A method of controlling a belt swing and a run-walk controller

Abstract

The application discloses a running belt swing control method and a running and walking controller. The method is characterized in that internal temperature data of a brushless motor and two motion states of one-way continuous rotation of the motor and back-and-forth swing switching of a running belt are acquired. When the motor temperature rises to a first temperature threshold and is in a back-and-forth swing state, the motor is controlled to exit the swing state and the swing instruction response is stopped, while the normal response of the one-way rotation instruction is maintained. When the temperature decreases to a second temperature threshold which is lower than the first temperature threshold, the swing function response is automatically restored. Thus, the motor is effectively prevented from being damaged due to overheating caused by frequent commutation, the one-way motion function of the treadmill is not interrupted, the whole machine is prevented from being forced to stop, safe switching and reliable coexistence of the running belt swing and the one-way rotation are realized, and the operation stability and the use continuity of the multifunctional treadmill are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a running belt swing control method and a running-walking controller. Background Technology

[0002] Traditional treadmills typically only drive a motor to rotate the running belt in one direction continuously, providing basic walking and running functions. This limited functionality fails to meet the diverse and varied fitness and relaxation needs of users. To further expand the functionality of treadmills and increase product value, the industry has begun to explore adding a back-and-forth oscillating motion to the traditional unidirectional rotation, enabling additional functions such as vibration relaxation and low-frequency rhythm. However, when the running belt switches from the conventional unidirectional rotation to a back-and-forth oscillating, frequently changing direction mode, the motor needs to repeatedly change direction and output torque within a short period. This causes the stator coils inside the motor to generate a large amount of heat rapidly due to frequent commutation, resulting in a significantly higher temperature rise rate than under conventional unidirectional operation. Existing treadmill temperature monitoring and running belt control logic are designed for continuous unidirectional rotation and cannot adapt to the intense heat generated by the back-and-forth oscillation. A matching running belt control method and controller are lacking. This makes the motor prone to rapid temperature increases during actual running belt oscillation tests, leading to problems such as motor overheating triggering forced shutdown and interruption of use. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a running belt swing control method. The running belt is mounted on a treadmill frame, and a brushless motor that drives the running belt to rotate is mounted on the frame. A temperature sensor for monitoring internal temperature data is installed within the brushless motor. The method includes the following steps: S1, acquire the current temperature data and current motor motion state in the brushless motor. The motor motion state includes a first motion state and a second motion state. The first motion state is that the motor continuously rotates in the same direction. The second motion state is that the motor switches between two different rotation directions. S2, if the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state, control the motor to exit the second motion state and stop responding to the operation command for adjusting the second motion state, while continuing to respond to the operation command for adjusting the first motion state. S3, when the motor temperature continues to drop below the second temperature threshold, resume the response to each operation command for adjusting the second motion state, the second temperature threshold being lower than the first temperature threshold.

[0004] Preferably, step S2 includes: If the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state, control the motor to exit the second motion state and stop responding to the operation command used to adjust the second motion state; The motor is controlled to enter a first motion state and remains responsive to operation commands for adjusting the first motion state. If the motor temperature continues to rise above a set value while the motor is in the first motion state, the motor is controlled to enter a paused motion state.

[0005] Preferably, a first fan assembly and a second fan assembly are respectively arranged at both ends of the brushless motor housing. The first fan assembly and the second fan assembly are connected to the motor rotor and rotate with the motor rotor. Step S2 includes: If the motor temperature is detected to rise to the first temperature range and the motor is currently in the second motion state, the motion parameters of the current motor are obtained, including the vibration frequency and vibration amplitude; the current vibration amplitude is kept constant according to the first preset cooling rule, and the corresponding vibration frequency is gradually reduced according to the current temperature range; If the motor temperature continues to rise to the second temperature range, the current vibration frequency will continue to decrease according to the second preset cooling rule, and the current vibration amplitude will decrease accordingly; wherein the first temperature range is lower than the second temperature range, and the second temperature range is lower than the first temperature threshold.

[0006] Preferably, the first preset cooling rule is configured to divide the first temperature range into multiple consecutive temperature ranges, and set multiple different vibration frequencies in each consecutive temperature range based on different belt load levels. The current vibration amplitude is kept constant, and the corresponding vibration frequency to be reduced is selected based on the temperature range where the current motor temperature is located and the belt load level. The higher the belt load level, the lower the corresponding vibration frequency, and the lower the vibration frequency is set in the higher temperature range when the belt load level is reached.

