Rehabilitation device and motor control method thereof

Abstract

This application discloses a rehabilitation device and its motor control method. The rehabilitation device includes a motor, a drive unit, and a control unit. The motor has a three-phase circuit, and a controllable short-circuit circuit is provided between the three phase circuits. When the short-circuit circuit is open, the three-phase circuit operates normally; when the short-circuit circuit is connected, the three-phase circuit is short-circuited. The drive unit is connected to the motor for transmission and drives the motor to rotate during use, thereby generating current in the three-phase circuit. The control unit is connected to the motor for communication and is used to control the on / off state of the short-circuit circuit. In the technical solution provided in this application, the three-phase circuit of the motor is actively short-circuited using the characteristics of the motor. When the drive unit is used, it drives the motor to rotate and generates a back electromotive force, generating resistance for the user to exercise. Furthermore, the resistance generated by the motor is proportional to the motor speed, thereby allowing the motor to match the user's resistance and providing a suitable exercise effect.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a rehabilitation device and its motor control method. Background Technology

[0002] Rehabilitation equipment is a general term for devices that help patients perform passive movements and daily activities to promote physical recovery. Rehabilitation equipment includes various types depending on its purpose, such as those used to train a patient's gait and strengthen their muscles.

[0003] Currently, traditional rehabilitation equipment on the market typically uses hydraulic control, which leads to two drawbacks: firstly, it's difficult to control the force applied during training; secondly, a single hydraulic unit can only control movement in one direction, while multiple units are needed for combined movements in multiple directions, causing costs to skyrocket. In addition, some equipment on the market uses electric motors for control, but its circuitry is relatively complex, and its cost remains high. Summary of the Invention

[0004] This application provides a rehabilitation device and its motor control method to solve the technical problems of insufficient operability and excessive cost of existing rehabilitation devices.

[0005] In a first aspect, this application provides a rehabilitation device, comprising:

[0006] The motor is equipped with a three-phase circuit, and a short-circuit circuit that can be controlled to switch on and off is provided between the three-phase circuits. When the short-circuit circuit is disconnected, the three-phase circuit works normally, and when the short-circuit circuit is connected, the three-phase circuit is short-circuited.

[0007] A drive unit, connected to the motor, drives the motor to rotate during use, thereby generating current in the three-phase circuit; and

[0008] A control device, which is communicatively connected to the motor, is used to control the on / off state of the short-circuit circuit.

[0009] Optionally, each of the short-circuit circuits is provided with a switch, which is electrically connected to the control device.

[0010] Optionally, the short-circuit circuit is provided with a resistor electrically connected to the control device.

[0011] Optionally, the motor may also be equipped with a temperature sensor and / or a motor encoder.

[0012] Secondly, this application also provides a motor control method for a rehabilitation device, the method comprising:

[0013] In response to the user's control command, a short-circuit circuit is connected between the three phases of the motor;

[0014] Obtain the real-time parameters of the motor;

[0015] The short-circuit circuit is controlled according to the real-time parameters.

[0016] Optionally, the real-time parameters include motor temperature, and controlling the short-circuit circuit based on the real-time parameters includes:

[0017] Determine whether the motor temperature is greater than a preset temperature threshold;

[0018] When the motor temperature exceeds the temperature threshold, the short-circuit circuit is disconnected.

[0019] Optionally, the real-time parameters include the motor speed, and controlling the short-circuit circuit according to the real-time parameters includes:

[0020] Determine whether the motor speed is within a preset speed threshold range;

[0021] When the motor speed exceeds the speed threshold range, the resistance of the short-circuit circuit is adjusted.

[0022] Optionally, the motor is configured with multiple resistance coefficients, and adjusting the resistance of the short-circuit circuit includes:

[0023] Determine whether the motor speed exceeds the upper limit of the speed threshold range;

[0024] If it is greater than that, then the resistance coefficient of the motor should be increased;

[0025] Determine whether the motor speed is less than the lower limit of the speed threshold range;

[0026] If it is less than that, then the resistance coefficient of the motor should be reduced.

[0027] Optionally, increasing the drag coefficient of the motor includes:

[0028] Determine the target drag coefficient of the motor;

[0029] The target resistance value of the short-circuit circuit is calculated based on the target resistance coefficient, the current resistance coefficient, and the current resistance value of the short-circuit circuit.

