the second threshold, the foot has flat feet, and adjusting the air pressure of all air bags in the air floating treadmill on the corresponding side so that the air pressure is within the air pressure range corresponding to the fifth hardness level.

[0009] Preferably, the pressure ratio between the inner side and the outer side of the foot is calculated according to the foot pressure in the static contact area on each side, the foot state is judged according to the pressure ratio between the inner side and the outer side of the foot and the mechanical compensation level of the required air-floating treadmill is determined, each mechanical compensation level corresponds to an air pressure difference, and the air pressure of all airbags in the air-floating treadmill on each side is adjusted so that the air pressure difference between the leftmost airbag and the rightmost airbag on each side of the air-floating treadmill reaches the air pressure difference corresponding to the mechanical compensation level of the required air-floating treadmill, specifically including: Calculate the ratio of the foot pressure of the fifth foot pressure sub-area to the foot pressure of the sixth foot pressure sub-area on each side to obtain the pressure ratio of the inner side to the outer side of the foot; The foot states include inversion, normal foot state and eversion. The mechanical compensation levels include mild compensation, moderate compensation and severe compensation. The air pressure difference corresponding to mild compensation is , the pressure difference corresponding to moderate compensation is , the pressure difference corresponding to severe compensation is In the double-sided air-floating treadmill, 2L rows of airbags are symmetrically arranged with the connecting line of the double-sided air-floating treadmill as the symmetry axis, and the row of airbags closest to the connecting line of the double-sided air-floating treadmill on each side is the first row of airbags, and the row of airbags farthest from the connecting line of the double-sided air-floating treadmill is the Lth row of airbags; In response to determining that the pressure ratio between the inner side and the outer side of the foot on one side is greater than a third threshold and less than a fourth threshold, and the third threshold is less than the fourth threshold, the foot state is a normal foot state, and the air pressure of the airbag in the air floating treadmill on the corresponding side is not adjusted; In response to determining that the ratio of the pressure on the inner side to the outer side of one side of the foot is less than a third threshold value, the foot state is eversion, the air pressure of the first column of air bags is increased and the air pressure of the Lth column of air bags is decreased in the corresponding side of the air floating treadmill, so that the air pressure change amount of the first column of air bags is equal to the air pressure change amount of the Lth column of air bags, and the air pressure of other columns of air bags is adjusted so that the air pressure difference between two adjacent columns of air bags is the same; If the pressure ratio of the inner side to the outer side of the foot is greater than the fifth threshold and less than the third threshold, and the fifth threshold is less than the third threshold, the required mechanical compensation level of the air-floating treadmill is mild compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the pressure ratio of the inner side to the outer side of the foot is greater than the sixth threshold and less than the fifth threshold, and the sixth threshold is less than the fifth threshold, the required mechanical compensation level of the air-floating treadmill is moderate compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the ratio of the pressure on the inside and outside of the foot is less than the sixth threshold, the required mechanical compensation level of the air-floating treadmill is severe compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; In response to determining that the pressure ratio between the inner side and the outer side of one side of the foot is greater than a fourth threshold value, the foot state is inversion, and the air pressure of the first column of air bags is reduced and the air pressure of the Lth column of air bags is increased in the corresponding side of the air floating treadmill, so that the air pressure change of the first column of air bags is equal to the air pressure change of the Lth column of air bags, and the air pressure of other columns of air bags is adjusted so that the air pressure difference between two adjacent columns of air bags is the same; If the pressure ratio of the inner side to the outer side of the foot is greater than the fourth threshold and less than the seventh threshold, and the fourth threshold is less than the seventh threshold, the required mechanical compensation level of the air-floating treadmill is mild compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the pressure ratio of the inner side to the outer side of the foot is greater than the seventh threshold and less than the eighth threshold, and the seventh threshold is less than the eighth threshold, the required mechanical compensation level of the air-floating treadmill is moderate compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the ratio of the pressure on the inside and outside of the foot is greater than the eighth threshold, the required mechanical compensation level of the air-floating treadmill is severe compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is .

[0010] Preferably, a standard foot pressure center of gravity is determined according to the dynamic contact area on each side, and a circular area with the standard foot pressure center of gravity as the center and the set standard deviation threshold as the radius is used as the center of gravity offset area. The foot pressure center of gravity is calculated according to the pressure exerted on all airbags in the dynamic contact area on each side. If the foot pressure center of gravity is not within the center of gravity offset area, the air pressure of the airbags in the dynamic contact area on each side is adjusted until the foot pressure center of gravity is within the center of gravity offset area, specifically including: The calculation formula of foot pressure center of gravity is as follows: ; ; in, represents the x-coordinate of the foot pressure center in the reference coordinate system, represents the y coordinate of the foot pressure center in the reference coordinate system, represents the pressure on the i-th airbag in the dynamic contact area on each side, represents the coordinates of the center of the i-th airbag in the dynamic contact area on each side in the reference coordinate system; The dynamic contact area on each side is divided into center of gravity adjustment areas in parallel with the adjacent two sides of the dynamic contact area on each side, and a first center of gravity adjustment area, a second center of gravity adjustment area, a third center of gravity adjustment area and a fourth center of gravity adjustment area are obtained, wherein the standard foot pressure center of gravity is the intersection of the first center of gravity adjustment area, the second center of gravity adjustment area, the third center of gravity adjustment area and the fourth center of gravity adjustment area, the first center of gravity adjustment area and the third center of gravity adjustment area are located at the front side of the dynamic contact area on each side, the second center of gravity adjustment area and the fourth center of gravity adjustment area are located at the rear side of the dynamic contact area on each side, the first center of gravity adjustment area and the second center of gravity adjustment area are located at the side of the dynamic contact area on each side close to the connecting line of the two-side air-floating treadmill, and the third center of gravity adjustment area and the fourth center of gravity adjustment area are located at the side of the dynamic contact area on each side away from the connecting line of the two-side air-floating treadmill; If the foot pressure gravity center is not within the gravity center shifting area, and the foot pressure gravity center is within the first gravity center adjustment area, the air pressure of the airbags in the second gravity center adjustment area, the third gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the first gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center shifting area; If the foot pressure gravity center is not within the gravity center shifting area, and the foot pressure gravity center is within the second gravity center adjustment area, the air pressure of the airbags in the first gravity center adjustment area, the third gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the second gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center shifting area; If the foot pressure gravity center is not within the gravity center shifting area, and the foot pressure gravity center is within the third gravity center adjustment area, the air pressure of the airbags in the first gravity center adjustment area, the second gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the third gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center shifting area; If the foot pressure center of gravity is not within the center of gravity offset area, and the foot pressure center of gravity is located in the fourth center of gravity adjustment area, the air pressure of the airbags in the first center of gravity adjustment area, the second center of gravity adjustment area and / or the third center of gravity adjustment area is reduced, or the air pressure of the airbags in the fourth center of gravity adjustment area is increased until the foot pressure center of gravity is within the center of gravity offset area.

[0011] Preferably, the method further comprises: adjusting the air pressure of all air bags in each side of the air-floating treadmill so that the air-floating treadmill has horizontal, forward tilt, backward tilt, left tilt, right tilt, forward and left tilt, forward and right tilt, backward and left tilt, and backward and right tilt working states.

[0012] In a second aspect, the present invention provides a split-type treadmill control device capable of adaptively correcting gait, comprising: The air pressure acquisition and conversion module is configured to obtain the air pressure and air pressure change of each airbag in the bilateral air-floating treadmill in a static scene or a dynamic scene, determine the static contact area or dynamic contact area between the air-floating treadmill on each side and the foot according to the air pressure change of all airbags in the air-floating treadmill on each side, calculate the pressure of all airbags in the static contact area or the dynamic contact area on each side, and convert the pressure of all airbags in the static contact area or the dynamic contact area on each side into the foot pressure; a hardness adjustment module, configured to calculate a plantar load index according to the foot pressure in the static contact area on each side, determine the arch type according to the plantar load index and determine the hardness level of the required air-floating treadmill, each hardness level corresponds to an air pressure range, and adjust the air pressure of all air bags in the air-floating treadmill on each side so that the air pressure is within the air pressure range corresponding to the hardness level of the required air-floating treadmill; The mechanical compensation module is configured to calculate the pressure ratio between the inner side and the outer side of the foot according to the foot pressure in the static contact area on each side, judge the foot state according to the pressure ratio between the inner side and the outer side of the foot and determine the mechanical compensation level of the required air floating treadmill, each mechanical compensation level corresponds to an air pressure difference, and adjust the air pressure of all air bags in the air floating treadmill on each side so that the air pressure difference between the leftmost air bag and the rightmost air bag on each side of the air floating treadmill reaches the air pressure difference corresponding to the mechanical compensation level of the required air floating treadmill; The foot pressure center of gravity adjustment module is configured to determine the standard foot pressure center of gravity according to the dynamic contact area on each side, and use the circular area with the standard foot pressure center of gravity as the center and the set standard deviation threshold as the radius as the center of gravity offset area, and calculate the foot pressure center of gravity according to the pressure exerted on all airbags in the dynamic contact area on each side. If the foot pressure center of gravity is not within the center of gravity offset area, the air pressure of the airbags in the dynamic contact area on each side is adjusted until the foot pressure center of gravity is within the center of gravity offset area.