[0007] Preferably, the second preset cooling rule is configured to reduce the vibration frequency to a set minimum frequency, and is set with multiple different vibration amplitudes based on different belt load levels. The corresponding vibration amplitude to be reduced is selected based on the current belt load level, wherein the higher the belt load level, the lower the corresponding vibration amplitude.

[0008] Preferably, controlling the motor to enter a first motion state and maintaining a response to operational commands for adjusting the first motion state specifically includes: After the motor temperature continues to rise to the first temperature threshold and a command to switch to the first motion state is received, the corresponding maximum speed limit of the current running belt is determined according to the current running belt load level, and the response to speed adjustment commands that exceed the current maximum speed limit of the running belt is suspended.

[0009] This invention also discloses a running belt swing control device, installed on a treadmill, wherein the treadmill includes a running belt, a frame, and a brushless motor. The running belt is installed on the frame, and a brushless motor for driving the running belt to rotate is installed on the frame. A temperature sensor for monitoring the temperature data inside the brushless motor is installed inside the brushless motor. The running belt swing control device is electrically connected to the brushless motor and the temperature sensor, and includes: The data acquisition module is used to acquire the temperature data and the current motor motion state inside the brushless motor. The motor motion state includes a first motion state and a second motion state. The first motion state is that the motor rotates continuously in the same direction, and the second motion state is that the motor switches back and forth between two different rotation directions. The adjustment module is used to control the motor to exit the second motion state and stop responding to the operation command for adjusting the second motion state when the motor temperature continues to rise to a first temperature threshold and is currently in the second motion state, while continuing to respond to the operation command for adjusting the first motion state. The recovery module is used to restore the response to each operation command for adjusting the second motion state when the motor temperature continues to drop below a second temperature threshold, the second temperature threshold being lower than a first temperature threshold.

[0010] Preferably, the adjustment module is further configured to control the motor to exit the second motion state and stop responding to the operation command for adjusting the second motion state when the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state; and control the motor to enter the first motion state and maintain the response to the operation command for adjusting the first motion state; and control the motor to enter the paused motion state after the motor temperature continues to rise beyond the set value when the motor is in the first motion state.

[0011] Preferably, the adjustment module is further configured to: When the motor temperature is detected to rise to the first temperature range and the motor is currently in the second motion state, the motion parameters of the motor are acquired, including the vibration frequency and vibration amplitude; the current vibration amplitude is kept constant according to the first preset cooling rule, and the corresponding vibration frequency is gradually reduced according to the current temperature range. When the motor temperature continues to rise to the second temperature range, the current vibration frequency is reduced according to the second preset cooling rule, and the current vibration amplitude is reduced accordingly; wherein the first temperature range is lower than the second temperature range, and the second temperature range is lower than the first temperature threshold.

[0012] The present invention also discloses a running controller installed on a treadmill, wherein the treadmill includes a running belt, a frame, and a brushless motor. The running belt is installed on the frame, and the brushless motor that drives the running belt to rotate is installed on the frame. A temperature sensor for monitoring the temperature data inside the brushless motor is installed inside the brushless motor. The running controller is electrically connected to the brushless motor and the temperature sensor, and includes a memory and a processor. The memory is used to store a computer program executable by the processor, wherein the processor is configured to execute the computer program in the memory to implement the running belt swing control method as described in any of the preceding claims.

[0013] This invention discloses a running belt swing control method and a running-walking controller. Addressing the technical problem of traditional treadmills having limited functionality and prone to motor overheating and instability when extending the running belt's back-and-forth swing function, this invention acquires internal temperature data of the brushless motor and monitors two motion states: continuous unidirectional rotation and back-and-forth swing. When the motor temperature rises to a first temperature threshold and is in the back-and-forth swing state, the motor is controlled to exit the swing state and stop responding to swing commands, while maintaining normal response to unidirectional rotation commands. When the temperature drops to a lower second temperature threshold, the swing function response is automatically restored. This effectively avoids motor damage due to overheating from frequent reversals while maintaining the treadmill's unidirectional movement function, preventing forced shutdown of the entire machine, and achieving safe and reliable switching and coexistence of running belt swing and unidirectional rotation. This significantly improves the operational stability and continuous use of the multi-functional treadmill.

[0014] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a running belt swing control method disclosed in an embodiment of the present invention.

[0016] Figure 2 This is a schematic diagram of the structure of a brushless motor disclosed in an embodiment of the present invention.

