A treadmill speed adaptive control method, device and system

Abstract

The application relates to the technical field of control, and provides a treadmill speed self-adaptive control method, device and system. The method is applied to a treadmill control system, the treadmill control system comprises a depth sensor and a speed controller, the depth sensor is arranged in front of a treadmill, an output end of the depth sensor is connected with an input end of the speed controller, and an output end of the speed controller is connected with a control speed interface of the treadmill. The method comprises the following steps: acquiring a user position and a user step frequency through the depth sensor; acquiring a user motion state through the speed controller; analyzing the user motion state, the user position and the user step frequency to obtain a speed regulation instruction; and controlling the speed of the treadmill according to the speed regulation instruction and updating the current user motion state. The application can adjust the speed gear of the treadmill in real time to adapt to the speed of the user.

Description

Technical Field

[0001] This invention relates to the field of control technology, and in particular to a method, device and system for adaptive speed control of a treadmill. Background Technology

[0002] Existing treadmill speed control methods:

[0003] Manual adjustment control: This is a direct and common control method in existing technology, where users manually adjust the treadmill speed via a touchscreen, buttons, or knobs. On traditional treadmills, users can adjust the treadmill's speed in real time by increasing or decreasing the speed using speed increase or decrease buttons.

[0004] Automatic speed adjustment sensing: Some existing treadmills are equipped with stride sensing technology, which dynamically adjusts the speed by monitoring the frequency or gait of the user's steps. This method does not require manual operation by the user; instead, it automatically adjusts the treadmill speed based on stride frequency (such as steps per minute, pace).

[0005] Automatic Heart Rate Control: The treadmill can also automatically adjust its speed by monitoring the user's heart rate. When the heart rate approaches or exceeds the user's set target range, the treadmill will automatically slow down or accelerate to keep the user within the ideal exercise intensity range. For example, if the heart rate is too low, the treadmill will automatically increase its speed; if the heart rate is too high, the treadmill will automatically slow down to avoid overexertion.

[0006] In conclusion, manually adjusting the treadmill speed in real time is insufficient to achieve adaptive performance. Methods such as monitoring stride heart rate require additional equipment, which incurs extra costs and negatively impacts the user experience. Summary of the Invention

[0007] To address the problem that existing treadmill speed control methods suffer from low real-time speed adjustment, thus failing to achieve adaptive control, this invention provides a treadmill speed adaptive control method, device, and system. During use, the treadmill speed can be adjusted in real-time to adapt to the user's exercise state, improving the control efficiency and accuracy of the treadmill speed.

[0008] In a first aspect, the present invention provides a treadmill speed adaptive control method, applied to a treadmill control system. The treadmill control system includes a depth sensor and a speed controller. The depth sensor is disposed at the front of the treadmill, the output terminal of the depth sensor is connected to the input terminal of the speed controller, and the output terminal of the speed controller is connected to the control speed interface of the treadmill. The method includes:

[0009] The user's current location and step frequency are obtained through the depth sensor;

[0010] The speed controller obtains the user's motion state at the previous moment, analyzes the user's motion state at the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain a speed control command, updates the user's motion state at the current moment based on the speed control command, and controls the speed of the treadmill accordingly.

[0011] Furthermore, the treadmill's running platform is divided into acceleration zone, constant speed zone, deceleration zone, forced stop zone, and preparation zone according to distance.

[0012] Furthermore, if the user's current position is in the acceleration zone, the constant speed zone, or the deceleration zone;

[0013] Then, the step of analyzing the user's motion state at the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain a speed control command includes:

[0014] The speed controller determines whether the user's motion state at the previous moment matches the user's position at the current moment.

[0015] If the user's motion state at the previous moment and the user's position at the current moment do not match, a speed control command is obtained based on the user's position at the current moment.

[0016] If the user's movement state at the previous moment matches the user's position at the current moment, the user's movement intention is obtained, and the user's movement intention and the user's step frequency at the current moment are analyzed to obtain a speed control command.

[0017] Furthermore, if the user's current position is in the preparation area, the system waits for the depth sensor to capture the user signal to obtain the user's current position and user joint parameters; the user joint parameters are used to calculate the user's step frequency at the current moment.

[0018] If the user's current position is within the forced stop zone, the speed control command is to force deceleration.