[0013] In a third aspect, the present invention provides a split treadmill that can adaptively correct gait, comprising: one or more processors, a memory, a treadmill frame, two air-floating treadmills, a flexible treadmill link belt and one or more programs, the two air-floating treadmills are respectively installed on the left and right sides of the treadmill frame and connected by a flexible treadmill link belt, the air-floating treadmill is used to support the foot; the air-floating treadmill includes an airbag, a pressure sensor and an air pressure regulator, the pressure sensor is installed on the airbag and connected to the processor and / or the memory, and is used to collect the air pressure of the airbag and transmit it to the processor and / or the memory; the air pressure regulator is connected to the processor, and is used to receive control instructions issued by the processor to execute corresponding air pressure adjustment programs, wherein one or more programs are stored in the memory and are configured to be executed by one or more processors, and the one or more programs are used to execute the method as described in any one of the first aspects.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any implementation manner in the first aspect.

[0015] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method described in any implementation manner in the first aspect.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The split-type treadmill control method capable of adaptively correcting gait proposed in the present invention adjusts the air pressure of the airbag on the air-floating treadmill in real time according to the user's actual gait, including overall adjustment of the air-floating treadmill in static scenes and regional adjustment of the air-floating treadmill in dynamic scenes. It has the characteristics of good adaptability, intelligence and personalization, and is suitable for the evaluation, training and correction of various gait problems.

[0017] (2) The split-type treadmill control method for adaptively correcting gait proposed in the present invention adjusts the air pressure of the airbag in the dynamic contact area between the foot and the air-floating treadmill, adjusts the height of the airbag of the local air-floating treadmill, and realizes local control to improve the user's incorrect walking posture and improve the user's balance ability. Compared with ordinary mechanical adjustment, it is more precise and safer.

[0018] (3) The split treadmill control method for adaptively correcting gait proposed in the present invention simulates the normal walking environment of the human body by adjusting the hardness level and inclination angle of the air-floating treadmill. The inclination angles of the left and right feet are adjusted separately through the split treadmill structure, which can strengthen or weaken the training of specific muscle groups in a targeted manner to achieve the purpose of correcting gait and balance the pressure distribution of the feet, so that users can find the correct way to exert force on their feet, which is conducive to improving the training effect. The two-sided air-floating treadmills are connected by a flexible treadmill link belt to ensure that the coordination and natural fluency of the gait are maintained while the independent adjustments are made. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is a schematic diagram of the overall structure of a split-type treadmill capable of adaptively correcting gait according to an embodiment of the present application; Figure 2 A schematic diagram of the top view of the air-floating treadmill of a split-type treadmill capable of adaptively correcting gait according to an embodiment of the present application; Figure 3 A perspective structural diagram of an air-floating treadmill of a split-type treadmill capable of adaptively correcting gait according to an embodiment of the present application; Figure 4 A schematic flow chart of a split-type treadmill control method capable of adaptively correcting gait according to an embodiment of the present application; Figure 5 A schematic diagram of a split-type treadmill control device capable of adaptively correcting gait according to an embodiment of the present application; Figure 6 The present invention is a schematic diagram of a baseline pressure model of a standard foot on one side of an air-floating treadmill, and the feet of an inverted foot user, an everted foot user, and a flat-foot user, respectively, and the static contact area of ​​the air-floating treadmill on the side after fitting and area division, wherein (a) represents the baseline pressure model of a standard foot, (b) represents the static contact area after the area division corresponding to the inverted foot state, (c) represents the static contact area after the area division corresponding to the normal foot state, and (d) represents the static contact area after the area division corresponding to the flat foot arch type; Figure 7 A control principle diagram of a split-type treadmill control device capable of adaptively correcting gait according to an embodiment of the present application; Figure 8 Schematic diagram of the structure of the double-sided air-floating treadmill of the split treadmill during foot eversion correction training, no correction required, and foot inversion correction training in the embodiments of the present application, wherein (a) is a schematic diagram of the structure of the double-sided air-floating treadmill during foot eversion correction training, (b) is a schematic diagram of the structure of the double-sided air-floating treadmill when no correction is required, and (c) is a schematic diagram of the structure of the double-sided air-floating treadmill during foot inversion correction training; Fig. 9 A schematic diagram of dividing the dynamic contact area into gravity center adjustment areas according to an embodiment of the present application; Figure numerals: 1. air pressure acquisition and conversion module; 2. hardness adjustment module; 3. mechanical compensation module; 4. foot pressure center of gravity adjustment module; 11. treadmill bracket; 12. air-floating treadmill; 121. air bag; 122. air pressure regulator; 1221. electronic control unit; 1222. air pump; 1223. deflation valve; 1224. flexible catheter; 123. pressure sensor; 124. running belt; 13. flexible treadmill link belt; 14. display screen mounting bracket; 15. display screen; 16. human body monitoring camera; 17. Disassemble the armrest; 18. Main control panel; 101. First foot pressure sub-area; 102. Second foot pressure sub-area; 103. Third foot pressure sub-area; 104. Fourth foot pressure sub-area; 105. Fifth foot pressure sub-area; 106. Sixth foot pressure sub-area; 107. Seventh foot pressure sub-area; 108. Eighth foot pressure sub-area; 401. First center of gravity adjustment area; 402. Second center of gravity adjustment area; 403. Third center of gravity adjustment area; 404. Fourth center of gravity adjustment area; 405. Center of gravity offset area; 406. Foot pressure center of gravity. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Figures 1 to 3 A structural schematic diagram of a split treadmill with adaptive gait correction provided by an embodiment of the present application is shown, including a treadmill bracket 11, two air-floating treadmills 12, a flexible treadmill link belt 13, a display screen mounting bracket 14, a display screen 15, a human monitoring camera 16, a detachable handrail 17 and a main control panel 18. The two air-floating treadmills 12 are respectively installed on the left and right sides of the treadmill bracket 11 and are connected by the flexible treadmill link belt 13. The main control panel 18 can independently adjust the air-floating treadmills 12 on each side to adapt to the gait characteristics and training needs of different users. The flexible treadmill link 13 connects the air-floating treadmills 12 on both sides to ensure that the gait is coordinated and naturally smooth while being independently adjusted. The air-floating treadmill 12 is used to support the foot; the air-floating treadmill 12 includes an air bag 121, a pressure sensor 123, an air pressure regulator 122 and a running belt 124, and the running belt 124 is wound around the outside of the air bag 121; the pressure sensor 123 and the air pressure regulator 122 are respectively connected to the main control board 18, and the pressure sensor 123 is installed on the air bag 121, and is used to collect the air pressure of the air bag and transmit it to the main control board 18; Figure 2 and Figure 3Only part of the connection between the airbag 121 and the air pressure regulator 122 is shown. The air pressure regulator 122 includes an electronic control unit 1221, an air pump 1222, an air release valve 1223 and a flexible conduit 1224. The electronic control unit 1221 is connected to the main control board 18, and is used to receive control instructions from the main control board 18 to execute the corresponding air pressure regulation program. Specifically, the electronic control unit 1221 controls the air pump 1222 and the air release valve 1223 to work together, and inflate or deflate the airbag 121 through the flexible conduit 1224 to achieve air pressure regulation of the airbag 121 of the air-floating treadmill 12. The air-floating treadmill 12 on each side adopts advanced air-floating technology, and the airbag 121 is inflated to form a stable support surface. It can be adaptively adjusted according to the user's weight and gait pressure distribution to provide ideal softness and hardness and support force. Reference Figure 1 and Figure 2 In the double-sided air-floating treadmill 12, 2×4 rows of airbags are symmetrically arranged with the flexible treadmill link belt 13 as the symmetry axis. The row of airbags closest to the flexible treadmill link belt 13 on each side of the air-floating treadmill 12 is the first row of airbags, and the row of airbags farthest from the flexible treadmill link belt 13 is the fourth row of airbags. Figure 1 The display screen mounting bracket 14 is installed in front of the treadmill bracket 11, and the main control board 18, the display screen 15 and the human monitoring camera 16 are all installed on the display screen mounting bracket 14, and the display screen 15 and the human monitoring camera 16 are respectively connected to the main control board 18. The human monitoring camera 16 is used to capture the user's motion state and gait characteristics, and send the user's motion state and gait characteristics to the main control board 18, providing visual data support for gait analysis and training adjustment; the display screen 15 is used to display the user's motion state, gait characteristics, gait training files, historical data and the working status of the air-floating treadmill 12; the detachable handrail 17 can be detachably mounted on the display screen mounting bracket 14 to provide additional stability and safety support for the user, and can be adjusted or removed as needed during the gait correction process.