[0017] Figure 3 This is a schematic diagram of the internal structure of a brushless motor disclosed in an embodiment of the present invention.

[0018] Figure 4 This is a schematic diagram of the internal rotor structure disclosed in an embodiment of the present invention.

[0019] Figure 5This is a schematic diagram of the structure of the top plate disclosed in an embodiment of the present invention.

[0020] Figure 6 This is a schematic diagram of the structure of the base plate disclosed in an embodiment of the present invention.

[0021] Figure 7 This is a schematic diagram of the specific process of step S2 disclosed in an embodiment of the present invention.

[0022] Figure 8 This is a schematic diagram of a walking / running controller disclosed in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0024] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0025] In this embodiment, as shown in the appendix Figure 1 As shown, a running belt swing control method is disclosed. The running belt is installed on the treadmill frame, and a brushless motor that drives the running belt to rotate is installed on the frame. A temperature sensor for monitoring the temperature data inside the brushless motor is installed inside the brushless motor. In this embodiment, the running belt swing control method may specifically include the following steps.

[0026] Step S1: Obtain the current temperature data and current motor motion state inside the brushless motor. The motor motion state includes a first motion state and a second motion state. The first motion state is that the motor continuously rotates in the same direction, and the second motion state is that the motor switches between two different rotation directions.

[0027] Furthermore, in this step, a high-temperature resistant NTC temperature sensor is used, installed close to the motor stator coil, with a detection accuracy of ±1℃ and a maximum temperature resistance of over 200℃. The main control unit collects temperature data in real time with a period of 100ms. The first motion state corresponds to the treadmill's normal walking and running modes, where the motor operates continuously in one direction, resulting in low heat generation and high heat dissipation efficiency. The second motion state corresponds to the belt shaking / swinging mode, where the motor periodically switches between forward and reverse directions, with a commutation frequency typically between 2Hz and 5Hz. In this mode, the commutation loss of the motor stator coil is high, and the temperature rise rate is significantly higher than in the first motion state.

[0028] Step S2: If the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state, control the motor to exit the second motion state and stop responding to the operation command for adjusting the second motion state, while continuing to respond to the operation command for adjusting the first motion state.

[0029] Specifically, the first temperature threshold is preferably set to 90℃, which is the critical protection temperature for the safe operation of the brushless motor stator coil. When the temperature is detected to be ≥90℃ and the machine is in the second motion state, the swing mode drive logic is immediately cut off, and the machine stops responding to commands such as vibration activation, frequency adjustment, and amplitude adjustment. At the same time, the drive path and button response function of the running / brisk walking mode are maintained, allowing users to continue using the basic exercise functions of the treadmill. This avoids the machine stopping and causing an interruption in the user experience, and maximizes the availability of the equipment while ensuring motor safety.

[0030] In this embodiment, the brushless motor 100 can be as shown in the attached figure. Figure 2 and attached Figure 3The brushless motor structure shown includes a motor housing 1 with a mounting cavity 11, and an outer rotor component 2, an inner stator component 3, and a circuit board 4 arranged within the mounting cavity 11. The outer rotor component 2 is fixedly connected to the inner side of the motor housing 1, and the inner stator component 3 is arranged inside the outer rotor component 2. The inner stator component 3 includes a mounting shaft 31 and a stator core 32 arranged circumferentially along the mounting shaft 31, with stator coils 33 wound on the stator core 32. The circuit board 4 is mounted at the bottom of the mounting shaft 31. Multiple Hall effect position sensors 41 for sensing the rotational position of the outer rotor component 2 and at least one temperature monitoring component 42 for sensing the temperature inside the mounting cavity 11 are mounted on the circuit board 4. This brushless motor adopts an outer rotor and inner stator structural layout. The outer rotor component is fixedly connected to the inner side of the motor housing, and when the outer rotor component rotates, it synchronously drives the motor housing to rotate. The inner stator component is fixedly arranged inside the outer rotor component. The circuit board is installed at the bottom of the mounting shaft, so that both types of detection elements are close to the core working area inside the motor. This ensures the accuracy and real-time performance of the Hall position sensor in detecting the rotor rotation position, and also allows the temperature monitoring component to quickly capture temperature changes inside the mounting cavity, providing reliable data support for the motor's temperature control.