[0019] Furthermore, obtaining the speed control command based on the user's current location specifically includes:

[0020] If the user's current location is within the acceleration zone, then the speed control command is to increase the speed;

[0021] If the user's current position is within the uniform speed zone, then the speed control command is to keep the speed constant.

[0022] If the user's current location is in the deceleration zone, then the speed control command is to reduce the speed.

[0023] Furthermore, the user's movement intention is confirmed based on the user's current location, specifically including:

[0024] If the user's current position is within the acceleration zone, then the user's movement intention is to accelerate;

[0025] If the user's current position is within the uniform speed zone, then the user's movement intention is uniform speed;

[0026] If the user's current position is in the deceleration zone, then the user's movement intention is to decelerate.

[0027] Furthermore, the step of analyzing the user's movement intention and the user's current step frequency to obtain a speed control command specifically includes:

[0028] If the user's movement intention is to accelerate, determine the number of times the user's movement intention is to accelerate. If the preset number of times is reached, the speed control command is to increase the speed; if the preset number of times is not reached, the number of times the user's movement intention is to accelerate is incremented by 1.

[0029] If the user's movement intention is to maintain a constant speed, and the user's current step frequency increases, then the speed control command is to increase the speed; if the user's current step frequency remains unchanged, then the speed control command is to keep the speed unchanged; if the user's current step frequency decreases, then the speed control command is to decrease the speed.

[0030] If the user's movement intention is to decelerate, the system determines the number of times the user's movement intention is to decelerate. If the preset number of times is reached, the speed control command is to reduce the speed; if the preset number of times is not reached, the number of times the user's movement intention is to decelerate is incremented by 1.

[0031] Furthermore, updating the user's motion state at the current moment according to the speed control command specifically includes:

[0032] If the speed control command is to increase the speed, then the user's current motion state is an accelerated state;

[0033] If the speed control command is to keep the speed constant, then the user's current motion state is a constant speed state.

[0034] If the speed control command is to reduce speed, then the user's current motion state is a deceleration state.

[0035] Secondly, the present invention provides a treadmill speed adaptive control device, applied to a treadmill control system. The treadmill control system includes a depth sensor and a speed controller. The depth sensor is disposed at the front of the treadmill, and the output terminal of the depth sensor is connected to the input terminal of the speed controller. The output terminal of the speed controller is connected to the control speed interface of the treadmill. The device includes:

[0036] The depth sensing module is used to obtain the user's current position and step frequency through the depth sensor;

[0037] The speed control module is used to obtain the user's motion state at the previous moment through the speed controller, analyze the user's motion state at the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain a speed control command, update the user's motion state at the current moment based on the speed control command, and control the speed of the treadmill accordingly.

[0038] Thirdly, the present invention provides a treadmill control system, including a depth sensor and a speed controller; wherein:

[0039] The depth sensor is used to obtain the user's current position and step frequency;

[0040] The speed controller is used to acquire the user's motion state at the previous moment, analyze the user's motion state at the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain a speed control command, update the user's motion state at the current moment based on the speed control command, and control the speed of the treadmill accordingly.

[0041] The beneficial effects of this invention are:

[0042] This invention uses a depth sensor to obtain the user's current position and step frequency, and a speed controller to obtain the user's previous movement state. After analysis, it obtains speed control commands to adjust the treadmill's speed level in real time to adapt to the user's speed. This eliminates the need for the user to manually adjust the speed level and requires no additional equipment, effectively improving the user experience and enhancing the treadmill's intelligence.

[0043] The treadmill speed adaptive control method provided by this invention can actively adapt to the user's running rhythm, reducing the user's exertion on the treadmill and improving exercise efficiency. By adjusting the speed in real time to match the user's exercise state, it reduces the risk of falls caused by speed mismatch and improves exercise safety. Furthermore, this invention makes fine-tuning of the speed during the user's exercise, resulting in lower impact and making it suitable for a wide range of users, including those with osteoarthritis, obese individuals, and those recovering from injuries. Attached Figure Description

[0044] Figure 1 A flowchart illustrating a treadmill speed adaptive control method provided in an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of a treadmill speed adaptive control device provided in an embodiment of the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0047] like Figure 1 As shown, this embodiment of the invention provides a treadmill speed adaptive control method, applied to a treadmill control system. The treadmill control system includes a depth sensor and a speed controller. The depth sensor is located at the front of the treadmill, and its output is connected to the input of the speed controller. The output of the speed controller is connected to the treadmill's speed control interface. The method includes:

[0048] S1: Obtain the user's current position and step frequency using a depth sensor; the user's position is determined based on the user's waist position.