[0023] Figure 4 The control method of a split-type treadmill capable of adaptively correcting gait provided by an embodiment of the present application is shown, which is applied to the above-mentioned split-type treadmill capable of adaptively correcting gait. The main control board of the split-type treadmill capable of adaptively correcting gait includes a processor and a memory. The processor executes executable instructions stored in the memory to implement the following steps: S1, obtaining the air pressure and air pressure change of each airbag in the bilateral air-floating treadmill in a static scene or a dynamic scene, determining the static contact area or dynamic contact area between the air-floating treadmill on each side and the foot according to the air pressure change of all the airbags in the air-floating treadmill on each side, calculating the pressure exerted on all the airbags in the static contact area or the dynamic contact area on each side, and converting the pressure exerted on all the airbags in the static contact area or the dynamic contact area on each side into the foot pressure.

[0024] In a specific embodiment, the static contact area or dynamic contact area between the air-floating treadmill on each side and the foot is determined according to the air pressure change of all the air bags in the air-floating treadmill on each side, and the pressure of all the air bags in the static contact area or dynamic contact area on each side is calculated, and the pressure of all the air bags in the static contact area or dynamic contact area on each side is converted into the foot pressure, which specifically includes: The user stands still on the air-floating treadmill, and selects air bags with a pressure change greater than 0 from all the air bags on each side of the air-floating treadmill, and uses the area formed by the selected air bags as the static contact area between the air-floating treadmill on each side and the foot; the user performs training activities on the air-floating treadmill, and selects air bags with a pressure change greater than 0 from all the air bags on each side of the air-floating treadmill, and uses the area formed by the selected air bags as the dynamic contact area between the air-floating treadmill on each side and the foot; The conversion relationship between the air pressure change of the i-th airbag in the static contact area or dynamic contact area on each side and the pressure it receives is shown in the following formula: ; in, represents the pressure on the i-th airbag in the static contact area or the dynamic contact area, represents the change in air pressure of the ith airbag in the static contact area or the dynamic contact area, k represents the elastic coefficient of the airbag, represents the initial volume of the i-th airbag in the static contact area or the dynamic contact area, represents the initial air pressure of the i-th airbag in the static contact area or the dynamic contact area; Obtain a baseline pressure model of a standard foot on each side of the air-floating treadmill, fit the static contact area or dynamic contact area on each side with the baseline pressure model, and divide the static contact area or dynamic contact area on each side into pressure areas to obtain the static contact area or dynamic contact area after area division, wherein the static contact area or dynamic contact area after area division includes eight foot pressure sub-areas, and the foot pressure sub-areas located on the inner side and the outer side of the arch of the foot are the fifth foot pressure sub-area and the sixth foot pressure sub-area, respectively; The average or weighted average of the pressures on all airbags in each foot pressure sub-area of ​​the static contact area or the dynamic contact area after each side area is divided is calculated respectively to obtain the foot pressure of each foot pressure sub-area in the static contact area or the dynamic contact area after each side area is divided.

[0025] Specifically, before formal training, the user stands on the treadmill, and the system identifies the user, loads the user's gait training file and historical data, and adjusts the hardness of the air-floating treadmill 12 and the overall front-back tilt angle and left-right tilt angle according to the gait analysis. The air-floating treadmill 12 of the split treadmill that can adaptively correct gait proposed in the present invention includes a plurality of airbags 121, and each airbag 121 is provided with a pressure sensor 123. In the calibration stage of the pressure sensor 123, a known weight is applied to the airbag 121, and the corresponding air pressure change is recorded, and a mathematical model between the air pressure of the airbag 121 and the pressure on the airbag 121 is established. The output of the airbag 121 under different pressures is measured experimentally, and a calibration curve is drawn. According to the calibration curve, the collected air pressure of the airbag 121 and the change in air pressure are converted into the pressure exerted on the airbag 121, and the foot pressure is further calculated; the calculated foot pressure is integrated with other parameters such as timestamp and gait cycle to form a complete foot pressure analysis data set, and the pressure exerted on the airbag 121 and the foot pressure are further analyzed to extract key indicators, such as the foot pressure center of gravity, foot pressure distribution, pressure peak, contact area, etc., and determine the problems of the user's foot, and output the corresponding training method after background analysis.

[0026] In a static scene, the user stands still on the air-floating treadmill 12. Taking the left foot as an example, the airbags 121 with a pressure change greater than 0 are selected from all the airbags 121 in the air-floating treadmill 12 on the left side, and the area formed by the selected airbags 121 is used as the static contact area between the air-floating treadmill 12 on each side and the foot. The pressure data of the N airbags located in the static contact area are calculated according to the pressure change. , , …, , …, . refer to Figure 6 (a) Obtain a reference pressure model of a standard foot on the air-floating treadmill 12 corresponding to the user's height, weight and foot data, fit the static contact area between the air-floating treadmill 12 and the foot on the left side with the reference pressure model, and then divide the area. Figure 6 (b), (c) and (d) respectively show schematic diagrams of fitting and area division of the static contact area between the feet of users with inversion, eversion and flat feet and the air-floating treadmill 12 on the left side. The static contact area after area division includes eight foot pressure sub-areas, namely the first foot pressure sub-area 101, the second foot pressure sub-area 102, the third foot pressure sub-area 103, the fourth foot pressure sub-area 104, the fifth foot pressure sub-area 105, the sixth foot pressure sub-area 106, the seventh foot pressure sub-area 107 and the eighth foot pressure sub-area 108. The foot pressure of each foot pressure sub-area in the static contact area can be calculated by the average or weighted average of the pressures exerted on all airbags in each foot pressure sub-area. The foot pressures of the eight foot pressure sub-areas in the static contact area are , , , , , , and , the total pressure is f, For the forefoot pressure, For arch pressure, Pressure on the back of the foot.

[0027] S2, calculate the plantar load index according to the foot pressure in the static contact area on each side, judge the arch type according to the plantar load index and determine the hardness level of the required air floating treadmill, each hardness level corresponds to an air pressure range, adjust the air pressure of all air bags in the air floating treadmill on each side so that the air pressure is within the air pressure range corresponding to the hardness level of the required air floating treadmill.

[0028] In a specific embodiment, the plantar load index is calculated according to the foot pressure of the static contact area on each side, the arch type is judged according to the plantar load index and the hardness level of the required air-floating treadmill is determined, each hardness level corresponds to an air pressure range, and the air pressure of all airbags in the air-floating treadmill on each side is adjusted so that the air pressure is within the air pressure range corresponding to the hardness level of the required air-floating treadmill, specifically including: The sum of the foot pressures of all foot pressure sub-areas in the static contact area after area division on each side is calculated to obtain the total foot area load; The sum of the foot pressures of the fifth foot pressure sub-area and the sixth foot pressure sub-area on each side was calculated to obtain the midfoot area load; The ratio of the load on the midfoot area to the load on the entire foot area on each side was calculated to obtain the plantar load index; The arch types include high arch foot, normal foot and flat foot, the hardness levels include a first hardness level, a second hardness level, a third hardness level, a fourth hardness level and a fifth hardness level, in response to determining that the plantar load index on one side is less than a first threshold, the foot belongs to high arch foot, and the air pressure of all air bags in the air floating treadmill on the corresponding side is adjusted so that the air pressure is within the air pressure range corresponding to the first hardness level; In response to determining that the plantar load index of one side is between the first threshold and the second threshold, the foot is a normal foot, adjusting the air pressure of all air bags in the air floating treadmill on the corresponding side so that the air pressure is within the air pressure range corresponding to the second hardness level, the third hardness level or the fourth hardness level; In response to determining that the plantar load index on one side is greater than the second threshold, the foot has flat feet, and adjusting the air pressure of all air bags in the air floating treadmill on the corresponding side so that the air pressure is within the air pressure range corresponding to the fifth hardness level.