[0030] Reduce the current resistance value of the short-circuit circuit to the target resistance value.

[0031] Optionally, the real-time parameters include motor temperature and / or resistor temperature, and controlling the short-circuit circuit according to the real-time parameters includes:

[0032] Determine whether the motor temperature and / or resistor temperature are greater than a preset first temperature threshold;

[0033] When the motor temperature and / or resistor temperature are greater than the first temperature threshold, the short-circuit circuit is controlled to disconnect.

[0034] Optionally, after the short-circuit circuit is disconnected, the method further includes:

[0035] Determine whether the motor temperature and / or the resistor temperature are less than a preset second temperature threshold;

[0036] If so, the connection of the short-circuit circuit is controlled and the resistance of the short-circuit circuit is set to a preset resistance value.

[0037] Optionally, controlling the short-circuit circuit to disconnect includes:

[0038] Increase the resistance value of the short-circuit circuit;

[0039] Disconnect the short-circuit circuit.

[0040] Optionally, it also includes:

[0041] The target resistance coefficient of the motor is determined according to the control command;

[0042] The short-circuit circuit is controlled according to the target resistance coefficient.

[0043] Thirdly, this application also provides an electronic device including a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor causing the electronic device to perform the method as described in the second aspect when executing the one or more computer programs.

[0044] Fourthly, this application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in the second aspect.

[0045] In the technical solution provided in this application, the three-phase circuit of the motor is actively short-circuited by utilizing the characteristics of the motor. When the drive device is used, it drives the motor to rotate and generates a corresponding back electromotive force. The back electromotive force generates corresponding resistance for the user to exercise. The faster the motor rotates, the greater the resistance generated, making it difficult for the user to overcome the resistance and reduce the motor speed; the slower the motor rotates, the smaller the resistance generated, allowing the user to overcome the resistance and increase the motor speed. This enables the motor to operate within a stable speed range and provides stable resistance to the user to maintain the exercise effect. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the circuit structure of a rehabilitation device provided in an embodiment of this application;

[0048] Figure 2 This is a schematic flowchart of a motor control method for a rehabilitation device provided in an embodiment of this application;

[0049] Figure 3 A flowchart of a method for controlling a short-circuit circuit based on real-time parameters according to an embodiment of this application;

[0050] Figure 4 This is a schematic flowchart of a method for adjusting the resistance of a short-circuit circuit according to an embodiment of this application;

[0051] Figure 5 This is a schematic flowchart of a method for improving the resistance coefficient of a motor according to an embodiment of this application;

[0052] Figure 6 This is a schematic flowchart of a method for controlling a short-circuit circuit based on real-time parameters, provided in another embodiment of this application.

[0053] Figure 7 This is a schematic flowchart of a method for adjusting the drag coefficient according to an embodiment of this application;

[0054] Figure 8 This is a schematic diagram of an electronic device architecture provided in an embodiment of this application. Attached image description:

[0056] 10. Motor; 11. Three-phase circuit; 12. Short-circuit circuit; 121. Adjustable resistor;

[0057] 20. Drive unit;

[0058] 30. Control device. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0060] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this application do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0061] First, to facilitate the explanation of the rehabilitation equipment and its motor control method provided in the embodiments of this application, the application environment of the method provided in the embodiments of this application will be introduced.

[0062] Please see Figure 1 , Figure 1 This is a schematic diagram of the circuit structure of a rehabilitation device provided in one embodiment of this application. The rehabilitation device can be a lower limb rehabilitation device, an upper limb rehabilitation device, or a quadriplegia rehabilitation device, and is not limited thereto. Regardless of the type of rehabilitation device, the overall structure includes a motor 10, a drive device 20, and a control device 30. The motor 10 is connected to the drive device 20 via transmission and to the control device 30 via communication, used to realize the mutual conversion of electrical energy and mechanical energy under signal control. The drive device 20 is interactive with the user; specifically, the drive device 20 can be the pedal device of a rehabilitation bicycle or the lever device of an upper limb rehabilitation device. The control device 30 is used to receive control commands from the user and transmit them to the motor 10 to control the motor 10 to perform corresponding actions. In a specific embodiment, it can be a touch screen display or a control panel connected to buttons for control.

