Power output device control method, computer device, and storage medium

Abstract

The present application relates to the field of device control. Provided are a power output device control method, a computer device, and a storage medium. The method comprises: during at least one process of a power output device releasing a cable and retracting the cable, controlling the output resistance of an electric motor.

Description

Control method of output equipment, computer equipment and storage medium Technical Field

[0001] The present application relates to the field of equipment control, and in particular to a control method for output equipment, a computer device, and a storage medium. Background Art

[0002] When using fitness equipment, users interact with it and exercise by overcoming the resistance it provides. Existing fitness equipment often uses a single force output mode, which can sometimes fail to meet user needs during exercise, impacting their fitness efficiency and overall user experience. Summary of the Invention

[0003] The main purpose of this application is to provide a control method for output equipment, a computer device and a storage medium, aiming to improve the diversity of output equipment control.

[0004] In a first aspect, the present application provides a method for controlling an output device, the method comprising the following steps:

[0005] During at least one of the processes of the power output device outputting the cable and retracting the cable, the motor is controlled to output resistance.

[0006] In a second aspect, the present application also provides a computer device, comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the control method of the output device as described in any one of the embodiments of the present application are implemented.

[0007] In a third aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the control method of the output equipment as described in any one of the embodiments of the present application are implemented.

[0008] The present application provides a control method for a power output device, a computer device, and a storage medium. The method includes: controlling the output resistance of a motor during at least one process of the power output device outputting a cable and retracting a cable, thereby improving the diversity of the power output device control. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0010] FIG1 is a flow chart of a method for controlling an output device according to an embodiment of the present application;

[0011] FIG2 is a flow chart of a method for controlling an output device according to an embodiment of the present application;

[0012] FIG3 is a flow chart of a method for controlling an output device according to an embodiment of the present application;

[0013] FIG4 is a flow chart of a method for controlling an output device according to an embodiment of the present application;

[0014] FIG5 is a schematic diagram of a scenario of a basic weight information adjustment method provided in one embodiment of the present application;

[0015] FIG6 is a flow chart of a control method for an output device provided in an embodiment of the present application.

[0016] FIG7 is a schematic flow chart of a method for controlling an output device according to an embodiment of the present application;

[0017] FIG8 is a schematic flow chart of a method for controlling an output device according to an embodiment of the present application;

[0018] FIG9 is a graph showing a preset rope length and resistance according to an embodiment of the present application;

[0019] FIG10 is a flow chart of a method for controlling an output device according to an embodiment of the present application;

[0020] FIG11 is a graph showing a preset rope length and resistance in the related art;

[0021] FIG12 is a graph showing a preset rope length and resistance according to an embodiment of the present application;

[0022] FIG13 is a schematic block diagram of the structure of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0025] Embodiments of the present application provide a control method for an output device, a computer device, and a storage medium.

[0026] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0027] Please refer to FIG. 1 , which is a flow chart of a method for controlling an output device provided in one embodiment of the present application.

[0028] As shown in FIG1 , the control method of the output device includes:

[0029] Step S001: During at least one of the processes of the output device outputting a cable and retracting a cable, controlling the motor to output resistance.

[0030] Exemplarily, the output device includes a motor, a winding mechanism connected to the motor, and a cable provided on the winding mechanism, wherein the motor is used to generate an output resistance for overcoming an external force on the cable.

[0031] The resistance adjustment of traditional fitness equipment usually relies on physical weights (such as dumbbell plates, barbell plates) or mechanical devices (such as springs, friction plates). The adjustment process is cumbersome and not precise enough. It is also usually heavy and bulky, taking up a lot of space, which is not conducive to carrying and installing. The functions are also relatively simple, usually only able to complete specific training movements, and it is difficult to provide a variety of training modes. In order to solve these problems, the control method of the output device provided in the embodiment of the present application controls the output resistance of the motor. The resistance output by the motor acts on the cable, and the user overcomes the resistance output by the motor to achieve strength training, thereby avoiding the above-mentioned problems of traditional fitness equipment.

[0032] In some embodiments, the power output device is also referred to as a fitness device, the winding mechanism is also referred to as a rope winding assembly, and the cable is also referred to as a rope.

[0033] Please refer to FIG2 , which is a flow chart of a method for controlling an output device provided in an embodiment of the present application.

[0034] As shown in FIG. 2 , step S001 includes steps S101 to S104 , which provide a method for controlling the sleep state of the output device.

[0035] It is understandable that in order to reduce the energy consumption of the output equipment, the output equipment can actively enter sleep mode if no user usage behavior is detected within a certain period of time; of course, it is not limited to this. The user can also issue instructions to control the output equipment to passively enter sleep mode, which is not limited here.

[0036] When the output device enters sleep mode, the motor's output resistance decreases. If there are accessories hanging on the cable at this time, the output resistance may be insufficient to support the cable's weight, causing the accessories to fall. To avoid this, the present application provides a control method for the output device.

[0037] Step S101: Detect whether the output device meets a preset sleep condition.

[0038] For example, at least one sleep condition is pre-set, and when the output device satisfies one or more of the sleep conditions, it is determined that the output device needs to enter a sleep state. The pre-set sleep condition may reflect that the user has not used the output device for a certain period of time, and entering the sleep state will not affect the user's use; or reflect that the user has actively controlled the output device to enter a sleep state based on their own needs.

[0039] In some embodiments, the preset sleep condition includes: whether the static time of the output device reaches a preset time; wherein the static time is the time the cable is in a static state.

[0040] For example, the static duration reflects the length of time a user has paused using the output device, and the static duration indicates the length of time the cable of the output device is in a static state. Specifically, since the cable is wound around a winding mechanism, the output device releases or retracts the cable through the rotation of the winding mechanism. The state of the cable can be determined by detecting the rotational angular velocity of the winding mechanism. If the rotational angular velocity is less than a preset angular velocity threshold, the cable is determined to be in a static state. For example, if the rotational angular velocity is 0, the cable is determined to be in a static state. Of course, this is not limited to this and is not defined herein.

[0041] In some embodiments, the preset duration includes at least one of a first preset duration, a second preset duration, and a third preset duration; and detecting whether the output device meets a preset sleep condition includes at least one of the following:

[0042] If the idle time of the output device after receiving the sleep instruction is longer than the first preset time, it is determined that the output device meets the preset sleep condition;

[0043] If the output device remains idle for a period of time greater than a second preset period of time after being started, confirming that the output device meets the preset sleep condition;

[0044] If the output device remains stationary for longer than a third preset time after interacting with the user, confirming that the output device meets the preset sleep condition;

[0045] The first preset duration is shorter than the second preset duration, and the second preset duration is shorter than the third preset duration.

[0046] For example, in order to make the sleep condition more in line with the user's usage habits, different preset time lengths can be set in different situations. That is, if the idle time reaches the corresponding preset time length in different situations, it is confirmed that the output device meets the preset sleep condition.

[0047] For example, if the output device remains idle for a first preset time period after the user issues a sleep command, the output device is confirmed to have met the preset sleep conditions. In this case, since the user has a need to actively put the output device into a sleep state, a smaller first preset time period can be set, such as 3 seconds. If the idle time period reaches 3 seconds after receiving the sleep command, the output device is confirmed to have met the preset sleep conditions. Conversely, if the user is still detected using the output device within 3 seconds after receiving the sleep command, the sleep command is deemed to have been triggered by an erroneous operation, and the output device is not controlled to enter sleep. It can be understood that by detecting whether the cable of the output device is in a stationary state within the first preset time period after receiving the sleep command, sleep caused by accidental touch is prevented, thereby improving the fault tolerance of the output device control.

[0048] For example, if the output device remains stationary for a second preset time period after the user starts the output device, it is confirmed that the output device meets the preset sleep condition. In this case, the user starts and places the output device, that is, the time period without using the output device after starting it reaches the second preset time period, indicating that the user has no need to use the output device temporarily or the startup operation is triggered by a user error. A second preset time period that is smaller but greater than the first preset time period can be set, for example, 30 seconds. If the cable is stationary within 30 seconds after the output device is started, it is confirmed that the output device meets the preset sleep condition; conversely, if the user's use operation is detected within 30 seconds after the output device is started, it is considered that the output device is started and in normal use, and the output device is not controlled to enter sleep. It can be understood that detecting whether the cable of the output device is stationary within the second preset time period after startup prevents energy consumption caused by startup due to accidental touch, thereby improving the fault tolerance of the output device startup operation.

[0049] For example, if the static time of the output device reaches a third preset time while the user is using the output device, it is confirmed that the output device meets the preset sleep condition. In this case, the user may have certain usage needs, but the training is interrupted due to various reasons. The possibility of continuing to use the output device in a short period of time is high. Therefore, a larger third preset time can be set, such as 10 minutes. If the user pauses for 10 minutes after using the output device, it is confirmed that the output device meets the preset sleep condition; conversely, if the user is detected to resume use within 10 minutes after pausing the use of the output device, it is considered that the user has re-entered the training state, and the output device is not controlled to enter sleep. It can be understood that when the user's usage needs are high, the frequency of entering the sleep state is reduced, the continuity of use is improved, and thus the user's usage experience is improved.

[0050] Step S102: When the output device meets a preset sleep condition, detect the traction force of the accessories on the cable on the cable.

[0051] In the related art, the output device is usually directly controlled to enter sleep mode when it is detected that the sleep conditions are met. However, this control method ignores the accessories that may exist on the cable, which poses a hidden danger to the safe use of the output device.

[0052] The control method for the output equipment provided in the embodiment of the present application first detects the traction force on the cable after detecting that the sleep condition is met, so as to determine whether there are accessories of a certain weight hanging on the cable, and releases the accessories before entering the sleep state.

[0053] Step S103: When the traction force is greater than the preset resistance, the motor is controlled to adjust the output resistance to the first target resistance until the traction force disappears, and the output device is controlled to enter a dormant state.