[0029] Specifically, the calculation formula of the plantar load index (PCL) is as follows: ; Among them, f represents the load of the entire foot area, that is, the total pressure; represents the midfoot area load, i.e., the arch pressure; p represents the plantar load index. In the embodiment of the present application, the arch type is determined according to the plantar load index p. When the foot is high arched, the required hardness level of the air floating treadmill is the first hardness level. The air pressure of the airbag is adjusted to be within the air pressure range corresponding to the first hardness level. The air floating treadmill of the first hardness level is softer than the air floating treadmills of other hardness levels, which can increase the contact area between the foot and the air floating treadmill, stimulate the muscle nerves of the foot, and reduce the burden on the outer edge of the foot; when When the foot is flat, the required hardness level of the air-floating treadmill is the fifth hardness level. The air pressure of the airbag is adjusted to be within the air pressure range corresponding to the fifth hardness level. The fifth hardness level air-floating treadmill is harder than other hardness levels of air-floating treadmills, which can stimulate the midfoot nerves and cultivate the awareness of plantar support. , the foot is normal, and the user can select the hardness level of the air floating treadmill according to his or her own situation and needs. The optional hardness levels include the second hardness level, the third hardness level or the fourth hardness level.

[0030] S3, calculate the pressure ratio between the inner side and the outer side of the foot according to the foot pressure in the static contact area on each side, judge the foot state according to the pressure ratio between the inner side and the outer side of the foot and determine the required mechanical compensation level of the air floating treadmill, each mechanical compensation level corresponds to an air pressure difference, adjust the air pressure of all air bags in the air floating treadmill on each side so that the air pressure difference between the leftmost air bag and the rightmost air bag on each side of the air floating treadmill reaches the air pressure difference corresponding to the required mechanical compensation level of the air floating treadmill.

[0031] In a specific embodiment, the pressure ratio between the inner side and the outer side of the foot is calculated according to the foot pressure in the static contact area on each side, the foot state is judged according to the pressure ratio between the inner side and the outer side of the foot and the mechanical compensation level of the required air-floating treadmill is determined, each mechanical compensation level corresponds to an air pressure difference, and the air pressure of all airbags in the air-floating treadmill on each side is adjusted so that the air pressure difference between the airbag on the leftmost side and the airbag on the rightmost side of the air-floating treadmill on each side reaches the air pressure difference corresponding to the mechanical compensation level of the required air-floating treadmill, specifically including: Calculate the ratio of the foot pressure of the fifth foot pressure sub-area to the foot pressure of the sixth foot pressure sub-area on each side to obtain the pressure ratio of the inner side to the outer side of the foot; The foot states include inversion, normal foot state and eversion. The mechanical compensation levels include mild compensation, moderate compensation and severe compensation. The air pressure difference corresponding to mild compensation is , the pressure difference corresponding to moderate compensation is , the pressure difference corresponding to severe compensation is In the double-sided air-floating treadmill, 2L rows of airbags are symmetrically arranged with the connecting line of the double-sided air-floating treadmill as the symmetry axis, and the row of airbags closest to the connecting line of the double-sided air-floating treadmill on each side is the first row of airbags, and the row of airbags farthest from the connecting line of the double-sided air-floating treadmill is the Lth row of airbags; In response to determining that the pressure ratio between the inner side and the outer side of the foot on one side is greater than a third threshold and less than a fourth threshold, and the third threshold is less than the fourth threshold, the foot state is a normal foot state, and the air pressure of the airbag in the air floating treadmill on the corresponding side is not adjusted; In response to determining that the ratio of the pressure on the inner side to the outer side of one side of the foot is less than a third threshold value, the foot state is eversion, the air pressure of the first column of air bags is increased and the air pressure of the Lth column of air bags is decreased in the corresponding side of the air floating treadmill, so that the air pressure change amount of the first column of air bags is equal to the air pressure change amount of the Lth column of air bags, and the air pressure of other columns of air bags is adjusted so that the air pressure difference between two adjacent columns of air bags is the same; If the pressure ratio of the inner side to the outer side of the foot is greater than the fifth threshold and less than the third threshold, and the fifth threshold is less than the third threshold, the required mechanical compensation level of the air-floating treadmill is mild compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the pressure ratio of the inner side to the outer side of the foot is greater than the sixth threshold and less than the fifth threshold, and the sixth threshold is less than the fifth threshold, the required mechanical compensation level of the air-floating treadmill is moderate compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the ratio of the pressure on the inside and outside of the foot is less than the sixth threshold, the required mechanical compensation level of the air-floating treadmill is severe compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; In response to determining that the pressure ratio between the inner side and the outer side of one side of the foot is greater than a fourth threshold value, the foot state is inversion, and the air pressure of the first column of air bags is reduced and the air pressure of the Lth column of air bags is increased in the corresponding side of the air floating treadmill, so that the air pressure change of the first column of air bags is equal to the air pressure change of the Lth column of air bags, and the air pressure of other columns of air bags is adjusted so that the air pressure difference between two adjacent columns of air bags is the same; If the pressure ratio of the inner side to the outer side of the foot is greater than the fourth threshold and less than the seventh threshold, and the fourth threshold is less than the seventh threshold, the required mechanical compensation level of the air-floating treadmill is mild compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the pressure ratio of the inner side to the outer side of the foot is greater than the seventh threshold and less than the eighth threshold, and the seventh threshold is less than the eighth threshold, the required mechanical compensation level of the air-floating treadmill is moderate compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the pressure ratio between the inner and outer sides of the foot is greater than the eighth threshold, the required mechanical compensation level of the air-floating treadmill is severe compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is .

[0032] Specifically, the calculation formula for the pressure ratio between the inner and outer sides of the foot is as follows: ; Among them, M1 represents the pressure ratio between the inner and outer sides of the foot. Figure 7 A control principle diagram of a split-type treadmill control device capable of adaptively correcting gait according to an embodiment of the present application is shown; Figure 8 The schematic diagram of the structure of the double-sided air-floating treadmill of the split treadmill during foot valgus correction training, no correction required, and foot inversion correction training is shown, wherein (a) is a schematic diagram of the structure of the double-sided air-floating treadmill during foot valgus correction training, (b) is a schematic diagram of the structure of the double-sided air-floating treadmill when no correction is required, and (c) is a schematic diagram of the structure of the double-sided air-floating treadmill during foot inversion correction training.

[0033] refer to Figure 2 In the double-sided air-floating treadmill 12, the airbags 121 are symmetrically arranged in 2×4 rows about the symmetry axis of the flexible treadmill link belt 13. Before the air pressure of the airbags of the double-sided air-floating treadmill 12 is adjusted according to the air pressure difference corresponding to the mechanical compensation level of the required air-floating treadmill, the air pressure of each row of airbags from left to right is: , , , , , , , ,and , Taking the case where both the left and right feet are in eversion and the required mechanical compensation level of the air-floating treadmill is mild compensation as an example, in the bilateral air-floating treadmill 12, the air pressure of the first column of airbags is increased, the air pressure of the fourth column of airbags is decreased, and the air pressure of the other columns of airbags is adjusted so that the air pressure difference between the two adjacent columns of airbags is the same. The air pressure changes of each column of airbags from left to right are as follows: , , , , , , , , where "+" indicates increasing the air pressure and "-" indicates decreasing the air pressure. Figure 7 and Figure 8As shown in (a), greater support is given to the inner side of the foot, the pressure on the inner side of the foot is reduced, and mechanical compensation is formed. Taking the case where the foot state of the left and right feet is both inversion and the required mechanical compensation level of the air-floating treadmill is mild compensation, in the bilateral air-floating treadmill 12, the air pressure of the first column of airbags is reduced, the air pressure of the fourth column of airbags is increased, and the air pressure of the other columns of airbags is adjusted to make the air pressure difference between the two adjacent columns of airbags the same, and the air pressure changes of each column of airbags from left to right are as follows: , , , , , , , , after adjusting the air-floating treadmill 12 Figure 8 As shown in (c), the outer side of the foot is given greater support, the pressure on the outer side of the foot is reduced, and mechanical compensation is formed. By adjusting the inclination angle of the air-floating treadmill 12 in the left and right directions, the user can find the correct foot force method and perform gait correction.

[0034] S4, determine the standard foot pressure center of gravity according to the dynamic contact area on each side, and use the circular area with the standard foot pressure center of gravity as the center and the set standard deviation threshold as the radius as the center of gravity offset area, calculate the foot pressure center of gravity according to the pressure exerted on all airbags in the dynamic contact area on each side, if the foot pressure center of gravity is not within the center of gravity offset area, adjust the air pressure of the airbags in the dynamic contact area on each side until the foot pressure center of gravity is within the center of gravity offset area.