[0063] The motor 10 is equipped with a three-phase circuit 11, and a controllable short-circuit circuit 12 is provided between the three-phase circuits 11. When the user needs the motor 10 to generate resistance to assist in exercise, the short-circuit circuit 12 is connected, and the three-phase circuit 11 is short-circuited. When the user pushes the drive device 20 to rotate, the motor 10, which is connected to the drive, also rotates, thereby generating a back electromotive force. At this time, because the three-phase circuit 11 is short-circuited, the current passing through the three-phase circuit 11 generates a corresponding electromagnetic torque to resist the user from continuing to push the drive device 20 to rotate. Furthermore, the faster the user pushes the drive device 20 to rotate, the greater the rotation speed of the motor rotor, which is connected to the motor output shaft. As the motor rotor speed increases, the back electromotive force generated by the motor also increases, and the current generated in the three-phase circuit of the motor also increases. The electromagnetic torque is proportional to the current in the motor, so the electromagnetic torque also increases, resulting in greater resistance felt by the user. Conversely, the slower the user pushes the drive device 20, the greater the resistance felt by the user. This allows control over the speed of the motor 10 and the amount of force the user exerts during exercise.

[0064] In some embodiments, the motor is further provided with a detection device for detecting real-time parameters of the motor. Specifically, the detection device may be an encoder installed on the motor for detecting the motor speed. Alternatively, the detection device may be a temperature sensor installed on the motor for detecting the motor temperature.

[0065] In summary, the technical solution provided in this application utilizes the characteristics of motor 10 to actively short-circuit the three-phase circuit 11 of motor 10. When the drive device 20 is used, it drives motor 10 to rotate and generates a corresponding back electromotive force. The back electromotive force generates corresponding resistance for the user to exercise. The faster the motor 10 rotates, the greater the resistance generated, making it difficult for the user to overcome the resistance and reduce the speed of motor 10. Conversely, the slower the motor 10 rotates, the smaller the resistance generated, allowing the user to overcome the resistance and increase the speed of motor 10. This enables motor 10 to operate within a stable speed range and provides stable resistance to the user to maintain the exercise effect.

[0066] Specifically, the short-circuit circuits 12 are used to connect each phase of the three-phase circuit 11. Each short-circuit circuit 12 is equipped with a switch, which is communicatively connected to the control device 30. When the user needs assistance from the rehabilitation equipment to move their upper or lower limbs, they can choose to disconnect the short-circuit circuit 12. At this time, the motor 10 works normally to drive the drive device 20 to rotate, thereby causing the user's upper or lower limbs to follow the movement. When the user needs the rehabilitation equipment to provide resistance for exercise, there is no need to set the motor 10 to reverse mode; the control device 30 only needs to connect the short-circuit circuit 12. It should also be noted that when the short-circuit circuit 12 is connected, the motor 10 can generate a corresponding back electromotive force due to rotation, regardless of whether the user pushes the motor 10 in the forward or reverse direction, and convert it into a corresponding electromagnetic torque resistance. That is, the rehabilitation equipment has no restrictions on the user's exercise method.

[0067] Furthermore, as mentioned earlier, the rotational speed of motor 10 is directly proportional to the resistance provided by motor 10. When the user stops using the rehabilitation equipment, motor 10, under the action of resistance, can counteract the inertia of motion, causing motor 10 to stop rotating quickly. This ensures the safety of the user and avoids potential safety hazards caused by excessively high rotation speeds that are difficult to stop.

[0068] Compared to traditional rehabilitation equipment, when resistance is required, a hydraulically driven structure necessitates multiple hydraulic systems because a single hydraulic system can only control one direction. Conversely, an electrically controlled structure using motor 10 requires a complex circuit to provide resistance. By incorporating a switch in the short-circuit circuit 12, motor 10 can switch between providing no assistance and providing resistance as needed, and the control structure is very simple and easy to implement.