[0031] Among them, such as Figure 4 As shown, the motor housing 1 may include a side wall 12, a top plate 13 and a bottom plate 14 connected to both ends of the side wall 12. The side wall 12, top plate 13 and bottom plate 14 surround to form the mounting cavity 11. The side wall 12 is fixedly connected to the outer rotor component 2 and rotates synchronously with the outer rotor component 2. At least two temperature monitoring components 42 are mounted on the circuit board 4, wherein the detection ends of the two temperature monitoring components are respectively arranged in a first region and a second region. The first region is the clamping region between two adjacent stator coils, and the second region is the region between the stator coil and the bottom plate. The circuit board 4 is mounted in the second region. Specifically, the stator coil is the main heat source during motor operation. The clamping area between adjacent stator coils, due to its narrow space and poor air circulation, becomes a core heat-generating area where heat easily accumulates. The area between the stator coil and the base plate is a key heat conduction area for the transfer of heat from the motor's interior to the casing. By placing the detection ends of two temperature monitoring components in these two areas respectively, accurate temperature monitoring of different functional areas inside the motor is achieved. Compared to monitoring with a single temperature measurement point, this provides a more comprehensive reflection of the temperature distribution within the mounting cavity, avoiding temperature omissions caused by a single measurement point. The circuit board is installed in the second area, allowing the temperature monitoring components to be in close contact with the detection area, shortening the temperature conduction path, improving the response speed and data accuracy of temperature detection. At the same time, this installation position avoids rotational interference between the circuit board and the outer rotor components, ensuring the normal operation of the motor.

[0032] Among them, such as Figure 5 As shown, the top plate 13 includes a first outer mounting ring 131 connected to the front end of the side wall 12, a first inner mounting member sleeved on the front end of the mounting shaft, and a first fan cover 133 connected between the first outer mounting ring 131 and the first inner mounting member; the first inner mounting member includes a first bearing 1321, a first inner mounting ring 1322 sleeved on the front end of the mounting shaft 31 via the first bearing 1321, and a transmission member 1323 connected to the front part of the first inner mounting ring 1322, the transmission member 1323 covering the front end of the mounting shaft 31. The transmission member 1323 may be a drive shaft coaxial with the mounting shaft, sleeved on the mounting shaft in a direction away from the inner stator component. Figure 6 As shown, the base plate 14 includes a second outer mounting ring 141 connected to the rear end edge of the side wall 12, a second inner mounting member sleeved on the rear end of the mounting shaft 31, and a second fan cover 143 connected between the second outer mounting ring 141 and the second inner mounting member. The second inner mounting member includes a second bearing 1421 and a second inner mounting ring 1422 sleeved on the rear end of the mounting shaft 31 via the second bearing 1421. The second inner mounting ring 1422 has a mounting channel 1423 in the middle for the rear end of the mounting shaft to pass through. Finally, the average temperature of the two temperature monitoring components received, or the maximum temperature therebetween, can be used as the current motor temperature.

[0033] In this embodiment, a first fan assembly and a second fan assembly are respectively arranged at both ends of the brushless motor housing. These assemblies are connected to the motor rotor and rotate with it. Specifically, the first and second fan assemblies are axial flow cooling blades, fixed to both ends of the motor rotor output shaft and rotating synchronously with the rotor. The motor's rotation drives the fans to deliver airflow, eliminating the need for additional power supply and control circuitry. Therefore, when the motor is in the second motion state, the fan frequently changes direction with the rotor, resulting in intermittent airflow and low heat dissipation efficiency. When the motor is in the first motion state, the fan rotates continuously in one direction, forming a directional and stable airflow that quickly removes heat from the stator coils. Based on this structural characteristic, this embodiment achieves active heat dissipation through motion state switching and frequency adjustment in conjunction with the fan, improving temperature control protection efficiency. Based on the housing structure of this brushless motor, as... Figure 7 As shown, step S2 may include the following:

[0034] Step S21: If the motor temperature is detected to rise to the first temperature range and the motor is currently in the second motion state, the motion parameters of the current motor are obtained. The motion parameters include the vibration frequency and vibration amplitude. The current vibration amplitude is kept unchanged according to the first preset cooling rule, and the corresponding vibration frequency is gradually reduced according to the current temperature range.

[0035] Furthermore, the first temperature range is preferably 75℃~84℃, serving as a temperature rise warning range, as the critical protection temperature has not yet been reached. Within this range, the vibration amplitude caused by the back-and-forth oscillation of the running belt is kept constant to maintain the user's massage sensation. Heat generation is reduced simply by decreasing the vibration frequency to decrease the number of motor commutations. Simultaneously, reducing the vibration frequency extends the continuous unidirectional rotation time of the fan assemblies at both ends of the rotor, creating a more stable airflow and improving heat dissipation. The vibration frequency is adjusted smoothly and gradually, with an adjustment step not exceeding 0.5Hz / second, avoiding abrupt frequency changes that could result in a harsh tactile experience.