[0035] In a specific embodiment, a standard foot pressure center of gravity is determined according to the dynamic contact area on each side, and a circular area with the standard foot pressure center of gravity as the center and a set standard deviation threshold as the radius is used as the center of gravity offset area. The foot pressure center of gravity is calculated according to the pressure exerted on all airbags in the dynamic contact area on each side. If the foot pressure center of gravity is not within the center of gravity offset area, the air pressure of the airbags in the dynamic contact area on each side is adjusted until the foot pressure center of gravity is within the center of gravity offset area, specifically including: The calculation formula of foot pressure center of gravity is as follows: ; ; in, represents the x-coordinate of the foot pressure center in the reference coordinate system, represents the y coordinate of the foot pressure center in the reference coordinate system, represents the pressure on the i-th airbag in the dynamic contact area on each side, represents the coordinates of the center of the i-th airbag in the dynamic contact area on each side in the reference coordinate system; The dynamic contact area on each side is divided into center of gravity adjustment areas in parallel with the adjacent two sides of the dynamic contact area on each side, and a first center of gravity adjustment area, a second center of gravity adjustment area, a third center of gravity adjustment area and a fourth center of gravity adjustment area are obtained, wherein the standard foot pressure center of gravity is the intersection of the first center of gravity adjustment area, the second center of gravity adjustment area, the third center of gravity adjustment area and the fourth center of gravity adjustment area, the first center of gravity adjustment area and the third center of gravity adjustment area are located at the front side of the dynamic contact area on each side, the second center of gravity adjustment area and the fourth center of gravity adjustment area are located at the rear side of the dynamic contact area on each side, the first center of gravity adjustment area and the second center of gravity adjustment area are located at the side of the dynamic contact area on each side close to the connecting line of the two-side air-floating treadmill, and the third center of gravity adjustment area and the fourth center of gravity adjustment area are located at the side of the dynamic contact area on each side away from the connecting line of the two-side air-floating treadmill; If the foot pressure gravity center is not within the gravity center shifting area, and the foot pressure gravity center is within the first gravity center adjustment area, the air pressure of the airbags in the second gravity center adjustment area, the third gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the first gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center shifting area; If the foot pressure gravity center is not within the gravity center shifting area, and the foot pressure gravity center is within the second gravity center adjustment area, the air pressure of the airbags in the first gravity center adjustment area, the third gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the second gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center shifting area; If the foot pressure gravity center is not within the gravity center shifting area, and the foot pressure gravity center is within the third gravity center adjustment area, the air pressure of the airbags in the first gravity center adjustment area, the second gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the third gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center shifting area; If the foot pressure center of gravity is not within the center of gravity offset area, and the foot pressure center of gravity is located in the fourth center of gravity adjustment area, the air pressure of the airbags in the first center of gravity adjustment area, the second center of gravity adjustment area and / or the third center of gravity adjustment area is reduced, or the air pressure of the airbags in the fourth center of gravity adjustment area is increased until the foot pressure center of gravity is within the center of gravity offset area.

[0036] Specifically, when the user performs training activities on the air-floating treadmill 12, the air bags with air pressure changes greater than 0 are selected from all the air bags on each side of the air-floating treadmill, and the area formed by the selected air bags is used as the dynamic contact area between the air-floating treadmill on each side and the foot. The foot pressure gravity center 406 refers to the point of action of the resultant force generated by the foot on the air-floating treadmill 12. It is the geometric center of the foot pressure distribution and reflects the distribution of the foot pressure on the dynamic contact area with the air-floating treadmill 12. Fig. 9Taking the left foot as an example, the dynamic contact area is divided into gravity center adjustment areas parallel to the adjacent two sides of the dynamic contact area between the left foot and the air floating treadmill 12, and a first gravity center adjustment area 401, a second gravity center adjustment area 402, a third gravity center adjustment area 403 and a fourth gravity center adjustment area 404 are obtained, wherein the gravity center offset area 405 is a circular area, the center of which is the standard foot pressure gravity center, and the standard foot pressure gravity center is the intersection of the first gravity center adjustment area 401, the second gravity center adjustment area 402, the third gravity center adjustment area 403 and the fourth gravity center adjustment area 404.

[0037] When the foot pressure center of gravity 406 is located on the front side of the dynamic contact area, that is, located in the first center of gravity adjustment area 401 and the third center of gravity adjustment area 403, the pressure of the airbag 121 in the second center of gravity adjustment area 402 and the fourth center of gravity adjustment area 404 on the rear side of the dynamic contact area is reduced, or the pressure of the airbag 121 in the first center of gravity adjustment area 401 and the third center of gravity adjustment area 403 is increased, so that the height of the rear side of the dynamic contact area is reduced or the height of the front side of the dynamic contact area is increased; conversely, when the foot pressure center of gravity 406 is located on the rear side of the dynamic contact area, the air pressure of the airbag 121 on the front side of the dynamic contact area is adjusted. When the foot pressure center of gravity 406 is located on the side of the dynamic contact area close to the flexible treadmill link belt 13, that is, located in the first center of gravity adjustment area 401 and the second center of gravity adjustment area 402, the air pressure of the airbag 121 in the third center of gravity adjustment area 403 and the fourth center of gravity adjustment area 404 on the side of the dynamic contact area away from the flexible treadmill link belt 13 is reduced, or the air pressure of the airbag 121 in the first center of gravity adjustment area 401 and the second center of gravity adjustment area 402 is increased; conversely, when the foot pressure center of gravity 406 is located on the side of the dynamic contact area away from the flexible treadmill link belt 13, the air pressure of the airbag 121 on the side of the dynamic contact area close to the flexible treadmill link belt 13 is adjusted.

[0038] Fig. 9 It shows the situation that the foot pressure center of gravity 406 of the left foot is not in the center of gravity offset area 405 and is located in the first center of gravity adjustment area 401. By lowering the air pressure of the airbag 121 in the second center of gravity adjustment area 402, the third center of gravity adjustment area 403 and / or the fourth center of gravity adjustment area 404, or increasing the air pressure of the airbag 121 in the first center of gravity adjustment area 401, the dynamic contact area forms an inclination with the ground, so that the foot pressure center of gravity 406 returns to the center of gravity offset area 405 and is as close to the standard foot pressure center of gravity as possible, and gait correction is performed.

[0039] In an embodiment of the present application, in a dynamic scene, the user performs gait correction and exercise on the air-floating treadmill 12, and the running belt 14 of the air-floating treadmill 12 rotates. By monitoring the air pressure and air pressure change in the airbags of the air-floating treadmill 12, the foot pressure distribution and the center position of the foot pressure are calculated, and the air pressure of the airbag 121 in the dynamic contact area between the foot and the air-floating treadmill 12 is adjusted. The dynamic contact area has an inclination relative to the ground to improve the user's incorrect walking posture, improve the user's balance ability, and achieve local control. The height of the airbag of the local air-floating treadmill 12 is adjusted by the airbag 121, which is more precise and safer than ordinary mechanical adjustment.

[0040] In a specific embodiment, the method further includes: adjusting the air pressure of all air bags in each side of the air-floating treadmill so that the air-floating treadmill has horizontal, forward tilt, backward tilt, left tilt, right tilt, forward and left tilt, forward and right tilt, backward and left tilt, and backward and right tilt working states.

[0041] Specifically, the air floating treadmill has the working states of horizontal, forward tilt, backward tilt, left tilt, right tilt, forward and left tilt, forward and right tilt, backward and left tilt, and backward and right tilt, so as to simulate different terrains when the user uses the treadmill, enrich the training plan during the gait training of correcting gait and the process of strengthening training after the correction is completed, and improve the effect of gait training and the user's sports experience.

[0042] The split treadmill capable of adaptively correcting gait and the control method thereof proposed in this application have the following characteristics: (1) Adopting air flotation technology: The air flotation treadmill 12 uses a series of air-filled bags or pads to support the air flotation treadmill 12. These air bags 121 can adjust the internal air pressure according to the needs of the user. The pressure sensor 123 monitors the user's weight, gait, and foot pressure distribution, and adjusts the air pressure in the air bag 121 in real time to adapt to changes during gait correction or running.

[0043] (2) Hardness level adjustment: The hardness of the air-floating treadmill 12 is adjusted by changing the air pressure in the airbag 121. Increasing the air pressure will make the air-floating treadmill 12 harder, while reducing the air pressure will make it softer. It can also be personalized: the user can select a preset mode or customize the hardness setting through the control panel, and the system will automatically adjust the airbag of the air-floating treadmill 12 to the corresponding air pressure range according to the hardness level selected by the personalized setting. It also has an instant feedback function: during the running process, the system continuously monitors and adjusts the air pressure to ensure that the surface of the air-floating treadmill 12 always meets the user's preferences and needs.