[0049] It should be noted that depth sensors can collect the distance and state of objects. The depth sensor used in this embodiment of the invention is a Kinect v2, with an effective working range of 0.5 meters to 4.5 meters. It is used to capture the user's position and joint parameters, and the user's stride frequency is calculated using the joint parameters. The captured user position is determined based on the user's waist position. In this embodiment, the depth sensor is positioned 1.4 meters away from the front of the treadmill platform and 1.2 meters above it. The treadmill has a speed control interface, which can be connected to other devices to control the treadmill's speed.

[0050] Specifically, the treadmill running platform is divided into acceleration, constant speed, deceleration, forced stop, and preparation zones based on distance. In this embodiment, the treadmill running platform is 2.5m long. Therefore, the area within 2.8m of the depth sensor (i.e., the first 1.4m of the running platform) is designated as the acceleration zone; the area between 2.8 and 3.1m (1.4m-1.7m of the running platform) is the constant speed zone; the area between 3.1 and 3.4m (1.7m-2.0m of the running platform) is the deceleration zone; the area between 3.4 and 3.9m (2.0m-2.5m of the running platform) is the forced stop zone; and the area beyond 3.9m (i.e., the user is not on the running platform) is the preparation zone. It should be noted that the treadmill length and the location of the depth sensor both affect the zone division. Those skilled in the art can adaptively adjust the speed zone settings of the treadmill running platform based on the treadmill length and the location of the depth sensor.

[0051] In this embodiment of the invention, the time interval is divided into 3-second intervals. That is, every 3 seconds, the user's position, cadence, and movement state collected by the depth sensor are analyzed to adjust the treadmill speed. Therefore, the user's cadence is calculated using the following formula:

[0052]

[0053] Where b represents the user's step frequency and n represents the number of steps the user takes within 3 seconds.

[0054] S2: Obtain the user's motion state from the previous moment through the speed controller, analyze the user's motion state from the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain speed control instructions, update the user's motion state at the current moment based on the speed control instructions, and control the speed of the treadmill accordingly.

[0055] If the user's current position is in the preparation area, wait for the depth sensor to capture the user signal and obtain the user's current position and user joint parameters.

[0056] If the user's current location is in the forced stop zone, the speed control command is to force deceleration until the treadmill stops.

[0057] Specifically, in any user state, when the user's location is within the forced stop zone, forced deceleration is triggered, and the deceleration command is set as follows:

[0058] If the user's current position is 3.7m-3.9m in front of the depth sensor, the treadmill speed will be controlled at 0km / h; if the user's current position is 3.6m-3.7m in front of the depth sensor, the treadmill speed will be controlled at no more than 0.5km / h; if the user's current position is 3.5m-3.6m in front of the depth sensor, the treadmill speed will be controlled at no more than 0.8km / h; if the user's current position is 3.4m-3.5m in front of the depth sensor, the treadmill speed will be controlled at no more than 1km / h.

[0059] The following describes the treadmill speed adjustment when the user is currently in the acceleration, constant speed, or deceleration zone. This involves analyzing the user's previous movement state, current position, and current stride frequency to obtain speed control commands, including:

[0060] The speed controller determines whether the user's motion state at the previous moment matches the user's current position.

[0061] If the user's motion state at the previous moment does not match the user's current position, speed control instructions are obtained based on the user's current position, specifically including:

[0062] If the user's current location is in the acceleration zone, the speed control command is to increase the speed by 0.1 km / h and update the user's current motion state to acceleration; if the user's current location is in the constant speed zone, the speed control command is to keep the speed unchanged and update the user's current motion state to constant speed; if the user's current location is in the deceleration zone, the speed control command is to decrease the speed by 0.1 km / h and update the user's current motion state to deceleration.

[0063] It is understandable that when the user's motion state at the previous moment does not match the user's current position—for example, if the user's motion state at the previous moment was accelerating, but the user's current position is in a constant speed or deceleration zone—the speed control command will be based on the user's current position. Increasing or decreasing the speed by 0.1 km / h is the speed control command set in this embodiment of the invention, and can be flexibly set according to the user's preferences.