[0036] In this embodiment, the first preset cooling rule can be configured to divide the first temperature range into multiple consecutive temperature ranges. In each consecutive temperature range, multiple different vibration frequencies are set based on different belt load levels. The current vibration amplitude remains unchanged, and the corresponding vibration frequency to be reduced is selected based on the temperature range where the current motor temperature is located and the belt load level. The higher the belt load level, the lower the corresponding vibration frequency. Furthermore, the vibration frequency set in the higher temperature range when the belt load level is at a certain level is lower.

[0037] Specifically, the first temperature range is further divided into two continuous sub-ranges: 75℃~79℃ and 80℃~84℃, and frequency adjustment is performed in conjunction with the load level. At temperatures ranging from 75°C to 79°C: the frequency drops to 90% of the rated value under light load, 80% under medium load, and 70% under heavy load.

[0038] At temperatures ranging from 80°C to 84°C: the frequency drops to 80% of the rated value under light load, 70% under medium load, and 60% under heavy load.

[0039] The greater the load, the faster the motor temperature rises. Therefore, a lower oscillation frequency is required to reduce commutation heat generation and enhance fan cooling, thus achieving dual closed-loop adaptive control of temperature and load.

[0040] In a preferred embodiment, the load condition or load level can be determined in the following way. Specifically, in this embodiment, the belt load level can be indirectly identified through the effective value of the motor's operating current, without the need for an additional weighing sensor. The specific implementation is as follows: A no-load calibration is performed upon startup. After the treadmill is powered on, the motor is controlled to run under no-load conditions with fixed parameters. The motor bus current is sampled, and the effective value of the no-load current I is calculated. empty The calculation formula is: , Where i1~i N The current value is continuously sampled, N is the total number of sampling points, and the sampling frequency can be no less than 10kHz.

[0041] Perform real-time load current calculation, and calculate the real-time effective current value I after the user stands on the treadmill. real And obtain the load incremental current: ΔI = I real -I empty .

[0042] The obtained load increment current is digitally filtered, and a stable load increment current ΔI is obtained by using a four-point moving average filter. filter .

[0043] Based on a preset classification rule, the load level is determined by the magnitude of the current filtered incremental load current. This preset classification rule can be configured with the following conditions: When the load increment current ΔI filter <0.3A indicates a light load; the user's weight in this state is approximately 60kg or less.

[0044] When the load increment current is 0.3A ≤ ΔI filter When the current load is less than 0.6A, it is determined to be a medium load; the user's weight in this state is approximately 60kg to 80kg.

[0045] When the load increment current ΔI filter When the current load is ≥0.6A, it is determined that the current load is heavy. The user's weight in this state is approximately 80kg or more.

[0046] In a preferred embodiment, a set time is locked after the load level is determined. When the load level corresponding to the incremental load current changes in multiple consecutive preset number of cycles, the current load level is switched to the corresponding level. For example, the level can be set to require three consecutive cycles to meet the new threshold before it can be changed, avoiding misjudgments caused by user posture or center of gravity shift.

[0047] Step S22: If the motor temperature continues to rise to the second temperature range, the current vibration frequency is reduced according to the second preset cooling rule, and the current vibration amplitude is reduced accordingly; wherein the first temperature range is lower than the second temperature range, and the second temperature range is lower than the first temperature threshold.

[0048] Specifically, the second temperature range is preferably 85℃~89℃. This range is close to the motor's critical protection temperature. Simply reducing the frequency is no longer sufficient to effectively suppress the motor temperature rise. Therefore, while further reducing the frequency, the jitter amplitude is simultaneously reduced to decrease the motor load and commutation torque, achieving dual cooling of the motor. The second temperature range is below the first temperature threshold of 90℃, providing a buffer adjustment before entering forced protection, preventing direct triggering of protection and exiting the oscillation mode. The amplitude adjustment also adopts a smooth and gradual method to avoid a sudden deterioration in user experience.

[0049] In this embodiment, the second preset cooling rule is configured to reduce the vibration frequency to a set minimum frequency, and is set with multiple different vibration amplitudes based on different belt load levels. The corresponding vibration amplitude to be reduced is selected based on the current belt load level, wherein the higher the belt load level, the lower the corresponding vibration amplitude.