[0054] For example, the size of the preset resistance can be set according to actual needs. When the traction force of the accessory on the cable is greater than the preset resistance, it means that the output device after entering the sleep state cannot provide sufficient resistance to hang the accessory. It is necessary to adjust the output resistance of the motor to the first target resistance so that the accessory will slowly fall under the action of gravity under the first target resistance until the traction force of the accessory disappears, indicating that the accessory has safely landed on the ground, and then control the output device to enter the sleep state.

[0055] For example, a force sensor can be used to detect whether the traction on the cable disappears to determine whether the accessory has fallen to the ground. Of course, this is not limited to this. The landing of the accessory can also be determined based on the speed at which the cable is released. For example, if the speed of the cable is 0, it is determined that the traction disappears and the accessory has reached the ground. This is not limited here.

[0056] In some embodiments, controlling the motor to adjust the output resistance to the first target resistance until the traction force disappears, and controlling the output device to enter a dormant state, includes:

[0057] When controlling the motor to output the first target resistance, detecting the output speed of the cable;

[0058] When the output speed is less than or equal to a preset speed threshold, it is determined that the traction force disappears.

[0059] For example, the output speed of the cable can also be determined based on the angular velocity of the winding mechanism. When the output resistance of the motor is the first target resistance, the accessory descends due to its own gravity, generating a certain linear velocity that drives the winding mechanism used to wind the cable to rotate and release the cable. At this time, the cable and the winding mechanism both have a certain speed. After the accessory lands on the ground, since the accessory remains stationary on the ground, the cable connected to the accessory is also stationary. At this time, the speed of the cable and the winding mechanism are both less than or equal to a preset speed threshold, such as 0. The size of the preset speed threshold can be set according to actual needs and is not limited here.

[0060] In some embodiments, the first target resistance is smaller than the traction force; wherein the magnitude of the first target resistance is determined according to the traction force, or the magnitude of the first target resistance is a preset accessory release resistance.

[0061] For example, in order to enable the accessory to fall under the action of gravity, the magnitude of the first target resistance should be smaller than the gravity acting on the accessory, that is, smaller than the traction force of the accessory detected in the suspended state in step S102.

[0062] For example, the magnitude of the first target resistance can be determined based on the magnitude of the traction applied to the accessory. For example, the magnitude of the first target resistance is determined by subtracting a preset force difference from the detected traction force applied to the accessory. This ensures that the preset force difference exists between the gravity applied to the accessory during descent and the first target resistance, allowing the accessory to descend to the ground with a constant acceleration. The magnitude of this preset force difference can be set based on actual needs. To prevent injury to people or property passing beneath the accessory, a smaller preset force difference can be set to improve the safety of the accessory's descent.

[0063] Exemplarily, the magnitude of the first target resistance may also be a preset accessory release resistance. For example, a first accessory release resistance that is generally smaller than the accessory's pulling force may be preset, allowing most accessories to descend due to the force difference between the accessory's gravity and the first accessory release resistance, and detecting the output speed of the cable; if the cable is stationary when the output resistance is the first accessory release resistance, indicating that the first accessory release resistance is unable to lower the accessory, the output resistance is adjusted to a second accessory release resistance that is smaller than the first accessory release resistance, and the cable output speed is continuously detected, and so on, until the accessory can generate a descending linear velocity under the action of the preset accessory release resistance.

[0064] Step S104: When the traction force is less than or equal to the preset resistance, control the output device to enter a dormant state.

[0065] For example, when the traction force of the accessory on the cable is less than or equal to the preset resistance, it means that there is no accessory hanging on the cable, or the output device after entering the dormant state can provide sufficient resistance to hang the accessory. There is no need to release the accessory on the cable, and the output device is directly controlled to enter the dormant state.

[0066] In some embodiments, controlling the output device to enter a dormant state includes: controlling the motor to adjust the output resistance to a second target resistance, wherein the second target resistance is determined based on the preset resistance.

[0067] For example, the motor of the output device is configured to output a certain resistance so that the resistance simulates a certain weight during strength training. Therefore, when the output device enters a dormant state, the motor's energy consumption is reduced by reducing the resistance output, thereby reducing the overall energy consumption of the output device. The second target resistance is determined based on the preset resistance.

[0068] Exemplarily, the output device may also include a display screen, and controlling the output device to enter a sleep state may also include: reducing the brightness of the display screen; of course, this is not limited to this, and controlling the output device to enter a sleep state may also include: controlling the output device to emit a sleep prompt sound, etc., which is not limited here.

[0069] In some embodiments, the second target resistance is greater than or equal to the preset resistance.

[0070] Exemplarily, the second target resistance output in the motor's sleep state can be set according to actual needs, and the second target resistance should be able to suspend accessories with traction less than the preset resistance. Therefore, the second target resistance is greater than or equal to the preset resistance.

[0071] For example, the control motor also outputs a certain resistance in the sleep state, so that the cable of the output device can also hang accessories with lighter weight in the sleep state. Moreover, if the user tries to resume strength training by pulling the cable during the sleep state of the output device, the existence of the second target resistance can also buffer the user's pulling force to prevent the user from being injured, thereby improving the safety of the output device.

[0072] Please refer to FIG. 3 , which is a flow chart of a method for controlling an output device provided in one embodiment of the present application.

[0073] As shown in Figure 3, when the output device meets any of the preset sleep conditions, the traction force on the cable is detected and compared with the preset resistance. If the traction force is not greater than the preset resistance, the output device is directly controlled to enter the sleep state. Conversely, if the traction force is greater than the preset resistance, the first target resistance is output to cause the accessory generating the traction force to descend until the traction force disappears, and then the output device is controlled to enter the sleep state.

[0074] The control method of the output device provided in the above embodiment detects whether the output device meets the preset sleep condition; if the output device meets the preset sleep condition, detects the traction force of the accessories on the cable on the cable; when the traction force is greater than the preset resistance, controls the motor to adjust the output resistance to the first target resistance until the traction force disappears, and controls the output device to enter a sleep state; when the traction force is less than or equal to the preset resistance, controls the output device to enter a sleep state. The traction force is used to detect whether there are accessories hanging on the cable before sleep, and if there are accessories hanging on the cable, the first target resistance is output to release the accessories before entering sleep. This prevents the accessories from falling off when the output resistance during sleep is insufficient to pull the accessories, thereby improving the safety of the output device.

[0075] Please refer to Figure 4, which is a flow chart of a control method for a power output device provided in an embodiment of the present application. The control method for a power output device provided in an embodiment of the present application is applied to a power output device, which includes a motor, a winding mechanism connected to the motor, and a cable arranged on the winding mechanism, wherein the motor of the power output device is used to generate resistance to simulate a counterweight of a certain weight. Specifically, when a user uses the power output device for strength training, he can overcome the output resistance of the motor and pull the cable a certain distance, thereby simulating the scenario of overcoming gravity to pull the counterweight when using a real counterweight for strength training.

[0076] It is understandable that a real counterweight has a certain amount of inertia when in use, and the output device in the embodiment of the present application simulates the pulling force of the counterweight on the cable by outputting resistance through a motor, so there is no inertia. Compared with traditional strength training scenarios, the output resistance of the output device has higher predictability, which can prevent users from being injured due to inertia during training. However, in some types of strength training, the existence of inertia is necessary, such as lifting heavy objects to a certain height by inertia, etc., and existing output devices cannot accurately simulate the inertia of the counterweight. Therefore, the present application provides a control method for an output device to simulate the existence of inertia by controlling the resistance output by the motor of the output device.

[0077] For example, users can set the output device to either normal or inertia mode. In normal mode, the motor's resistance is used solely to simulate the counterweight's pull on the cable; that is, the motor's resistance output depends solely on the base weight information. In inertia mode, in addition to simulating the counterweight's pull, the motor also increases or decreases resistance to simulate inertia. Therefore, for the same base weight information, the resistance output in inertia mode may be greater, less than, or equal to the resistance output in normal mode.

[0078] As shown in FIG4 , the control method of the output device includes steps S201 to S203 .

[0079] Step S201: Acquire acceleration information of the cable during winding or releasing operations.

[0080] For example, an object's inertia depends on its mass. However, when using a real counterweight for strength training, the tension exerted on the cable depends not only on the mass of the counterweight itself but also on its acceleration. Therefore, to enable the motor to more accurately simulate the effects of inertia, it is necessary to obtain real-time acceleration information during the cable's winding or releasing operations. Specifically, this acceleration information can include the magnitude and direction of the acceleration.

[0081] For example, the cable is wound around a winding mechanism, and the winding or releasing operation of the cable will drive the winding mechanism to rotate in different directions. Therefore, the acceleration magnitude and direction of the cable's winding or releasing operation can be determined based on the angular acceleration of the winding mechanism's rotation. The method for converting the angular acceleration of the winding mechanism to the linear acceleration of the cable is not described in detail here. Of course, this is not limited to this. The acceleration information of the cable can also be determined by other means, such as setting a speed sensor to detect the moving speed of the cable end, thereby obtaining the acceleration information of the cable. The method for obtaining the acceleration information is not limited here.

[0082] It is understood that the direction of the cable's acceleration is related to the velocity change. For example, if the cable's velocity decreases, i.e., the velocity change is negative, then the direction of the cable's acceleration is represented by a negative value; if the cable's velocity increases, i.e., the velocity change is positive, then the direction of the cable's acceleration is represented by a positive value.

[0083] Step S202: Determine inertial weight information for simulating inertial effects according to the acceleration information.

[0084] It is understandable that in traditional strength training scenarios, due to the existence of inertia, the amount of counterweight tension actually felt by the human body is related to the acceleration of the counterweight. For example, when the acceleration of the counterweight is upward, such as when the counterweight moves upward at an accelerated speed or downward at a decelerated speed, the counterweight will be in an "overweight" state, and the counterweight tension felt by the human body will be greater than the gravity actually exerted on the counterweight; conversely, when the acceleration of the counterweight is downward, such as when the counterweight moves upward at a decelerated speed or downward at an accelerated speed, the counterweight will be in a "weightless" state, and the counterweight tension felt by the human body will be less than the gravity actually exerted on the counterweight. In the scenario of strength training using the output device provided in the embodiments of the present application, the user simulates the downward or upward movement of the counterweight by performing winding or releasing operations through the cable. Therefore, in order to simulate the existence of inertia, the amount of resistance felt by the user needs to be related to the acceleration of the cable.