[0064] Given a match between the user's movement state at the previous moment and their current position, the user's movement intention is determined. This intention, along with the user's current step frequency, is then analyzed to generate speed control commands. The user's movement intention is confirmed based on their current position, specifically including:

[0065] If the user's current position is in the acceleration zone, then the user's movement intention is to accelerate. Furthermore:

[0066] If the number of times the user's movement intention is to accelerate is determined, and the number of times reaches 5, the speed control command is to increase the speed by 0.1 km / h; if the number of times does not reach 5, the number of times the user's movement intention is to accelerate is incremented by 1.

[0067] It is understood that the preset number of accelerations in this embodiment is 5. The preset number of accelerations can be adjusted according to the user and the treadmill. If the user's exercise intention is to accelerate less than 5 times, and the user's position is not in the acceleration zone, the acceleration count will be reset to zero.

[0068] If the user's current position is in the uniform velocity zone, then the user's movement intention is uniform velocity. Furthermore:

[0069] If the user's current step frequency increases, the speed control command is to increase the speed by 0.1 km / h, and the current user's movement state is updated to acceleration; if the user's current step frequency remains unchanged, the speed control command is to keep the speed unchanged, and the current user's movement state is updated to uniform speed; if the user's current step frequency decreases, the speed control command is to decrease the speed by 0.1 km / h, and the current user's movement state is updated to deceleration.

[0070] If the user's current position is in the deceleration zone, then the user's movement intention is to decelerate. Furthermore:

[0071] If the number of times the user's movement intention is to decelerate reaches 5, the speed control command is to reduce the speed by 0.1 km / h, and the user's current movement status is updated to decelerate; if the number of times does not reach 5, the number of times the user's movement intention is not to decelerate is incremented by 1.

[0072] It is understood that the preset number of decelerations in this embodiment is 5. The preset number of decelerations can be adjusted according to the user and the treadmill. If the user's exercise intention is to decelerate before reaching 5 times, and the user's position is not in the deceleration zone, the deceleration count will be reset to zero.

[0073] This invention adjusts the speed of the treadmill every 3 seconds, providing multiple control parameters to accurately predict the user's instantaneous intention to accelerate or decelerate, and fine-tunes the speed to increase the safety of the user while improving the control precision of the treadmill.

[0074] This invention also provides a corresponding device for the treadmill speed adaptive control method, further enhancing the practicality of the method. The device can be described from both a functional module perspective and a hardware perspective. The following describes the treadmill speed adaptive control device provided by this invention, which is used to implement the treadmill speed adaptive control method provided by this invention. In this embodiment, the treadmill speed adaptive control device may include or be divided into one or more program modules. These program modules are stored in a storage medium and executed by one or more processors to complete the treadmill speed adaptive control method disclosed in the above embodiments. The program module referred to in this invention is a series of computer program instruction segments capable of performing a specific function, which is more suitable than the program itself for describing the execution process of the treadmill speed adaptive control device in the storage medium. The following description will specifically introduce the functions of this embodiment and the program modules. The treadmill speed adaptive control device described below corresponds to the treadmill speed adaptive control method described above in terms of parameters.

[0075] like Figure 2 As shown in the figure, an embodiment of the present invention provides a treadmill speed adaptive control device, applied to a treadmill control system. The treadmill control system includes a depth sensor and a speed controller. The depth sensor is disposed at the front of the treadmill, and its output terminal is connected to the input terminal of the speed controller. The output terminal of the speed controller is connected to the control speed interface of the treadmill. The device includes:

[0076] The depth sensing module is used to obtain the user's current position and step frequency through a depth sensor;

[0077] The speed control module is used to obtain the user's motion state at the previous moment through the speed controller, analyze the user's motion state at the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain speed control instructions, update the user's motion state at the current moment based on the speed control instructions, and control the speed of the treadmill accordingly.

[0078] It should be noted that the treadmill speed adaptive control device provided in the embodiments of the present invention has the same beneficial effects as the treadmill speed adaptive control method provided in the above embodiments, and for a detailed description of the treadmill speed adaptive control method involved in the embodiments of the present invention, please refer to the above embodiments, which will not be repeated here.