[0050] Specifically, the minimum frequency should be set to 20%~30% of the rated frequency to avoid losing the jitter effect due to excessively low frequency. The jitter amplitude can be preset with proportional coefficients according to load level, for example, reducing the amplitude to 80% of the rated amplitude for light load, 70% for medium load, and 60% for heavy load. Heavy load users place a greater load on the motor, and reducing the amplitude can more significantly reduce motor output and heat generation, while avoiding motor overload and stalling due to excessive amplitude. Through the combined adjustment of frequency and amplitude, the rate of temperature rise is slowed down to the greatest extent while preserving the user experience as much as possible.

[0051] In this embodiment, step S2 may further include the following:

[0052] Step S23: If the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state, control the motor to exit the second motion state and stop responding to the operation command used to adjust the second motion state.

[0053] Specifically, when the temperature reaches 90℃, it is determined to be an overheating risk. The reciprocating commutation of the running belt is immediately stopped, the queue of control commands related to the oscillation mode is cleared, and no further oscillation mode operations are responded to. At the same time, a warning message is sent to the user via panel indicator lights or a buzzer indicating that the temperature is too high and the vibration function is temporarily disabled. This step can quickly cut off the high-heat condition and prevent the temperature from continuing to rise and damaging the insulation layer of the motor coil.

[0054] Step S24: If the motor is controlled to enter the first motion state and maintains a response to the operation command for adjusting the first motion state, and if the motor temperature continues to rise above a set value while the motor is in the first motion state, then the motor is controlled to enter the paused motion state.

[0055] Furthermore, after exiting the second operating state, the motor can be automatically switched to unidirectional continuous operation, allowing the fan assemblies at both ends to enter optimal heat dissipation conditions and quickly reduce the motor temperature. The preferred setting is 95℃. If the temperature continues to rise to 95℃ after switching to the first operating state, it indicates problems such as abnormal load, fan failure, or blocked heat dissipation channels. In this case, the motor will be completely stopped, and the entire machine will enter a pause protection state to ensure the safety of the motor and the entire machine.

[0056] Specifically, after the motor temperature continues to rise to the first temperature threshold and a command to switch to the first motion state is received, the corresponding maximum speed limit of the current running belt is determined according to the current running belt load level, and the response to speed adjustment commands that exceed the current maximum speed limit of the running belt is suspended.

[0057] Furthermore, to prevent excessive speed during unidirectional operation from causing a further increase in motor load and temperature, speed limits are implemented based on load level: a maximum speed of 6 km / h for light load, 4 km / h for medium load, and 2 km / h for heavy load. The main control unit intercepts speed control commands exceeding the limits, responding and adjusting only within the specified speed range. This keeps the motor in a highly efficient cooling range with low load, low heat generation, and high heat dissipation, ensuring normal user operation while providing rapid and safe cooling, thus resolving the issue of potential overheating even under heavy loads during unidirectional operation.

[0058] Step S3: When the motor temperature continues to drop below the second temperature threshold, resume the response to each operation command used to adjust the second motion state, where the second temperature threshold is lower than the first temperature threshold.

[0059] Specifically, the second temperature threshold can be preferably set to 50℃, which is the safe restart temperature of the motor. At this temperature, the internal heat of the motor has been fully dissipated, and the insulating components have returned to normal temperature. When the temperature drops below 50℃, the main control unit automatically removes the command shielding of the oscillation mode, restores all functions such as oscillation activation, frequency adjustment, and amplitude adjustment, and can issue a prompt to the user that the oscillation function has been restored. To prevent frequent switching of functions due to temperature fluctuations near the threshold, a hysteresis range of 5℃ can be set, that is, the function will recover when the temperature drops to 50℃, and will only re-enter the warning mode when the temperature rises to 55℃, thus improving control stability.

[0060] The treadmill belt swing control method disclosed in the above embodiments addresses the technical problem of traditional treadmills having limited functionality and being prone to motor overheating and instability when the belt swings back and forth. By acquiring internal temperature data of the brushless motor and monitoring two motion states—one of continuous unidirectional rotation and the other of the belt swinging back and forth—the method controls the motor to exit the swing state and cease swing command response when the motor temperature rises to a first temperature threshold and is in the swinging state, while maintaining normal response to unidirectional rotation commands. When the temperature drops to a lower second temperature threshold, the swing function response is automatically restored. This effectively avoids motor damage due to overheating from frequent reversals while maintaining the treadmill's unidirectional motion function, preventing forced shutdown of the entire machine, and achieving safe and reliable switching and coexistence of belt swing and unidirectional rotation. This significantly improves the operational stability and continuous use of the multi-functional treadmill.