[0069] In some embodiments, each short-circuit circuit 12 is provided with an adjustable resistor 121. The adjustable resistor 121 is used to bear part of the voltage to reduce the overall current in the three-phase circuit 11, thereby reducing the generated back electromotive force and the electromagnetic torque generated by the back electromotive force. For example, when the resistance value of the adjustable resistor 121 is equal to the resistance value of the motor 10, the current in the three-phase circuit 11 is reduced to half of its original value, and the corresponding back electromotive force and electromagnetic torque are also reduced to half of their original values. Therefore, when it is necessary to control the electromagnetic torque generated by the motor 10 for the user to exercise, only the resistance value of the adjustable resistor 121 needs to be adjusted accordingly.

[0070] It is understood that in some other embodiments, the short-circuit circuit 12 can also be directly equipped with multiple fixed resistors with fixed resistance values. Fixed resistors with different resistance values ​​can be connected to the three-phase circuit 11 in series, parallel, or mixed connection via switches, thereby achieving different resistance values ​​on the short-circuit circuit 12, thus similarly reducing the current in the three-phase circuit 11 and controlling the electromagnetic torque.

[0071] In some embodiments, since the three-phase circuit 11 is short-circuited, the current in the three-phase circuit 11 will generate a large amount of heat. Therefore, a corresponding heat dissipation and cooling system is also provided outside the motor 10. Specifically, an oil cooling structure is provided in the motor 10, which dissipates excess heat by the flow of cooling oil.

[0072] The following describes a motor control method for a rehabilitation device based on the motor circuit of the rehabilitation device described in the embodiments of this application.

[0073] Please see Figure 2 , Figure 2 The motor control method for a rehabilitation device provided in one embodiment of this application specifically includes:

[0074] S21. In response to the user's control command, connect the short-circuit circuit between the three phases of the motor.

[0075] S22. Obtain the real-time parameters of the motor.

[0076] S23. Control the short-circuit circuit according to real-time parameters.

[0077] In step S21, when the user exercises using the rehabilitation equipment, a control command needs to be sent to the equipment. Based on this command, the control mechanism of the rehabilitation equipment connects the short-circuit circuit between the three phases, thereby inducing a current in the three-phase circuit. Specifically, the control command can be sent via a mobile app or through the control panel provided with the rehabilitation equipment; there is no limitation on which method is used.

[0078] In step S22, the real-time parameters are data used to characterize the motor state. Specifically, the real-time parameters are acquired by a detection device installed in the motor. For example, a temperature sensor installed in the motor can be used to acquire the real-time temperature of the motor, and an encoder installed in the motor can acquire the output shaft speed of the motor, thereby determining the motor speed.

[0079] In step S23, the short-circuit circuit is connected to the three-phase circuit. Therefore, by controlling the short-circuit circuit, parameters such as voltage and current in the three-phase circuit can be affected, thereby controlling the motor. Specifically, the operating mode and electromagnetic torque (i.e., the resistance value provided to the user) of the motor can be controlled by controlling the on / off state of the short-circuit circuit and changing its resistance. Details will be provided later and will not be elaborated here.

[0080] In some embodiments, the real-time parameter includes motor speed. See also Figure 3 , Figure 3 The flowchart of a method for controlling a short-circuit circuit based on real-time parameters according to an embodiment of this application is shown. Step S23 includes the following:

[0081] S231. Determine whether the motor speed is within the preset speed threshold range.

[0082] S232. When the motor speed exceeds the speed threshold range, adjust the resistance of the short-circuit circuit.

[0083] S233. When the motor speed is within the speed threshold range, the resistance of the short-circuit circuit is not adjusted.

[0084] In step S231, the motor is pre-set with a speed threshold range, for example, 30 rpm / min to 120 rpm / min. When the motor speed exceeds this threshold range, it indicates that the motor may be in an abnormal operating state. For example, when a user is using the rehabilitation equipment normally, the motor speed usually does not exceed 120 rpm / min. When the motor speed exceeds 120 rpm / min, the encoder or motor may be rotating abnormally, and the motor may be burning out due to the large current, posing a potential safety hazard to the user. As another example, when the motor speed is below 30 rpm / min, the resistance provided by the motor may be too great, preventing the user from using the rehabilitation equipment normally.

[0085] In step S232, when the motor exceeds the speed threshold range, the resistance provided by the motor can be changed by adjusting the resistance of the short-circuit circuit, thereby allowing the user to adjust the motor speed to the preset speed threshold range when using the rehabilitation equipment.

[0086] In step S233, when the motor speed is within the speed threshold range, the motor is in normal working condition and no intervention is required.