[0079] Based on the above embodiments, this invention also provides a treadmill control system, including a depth sensor and a speed controller; wherein:

[0080] Depth sensors are used to obtain the user's current location and step frequency;

[0081] The speed controller is used to acquire the user's motion state at the previous moment, analyze the user's motion state at the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain speed control instructions, update the user's motion state at the current moment based on the speed control instructions, and control the speed of the treadmill accordingly.

[0082] It should be noted that the specific descriptions of the depth sensor and speed controller in the embodiments of the present invention refer to the above method embodiments, and the embodiments of the present invention will not be repeated here.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A treadmill speed adaptive control method, characterized by, The application is applied to a treadmill control system, the treadmill control system comprises a depth sensor and a speed controller, the depth sensor is arranged in front of the treadmill, an output end of the depth sensor is connected with an input end of the speed controller, and an output end of the speed controller is connected with a control speed interface of the treadmill. The running track of the treadmill is divided into an acceleration zone, a constant speed zone, a deceleration zone, a forced stop zone and a preparation zone according to distance. The method comprises the following steps: acquiring the user position and the user step frequency at the current moment through the depth sensor; acquiring the user motion state at the previous moment through the speed controller, analyzing the user motion state at the previous moment, the user position at the current moment and the user step frequency at the current moment to obtain a speed control instruction, updating the user motion state at the current moment based on the speed control instruction and controlling the speed of the treadmill accordingly, and specifically comprising the following steps: if the user position at the current moment is in the acceleration zone, the constant speed zone or the deceleration zone, then the analysis of the user motion state at the previous moment, the user position at the current moment and the user step frequency at the current moment to obtain the speed control instruction comprises the following steps: judging whether the user motion state at the previous moment and the user position at the current moment match through the speed controller; if the user motion state at the previous moment and the user position at the current moment do not match, obtaining a speed control instruction according to the user position at the current moment; if the user motion state at the previous moment and the user position at the current moment match, obtaining a user motion intention and analyzing the user motion intention and the user step frequency at the current moment to obtain a speed control instruction; wherein the analysis of the user motion intention and the user step frequency at the current moment to obtain the speed control instruction specifically comprises the following steps: if the user motion intention is acceleration, judging the number of times that the user motion intention is acceleration, if the number of times reaches a preset number, the speed control instruction is speed increase, if the number of times does not reach the preset number, the number of times that the user motion intention is acceleration is increased by 1; if the user motion intention is constant speed, if the user step frequency at the current moment increases, the speed control instruction is speed increase, if the user step frequency at the current moment does not change, the speed control instruction is speed unchanged, if the user step frequency at the current moment decreases, the speed control instruction is speed decrease; if the user motion intention is deceleration, judging the number of times that the user motion intention is deceleration, if the number of times reaches a preset number, the speed control instruction is speed decrease, if the number of times does not reach the preset number, the number of times that the user motion intention is deceleration is increased by 1.

2. The method of claim 1, wherein, if the user position at the current moment is in the preparation zone, waiting for the depth sensor to capture a user signal, acquiring the user position at the current moment and a user joint parameter; the user joint parameter is used to calculate the user step frequency at the current moment; In the case that the user position at the current time is in the forced stop area, the speed regulation instruction is forced deceleration.

3. The method of claim 1, wherein the step of determining the speed of the treadmill is performed by a speed sensor. The speed regulation instruction is obtained according to the user position at the current time, specifically including: If the user position at the current time is in the acceleration area, the speed regulation instruction is speed increase; If the user position at the current time is in the constant speed area, the speed regulation instruction is speed invariable; If the user position at the current time is in the deceleration area, the speed regulation instruction is speed decrease.

4. The method of claim 1, wherein, The user motion intention is confirmed according to the user position at the current time, specifically including: If the user position at the current time is in the acceleration area, the user motion intention is acceleration; If the user position at the current time is in the constant speed area, the user motion intention is constant speed; If the user position at the current time is in the deceleration area, the user motion intention is deceleration.

5. The method of claim 1, wherein, The user motion state at the current time is updated according to the speed regulation instruction, specifically including: If the speed regulation instruction is speed increase, the user motion state at the current time is acceleration state; If the speed regulation instruction is speed invariable, the user motion state at the current time is constant speed state; If the speed regulation instruction is speed decrease, the user motion state at the current time is deceleration state.