[0085] In some embodiments, determining inertial weight information for simulating inertial effects based on the acceleration information includes:

[0086] determining inertial force information for simulating inertial action based on the basic weight information and the acceleration information;

[0087] The inertial weight information is determined according to a ratio of the inertial force information to the gravitational acceleration.

[0088] Exemplarily, the basic weight information is used to determine the mass of the counterweight block simulated by the motor. Since the size of inertia is related to mass, the size of the pulling force felt by the human body is related to acceleration. Therefore, the inertial force information is determined based on the basic weight information and acceleration information.

[0089] For example, the motor of the output device outputs resistance based on weight information. Therefore, it is necessary to convert the inertial force information into inertial weight information. That is, the inertial force information is divided by the gravitational acceleration to obtain the inertial weight information. The value of the gravitational acceleration can be set according to actual needs, for example, it can be set to an approximate value such as 9.8 or 10, and the magnitude of the gravitational acceleration can also be adjusted according to the latitude of the output device, which is not limited here.

[0090] In some embodiments, determining the inertial force information for simulating inertial action based on the basic weight information and the acceleration information includes:

[0091] The inertial force information for simulating inertial action is determined according to the product of the basic weight information and the acceleration information.

[0092] Exemplarily, inertial force information is determined based on the product of basic weight information and acceleration information. Basic weight information refers to the mass of the counterweight block that the output device motor needs to simulate. Basic weight information can be set by the user through instructions or obtained through other means, such as pre-determined based on the user's training habits, and is not limited here.

[0093] In some embodiments, determining the inertial force information for simulating inertial action based on the product of the basic weight information and the acceleration information includes:

[0094] Obtaining a preset inertia coefficient, wherein the inertia coefficient is used to indicate the strength of the inertial effect;

[0095] The magnitude of the inertial force information is determined according to the product of the basic weight information, the acceleration information, and the inertia coefficient.

[0096] For example, users can also adjust the strength of the inertia effect by adjusting the inertia coefficient according to actual needs. The magnitude of the inertia coefficient can be any value between 0 and 100%. When the inertia coefficient is 0, it means that the motor only needs to output the resistance for simulating the gravity of the counterweight block based on the basic weight information, and does not need to add the inertia weight information for simulating the inertia effect; when the inertia coefficient is 100%, it means that the motor fully simulates the effect of the inertia effect on the resistance felt by the human body based on the basic weight information. Of course, this is not limited to this. The inertia coefficient can also be greater than 100%, which is not limited here.

[0097] Step S203 : determining target control parameters of the motor according to the inertial weight information and preset basic weight information, and controlling the motor output resistance according to the target control parameters.

[0098] For example, based on the preset basic weight information, the target control parameters are obtained by increasing or decreasing the basic weight information according to the inertial weight information. The target control parameters are used to represent the weight that needs to be simulated when the motor actually outputs resistance, that is, the weight actually felt by the human body.

[0099] In some embodiments, determining a target control parameter of the motor according to the inertial weight information and preset basic weight information, and controlling the motor output resistance according to the target control parameter includes:

[0100] If the direction of the acceleration information is consistent with the relative motion direction of the cable, determining the target weight value according to the sum of the inertial weight information and the basic weight information;

[0101] If the direction of the acceleration information is inconsistent with the relative motion direction of the cable, determining the target weight value according to the difference between the inertial weight information and the basic weight information;

[0102] The target control parameter is determined according to the target weight value, so as to control the motor to output a resistance corresponding to the target weight value according to the target control parameter.

[0103] Exemplarily, the relative movement direction of the cable includes the direction in which the winding operation is performed and the direction in which the release operation is performed. For example, the direction in which the cable is wound is defined as a first direction, and the direction in which the cable is released is defined as a second direction. If the direction of the acceleration information and the relative movement direction of the cable are both in the first direction, that is, the cable is in the process of accelerated release, then the inertial weight information is added to the basic weight information to obtain a target weight value to simulate the "overweight" state of the counterweight. Conversely, if the direction of the acceleration information is in the second direction, and the relative movement direction of the cable is in the first direction, that is, the cable is in the process of decelerated release, then the inertial weight information is subtracted from the basic weight information to obtain a target weight value to simulate the "weightless" state of the counterweight. The cases of accelerated winding and decelerated winding of the cable can be deduced in this way and will not be elaborated on here.

[0104] Exemplarily, the target control parameter indicates the resistance size corresponding to the target weight value output by the motor of the output device.

[0105] Please refer to FIG. 5 , which is a schematic diagram of a scenario of a basic weight information adjustment method provided in one embodiment of the present application.

[0106] As shown in FIG5 , in some embodiments, the method further includes:

[0107] In response to a sliding operation on a first control in the weight adjustment interface, determining the basic weight information; and / or

[0108] In response to a click operation on a second control in the weight adjustment interface, the basic weight information is determined.

[0109] For example, the basic weight information can be preset by the user based on their training needs. For example, in the weight adjustment interface shown in Figure 5, the user can clearly and intuitively adjust the weight of the counterweight simulated by the output device by sliding the first control 210. However, in actual application, the sliding distance of the first control 210 is often difficult to accurately control, and it is easy to adjust the amount too much or too little, causing problems for users.

[0110] Therefore, in the control method of the output device provided in the embodiment of the present application, the weight of the counterweight simulated by the output device can also be adjusted by clicking the second control 220 in the weight adjustment interface. It can be understood that in the scenario of using actual counterweight blocks for strength training, the adjustment of the weight of the counterweight blocks is discontinuous. For example, the user can add or remove a counterweight block of a certain mass; similarly, when adjusting the basic weight information of the output device through the click operation of the second control 220, the change of the basic weight information is also discontinuous and accurate. Adjusting the basic weight information of the output device in this way can better simulate the real counterweight block and improve the simulation effect of the output device. The user can also accurately adjust the value of the basic weight information to improve the user experience.

[0111] In some embodiments, determining the basic weight information in response to a sliding operation on a first control in the weight adjustment interface includes:

[0112] determining the basic weight information according to the relative displacement of the sliding operation and the first step length corresponding to the first control;

[0113] The determining the basic weight information in response to a click operation on the second control in the weight adjustment interface includes:

[0114] The basic weight information is determined according to a second step length corresponding to the second control.

[0115] For example, when adjusting the basic weight information by sliding the first control 210, the weight adjustment amount is determined based on the relative displacement of the first control 210 and a preset first step length. The weight adjustment amount corresponding to each unit distance moved by the first control 210 can be preset as the first step length, and the basic weight information is determined based on the first step length and the relative displacement amount based on the historical weight information. Specifically, for example, if the first step length corresponding to each unit distance is 0.1 kg, the user can increase or decrease the historical weight information by n×0.1 kg by moving the first control 210 up or down by n unit distances.

[0116] For example, when adjusting the basic weight information by clicking the second control 220, the weight adjustment amount is determined according to a preset second step length. The weight adjustment amount corresponding to each click of the second control 220 can be preset as the second step length, and the basic weight information is obtained by adding or subtracting the weight adjustment amount corresponding to the second step length from the historical weight information. Specifically, the second control 220 can include a second increment control 221 and a second decrement control 222. The basic weight value is increased by clicking the second increment control, and the basic weight value is decreased by clicking the second decrement control. The second increment control and the second decrement control can correspond to the same or different second step lengths, which are not limited here.

[0117] For example, the second step length can also be set by the user to simulate the use of actual counterweight blocks, in which the user can choose the mass of the counterweight blocks to be added or removed each time. The user can adjust the second step length to values ​​such as 0.5kg, 1kg, 2kg, etc. according to actual needs. Of course, it is not limited to this and is not limited here.

[0118] The control method for the power output device provided in the above embodiment obtains the acceleration information of the cable performing the winding or releasing operation; determines the inertial weight information used to simulate the inertial effect based on the acceleration information; determines the target control parameters of the motor based on the inertial weight information and the preset basic weight information, and controls the output resistance of the motor based on the target control parameters. According to the acceleration of the user pulling the cable, the inertial weight used to simulate the inertial effect under this acceleration is determined, thereby controlling the output resistance of the motor to simulate the gravity of the basic weight and the inertia corresponding to the basic weight. By simulating the existence of inertia, the simulation effect of the power output is improved, thereby improving the user's training effect and training experience.

[0119] Please refer to Figure 6, which is a flow chart illustrating a method for controlling a power output device according to an embodiment of the present application. This method can be applied to a server or fitness equipment, and is used to determine a target factor through user operation, thereby obtaining motion parameter values ​​corresponding to the target factor and an output resistance value corresponding to each motion parameter value. A rope output resistance curve is generated based on the motion parameter values ​​and the output resistance values ​​to control the motor output resistance.

[0120] As shown in FIG6 , the control method of the output device specifically includes steps S301 to S304 .

[0121] S301: Determine a target factor among resistance-related factors based on a first user operation.

[0122] Furthermore, the resistance-related factors include rope length, rope speed and output range.

[0123] In one embodiment, a first user operation, i.e., a first user operation, is received via a screen display device of the fitness device, and the target factor currently selected by the user is determined based on the first user operation. The screen display device may be a device of the fitness device itself, or may be a device connected to the fitness device used by the user via a wired or wireless method (e.g., a mobile phone, tablet, or television).

[0124] In one embodiment, the first user action may be a user clicking a control displayed on a screen display device or inputting a target factor on the screen display device. The target factor selected by the user is determined by clicking the control or inputting content. Controls correspond to resistance-related factors on a one-to-one basis. After determining the control clicked by the user, the resistance-related factor corresponding to the control is obtained as the target factor.