[0087] In step S232, please refer to Figure 4 , Figure 4 A flowchart illustrating a method for adjusting the resistance of a short-circuit circuit according to an embodiment of this application includes the following steps:

[0088] S31. Determine whether the motor speed is greater than the upper limit of the speed threshold range.

[0089] S32. If it is greater than that, then increase the resistance coefficient of the motor.

[0090] S33. Determine whether the motor speed is below the lower limit of the speed threshold range.

[0091] S34. If it is less than, then reduce the resistance coefficient of the motor.

[0092] In step S31, if the motor speed exceeds the upper limit of the speed threshold range, the motor is in a high-speed rotation state, and the current inside the motor is relatively large, thereby generating a lot of heat. If the heat cannot be dissipated in time, it may cause damage to some components inside the motor. If the motor stops at this time, it also poses a safety hazard to the user.

[0093] In step S32, by increasing the resistance coefficient of the motor, the motor current can be reduced, thereby reducing the heat generated and preventing motor damage; at the same time, the motor can also rotate within a reasonable speed threshold range, avoiding safety hazards to users caused by high-speed rotation.

[0094] In step S33, if the motor speed exceeds the upper limit of the speed threshold range, the motor is in a very low-speed rotation state. At this time, the exercise effect for the user may be poor because the user cannot drive the motor to rotate within a reasonable speed range.

[0095] In step S34, by reducing the motor's resistance coefficient, the resistance generated by the motor can be reduced, making it easier for the user to overcome the resistance and drive the motor to rotate. This allows the motor speed to be increased to a reasonable speed threshold range.

[0096] For details, please refer to Figure 5 , Figure 5 A flowchart illustrating a method for increasing the resistance coefficient of a motor according to an embodiment of this application includes the following steps:

[0097] S41. Determine the target resistance coefficient of the motor.

[0098] S42. Calculate the target resistance value of the short-circuit circuit based on the target resistance coefficient, the current resistance coefficient, and the current resistance value of the short-circuit circuit.

[0099] S43. Reduce the current resistance value of the short circuit to the target resistance value.

[0100] In step S41, the target resistance coefficient is the target value of the motor's adjustable resistance coefficient. The resistance coefficient represents the resistance value provided by the motor at a fixed speed. Each motor is configured with multiple resistance coefficients, which can be controlled to increase or decrease the resistance corresponding to the user's exercise. For example, when the user drives the motor at the same speed, the resistance of the generated electromagnetic torque can be either 20 kg or 10 kg. When the resistance is 20 kg, the user needs to overcome a greater amount of resistance, resulting in a stronger exercise effect; when the resistance is 10 kg, the user needs to overcome a smaller amount of resistance, resulting in a weaker exercise effect. It should be noted that in rehabilitation equipment, the unit of measurement for resistance is usually kg, similar to barbell plates of different weights; its essence is still a unit of force.

[0101] In step S42, the resistance coefficient is related to the resistance value of the short-circuit circuit. Generally, as the resistance value of the short-circuit circuit increases, the motor current decreases, and the provided resistance value also decreases, thus the resistance coefficient decreases; conversely, as the resistance value of the short-circuit circuit decreases, the motor current increases, and the provided resistance value also increases, thus the resistance coefficient increases. Therefore, the target resistance value of the short-circuit circuit can be determined based on the ratio of the target resistance coefficient to the current resistance coefficient, combined with the current resistance value of the short-circuit circuit.

[0102] In step S43, when the current resistance value of the short-circuit circuit increases to the target resistance value, the resistance coefficient of the motor also increases to the target resistance coefficient.

[0103] The principle of reducing the motor resistance coefficient is the same as that of increasing the motor resistance coefficient, as can be seen in the examples above, so it will not be repeated here.

[0104] In some embodiments, real-time parameters include motor temperature; please refer to [link / reference]. Figure 6 , Figure 6 This application provides a schematic flowchart of a method for controlling a short-circuit circuit based on real-time parameters, according to another embodiment of the present application. Controlling the short-circuit circuit based on real-time parameters includes:

[0105] S51. Determine whether the motor temperature and / or resistor temperature are greater than the preset first temperature threshold.