[0044] (3) Independent angle adjustment: The air-floating treadmill 12 can be designed to independently adjust the inclination on the left and right sides. The angle of the air-floating treadmill 12 can be adjusted by the air pressure difference between the air bags. The angle of the air-floating treadmill 12 can also be accurately adjusted by the motor drive device, so that different terrains such as uphill and downhill can be simulated when running. Furthermore, the user can select different inclinations on the control panel. When adjusting the angle, the system will take safety factors into consideration, such as limiting the maximum inclination angle to prevent the user from losing balance.

[0045] The following is a brief description of the method for adjusting the air pressure of the airbag 121 and the angle of the air-floating treadmill 12 at different gait training stages: (1) In the initial adaptation stage, the air pressure of the airbag 121 is set to a medium level to ensure that the air-floating treadmill 12 provides sufficient support while allowing the air-floating treadmill 12 to have a certain degree of softness to adapt to the user's gait; the angle of the air-floating treadmill 12 is kept horizontal so that the user can gradually adapt to the movement characteristics of the air-floating treadmill 12.

[0046] (2) During the gait assessment phase, the air pressure of the airbag 121 is adjusted according to the gait analysis results to correct specific gait problems, such as excessive inversion or eversion. The air-floating treadmill 12 is slightly tilted to simulate different road conditions to help users practice correct gait.

[0047] (3) During the strength training phase, the air pressure of the airbag 121 is increased to provide a harder surface of the air-floating treadmill 12, thereby increasing the training intensity and strengthening the muscle strength; the angle of the air-floating treadmill 12 is adjusted as needed, for example, increasing the inclination to simulate uphill or downhill walking.

[0048] (4) During the balance training phase, the air pressure of the airbag 121 is adjusted to make the air-floating treadmill 12 softer to increase the difficulty of the balance training; different inclination angles of the air-floating treadmill 12 are used to train the user's stability and coordination.

[0049] (5) During the recovery and rehabilitation phase, the air pressure of the airbag 121 is reduced to make the air-floating treadmill 12 softer, reduce the impact on the joints, and be suitable for restorative training; the angle of the air-floating treadmill 12 is kept horizontal or slightly adjusted to support a smooth gait and reduce pressure.

[0050] At all stages, it is important to ensure that the adjustment of the air-floating treadmill 12 can respond to the user's gait and training needs in real time while ensuring the safety and effectiveness of the exercise. This usually requires precise sensors, advanced control algorithms and user-friendly operating interfaces to achieve.

[0051] Specifically, the use process of the split treadmill capable of adaptively correcting gait proposed in this application is as follows: ST1, user identification and initialization: the user stands on the treadmill, the system identifies the user, loads the user's gait training file and historical data, and adjusts the hardness, front and rear inclination angle, and left and right inclination angle of the air-floating treadmill 12.

[0052] ST2: The pressure sensor 123 collects the air pressure of the airbag 121 and the change in air pressure; ST3: Data synchronization and analysis: The collected air pressure and air pressure change of the airbag 121 are synchronously transmitted to the main control board 18, and the main control board 18 processes the air pressure and air pressure change of the airbag 121 and converts them into foot pressure. The algorithm is used to analyze the user's movement state, gait characteristics, gait training files, historical data, working state of the air floating treadmill 12, and foot pressure, identify the user's gait characteristics and potential problems, and obtain gait analysis results.

[0053] ST4: Generation of intelligent adjustment instructions: Based on the gait analysis results, the main control board 18 generates control instructions, which include the required hardness level of the air-floating treadmill 12, the mechanical compensation level and the inclination angle of the air-floating treadmill 12 under corresponding conditions, and the air pressure of each airbag 121 to adapt to the user's specific gait requirements.

[0054] ST5: Dynamic air pressure adjustment: After receiving the control command, the electronic control unit 1221 dynamically adjusts the air pressure of the air bag 121 under the air-floating treadmill 12, which is achieved through the coordinated work of the inflation pump and the deflation valve.

[0055] ST6: Optimization of hardness and angle: The air-floating treadmill 12 is adjusted to the optimal hardness and angle according to the control instructions of the electronic control unit (ECU), providing support for the user's gait training while reducing the risk of injury.

[0056] ST7: Gait training start: The user starts the gait training program on the adjusted air-floating treadmill 12, and the system provides real-time feedback to help the user understand the training status and progress.

[0057] ST8: Closed-loop feedback control: Through real-time pressure monitoring, the air pressure of the airbag 121 in the dynamic contact area between the foot and the air-floating treadmill 12 is adjusted to allow the user to get better correction and stimulation with each step. Based on user feedback and continuously monitored data, the calibration model and data processing algorithm of the pressure sensor are continuously optimized to improve the accuracy of foot pressure measurement.

[0058] Through the above steps, the split treadmill control method that can adaptively correct gait proposed in the embodiment of the present application is combined with sensing technology to adjust the air pressure of the airbag on the air-floating treadmill in real time according to the user's actual gait, including overall adjustment of the air-floating treadmill 12 in static scenes and regional adjustment of the air-floating treadmill 12 in dynamic scenes. It can provide users with a safe, effective and personalized training experience, help users improve their gait and promote physical health.

[0059] The split treadmill that can adaptively correct gait proposed in the embodiment of the present application integrates the function of adjustable inclination angle to simulate different terrain conditions, so that gait correction training can be performed directly on the treadmill. This design can not only provide users with a more comprehensive gait training program, but also increase the fun and participation of training. By integrating gait monitoring and real-time feedback systems into the treadmill, users can be provided with instant gait analysis and personalized training suggestions, thereby improving the user's training effect and sports experience, and improving the efficiency of gait correction.

[0060] By simulating the mechanical environment of the foot in a natural walking state and by precisely adjusting the angle and support characteristics of the air-floating treadmill, customized force support is provided for the user's foot. For example, when the user is aware of symptoms of inversion of the foot, the inclination angle of the air-floating treadmill is adjusted to provide certain support, and by simulating the force of the foot during natural walking, the user can achieve a more natural gait on the treadmill. This simulation includes mechanical feedback of the foot during the landing, support and propulsion stages. The built-in pressure sensor and processor can monitor and calculate the user's gait and pressure distribution in real time, and dynamically adjust the support characteristics of the air-floating treadmill based on these data to achieve adaptive adjustment. Secondly, the treadmill equipment can formulate a personalized correction plan based on the user's gait analysis results. By adjusting the angle and air pressure of the treadmill, the equipment can specifically strengthen or weaken the training of specific muscle groups to achieve the purpose of correcting gait.

[0061] The above steps S1-S4 do not necessarily represent the order between the steps, but are represented by step symbols, and the order between the steps can be adjusted.

[0062] Further references Figure 5 As an implementation of the methods shown in the above figures, the present application provides an embodiment of a split treadmill control device capable of adaptively correcting gait. Figure 4 Corresponding to the method embodiment shown, the device can be specifically applied to the above-mentioned split-type treadmill capable of adaptively correcting gait.

[0063] The embodiment of the present application provides a split-type treadmill control device capable of adaptively correcting gait, comprising: The air pressure acquisition and conversion module 1 is configured to obtain the air pressure and air pressure change of each airbag in the bilateral air-floating treadmill in a static scene or a dynamic scene, determine the static contact area or dynamic contact area between the air-floating treadmill on each side and the foot according to the air pressure change of all airbags in the air-floating treadmill on each side, calculate the pressure of all airbags in the static contact area or the dynamic contact area on each side, and convert the pressure of all airbags in the static contact area or the dynamic contact area on each side into the foot pressure; The hardness adjustment module 2 is configured to calculate the plantar load index according to the foot pressure of the static contact area on each side, determine the arch type according to the plantar load index and determine the hardness level of the required air-floating treadmill, each hardness level corresponds to an air pressure range, and adjust the air pressure of all air bags in the air-floating treadmill on each side so that the air pressure is within the air pressure range corresponding to the hardness level of the required air-floating treadmill; The mechanical compensation module 3 is configured to calculate the pressure ratio between the inner side and the outer side of the foot according to the foot pressure in the static contact area on each side, judge the foot state according to the pressure ratio between the inner side and the outer side of the foot and determine the mechanical compensation level of the required air floating treadmill, each mechanical compensation level corresponds to an air pressure difference, and adjust the air pressure of all air bags in the air floating treadmill on each side so that the air pressure difference between the leftmost air bag and the rightmost air bag on each side of the air floating treadmill reaches the air pressure difference corresponding to the mechanical compensation level of the required air floating treadmill; The foot pressure center of gravity adjustment module 4 is configured to determine the standard foot pressure center of gravity according to the dynamic contact area on each side, and use the circular area with the standard foot pressure center of gravity as the center and the set standard deviation threshold as the radius as the center of gravity offset area, and calculate the foot pressure center of gravity according to the pressure exerted on all airbags in the dynamic contact area on each side. If the foot pressure center of gravity is not within the center of gravity offset area, the air pressure of the airbags in the dynamic contact area on each side is adjusted until the foot pressure center of gravity is within the center of gravity offset area.