[0125] It can be understood that resistance-related factors are factors that affect the output resistance of the motor of the fitness equipment, which can be pre-set by the user in the system of the fitness equipment as needed. They can be rope length, rope speed and output range, or other factors set by the user.

[0126] In another embodiment, the first user operation may also be an instruction generated by user voice or gesture, or an instruction generated by user voice and gesture, etc.

[0127] S302: Based on the second user operation and the target factor, determine at least one motion parameter value, and determine a rope-out resistance value corresponding to the motion parameter value.

[0128] In one embodiment, the second user operation can be the user setting a resistance adjustment point corresponding to a target factor on a screen display device, where each power adjustment point includes a motion parameter value and a rope-release resistance value. The user can enter at least one motion parameter value and the rope-release resistance value corresponding to that motion parameter value through the screen display device; the user can also modify the existing motion parameter values ​​and rope-release resistance values ​​to speed up the setting process and save time.

[0129] In one embodiment, the motion parameter value is the numerical value of the motion parameter corresponding to the target factor. For example, if the target factor is the rope length, the rope length value is the motion parameter value; if the target factor is the rope speed, the rope speed value is the motion parameter value; if the target factor is the output force interval, the rope length interval is the motion parameter value.

[0130] Exemplarily, when the target factor is the rope length, the rope length value set by the user in the second user operation and the rope resistance value corresponding to each rope length value are obtained; when the target factor is the rope speed, the rope speed value set by the user in the second user operation and the rope resistance value corresponding to each rope speed are obtained; when the target factor is the output interval, the rope length interval set by the user in the second user operation and the rope resistance value corresponding to each rope length interval are obtained.

[0131] S303: Perform curve fitting based on the motion parameter value and the rope-out resistance value to generate a rope-out resistance curve.

[0132] In one embodiment, the motion parameter values ​​and the rope-drawing resistance values ​​can be mapped one-to-one to generate at least one two-dimensional coordinate point, namely, a resistance adjustment point. Curve fitting is performed based on all resistance adjustment points to generate a rope-drawing resistance curve.

[0133] For example, the motion parameter value is 1.5 meters, the rope resistance value is 1 pound, and the resistance adjustment point can be expressed as (1.5, 1).

[0134] In one embodiment, curve fitting refers to the process of fitting a curve based on multiple data points. In this application, curve fitting refers to the process of fitting multiple resistance adjustment points to generate a rope resistance curve. It is understood that the curve fitting method can be linear fitting, Bezier curve fitting, least squares fitting, or other fitting methods selected by the user as needed.

[0135] In one embodiment, the rope-exit resistance curve is a curve that represents how the resistance changes as the value of the motion parameter corresponding to the target factor changes.

[0136] Furthermore, after step S303, it also includes: based on a third user operation, calling the curve testing module to collect the motion parameter values ​​of the user during the exercise process; based on the motion parameter values ​​and the rope-out resistance curve, controlling the motor output resistance, so that the user can adjust the rope-out resistance curve according to the output resistance.

[0137] In one embodiment, the third user operation may be the user selecting whether to test the rope-out resistance curve according to the screen display device. If the user selects to test the rope-out resistance curve, a curve testing module is activated. The curve testing module may be a module provided in the fitness device or a module connected to the fitness device via a wired or wireless method.

[0138] In one embodiment, the user's movement is the rope-pulling operation during the test, and the curve testing module collects motion parameter values ​​during the user's movement. Based on these motion parameter values, the rope-pulling resistance value is determined in the rope-pulling resistance curve. The motor outputs resistance based on this rope-pulling resistance value, allowing the user to obtain the actual motion experience corresponding to the current rope-pulling resistance curve. If the user determines that the current state does not meet their needs, they can adjust the pre-set motion parameter values ​​and the rope-pulling resistance values ​​corresponding to each motion parameter value, re-perform curve fitting, and obtain a new rope-pulling resistance curve.

[0139] The collection of the motion parameter values ​​may be performed by the collection unit of the curve test module itself, or by the collection unit in the fitness equipment system called by the curve test module.

[0140] S304: Control the motor output resistance based on the rope-out resistance curve.

[0141] In one embodiment, during the user's exercise, the motion parameter values ​​of the user are collected during the exercise, and the rope-out resistance value corresponding to the motion parameter value is determined in the rope-out resistance curve. The motor output resistance is controlled according to the rope-out resistance value, that is, the force applied by the motor to the rope, which is opposite to the direction of the user's pulling force.

[0142] Exemplarily, when the target factor is the rope-out length, the rope-out length value during the user's exercise is detected, and the rope-out resistance value corresponding to the rope-out length value is determined in the rope-out resistance curve, wherein the rope-out resistance curve is a curve with the rope-out length value as the independent variable and the rope-out resistance value as the dependent variable; when the target factor is the rope-out speed, the rope-out speed value during the exercise is detected, and the rope-out resistance value corresponding to the rope-out speed value is determined in the rope-out resistance curve, wherein the rope-out resistance curve is a curve with the rope-out speed value as the independent variable and the rope-out resistance value as the dependent variable; when the target factor is the output interval, the rope-out length value during the user's exercise is detected, the rope-out length value is compared with the preset rope length interval to determine the rope length interval in which the rope-out length value is located, and the rope-out resistance value corresponding to the rope length interval is determined in the rope-out resistance curve, wherein the rope-out resistance curve is a curve with the output interval as the independent variable and the rope-out resistance value as the dependent variable.

[0143] The above embodiment provides a method, apparatus, computer equipment and storage medium for a power output device, which determines a target factor among resistance-related factors based on a first user operation; determines at least one motion parameter value based on a second user operation and the target factor, and determines a rope-out resistance value corresponding to the motion parameter value; performs curve fitting based on the motion parameter value and the rope-out resistance value to generate a rope-out resistance curve; and controls the output resistance of the motor based on the rope-out resistance curve. In the above manner, the present application can determine a target factor among resistance-related factors based on a first user operation, and then obtain resistance values ​​corresponding to each motion parameter value of the target factor based on a second user operation, fit the motion parameter value and the resistance value, and generate a rope-out resistance curve, thereby meeting user customization requirements. Users can operate according to actual needs, select training modes corresponding to different exercise requirements, and generate a rope-out resistance curve that meets the needs. According to the rope-out resistance curve, the motor of the fitness device is controlled to adjust the rope-out resistance to achieve different exercise effects, thereby improving the flexibility and practicality of the fitness device.

[0144] The control method of the output device can be applied to a server or fitness equipment, and is used to obtain the rope length value and the rope resistance value corresponding to each rope length value when the user determines the target factor to be the rope length, so as to generate a rope resistance curve.

[0145] The step S302 of the control method of the output device specifically also includes: when the target factor is the rope length, using the rope length value as the motion parameter value; based on the second user operation, obtaining at least one rope length value and the rope resistance value corresponding to each rope length value.

[0146] In one embodiment, the motion parameter value is the value of the motion parameter corresponding to the target factor. When the target factor is the rope length, the motion parameter is the rope length, and the rope length value is the motion parameter value.

[0147] In one embodiment, the second user operation may be the user setting, on the screen display device, at least one resistance adjustment point corresponding to the rope-out length, i.e., at least one rope-out length value and a rope-out resistance value corresponding to each rope-out length value. Setting the resistance adjustment point may be the user inputting, on the screen display device, at least one rope-out length value and a rope-out resistance value corresponding to each rope-out length value.

[0148] In another embodiment, the user can also modify the values ​​that need to be modified based on the existing rope-out length value and rope-out resistance value to speed up the setting process and save time. For example, after the user logs into the fitness equipment system, the user's identity information is obtained, and the user's identity information is matched in the database to determine whether the database already has the user's preset rope-out length value and rope-out resistance value. If the user's preset information exists in the database, the preset rope-out length value and rope-out resistance value can be extracted and displayed to the user. The user can modify the preset rope-out length value and rope-out resistance value according to the current exercise requirements to generate new rope-out length value and rope-out resistance value.

[0149] Furthermore, the step S303 includes:

[0150] Determining a resistance level corresponding to each of the rope length values ​​based on a preset length threshold and the rope length value;

[0151] In one embodiment, the length thresholds can be set by the user in advance in the system of the fitness device, or can be set each time the fitness device is used. Each length threshold corresponds to a resistance level. It is understood that the correspondence between the resistance level and the length threshold can also be set by the user in advance in the system of the fitness device, or can be set each time the fitness device is used.

[0152] In one embodiment, the length threshold may include multiple ones, for example, the first length threshold is 1 meter, the second length threshold is 2 meters, and the third length threshold is 3 meters. The resistance levels corresponding to the first length threshold, the second length threshold, and the third length threshold are 1, 2, and 3, respectively.

[0153] In one embodiment, the resistance level is the level of output resistance. The higher the level, the higher or lower the output resistance. The resistance level can be set by the user according to needs and is not limited here.

[0154] In one embodiment, each rope length value set by the user is compared with the length threshold in turn. When the rope length value is equal to or greater than a certain length threshold, the resistance level corresponding to the length threshold is used as the resistance level corresponding to the rope length value.

[0155] For example, assuming the first length threshold is 1 meter, the second length threshold is 2 meters, and the third length threshold is 3 meters, the resistance levels corresponding to the first, second, and third length thresholds are 1, 2, and 3, respectively. A user-set rope length of 1.5 meters is considered 1.5 meters, and since 1 meter < 1.5 meters < 2 meters, the resistance level corresponding to this rope length is 1.

[0156] Based on the resistance level, curve fitting is performed on the rope-out length value and the rope-out resistance value to generate the rope-out resistance curve.

[0157] In one embodiment, after determining the resistance levels corresponding to all rope-out length values ​​set by the user, rope-out length values ​​of the same resistance level are grouped together, and the rope-out resistance values ​​corresponding to the rope-out length values ​​in the same group are increased by a preset resistance increase value. The preset resistance increase value can be set by the user as needed.