[0106] S52. When the motor temperature and / or the resistance temperature are greater than the first temperature threshold, the short-circuit circuit is disconnected.

[0107] In step S51, the motor temperature is detected by a temperature sensor installed inside the motor. The temperature threshold is set to the highest temperature at which the motor operates normally. The resistance temperature is detected by a temperature sensor installed in the short-circuit circuit. The first temperature threshold is a temperature value used to ensure safety.

[0108] In step S52, when the motor temperature is greater than the first temperature threshold, it indicates that the motor is in an overload working state. In order to avoid the motor temperature from rising further and causing thermal damage to the motor, the control short circuit circuit is disconnected. As a result, the three-phase circuit cannot form a closed loop, the current disappears, and the motor stops working, thereby achieving the protection of the motor.

[0109] In some embodiments, after determining that the motor temperature and / or the resistance temperature are greater than a first temperature threshold, before the short-circuit circuit is disconnected, the indicator light on the rehabilitation device can be set to raise the temperature warning, for example, the indicator light flashes for 2 seconds. After the indicator light flashes, the resistance value of the short-circuit circuit is increased to reduce current-induced heating. The short-circuit circuit is then disconnected after a period of time.

[0110] In some embodiments, after the short circuit is disconnected, the motor temperature and / or the resistance temperature begin to drop. When the temperature drops to a second temperature threshold, it can be determined that the motor temperature has returned to normal. Thus, the resistance of the short circuit can be set to a preset resistance value, wherein the preset resistance value is the lowest resistance value within an adjustable resistance range, and the short circuit can be reconnected.

[0111] In some embodiments, the resistance coefficient of the motor can be actively set by the user via control commands to adjust the resistance value provided by the motor, matching the user's strength level and improving training effectiveness. For details, please refer to... Figure 7 , Figure 7 A flowchart illustrating a method for adjusting the drag coefficient according to an embodiment of this application includes the following steps:

[0112] S61. Determine the target resistance coefficient of the motor according to the control command.

[0113] S62. Control the short-circuit circuit according to the target resistance coefficient.

[0114] In step S61, the resistance coefficient of the motor is the resistance generated by the motor at the standard speed. Specifically, the standard speed is the speed set at the factory of the rehabilitation equipment, and the standard speed can be freely set, for example, 60 r / min. Resistance can be expressed as a force value, so the resistance coefficient of the motor is the force value generated at a speed of 60 r / min, which is 20 kg. Users can adjust the resistance coefficient of the motor according to their own exercise needs. For example, if the user feels that the current exercise intensity is too high, the resistance coefficient of the motor can be reduced, so that less force is needed to drive the motor to rotate and complete the exercise. Conversely, if the user feels that the current exercise intensity is insufficient, the resistance coefficient of the motor can be increased, in which case the user needs to expend more force to drive the motor to rotate.

[0115] In step S62, after the user selects the target resistance coefficient, the control device adjusts the resistance value of the short-circuit circuit according to the target resistance coefficient. Specifically, if the short-circuit circuit uses an adjustable resistor, the resistance value of the adjustable resistor can be directly adjusted. For example, if the current resistance coefficient is X kg, the user reselects a resistance coefficient of 0.5X kg, the resistance value of the motor body is Y Ω, and the resistance value of the adjustable resistor is Z0 Ω, then the control device needs to adjust the resistance value of the adjustable resistor to Z1 Ω so that (Y+Z1) = 0.5(Y+Z0). On the other hand, if the short-circuit circuit uses a fixed resistor, the method of connecting other resistors to the short-circuit circuit can be adjusted. Again, taking the example of changing the resistance coefficient from X kg to 0.5X kg, where two fixed resistors with a resistance value of Z Ω were originally connected in series, short-circuiting one of the fixed resistors means only the other fixed resistor is connected to the short-circuit circuit, which also changes the overall resistance value of the short-circuit circuit, achieving the purpose of adjusting the resistance coefficient.

[0116] Specifically, in step S62, adjusting the resistance of the short-circuit circuit includes:

[0117] S621. Determine the current resistance value of the short-circuit circuit and the preset resistance value corresponding to the resistance coefficient.

[0118] S622. Determine whether the current resistance value is equal to the preset resistance value.

[0119] S623. If the current resistance value is not equal to the preset resistance value, the short-circuit circuit is controlled to adjust the adjustable resistance.