6. A treadmill speed adaptive control device, characterized by, The device is applied to a treadmill control system, the treadmill control system includes a depth sensor and a speed controller, the depth sensor is arranged in front of the treadmill, an output end of the depth sensor is connected with an input end of the speed controller, and an output end of the speed controller is connected with a control speed interface of the treadmill. The running platform of the treadmill is divided into an acceleration area, a constant speed area, a deceleration area, a forced stop area and a preparation area according to distance, and the device includes: A depth sensing module is used to obtain the user position and user step frequency at the current time through the depth sensor; A speed control module is used to obtain the user motion state at the last time through the speed controller, analyze the user motion state at the last time, the user position at the current time and the user step frequency at the current time to obtain a speed regulation instruction, update the user motion state at the current time based on the speed regulation instruction and control the speed of the treadmill accordingly, specifically including: If the user position at the current time is in the acceleration area, the constant speed area or the deceleration area, Then, the analysis of the user motion state at the last time, the user position at the current time and the user step frequency at the current time to obtain the speed regulation instruction includes: The speed controller is used to determine whether the user motion state at the last time and the user position at the current time match; In the case that the user motion state at the last time and the user position at the current time do not match, the speed regulation instruction is obtained according to the user position at the current time; If the user's movement state at the previous moment matches the user's position at the current moment, the user's movement intention is obtained, and the user's movement intention and the user's step frequency at the current moment are analyzed to obtain a speed control command; Specifically, the speed control command is obtained by analyzing the user's movement intention and the user's current step frequency, including: If the user's movement intention is to accelerate, determine the number of times the user's movement intention is to accelerate. If the preset number of times is reached, the speed control command is to increase the speed; if the preset number of times is not reached, the number of times the user's movement intention is to accelerate is incremented by 1. If the user's movement intention is to maintain a constant speed, and the user's current step frequency increases, then the speed control command is to increase the speed; if the user's current step frequency remains unchanged, then the speed control command is to keep the speed unchanged; if the user's current step frequency decreases, then the speed control command is to decrease the speed. If the user's movement intention is to decelerate, the system determines the number of times the user's movement intention is to decelerate. If the preset number of times is reached, the speed control command is to reduce the speed; if the preset number of times is not reached, the number of times the user's movement intention is to decelerate is incremented by 1.

7. A treadmill control system characterized by, It includes a depth sensor and a speed controller; the depth sensor is positioned at the front of the treadmill, and its output is connected to the input of the speed controller. The output of the speed controller is connected to the treadmill's speed control interface. The treadmill's running platform is divided into an acceleration zone, a constant speed zone, a deceleration zone, a forced stop zone, and a preparation zone based on distance. The depth sensor is used to obtain the user's current position and step frequency; The speed controller is used to acquire the user's movement state at the previous moment, analyze the user's movement state at the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain a speed control command, update the user's movement state at the current moment based on the speed control command, and control the speed of the treadmill accordingly, specifically including: If the user's current position is in the acceleration zone, the constant speed zone, or the deceleration zone; Then, the step of analyzing the user's motion state at the previous moment, the user's position at the current moment, and the user's step frequency at the current moment to obtain a speed control command includes: The speed controller determines whether the user's motion state at the previous moment matches the user's position at the current moment. If the user's motion state at the previous moment and the user's position at the current moment do not match, a speed control command is obtained based on the user's position at the current moment. If the user's movement state at the previous moment matches the user's position at the current moment, the user's movement intention is obtained, and the user's movement intention and the user's step frequency at the current moment are analyzed to obtain a speed control command; Specifically, the speed control command is obtained by analyzing the user's movement intention and the user's current step frequency, including: If the user's movement intention is to accelerate, determine the number of times the user's movement intention is to accelerate. If the preset number of times is reached, the speed control command is to increase the speed; if the preset number of times is not reached, the number of times the user's movement intention is to accelerate is incremented by 1. If the user's movement intention is to maintain a constant speed, and the user's current step frequency increases, then the speed control command is to increase the speed; if the user's current step frequency remains unchanged, then the speed control command is to keep the speed unchanged; if the user's current step frequency decreases, then the speed control command is to decrease the speed. If the user's movement intention is to decelerate, the system determines the number of times the user's movement intention is to decelerate. If the preset number of times is reached, the speed control command is to reduce the speed; if the preset number of times is not reached, the number of times the user's movement intention is to decelerate is incremented by 1.

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