[0158] For example, assuming the preset resistance increment for resistance level 1 is 1 pound, and the preset resistance increment for resistance level 2 is 2 pounds, then the rope-out resistance value corresponding to each rope-out length value at resistance level 1 is increased by 1 pound, and the rope-out resistance value corresponding to each rope-out length value at resistance level 2 is increased by 2 pounds. For example, assuming the user presets a rope-out length of 1.5 meters and a rope-out resistance value of 1 pound, then the resistance level corresponding to that rope-out length value is level 1, and the rope-out resistance value is increased by 1 pound. At this time, the rope-out length value is 1.5 meters, the rope-out resistance value is 2 pounds, and the resistance adjustment point is (1.5, 2).

[0159] The control method of the output device can be applied to a server or fitness equipment, and is used to obtain the rope-out speed value and the rope-out resistance value corresponding to each rope-out speed value when the user determines that the target factor is the rope-out speed, so as to generate a rope-out resistance curve.

[0160] The step S302 of the control method of the output device specifically also includes: when the target factor is the rope-out speed, using the rope-out speed value as the motion parameter value; based on the second user operation, obtaining at least one rope-out speed value and the rope-out resistance value corresponding to each rope-out speed value.

[0161] In one embodiment, the motion parameter value is the value of the motion parameter corresponding to the target factor. When the target factor is the rope-drawing speed, the motion parameter is the rope-drawing speed, and the rope-drawing speed value is the motion parameter value.

[0162] In one embodiment, the second user operation may be the user setting a resistance adjustment point corresponding to the rope-out speed on a screen display device, that is, at least one rope-out speed value and a rope-out resistance value corresponding to each rope-out speed value. Setting the resistance adjustment point may be the user inputting at least one rope-out speed value and a rope-out resistance value corresponding to each rope-out speed value on a screen display device.

[0163] In another embodiment, the user can also modify the values ​​that need to be modified based on the existing rope-drawing speed value and rope-drawing resistance value to speed up the setting process and save time. For example, after the user logs into the fitness equipment system, the user's identity information is obtained, and the user's identity information is matched in the database to determine whether the database already contains the user's preset rope-drawing speed value and rope-drawing resistance value. If the user's preset information exists in the database, the preset rope-drawing speed value and rope-drawing resistance value can be extracted and displayed to the user. The user can modify the preset rope-drawing speed value and rope-drawing resistance value according to the current exercise requirements to obtain new rope-drawing speed value and rope-drawing resistance value.

[0164] The control method of the output device can be applied to a server or fitness equipment, and is used to obtain the rope length interval and the rope output resistance value corresponding to each rope length interval when the user determines the target factor as the output interval, so as to generate a rope output resistance curve.

[0165] The step S302 of the control method of the output device specifically also includes: when the target factor is the output interval, using the rope length interval as the motion parameter value; based on the second user operation, obtaining at least one rope length interval and the rope output resistance value corresponding to each rope length interval.

[0166] In one embodiment, the motion parameter value is the value of the motion parameter corresponding to the target factor. When the target factor is the output range, the motion parameter is the output range, and the rope length range is the motion parameter value.

[0167] In one embodiment, the output range is the rope length range of the output resistance. When the length of the rope pulled by the user is within a certain rope length range, the motor outputs the resistance corresponding to the rope length range.

[0168] In one embodiment, the second user operation may be the user setting, on the screen display device, a resistance adjustment point corresponding to an output range, i.e., at least one output range and the rope-release resistance value corresponding to each output range. Setting the resistance adjustment point may be the user inputting, on the screen display device, at least one rope length range and the rope-release resistance value corresponding to each rope length range.

[0169] For example, the first rope length interval set by the user is [0, 1], and the output resistance value corresponding to the first rope length interval is 1 pound. The second rope length interval is (1, 2], and the output resistance value corresponding to the second rope length interval is 2 pounds. When performing curve fitting, each rope length interval can be labeled to generate a resistance adjustment point. For example, the first rope length interval is labeled 1, and the second rope length interval is labeled 2. Then the resistance adjustment point generated by the first rope length interval and its output resistance value is (1, 1), and the resistance adjustment point corresponding to the second rope length interval and its output resistance value is (2, 2). During the user's exercise, the rope length interval is determined according to the user's rope pulling length, and the number corresponding to the production interval is queried. Then, the rope-exit resistance value corresponding to the number is obtained according to the rope-exit resistance curve. For example, when the user is exercising, it is detected that the user's current rope pulling length is 1.5 meters, 1<1.5<2, then the current rope length interval is the second rope length interval, and the corresponding number is 2. Then, the corresponding rope-exit resistance value is obtained according to the rope-exit resistance curve.

[0170] In another embodiment, the user can also modify the values ​​that need to be modified based on the existing rope length ranges and rope-extraction resistance values ​​to speed up the setting process and save time. For example, after the user logs into the fitness equipment system, the user's identity information is obtained, and the user's identity information is matched with the database to determine whether the database already contains the user's preset rope length ranges and rope-extraction resistance values. If the user's preset information exists in the database, the preset rope length ranges and rope-extraction resistance values ​​can be extracted and displayed to the user. The user can modify the preset rope length ranges and rope-extraction resistance values ​​based on the current exercise needs to generate new rope length ranges and rope-extraction resistance values.

[0171] Please refer to Figure 7, which is a schematic flow chart of a control method for a power output device provided in an embodiment of the present application. This power output device control method can be applied to fitness equipment to implement multiple power output modes of the fitness equipment based on the motor's resistance output strategy, thereby improving the user's fitness efficiency and user experience.

[0172] As shown in FIG2 , the control method of the output device specifically includes steps S401 to S404 .

[0173] S401: Determine the resistance output strategy of the motor.

[0174] Before using fitness equipment for fitness, users can select the fitness mode of the fitness equipment through buttons, gestures, voice, etc., and determine the resistance output strategy of the motor on the fitness equipment according to the selected fitness mode. Among them, the fitness mode includes reverse elastic mode, elastic mode, etc.

[0175] Exemplarily, the resistance output strategy includes a strategy where the longer the rope is, the lower the motor's output resistance is, i.e., the reverse elastic force mode on the fitness device. For example, a user selects the resistance output strategy for the motor on the fitness device by pressing a button. The user clicks on the fitness mode on the display screen of the fitness device and selects the reverse elastic force mode within the fitness mode. After selecting the reverse elastic force mode, the resistance output strategy for the motor on the fitness device is determined to be a strategy where the longer the rope is, the lower the motor's output resistance is.

[0176] In addition, users can also select the fitness device's fitness mode through voice, thereby determining the motor's resistance output strategy. For example, a user issues the voice command "Xiao A, Xiao A, please select reverse elastic mode." Upon receiving the user's voice command, the fitness device automatically selects the fitness mode as reverse elastic mode. Based on this reverse elastic mode, the resistance output strategy of the motor on the fitness device is determined to be lower as the rope length increases.

[0177] It should be noted that users can also select the elastic force mode within the fitness mode based on their fitness needs. This elastic force mode determines a different motor resistance output strategy. Specifically, in the elastic force mode, the longer the rope length, the greater the motor resistance output. The steps for determining the different motor resistance output strategy based on the elastic force mode are similar to those described above for determining the motor resistance output strategy based on the reverse elastic force mode and will not be repeated here.

[0178] It should be noted that fitness modes also include constant force mode and any other appropriate fitness modes. The user can select a fitness mode and determine the motor resistance output strategy based on the selected fitness mode according to the specific situation, and there is no limitation here.

[0179] S402: Obtain the current output length of the rope on the rope winding assembly.

[0180] Before or during a workout, the user can issue a voice command to the fitness device: "What is the current length of the rope?" After receiving the voice command, the fitness device obtains the current length of the rope from the rope winding assembly by directly measuring the rope length or calculating the rope length based on the angle information of the motor rotation. The device then sends the corresponding length value to the user.

[0181] In some embodiments, obtaining the current length of the rope on the rope winding assembly includes: obtaining angle information of motor rotation; and determining the current length of the rope on the rope winding assembly based on the angle information.

[0182] Specifically, the angle information is the rotation angle of the motor when it rotates, and the current output length of the rope on the rope winding assembly is determined based on the rotation angle of the motor when it rotates.

[0183] In some embodiments, obtaining the angle information of the motor rotation includes: determining the angle information of the motor rotation based on an angle sensor, wherein the angle sensor includes at least one of a rotary transformer and an optical encoder.

[0184] For example, the circumference of the rope winding assembly on the fitness device is fixed, meaning the length of the rope wound around the rope winding assembly connected to the fitness device is fixed. If the angle information corresponding to one rotation of the motor, as obtained by an angle sensor connected to the motor, is 2π, then the current unwound length of the rope wound around the rope winding assembly connected to the fitness device, after one rotation, can be determined based on the motor's rotation angle of 2π. Similarly, when the motor's rotation angle is any other value, the current unwound length of the rope at that corresponding rotation angle can be determined based on the motor's angle information. For example, when the angle information of the motor detected by the angle sensor is 2π, meaning one rotation of the motor, the current unwound length of the rope is 0.2m. If the angle information of the motor detected by the angle sensor is π, meaning half a rotation of the motor, the current unwound length of the rope is 0.1m. Similarly, when the motor is rotating, the current unwound length of the rope at that corresponding angle can be determined based on any suitable angle information of the motor detected by the angle sensor.

[0185] It should be noted that the above-mentioned angle information 2π and π, and the current rope lengths 0.2m and 0.1m, etc. are only used for illustrative purposes and are not limited in this application.

[0186] S403: Determine the target resistance corresponding to the current rope length according to the current rope length.

[0187] After determining the current length of the rope on the rope winding assembly based on the angle information of the motor rotation, the target resistance corresponding to the current length of the rope is determined on the curve graph according to the preset force and rope length curve graph.

[0188] For example, the preset force and rope length curve can be set by the fitness equipment when it leaves the factory. Of course, it can be reasonably set according to the user's actual fitness needs during the user's use of the fitness equipment, and this application does not limit this.