[0120] In step S621, each resistance coefficient is configured with a preset resistance value corresponding to that resistance coefficient. That is, when the short-circuit circuit is at the preset resistance value, the motor can output electromagnetic torque corresponding to that resistance coefficient at standard speed. The short-circuit circuit is initially set with an adjustable resistor or a fixed resistor, and the current resistance value is the resistance value of the short-circuit circuit before adjustment.

[0121] In step S623, if the current resistance value is not equal to the preset resistance value, the short-circuit circuit needs to be controlled to adjust the adjustable resistor. Specifically, if the current resistance value is less than the preset resistance value, the resistance value of the adjustable resistor needs to be increased until the resistance value of the adjustable resistor is equal to the preset resistance value; if the current resistance value is greater than the preset resistance value, the resistance value of the adjustable resistor needs to be decreased until the resistance value of the adjustable resistor is equal to the preset resistance value.

[0122] In summary, the motor control method provided in this application, by actively short-circuiting the motor, generates a back electromotive force (EMF) when driven by the user, inducing current in the three-phase circuit and thus generating electromagnetic torque to provide resistance for the user's exercise. With this method, the resistance provided by the motor is proportional to the user-driven motor speed, thereby enabling control of both motor speed and exercise intensity. Furthermore, since the back EMF is generated simply by the motor rotating, there are fewer restrictions on the user's exercise method, and the motor can be quickly stopped when the user stops exercising, providing good safety.

[0123] This application also provides a motor control device applied to the rehabilitation equipment described in this application. The motor control device includes: a detection module for detecting the user's exercise movements; and a control module for controlling the short-circuit circuit.

[0124] In one possible design, when the detection module connects the short-circuit circuit between the three phases of the motor in response to the user's exercise movements, it is specifically used to: determine whether there is a back electromotive force in the three phases of the motor, the current being generated in the three phases of the motor body when the user uses the rehabilitation equipment; when there is a back electromotive force in the three phases of the motor, the short-circuit circuit between the three phases of the motor is connected.

[0125] In one possible design, when the control module controls the short-circuit circuit based on the resistance, it is specifically used to: determine whether the resistance is greater than a preset resistance threshold; when the resistance is greater than the resistance threshold, adjust the resistance of the short-circuit circuit to reduce the resistance.

[0126] In one possible design, the motor is configured with multiple resistance coefficients, and the control module, when controlling the short-circuit circuit according to the resistance coefficients, is specifically used to: determine the resistance coefficients of the motor; and adjust the resistance of the short-circuit circuit according to the resistance coefficients.

[0127] In one possible design, when the control module adjusts the resistance of the short-circuit circuit according to the resistance coefficient, it is specifically used to: determine the current resistance value of the short-circuit circuit and the preset resistance value corresponding to the resistance coefficient; determine whether the current resistance value is equal to the preset resistance value; if the current resistance value is not equal to the preset resistance value, control the short-circuit circuit to adjust the adjustable resistance.

[0128] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the method as described in the foregoing embodiments.

[0129] This application also provides an electronic device. Specifically, in this embodiment, the electronic device is a main circuit board built into a training device. The main circuit board has multiple logic control units, including a memory and a processor. The memory is connected to the processor, and the processor executes one or more computer programs stored in the memory. When the processor executes the one or more computer programs, it enables the electronic device to implement a motor control method for the rehabilitation device. See also... Figure 8 , Figure 8 This is a schematic diagram of an electronic device architecture provided according to an embodiment of this application. The electronic device 80 includes one or more processors 81 and a memory 82. The memory 82 is connected to one or more processors 81, for example, via a bus. The processors 81 and the memory 82 can be connected via a bus or other means. Figure 8 Taking the example of a connection between China and Israel via a bus.

[0130] The memory 82, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the motor control method of the rehabilitation equipment in the embodiments of this disclosure. The processor 81 implements the function of the motor control method of the rehabilitation equipment provided in the above method embodiments by running the non-volatile software programs, instructions, and modules stored in the memory 82.

[0131] Memory 82 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 82 may optionally include memory remotely located relative to processor 81, which can be connected to processor 81 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0132] The program instructions / modules are stored in the memory 82, and when executed by one or more processors 81, they execute the motor control method of the rehabilitation device in any of the above method embodiments.