[0061] In another embodiment, a running belt swing control device is also disclosed, installed on the treadmill disclosed in the foregoing embodiments, including a data acquisition module, an adjustment module, and a recovery module. The data acquisition module is used to acquire the current temperature data and current motor motion state within the brushless motor. The motor motion state includes a first motion state and a second motion state. The first motion state is that the motor continuously rotates in the same direction, and the second motion state is that the motor switches between two different rotation directions. The adjustment module is used to control the motor to exit the second motion state and cease responding to operation commands for adjusting the second motion state when the motor temperature continuously rises to a first temperature threshold and is currently in the second motion state, while continuing to respond to operation commands for adjusting the first motion state. The recovery module is used to resume responding to operation commands for adjusting the second motion state when the motor temperature continuously drops below the second temperature threshold, where the second temperature threshold is lower than the first temperature threshold.

[0062] In this embodiment, the adjustment module is further configured to control the motor to exit the second motion state and stop responding to the operation command for adjusting the second motion state when the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state; and control the motor to enter the first motion state and maintain the response to the operation command for adjusting the first motion state; and control the motor to enter the paused motion state after the motor temperature continues to rise beyond the set value when the motor is in the first motion state.

[0063] In this embodiment, the adjustment module is further configured to, when detecting that the motor temperature rises to a first temperature range and the motor is currently in a second motion state, acquire the current motion parameters of the motor, the motion parameters including the jitter frequency and jitter amplitude; maintain the current jitter amplitude unchanged according to a first preset cooling rule, and gradually reduce the corresponding jitter frequency according to the current temperature range; when the motor temperature continues to rise to the second temperature range, continue to reduce the current jitter frequency according to the second preset cooling rule, and simultaneously reduce the current jitter amplitude accordingly; wherein the first temperature range is lower than the second temperature range, and the second temperature range is lower than the first temperature threshold.

[0064] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar parts between the various embodiments can be referred to each other.

[0065] In another embodiment, such as Figure 8As shown, a running controller 200 is also disclosed, which is installed on the treadmill disclosed in the foregoing embodiments. It includes a memory and a processor. The memory is used to store computer programs executable by the processor. The processor is configured to execute the computer programs in the memory to implement the running belt swing control method disclosed in the foregoing embodiments.

[0066] 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 scope of the technical solutions of the embodiments of the present invention.

[0067] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A method for controlling the oscillation of a running belt, wherein the running belt is mounted on a treadmill frame, a brushless motor for driving the running belt to rotate is mounted on the frame, and a temperature sensor for monitoring temperature data within the brushless motor is installed inside the brushless motor, characterized in that... Includes the following steps: S1, acquire the current temperature data and current motor motion state in the brushless motor. The motor motion state includes a first motion state and a second motion state. The first motion state is that the motor continuously rotates in the same direction. The second motion state is that the motor switches between two different rotation directions. S2, if the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state, control the motor to exit the second motion state and stop responding to the operation command for adjusting the second motion state, while continuing to respond to the operation command for adjusting the first motion state. S3, when the motor temperature continues to drop below the second temperature threshold, resume the response to each operation command for adjusting the second motion state, the second temperature threshold being lower than the first temperature threshold.

2. The treadmill belt oscillation control method according to claim 1, characterized in that, Step S2 includes: If the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state, control the motor to exit the second motion state and stop responding to the operation command used to adjust the second motion state; The motor is controlled to enter a first motion state and remains responsive to operation commands for adjusting the first motion state. If the motor temperature continues to rise above a set value while the motor is in the first motion state, the motor is controlled to enter a paused motion state.

3. The treadmill belt oscillation control method according to claim 2, characterized in that, The brushless motor has a first fan assembly and a second fan assembly arranged at both ends of its housing. The first fan assembly and the second fan assembly are connected to the motor rotor and rotate with the motor rotor. Step S2 includes: If the motor temperature is detected to rise to the first temperature range and the motor is currently in the second motion state, the motion parameters of the current motor are obtained, including the vibration frequency and vibration amplitude; the current vibration amplitude is kept constant according to the first preset cooling rule, and the corresponding vibration frequency is gradually reduced according to the current temperature range; If the motor temperature continues to rise to the second temperature range, the current vibration frequency will continue to decrease according to the second preset cooling rule, and the current vibration amplitude will decrease accordingly; wherein the first temperature range is lower than the second temperature range, and the second temperature range is lower than the first temperature threshold.