[0189] In some embodiments, based on the current rope-out length, the target resistance corresponding to the current rope-out length is determined, including: determining the first preset length and the second preset length of the rope; if the current rope-out length is greater than or equal to the first preset length and less than or equal to the second preset length, then determining that the target resistance corresponding to the current rope-out length is the changing first resistance.

[0190] When the user turns on the fitness mode corresponding to the fitness equipment, the first preset length is the length of the rope when the current rope length is the shortest, and the second preset length is the length of the rope when the current rope length is the longest.

[0191] For example, when the user selects the reverse elastic force mode of the fitness equipment, the first preset length and the second preset length on the curve graph can be determined based on the preset force and rope length curve graph, and the size relationship between the current rope output length and the first preset length and the second preset length can be judged according to the current rope output length that has been determined. If the front rope output length is greater than or equal to the first preset length and less than or equal to the second preset length, the target resistance corresponding to the current rope output length is determined to be the changing first resistance. Among them, in the reverse elastic force mode of the fitness equipment, the change rule of the first resistance is: as the current rope output length increases, the first resistance decreases.

[0192] It should be noted that the user can also select other suitable fitness modes such as the elastic mode and constant force mode of the fitness device. The change in the target resistance obtained by selecting different fitness modes of the fitness device is different. If the user selects the elastic mode of the fitness device, based on the current rope length, if the current rope length is greater than or equal to the first preset length and less than or equal to the second preset length, the target resistance corresponding to the current rope length is determined to be the changed first resistance. The change pattern of the obtained changed first resistance is: as the current rope length increases, the first resistance increases.

[0193] For example, if the first preset length is 0.5m and the second preset length is 2m, and the current outgoing rope length of the rope on the rope winding assembly is determined to be 1m based on the motor rotation angle information, then the current outgoing rope length of 1m is greater than or equal to the first preset length of 0.5m and less than or equal to the second preset length of 2m, and the target resistance corresponding to the current outgoing rope length of 1m is the first resistance. In the reverse elastic force mode, the first resistance decreases as the current outgoing rope length increases. Conversely, if the current outgoing rope length is 2.3m, then the current outgoing rope length of 2.3m is greater than the second preset length of 2m, and the target resistance corresponding to the current outgoing rope length of 2.3m is not the variable first resistance. Conversely, if the current outgoing rope length is 0.3m, then the current outgoing rope length of 0.3m is less than the first preset length of 0.5m, and the target resistance corresponding to the current outgoing rope length of 0.3m is not the variable first resistance.

[0194] It should be noted that the specific length values ​​of the above-mentioned current rope length, the first preset length and the second preset length are only used for illustrative purposes and are not limited in this application.

[0195] Of course, it can be understood that the specific value of the first resistance mentioned above is only used for illustrative purposes, and this application does not limit the specific value of the first resistance.

[0196] S404: Control the motor to output target resistance to the rope according to the resistance output strategy.

[0197] Specifically, in the reverse elastic force mode, the resistance output strategy includes that the longer the rope length is, the smaller the output resistance of the motor is. According to the resistance output strategy, the motor is controlled to output the target resistance to the rope.

[0198] In some embodiments, according to the resistance output strategy, the motor is controlled to output the target resistance to the rope, including: generating a resistance control instruction according to the resistance output strategy within a length range consisting of a first preset length and a second preset length; sending the resistance control instruction to the motor so that the motor outputs the first resistance to the rope according to the resistance control instruction.

[0199] Exemplarily, the resistance control instruction includes at least one of a voice instruction and a gesture operation instruction.

[0200] For example, if the first preset length is 1m and the second preset length is 2.8m, and the first resistance when the user starts exercising is 1.5lb, then the length range of the first and second preset lengths is 1m to 2.8m. Within this length range, the user activates the reverse elastic mode in the fitness mode. If the user wishes to increase the first resistance output by the motor of the fitness device, according to the resistance output strategy, the user issues a voice command to the fitness device: "Please increase the first resistance to 2lb." After receiving the voice command, the fitness device sends a resistance control command to the motor to increase the first resistance. After receiving the resistance control command, the motor appropriately reduces the angle information during motor rotation, thereby reducing the current length of the rope on the rope winding assembly connected to the motor, thereby increasing the first resistance output of the rope to 2lb. Finally, the user exercises according to the first resistance of the rope of 2lb.

[0201] Similarly, within the length range of 1m to 2.8m consisting of the first preset length and the second preset length, if the user wants to reduce the first resistance output by the motor of the fitness device, according to the resistance output strategy, the user can issue similar voice commands to the motor of the fitness device to achieve the purpose of reducing the first resistance output by the motor of the fitness device. No further details will be given here.

[0202] In addition, the user can also issue gestures to the fitness device. For example, when the gesture is to open the palm vertically upward, it indicates that a resistance control instruction is issued to the motor of the fitness device to increase the first resistance; when the gesture is to open the palm vertically downward, it indicates that a resistance control instruction is issued to the motor of the fitness device to decrease the first resistance. For example, when the user wants to increase the first resistance, the user performs the gesture of opening the palm vertically upward. After receiving the gesture, the motor of the fitness device performs the corresponding operation of increasing the first resistance. The user exercises according to the slowly increasing first resistance output by the motor to the rope. When the first resistance is no longer needed, the user issues a gesture of closing the palm to the motor of the fitness device. After receiving the gesture, the motor of the fitness device stops performing the operation of increasing the first resistance. The user exercises according to the first resistance determined after stopping the operation of increasing the first resistance.

[0203] For example, if the user's current rope draw length of 2.8m during exercise is within the range of 1m to 2.8m formed by the first and second preset lengths, and the first resistance value corresponds to 6.25 lb, the user may gesture to the fitness device with their palms facing upward to increase the first resistance. Upon receiving this gesture, the fitness device transmits a resistance control command to the motor to increase the first resistance. Upon receiving this resistance control command, the motor gradually decreases the motor's rotation angle, thereby decreasing the current rope draw length from the rope winding assembly. According to the reverse elastic force mode, as the current rope draw length decreases, the first resistance value increases. As the motor's rotation angle decreases, the current rope draw length decreases to 2.5m, 2m, 1.5m, and so on, and the corresponding first resistance value gradually increases to 1.41 lb, 3.36 lb, 4.81 lb, and so on, until the user's desired first resistance is reached. Here, assuming the user's desired rope draw length is 6 lb, the corresponding first resistance value is 0.8m. As the angle information of the motor rotation decreases, the value of the first resistance gradually increases to 6lb. The user sends a gesture of closing the palm to the fitness device. After receiving this gesture, the fitness device sends a resistance control instruction to the motor to stop increasing the first resistance. After receiving the resistance control instruction to stop increasing the first resistance, the motor stops rotating. Finally, the user continues to exercise when the first resistance of the rope corresponding to the current rope length of 2m is 6lb.

[0204] It should be noted that in the above-mentioned process of increasing the first resistance, the user exercises under the initial fixed first resistance and the fixed first resistance after the increase. Of course, the user can also exercise in the process of increasing or decreasing the first resistance, and this application does not limit this.

[0205] It should be noted that the steps in which the user makes a gesture with the palm open and pointing vertically downward to cause the fitness equipment to perform an operation of reducing the first resistance are similar to the steps in which the user makes a gesture with the palm open and pointing vertically upward to cause the fitness equipment to perform an operation of increasing the first resistance, and will not be repeated here.

[0206] In some embodiments, the target resistance corresponding to the current rope-out length is determined based on the current rope-out length, and the method also includes: if the current rope-out length is less than the first preset length, the target resistance corresponding to the current rope-out length is determined to be a constant second resistance; if the current rope-out length is greater than the second preset length, the target resistance corresponding to the current rope-out length is determined to be a constant third resistance.

[0207] In reverse elastic mode, when the first preset length is 1m and the second preset length is 2.8m, if within the length range of 1m to 2.8m formed by the first and second preset lengths, the current rope output length gradually decreases in response to a resistance control command sent to the motor to increase the first resistance, and if the motor does not receive a resistance control command to stop increasing the first resistance, then the first resistance is maximized when the current rope output length decreases to the minimum first preset length, that is, when the current rope output length decreases to 1m. This corresponds to a scenario where the motor rotation angle of the fitness device is almost 0, and the current rope output length of 1m means that a small portion of the rope has just extended from the fitness device, with the majority of the rope remaining inside the fitness device. When the current rope output length is less than 1m, the current rope output length is completely inside the fitness device, and the motor rotation angle of the fitness device is 0 or very close to 0. When the current rope output length is less than 1m, the corresponding target resistance is a constant second resistance. The second resistance value can be any small value, such as 0lb or 0.1lb, without limitation. When the target resistance is a constant second resistance, the fitness device is in leisure mode.

[0208] Similarly, in reverse elastic mode, when the first preset length is 1m and the second preset length is 2.8m, within the length range of 1m to 2.8m formed by the first and second preset lengths, if the fitness device sends a resistance control command to the motor to reduce the first resistance, the current rope output length gradually increases. If the motor does not receive a resistance control command to stop reducing the first resistance, then when the current rope output length increases to the maximum second preset length, that is, when the current rope output length is 2.8m, the first resistance is minimized. The corresponding rotation angle of the fitness device's motor is 2π or as close to 2π as possible, and the current rope output length is almost fully extended. When the current rope output length continues to increase and exceeds 2.8m, the rope on the corresponding rope winding assembly is fully extended. At this point, the target resistance corresponding to the current rope output length is a constant third resistance. The value of the third resistance can be any small value, such as 0lb, 0.1lb, etc., without limitation. The fitness device is now in another leisure mode.

[0209] It should be noted that the values ​​of the second resistance and the third resistance are not necessarily exactly the same. The specific values ​​of the second resistance and the third resistance can be reasonably set according to actual conditions and are not limited here.