[0064] An embodiment of the present invention further provides a computer storage medium, in which computer execution instructions are stored. When a processor executes the computer execution instructions, the above method is implemented.

[0065] An embodiment of the present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the above method is implemented.

[0066] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0067] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0068] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each module may exist physically separately, or two or more modules may be integrated into one unit. The above-mentioned module-composed unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0069] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the methods of various embodiments of the present application.

[0070] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0071] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0072] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0073] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0074] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A split treadmill control method capable of adaptively correcting gait, characterized in that: The following steps are involved: Obtaining the air pressure and air pressure change of each airbag in the bilateral air-floating treadmill in a static scene or a dynamic scene, determining the static contact area or dynamic contact area between the air-floating treadmill on each side and the foot according to the air pressure change of all the airbags in the air-floating treadmill on each side, calculating the pressure exerted on all the airbags in the static contact area or the dynamic contact area on each side, and converting the pressure exerted on all the airbags in the static contact area or the dynamic contact area on each side into the foot pressure; Calculating a plantar load index according to the foot pressure of the static contact area on each side, judging the arch type according to the plantar load index and determining the required hardness level of the air-floating treadmill, each of the hardness levels corresponds to an air pressure range, and adjusting the air pressure of all the air bags in the air-floating treadmill on each side so that the air pressure is within the air pressure range corresponding to the hardness level of the required air-floating treadmill; Calculating the pressure ratio between the inner side and the outer side of the foot according to the foot pressure in the static contact area on each side, judging the foot state according to the pressure ratio between the inner side and the outer side of the foot and determining the required mechanical compensation level of the air-floating treadmill, each of the mechanical compensation levels corresponds to an air pressure difference, and adjusting the air pressure of all the airbags in the air-floating treadmill on each side so that the air pressure difference between the leftmost airbag and the rightmost airbag on the air-floating treadmill on each side reaches the air pressure difference corresponding to the required mechanical compensation level of the air-floating treadmill; The standard foot pressure center of gravity is determined according to the dynamic contact area on each side, and a circular area with the standard foot pressure center of gravity as the center and the set standard deviation threshold as the radius is used as the center of gravity offset area. The foot pressure center of gravity is calculated according to the pressure exerted on all airbags in the dynamic contact area on each side. If the foot pressure center of gravity is not within the center of gravity offset area, the air pressure of the airbags in the dynamic contact area on each side is adjusted until the foot pressure center of gravity is within the center of gravity offset area.

2. The split-type treadmill control method capable of adaptively correcting gait according to claim 1, characterized in that: The method of determining the static contact area or dynamic contact area between the air-floating treadmill and the foot on each side according to the air pressure change of all the air bags in the air-floating treadmill on each side, calculating the pressure exerted on all the air bags in the static contact area or the dynamic contact area on each side, and converting the pressure exerted on all the air bags in the static contact area or the dynamic contact area on each side into the foot pressure specifically includes: The user stands still on the air-floating treadmill, and selects air bags with a pressure change greater than 0 from all the air bags on each side of the air-floating treadmill, and uses the area formed by the selected air bags as the static contact area between the air-floating treadmill and the foot on each side; the user performs training activities on the air-floating treadmill, and selects air bags with a pressure change greater than 0 from all the air bags on each side of the air-floating treadmill, and uses the area formed by the selected air bags as the dynamic contact area between the air-floating treadmill and the foot on each side; The conversion relationship between the air pressure change of the i-th airbag in the static contact area or the dynamic contact area on each side and the pressure it receives is shown in the following formula: ； in, represents the pressure on the i-th airbag in the static contact area or the dynamic contact area, represents the air pressure change of the i-th airbag in the static contact area or the dynamic contact area, k represents the elastic coefficient of the airbag, represents the initial volume of the i-th airbag in the static contact area or the dynamic contact area, represents the initial air pressure of the i-th airbag in the static contact area or the dynamic contact area; Obtaining a reference pressure model of a standard foot on each side of the air-floating treadmill, fitting the static contact area or dynamic contact area on each side with the reference pressure model, and dividing the static contact area or dynamic contact area on each side into pressure areas to obtain a static contact area or dynamic contact area after area division, wherein the static contact area or dynamic contact area after area division includes eight foot pressure sub-areas, and the foot pressure sub-areas located on the inner side and the outer side of the arch of the foot are the fifth foot pressure sub-area and the sixth foot pressure sub-area, respectively; The average or weighted average of the pressures exerted on all airbags in each foot pressure sub-area of ​​the static contact area or the dynamic contact area after the area is divided on each side is calculated respectively to obtain the foot pressure of each foot pressure sub-area in the static contact area or the dynamic contact area after the area is divided on each side.

3. The split-type treadmill control method capable of adaptively correcting gait according to claim 2, characterized in that: The step of calculating the plantar load index according to the foot pressure in the static contact area on each side, judging the arch type and determining the required hardness level of the air-floating treadmill according to the plantar load index, wherein each hardness level corresponds to an air pressure range, and adjusting the air pressure of all the air bags in the air-floating treadmill on each side so that the air pressure is within the air pressure range corresponding to the hardness level of the required air-floating treadmill, specifically includes: Calculate the sum of the foot pressures of all foot pressure sub-areas of the static contact area after the area is divided on each side to obtain the total foot area load; Calculating the sum of the foot pressures of the fifth foot pressure sub-area and the sixth foot pressure sub-area on each side to obtain the midfoot area load; The ratio of the load on the midfoot area to the load on the entire foot area on each side was calculated to obtain the plantar load index; The arch types include high arch foot, normal foot and flat foot, the hardness levels include a first hardness level, a second hardness level, a third hardness level, a fourth hardness level and a fifth hardness level, in response to determining that the plantar load index on one side is less than a first threshold, the foot belongs to high arch foot, and adjusting the air pressure of all air bags in the air floating treadmill on the corresponding side so that the air pressure is within the air pressure range corresponding to the first hardness level; In response to determining that the plantar load index on one side is between the first threshold and the second threshold, the foot is a normal foot, adjusting the air pressure of all the air bags in the air floating treadmill on the corresponding side so that the air pressure is within the air pressure range corresponding to the second hardness level, the third hardness level or the fourth hardness level; In response to determining that the plantar load index on one side is greater than the second threshold, the foot has flat feet, and the air pressure of all air bags in the air floating treadmill on the corresponding side is adjusted so that the air pressure is within the air pressure range corresponding to the fifth hardness level.