4. The treadmill belt oscillation control method according to claim 3, characterized in that: The first preset cooling rule is configured to divide the first temperature range into multiple consecutive temperature ranges. In each consecutive temperature range, multiple different vibration frequencies are set based on different belt load levels. The current vibration amplitude remains unchanged, and the corresponding vibration frequency to be reduced is selected based on the temperature range where the current motor temperature is located and the belt load level. The higher the belt load level, the lower the corresponding vibration frequency. Furthermore, the higher the temperature range when the belt load level is reached, the lower the vibration frequency is set.

5. The treadmill belt oscillation control method according to claim 4, characterized in that: The second preset cooling rule is configured to reduce the vibration frequency to a set minimum frequency, and has multiple different vibration amplitudes based on different belt load levels. The corresponding vibration amplitude to be reduced is selected based on the current belt load level, wherein the higher the belt load level, the lower the corresponding vibration amplitude.

6. The treadmill belt oscillation control method according to claim 5, characterized in that, Controlling the motor to enter a first motion state and maintaining a response to operational commands for adjusting the first motion state specifically includes: After the motor temperature continues to rise to the first temperature threshold and a command to switch to the first motion state is received, the corresponding maximum speed limit of the current running belt is determined according to the current running belt load level, and the response to speed adjustment commands that exceed the current maximum speed limit of the running belt is suspended.

7. A running belt swing control device, installed on a treadmill, wherein the treadmill includes a running belt, a frame, and a brushless motor, the running belt is installed on the frame, the brushless motor for driving the running belt to rotate is installed on the frame, a temperature sensor for monitoring the temperature data inside the brushless motor is installed inside the brushless motor, and the running belt swing control device is electrically connected to the brushless motor and the temperature sensor, characterized in that... include: The data acquisition module is used to acquire the temperature data and the current motor motion state inside the brushless motor. The motor motion state includes a first motion state and a second motion state. The first motion state is that the motor rotates continuously in the same direction, and the second motion state is that the motor switches back and forth between two different rotation directions. The adjustment module is used to control the motor to exit the second motion state and stop responding to the operation command for adjusting the second motion state when the motor temperature continues to rise to a first temperature threshold and is currently in the second motion state, while continuing to respond to the operation command for adjusting the first motion state. The recovery module is used to restore the response to each operation command for adjusting the second motion state when the motor temperature continues to drop below a second temperature threshold, the second temperature threshold being lower than a first temperature threshold.

8. The treadmill belt swing control device according to claim 7, characterized in that: The adjustment module is also used to control the motor to exit the second motion state and stop responding to the operation command for adjusting the second motion state when the motor temperature continues to rise to the first temperature threshold and is currently in the second motion state; and to control the motor to enter the first motion state and maintain the response to the operation command for adjusting the first motion state; and to control the motor to enter the paused motion state after the motor temperature continues to rise beyond the set value when the motor is in the first motion state.

9. The treadmill belt swing control device according to claim 8, characterized in that, The adjustment module is also configured to: When the motor temperature is detected to rise to the first temperature range and the motor is currently in the second motion state, the motion parameters of the motor are acquired, including the vibration frequency and vibration amplitude; the current vibration amplitude is kept constant according to the first preset cooling rule, and the corresponding vibration frequency is gradually reduced according to the current temperature range. When the motor temperature continues to rise to the second temperature range, the current vibration frequency is reduced according to the second preset cooling rule, and the current vibration amplitude is reduced accordingly; wherein the first temperature range is lower than the second temperature range, and the second temperature range is lower than the first temperature threshold.

10. A walking-running controller, installed on a treadmill, wherein the treadmill includes a running belt, a frame, and a brushless motor, the running belt is installed on the frame, the brushless motor for driving the running belt to rotate is installed on the frame, a temperature sensor for monitoring temperature data inside the brushless motor is installed inside the brushless motor, and the walking-running controller is electrically connected to the brushless motor and the temperature sensor, characterized in that... The device includes a memory and a processor, the memory being used to store a computer program executable by the processor, wherein the processor is configured to execute the computer program in the memory to implement the running belt oscillation control method as described in any one of claims 1-6.

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