[0210] The above embodiment provides a control method for a power output device, which determines the resistance output strategy of the motor, wherein the resistance output strategy includes that the longer the rope output length, the smaller the output resistance of the motor; obtains the current rope output length of the rope on the rope winding assembly; determines the target resistance corresponding to the current rope output length based on the current rope output length; after determining the target resistance corresponding to the current rope output length based on the current rope output length, the motor can be controlled to output different target resistances to the rope by adjusting the current rope output length on the motor according to actual fitness needs, thereby increasing the target resistance of the motor by reducing the rope output length; or reducing the target resistance of the motor by increasing the rope output length; thereby achieving the purpose of realizing multiple power output modes of the fitness device and improving the user experience. Moreover, by adjusting the current rope output length of the rope on the motor, the multiple power output modes of the fitness device can be flexibly switched, solving the problem of the relatively single power output mode of existing fitness equipment, meeting the different fitness needs of users, and improving the user's fitness efficiency.

[0211] Specifically, here, taking a user using a strength training device as an example, the implementation process of the control method of the output device is specifically analyzed. Please refer to Figure 8, which is a schematic flow chart of another control method of the output device provided by an embodiment of the present application, which may specifically include the following steps S410 to S440:

[0212] S410: Determine the resistance output strategy of the motor.

[0213] Specifically, before the user uses the strength trainer for fitness, the user can pre-select the fitness mode on the strength trainer through voice, buttons, etc., and determine the resistance output strategy of the motor on the strength trainer based on the selected fitness mode. The fitness mode on the strength trainer includes a reverse elastic force mode. The resistance output strategy of the motor corresponding to the reverse elastic force mode is that the longer the rope length, the smaller the output resistance of the motor.

[0214] In addition, during the user's fitness routine, the user can switch to other fitness modes on the strength training device, and determine the resistance output strategy of the motor on the strength training device corresponding to the other selected fitness modes based on the selected fitness modes. The fitness modes on the strength training device also include: elastic force mode, variable force mode, etc. The resistance output strategy of the motor corresponding to the elastic force mode is that the longer the rope length is, the greater the output resistance of the motor; the resistance output strategy of the motor corresponding to the variable force mode is any other appropriate resistance output strategy except the resistance output strategy corresponding to the reverse elastic force mode and the resistance output strategy corresponding to the elastic mode. The resistance output strategy of the motor corresponding to the variable force mode is not limited here.

[0215] For example, before using a strength trainer for fitness, the user needs to select an appropriate fitness mode based on their fitness needs. The user can send a voice command to the strength trainer: "Xiao A, Xiao A, please select the reverse elastic force mode." After receiving the voice command, the strength trainer switches from leisure mode to fitness mode and selects the reverse elastic force mode in the fitness mode. After selecting the reverse elastic force mode, the resistance output strategy of the motor in the strength trainer is determined to be that the longer the rope length, the smaller the output resistance of the motor.

[0216] It should be noted that when using a strength trainer for fitness, the user can select an appropriate fitness mode according to their needs. This application does not limit the fitness mode on the strength trainer.

[0217] S420: Get the current length of the rope.

[0218] When a user starts exercising with a strength trainer, he or she can issue a voice command through the strength trainer: "Xiao A, Xiao A, what is the current rope length?" After receiving the voice command from the user, the strength trainer obtains the angle information of the motor rotation inside the strength trainer, and determines the current rope length of the rope on the rope assembly connected to the motor based on the angle information of the motor rotation. The angle information of the motor rotation is the rotation angle of the motor.

[0219] Exemplarily, after the strength trainer receives a voice command from the user, it reads the angle value on the angle sensor through the angle sensor connected to the motor, and determines the angle information of the motor rotation based on the angle value on the angle sensor, wherein the angle sensor includes at least one of a rotary transformer and an optical encoder.

[0220] S430: Determine the target resistance corresponding to the current rope length according to the current rope length.

[0221] After the user selects the fitness mode, the target resistance corresponding to the current rope length can be directly determined based on the preset rope length and resistance curve or the preset rope length and resistance formula on the strength trainer and the current rope length.

[0222] For example, when the reverse elastic mode in the fitness mode of the strength trainer is selected, if the curve diagram of the preset rope length and resistance on the strength trainer is as shown in Figure 9, it can be seen from Figure 9 that when the rope length is 0.5m, the corresponding target resistance is 4lb; when the rope length is 2.5m, the corresponding target resistance is 0lb. That is, the first preset length of the rope when the current rope length is the shortest is 0.5m, and the second preset length of the rope when the current rope length is the longest is 2.5m. If the current rope length is greater than or equal to the first preset length of 0.5m and less than or equal to the second preset length of 2.5m, the target resistance corresponding to the current rope length is the variable first resistance, and as the current rope length increases, the first resistance decreases. When the current rope length is less than the first preset length of 0.5m, the corresponding second resistance is 0, and when the current rope length is greater than the second preset length of 2.5m, the corresponding third resistance is also 0.

[0223] In a strength trainer, if the length of the rope output corresponding to one rotation of the motor is 2.5m, that is, the angle information of the motor rotation is 2π, wherein the angle information of the motor rotation can be directly read according to the angle sensor connected to the motor, the corresponding rope output length is 2.5m. According to the above curve chart, the first resistance corresponding to the rope output length of 2.5m is 0lb. When the rotation angle of the motor is π, the corresponding rope output length is 1.25m. According to the above curve chart, the first resistance corresponding to the rope output length of 1.25m is 3.4lb. As the rope output length decreases, the first resistance output by the motor increases. Similarly, the angle information of the motor can be obtained based on any other reading of the angle information of the motor rotation on the angle sensor. Based on the angle information of the motor, the current rope output length of the rope on the rope winding assembly connected to the motor is determined. Based on the current rope output length, the target resistance corresponding to the current rope output length is determined. Within the length range consisting of the first preset length of 0.5m and the second preset length of 2.5m, the target resistance is the variable first resistance. On the contrary, according to the curve chart of the preset rope length and resistance on the preset strength training device, if the current rope length is less than the first preset length of 0.5m or greater than the second preset length of 2.5m, the corresponding resistance value is very small, which may be 0lb, 0.1lb or any other small value, which is not limited here.

[0224] The π and 2π in the above motor angle information, the corresponding first resistance values, the first preset length of 0.5m and the second preset length of 2.5m are only used for illustrative purposes. In actual applications, the appropriate first preset length and second preset length, as well as the target resistance corresponding to the current rope length can be determined based on the preset rope length and resistance curve on the specific strength trainer. This application does not impose any restrictions on this.

[0225] It should be noted that the angle sensor includes at least one of a rotary transformer and an optical encoder.

[0226] It should be noted that the above-mentioned curve diagram of the preset rope length and resistance on the strength training device as shown in Figure 9 is only used for illustrative purposes. In actual applications, any other suitable preset curve diagram of rope length and resistance can be reasonably set according to the actual needs, and this application does not impose any restrictions on this.

[0227] For example, the target resistance corresponding to the current rope length can be determined based on the preset rope length and resistance formula on the strength training device. The preset rope length and resistance formula can be: F = 4-(L-0.5) 2, where 0.5 < L < 2.5, F represents the target resistance, and L represents the current rope length. According to the formula of rope length and resistance preset in the strength trainer, the first preset length is 0.5 m, and the second preset length is 2.5 m. If the current rope length is greater than or equal to the first preset length of 0.5 m and less than or equal to the second preset length of 2.5 m, the target resistance corresponding to the current rope length is the changing first resistance. If the current rope length is 1 m, and the current rope length of 1 m is greater than the first preset length of 0.5 m and less than the second preset length of 2.5 m, according to the preset formula of rope length and resistance, the target resistance corresponding to the current rope length, which is the changing first resistance, is 3.75 lb; if the current rope length is 1.5 m, and the current rope length of 1.5 m is greater than the first preset length of 1 m and less than the second preset length of 2.5 m, according to the preset formula of rope length and resistance, the target resistance corresponding to the current rope length, which is the changing first resistance, is 3 lb.

[0228] Conversely, if the current rope length is 0.25 m, then the current rope length of 0.25 m is less than the first preset length of 0.5 m, and the target resistance corresponding to the current rope length of 0.25 m cannot be obtained as the changing first resistance. At this time, the target resistance corresponding to the current rope length of 0.25 m is the constant second resistance; specifically, the second resistance of the rope corresponding to the current rope length of 2.5 m is very small, and the corresponding scenario can be that the user has just started using the strength trainer for exercise.

[0229] Similarly, if the current rope length is 2.7 m, then the current rope length of 2.7 m is greater than the second preset length of 2.5 m, which does not meet the formula of rope length and resistance preset, and the target resistance corresponding to the current rope length of 2.7 m cannot be obtained as the changing first resistance. The target resistance corresponding to the current rope length of 2.7 m is the constant third resistance. At this time, the corresponding scenario can be that the rope on the rope winding component connected to the motor in the strength trainer is in a fully open state, and there is no remaining rope on the rope winding component.

[0230] It should be noted that the above preset formula of rope length and resistance is only for illustrative purposes. In actual applications, it can be reasonably set according to the actual situation, and this application is not limited.

[0231] [[ID=1呼"S440. Control the motor to output the target resistance to the rope according to the resistance output strategy.

[0232] When the user selects the reverse elastic force mode in the strength trainer, the corresponding resistance output strategy includes that the longer the rope length of the rope is, the smaller the output resistance of the motor is. According to this resistance output strategy, control the motor to output the target resistance to the rope.

[0233] It should be noted that users can also choose any other suitable fitness mode such as elasticity mode, constant force mode, variable force mode, etc. to exercise according to actual fitness needs, and determine the resistance output strategy under the corresponding fitness mode. This application does not impose any restrictions on this.

[0234] Exemplarily, within a length range consisting of a first preset length and a second preset length, a resistance control instruction is generated according to a resistance output strategy; a resistance control instruction is sent to the motor to enable the motor to output a first resistance to the rope according to the resistance control instruction, wherein the resistance control instruction includes: at least one of a voice instruction and a gesture operation instruction.