[0133] This disclosure also provides a computer storage medium storing computer-executable instructions that are executed by one or more processors, for example... Figure 8 One of the processors 81 can enable the one or more processors to execute the motor control method of the rehabilitation device in any of the above method embodiments.

[0134] This disclosure also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the motor control method for the rehabilitation device in any of the above method embodiments.

[0135] The device or equipment embodiments described above are merely illustrative. The unit modules described as separate components may or may not be physically separate. The components shown as module units may or may not be physical units; that is, they may be located in one place or distributed across multiple network module units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0136] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and not to limit them; under the concept of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this disclosure as described above, which are not provided in detail for the sake of brevity; although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A rehabilitation device, characterized in that, include: The motor is equipped with a three-phase circuit, and a short-circuit circuit that can be controlled to switch on and off is provided between the three-phase circuits. When the short-circuit circuit is disconnected, the three-phase circuit works normally, and when the short-circuit circuit is connected, the three-phase circuit is short-circuited. A drive device is connected to the motor for transmission. When in use, the drive device drives the motor to rotate so as to generate current in the three-phase circuit. as well as A control device, which is communicatively connected to the motor, is used to control the on / off state of the short-circuit circuit.

2. The device according to claim 1, characterized in that, Each of the short-circuit circuits is equipped with a switch, which is electrically connected to the control device.

3. The device according to claim 2, characterized in that, The short-circuit circuit is provided with a resistor that is electrically connected to the control device.

4. The device according to claim 1, characterized in that, The motor is also equipped with a temperature sensor and / or a motor encoder.

5. A motor control method for a rehabilitation device, wherein the rehabilitation device is the rehabilitation device according to any one of claims 1 to 4, characterized in that, The method includes: In response to the user's control command, a short-circuit circuit is connected between the three phases of the motor; Obtain the real-time parameters of the motor; The short-circuit circuit is controlled according to the real-time parameters.

6. The method according to claim 5, characterized in that, The real-time parameters include the motor speed, and controlling the short-circuit circuit based on the real-time parameters includes: Determine whether the motor speed is within a preset speed threshold range; When the motor speed exceeds the speed threshold range, the resistance of the short-circuit circuit is adjusted.

7. The method according to claim 6, characterized in that, The motor is equipped with multiple resistance coefficients, and adjusting the resistance of the short-circuit circuit includes: Determine whether the motor speed is greater than the upper limit of the speed threshold range; If it is greater than that, then the resistance coefficient of the motor should be increased; Determine whether the motor speed is less than the lower limit of the speed threshold range; If it is less than that, then the resistance coefficient of the motor should be reduced.

8. The method according to claim 7, characterized in that, The improvement of the motor's resistance coefficient includes: Determine the target drag coefficient of the motor; The target resistance value of the short-circuit circuit is calculated based on the target resistance coefficient, the current resistance coefficient, and the current resistance value of the short-circuit circuit. Reduce the current resistance value of the short-circuit circuit to the target resistance value.

9. The method according to claim 5, characterized in that, The real-time parameters include motor temperature and / or resistor temperature, and controlling the short-circuit circuit according to the real-time parameters includes: Determine whether the motor temperature and / or the resistor temperature are greater than a preset first temperature threshold. When the motor temperature and / or the resistor temperature are greater than the first temperature threshold, the short-circuit circuit is controlled to disconnect.

10. The method according to claim 9, characterized in that, After the short-circuit circuit is disconnected, the method further includes: Determine whether the motor temperature and / or the resistor temperature are less than a preset second temperature threshold. If so, the connection of the short-circuit circuit is controlled and the resistance of the short-circuit circuit is set to a preset resistance value.

11. The method according to claim 9, characterized in that, The control of disconnecting the short-circuit circuit includes: Increase the resistance value of the short-circuit circuit; Disconnect the short-circuit circuit.

12. The method according to claim 5, characterized in that, Also includes: The target resistance coefficient of the motor is determined according to the control command; The short-circuit circuit is controlled according to the target resistance coefficient.

13. An electronic device, characterized in that, The device includes a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor causing the electronic device to perform the method as described in any one of claims 5 to 12 when executing the one or more computer programs.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 5 to 12.

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