4. The split-type treadmill control method capable of adaptively correcting gait according to claim 2, characterized in that: The method comprises: calculating the pressure ratio between the inner side and the outer side of the foot according to the foot pressure of the static contact area on each side, judging the foot state according to the pressure ratio between the inner side and the outer side of the foot and determining the required mechanical compensation level of the air-floating treadmill, each mechanical compensation level corresponds to an air pressure difference, and adjusting the air pressure of all airbags in the air-floating treadmill on each side so that the air pressure difference between the leftmost airbag and the rightmost airbag on the air-floating treadmill on each side reaches the air pressure difference corresponding to the required mechanical compensation level of the air-floating treadmill, specifically including: Calculating the ratio of the foot pressure of the fifth foot pressure sub-area to the foot pressure of the sixth foot pressure sub-area on each side to obtain the pressure ratio of the inner side to the outer side of the foot; The foot states include inversion, normal foot state and eversion, the mechanical compensation levels include mild compensation, moderate compensation and severe compensation, and the air pressure difference corresponding to mild compensation is , the pressure difference corresponding to the moderate compensation is , the pressure difference corresponding to the severe compensation is In the air-floating treadmills on both sides, 2L rows of airbags are symmetrically arranged with the connecting line of the air-floating treadmills on both sides as the symmetry axis, and the row of airbags closest to the connecting line of the air-floating treadmills on each side is the first row of airbags, and the row of airbags farthest from the connecting line of the air-floating treadmills on both sides is the Lth row of airbags; In response to determining that the pressure ratio between the inner side and the outer side of the foot on one side is greater than a third threshold and less than a fourth threshold, and the third threshold is less than the fourth threshold, the foot state is a normal foot state, and the air pressure of the airbag in the air-floating treadmill on the corresponding side is not adjusted; In response to determining that the pressure ratio between the inner side and the outer side of the foot on one side is less than a third threshold value, the foot state is eversion, the air pressure of the first column of air bags is increased and the air pressure of the Lth column of air bags is decreased in the air floating treadmill on the corresponding side, so that the air pressure change amount of the first column of air bags is equal to the air pressure change amount of the Lth column of air bags, and the air pressure of other columns of air bags is adjusted so that the air pressure difference between two adjacent columns of air bags is the same; If the pressure ratio between the inner side and the outer side of the foot is greater than the fifth threshold and less than the third threshold, and the fifth threshold is less than the third threshold, the required mechanical compensation level of the air-floating treadmill is mild compensation, and the air pressure difference between the first row of airbags and the Lth row of airbags is ; If the pressure ratio between the inner side and the outer side of the foot is greater than the sixth threshold value and less than the fifth threshold value, and the sixth threshold value is less than the fifth threshold value, the required mechanical compensation level of the air-floating treadmill is moderate compensation, and the air pressure difference between the airbags in the first row and the airbags in the Lth row is ; If the ratio of the pressure on the inside and outside of the foot is less than the sixth threshold, the required mechanical compensation level of the air-floating treadmill is severe compensation, and the air pressure difference between the first row of airbags and the Lth row of airbags is ; In response to determining that the pressure ratio between the inner side and the outer side of the foot on one side is greater than a fourth threshold value, the foot state is inversion, and in the air-floating treadmill on the corresponding side, the air pressure of the first column of airbags is reduced and the air pressure of the Lth column of airbags is increased, so that the air pressure change amount of the first column of airbags is equal to the air pressure change amount of the Lth column of airbags, and the air pressure of other columns of airbags is adjusted so that the air pressure difference between two adjacent columns of airbags is the same; If the pressure ratio between the inner side and the outer side of the foot is greater than the fourth threshold and less than the seventh threshold, and the fourth threshold is less than the seventh threshold, the required mechanical compensation level of the air-floating treadmill is mild compensation, and the air pressure difference between the first row of airbags and the Lth row of airbags is ; If the pressure ratio between the inner side and the outer side of the foot is greater than the seventh threshold and less than the eighth threshold, and the seventh threshold is less than the eighth threshold, the required mechanical compensation level of the air-floating treadmill is moderate compensation, and the pressure difference between the first row of airbags and the Lth row of airbags is ; If the ratio of the pressure on the inside and outside of the foot is greater than the eighth threshold, the required mechanical compensation level of the air-floating treadmill is severe compensation, and the air pressure difference between the first row of airbags and the Lth row of airbags is .

5. The split-type treadmill control method capable of adaptively correcting gait according to claim 2, characterized in that: The method of determining a standard foot pressure center of gravity according to the dynamic contact area on each side, and using a circular area with the standard foot pressure center of gravity as the center and a set standard deviation threshold as the radius as the center of gravity offset area, and calculating the foot pressure center of gravity according to the pressure exerted on all airbags in the dynamic contact area on each side, and if the foot pressure center of gravity is not in the center of gravity offset area, adjusting the air pressure of the airbags in the dynamic contact area on each side until the foot pressure center of gravity is within the center of gravity offset area, specifically includes: The calculation formula of the foot pressure center of gravity is as follows: ； ； in, represents the x-coordinate of the foot pressure center in the reference coordinate system, represents the y coordinate of the foot pressure center in the reference coordinate system, represents the pressure on the i-th airbag in the dynamic contact area on each side, represents the coordinates of the center of the i-th airbag in the dynamic contact area on each side in the reference coordinate system; The dynamic contact area on each side is divided into center of gravity adjustment areas in parallel with the adjacent two side edges of the dynamic contact area on each side, and a first center of gravity adjustment area, a second center of gravity adjustment area, a third center of gravity adjustment area and a fourth center of gravity adjustment area are obtained, wherein the standard foot pressure center of gravity is the intersection of the first center of gravity adjustment area, the second center of gravity adjustment area, the third center of gravity adjustment area and the fourth center of gravity adjustment area, the first center of gravity adjustment area and the third center of gravity adjustment area are located at the front side of the dynamic contact area on each side, the second center of gravity adjustment area and the fourth center of gravity adjustment area are located at the rear side of the dynamic contact area on each side, the first center of gravity adjustment area and the second center of gravity adjustment area are located at the side of the dynamic contact area on each side close to the connecting line of the air-floating treadmills on both sides, and the third center of gravity adjustment area and the fourth center of gravity adjustment area are located at the side of the dynamic contact area on each side away from the connecting line of the air-floating treadmills on both sides; If the foot pressure gravity center is not within the gravity center shifting area, and the foot pressure gravity center is within the first gravity center adjustment area, the air pressure of the airbags in the second gravity center adjustment area, the third gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the first gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center shifting area; If the foot pressure gravity center is not within the gravity center offset area, and the foot pressure gravity center is within the second gravity center adjustment area, the air pressure of the airbags in the first gravity center adjustment area, the third gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the second gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center offset area; If the foot pressure gravity center is not within the gravity center offset area, and the foot pressure gravity center is within the third gravity center adjustment area, the air pressure of the airbags in the first gravity center adjustment area, the second gravity center adjustment area, and / or the fourth gravity center adjustment area is reduced, or the air pressure of the airbags in the third gravity center adjustment area is increased until the foot pressure gravity center is within the gravity center offset area; If the foot pressure center of gravity is not within the center of gravity offset area, and the foot pressure center of gravity is located in the fourth center of gravity adjustment area, the air pressure of the airbags in the first center of gravity adjustment area, the second center of gravity adjustment area and / or the third center of gravity adjustment area is reduced, or the air pressure of the airbags in the fourth center of gravity adjustment area is increased until the foot pressure center of gravity is within the center of gravity offset area.

6. The split-type treadmill control method capable of adaptively correcting gait according to claim 1, characterized in that: Also includes: The air pressure of all the air bags in the air-floating treadmill on each side is adjusted so that the air-floating treadmill has the working states of horizontal, forward tilt, backward tilt, left tilt, right tilt, forward tilt and left tilt, forward tilt and right tilt, backward tilt and left tilt, and backward tilt and right tilt.

7. A split-type treadmill control device capable of adaptively correcting gait, characterized in that: include: The air pressure acquisition and conversion module is configured to obtain the air pressure and air pressure change of each airbag in the bilateral air-floating treadmill in a static scene or a dynamic scene, determine the static contact area or dynamic contact area between the air-floating treadmill and the foot on each side according to the air pressure change of all the airbags in the air-floating treadmill on each side, calculate the pressure of all the airbags in the static contact area or the dynamic contact area on each side, and convert the pressure of all the airbags in the static contact area or the dynamic contact area on each side into the foot pressure; a hardness adjustment module, configured to calculate a plantar load index according to the foot pressure of the static contact area on each side, determine the arch type according to the plantar load index and determine the hardness level of the required air-floating treadmill, each of the hardness levels corresponds to an air pressure range, and adjust the air pressure of all the air bags in the air-floating treadmill on each side so that the air pressure is within the air pressure range corresponding to the hardness level of the required air-floating treadmill; A mechanical compensation module is configured to calculate the pressure ratio between the inner side and the outer side of the foot according to the foot pressure of the static contact area on each side, judge the foot state according to the pressure ratio between the inner side and the outer side of the foot and determine the required mechanical compensation level of the air-floating treadmill, each of the mechanical compensation levels corresponds to an air pressure difference, and adjust the air pressure of all the airbags in the air-floating treadmill on each side so that the air pressure difference between the leftmost airbag and the rightmost airbag on the air-floating treadmill on each side reaches the air pressure difference corresponding to the required mechanical compensation level of the air-floating treadmill; The foot pressure center of gravity adjustment module is configured to determine a standard foot pressure center of gravity according to the dynamic contact area on each side, and use a circular area with the standard foot pressure center of gravity as the center and a set standard deviation threshold as the radius as the center of gravity offset area, and calculate the foot pressure center of gravity according to the pressure exerted on all airbags in the dynamic contact area on each side. If the foot pressure center of gravity is not within the center of gravity offset area, adjust the air pressure of the airbags in the dynamic contact area on each side until the foot pressure center of gravity is within the center of gravity offset area.

8. A split-type treadmill capable of adaptively correcting gait, characterized in that: include: One or more processors, a memory, a treadmill support, two air-floating treadmills, a flexible treadmill link belt, and one or more programs, wherein the two air-floating treadmills are respectively installed on the left and right sides of the treadmill support and are connected by a flexible treadmill link belt, and the air-floating treadmill is used to support the foot; the air-floating treadmill includes an airbag, a pressure sensor, and an air pressure regulator, wherein the pressure sensor is installed on the airbag and is connected to the processor and / or the memory, and is used to collect the air pressure of the airbag and transmit it to the processor and / or the memory; the air pressure regulator is connected to the processor, and is used to receive a control instruction issued by the processor to execute a corresponding air pressure regulation program, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs are used to execute the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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