[0235] For example, if the first preset length is 0.5m and the second preset length is 2.5m, within the length range consisting of the first preset length of 0.5m and the second preset length of 2.5m, that is, within the length range of 0.5m to 2.5m, according to the resistance output strategy corresponding to the reverse elastic mode in the strength trainer: the longer the rope length, the smaller the output resistance of the motor, and a resistance control instruction is generated. Before exercising, according to the user's own fitness needs, the user can send a voice command to the motor of the strength trainer: "Xiao A, Xiao A, please set the target resistance to 3lb". After receiving the above voice command, the motor of the strength trainer first increases its own rotation angle information, thereby increasing the current rope length. When the current rope length increases to the first preset length, the corresponding target resistance is maximum, and then the motor of the strength trainer continues to rotate, and the angle information of the motor rotation continues to increase. In the process of increasing the angle information of the motor rotation, the current rope length also increases. Within the length range consisting of the first preset length of 0.5m and the second preset length of 2.5m, according to the rope length and resistance curve preset on the strength trainer or the rope length and resistance formula preset, the strength trainer continues to obtain the target resistance. When the target resistance is determined to be 3lb, the controller in the strength trainer sends a stop rotation instruction to the motor. After receiving the stop rotation instruction sent by the controller in the strength trainer to the motor, the motor stops rotating. Ultimately, the target resistance of the rope when the user uses the strength trainer for fitness is 3lb. At this time, the current rope length is greater than or equal to the first preset length and less than or equal to the second preset length. The corresponding target resistance is the first resistance that changes.

[0236] It should be noted that the user can also determine other suitable target resistances such as 1.5lb, 2lb, etc. for the strength trainer based on actual fitness needs, when the current rope length is greater than or equal to the first preset length and less than or equal to the second preset length. The specific steps are similar to the above steps of determining the target resistance of 3lb, and will not be repeated here.

[0237] In addition, during the user's fitness process, if the target resistance of the rope is 3.5lb and cannot meet the user's fitness needs, the user can send voice commands to the motor of the strength trainer according to actual fitness needs: "Xiao A, Xiao A, please increase the target resistance to 4lb", or "Xiao A, Xiao A, please reduce the target resistance to 3lb". After receiving the above voice commands, the motor of the strength trainer executes the corresponding steps of increasing and reducing the target resistance. For example, a user sends a voice command to the motor of a strength trainer: "Little A, Little A, please increase the target resistance to 4 lb." After receiving the voice command, the strength trainer reduces the angle information of the motor rotation on the strength trainer, and reduces the current length of the rope within the length range consisting of the first preset length of 0.5 m and the second preset length of 2.5 m. According to the rope length and resistance curve or the preset rope length and resistance formula preset on the strength trainer, the strength trainer continuously obtains target resistances of 3.6 lb, 3.7 lb, 3.8 lb, ..., 4 lb. When the strength trainer obtains the target resistance of 4 lb, the controller in the strength trainer sends a stop rotation instruction to the motor. After receiving the stop rotation instruction sent by the controller in the strength trainer to the motor, the motor stops rotating, so that the angle information of the motor rotation remains at the angle information corresponding to the target resistance of 4 lb. Finally, the user exercises when the target resistance of the rope output by the strength trainer is 4 lb. The user can also send a voice command to the motor of the strength trainer: "Xiao A, Xiao A, please reduce the target resistance to 3lb". The corresponding steps of reducing the target resistance to 3lb are similar to the above steps of increasing the target resistance to 4lb, which will not be repeated here.

[0238] It should be noted that during the fitness process, the user can also send a signal to the fitness equipment to increase the target resistance to 3.6lb, 3.7lb, 3.8lb or reduce the target resistance to 3lb, 3.2lb, 3.3lb, etc. Any suitable target resistance value. The specific increase or decrease in target resistance can be reasonably set according to actual conditions, and this application does not impose any restrictions on this.

[0239] Please refer to Figure 10, which is a flow chart of a control method for an output device provided in an embodiment of the present application. The output device includes a motor, a rope winding mechanism connected to the motor, and a cable arranged on the rope winding mechanism. It can be understood that the user performs strength training by resisting the output resistance of the motor. The output device can have a variety of training modes. In the output device provided in the embodiment of the present application, the output device simulates a flywheel-type fitness equipment through the output resistance of the motor. Of course, it is not limited to this. The output device can also have other training modes. The user can also adjust the training mode so that the output resistance of the motor simulates a counterweight block, a rowing machine, etc., which is not limited here.

[0240] As shown in FIG10 , the control method of the output device includes steps S501 and S502 .

[0241] Step S501: Output the cable until the cable reaches a target state.

[0242] In the related art, flywheel fitness equipment includes a flywheel with a certain mass, on which a cable is wound. When using the flywheel fitness equipment, the user pulls out the cable wound on the flywheel, and the output of the cable drives the flywheel to rotate. In this process, the user's muscles contract concentrically (concentric contraction); until the cable is pulled out, the flywheel continues to rotate under the action of inertia, causing the cable to reversely wind and retract on the flywheel. The user resists the resistance of the cable retraction, and in this process, the user's muscles contract eccentrically (eccentric contraction). In the traditional training mode of lifting heavy objects, the intensity of the eccentric contraction of the muscles depends on the weight of the heavy object that can be lifted in the concentric contraction phase, resulting in the muscles not receiving sufficient eccentric training. However, since flywheel fitness equipment achieves eccentric training by opposing inertia rather than opposing gravity, it can make up for the defects in the traditional training mode and enable the muscles to receive more sufficient eccentric training. However, flywheel-type fitness equipment has the problems of being heavy, bulky, and cumbersome to operate. In order to solve this problem, the present application provides a control method for an output device, which controls the output device to simulate the output logic of flywheel-type fitness equipment by outputting resistance through a motor.

[0243] It is understandable that the cable length of flywheel-type fitness equipment is an important factor in the user's training process, which determines when the cable starts to be recycled. Different users have different requirements for the length of the cable. Therefore, in the control method of the output device provided in the embodiment of the present application, the target state can be the target output length, that is, the maximum length that the cable of the output device can output under the flywheel mode. Of course, it is not limited to this. The cable reaching the target state is not limited to the output length of the cable reaching the target output length. It can also be that the energy of the cable during the output process reaches a certain preset energy, or the speed of the cable during the output process increases to a certain preset speed, which is not limited here.

[0244] When the user pulls the cable of the output device, the process of pulling the flywheel in a flywheel-type fitness device is simulated. When the user initially pulls the cable, the flywheel has inertia that remains stationary, and the output device can simulate the flywheel's inertia by providing a certain output resistance. Because the inertia of flywheel-type fitness equipment depends on the flywheel's mass, the output resistance of the output device's motor depends on the mass of the simulated flywheel. The simulated flywheel mass of the output device can be a pre-set default value or can be set by the user based on their own exercise needs, and this is not limited here.

[0245] When the flywheel in a flywheel fitness equipment is pulled, the flywheel accelerates due to the tension generated by the user pulling the cable. The output device can accelerate the output cable by reducing the output resistance during the output cable process to simulate the process of accelerating the flywheel.

[0246] For example, during the process of the output device outputting the cable, the motion parameters of the cable and whether the cable has reached the target state can be detected by a sensor to determine the timing of the cable reaching the target state and the motion parameters when the cable is subsequently retracted.

[0247] In some embodiments, step S501 outputting the cable until the cable reaches a target state includes: outputting the cable until the output length of the cable reaches a target output length.

[0248] Exemplarily, the target output length is used as the target state, and the cable is determined to have reached the target state when the output length of the cable reaches the target output length, so as to simulate a cable of a certain length wound around the flywheel of a flywheel-type fitness equipment, thereby simulating the situation when the cable of an actual flywheel-type fitness equipment is pulled out when the user uses it, thereby improving the simulation of the output equipment provided in the embodiment of the present application.

[0249] In some embodiments, before outputting the cable until the output length of the cable reaches a target output length, the method further includes:

[0250] The cable is output, and the output length of the cable when the output stops is the same as or related to the target output length.

[0251] The control method of the processing device provided in the embodiment of the present application allows the user to adjust the target output length of the cable so that the target output length of the cable can be adapted to the user's height or training habits. For example, the user can adjust the target output length according to the distance between his or her own position and the output device during training.

[0252] Exemplarily, the target output length represents the maximum cable length in the flywheel mode, that is, when the cable length reaches the target output length, the output device starts to retract the cable, and the motor of the output device starts to output output resistance for retracting the cable.

[0253] Exemplarily, the target output length of the cable can be determined based on the output length that the user pulls out the cable in the cable length adjustment stage. The target output length can be equal to the output length; or the target output length can also be related to the output length, for example, increasing or decreasing a certain length based on the output length as the target output length.

[0254] Through the control method of the output device provided in this embodiment, the user can pull the cable to a length that is comfortable for him or her during the process of adjusting the target output length of the cable. Specifically, the user can pull out the cable that is currently too short to adjust the output length of the cable to meet his or her needs, and stop pulling the cable when the output length of the cable meets his or her needs, indicating that the user has adjusted the cable length to the appropriate output length, and the output length of the cable is now used as the target output length.

[0255] The output length when the cable stops outputting may be the output length when the time length during which the cable output speed is less than the preset output speed is greater than the preset time length.

[0256] Through the control method of the output equipment provided in this embodiment, the target output length of the cable can be set to any value, and the user can intuitively feel the pulling effect of the cable at the current output length, thereby improving the convenience, flexibility and intuitiveness of adjusting the target output length.

[0257] In some embodiments, before outputting the cable until the output length of the cable reaches a target output length, the method further includes:

[0258] A predetermined output length is set, and the target output length is the same as or related to the predetermined output length.

[0259] For example, the target output length may be directly determined based on a pre-set predetermined output length. Specifically, the predetermined output length may be determined based on a preset length gear, which may include, for example, "long," "medium," and "short," and the user may select different length gears. Upon receiving the length gear selected by the user, the target output length corresponding to the cable is determined based on a mapping relationship between the pre-set length gear and the predetermined output length.

[0260] Alternatively, the predetermined output length may be determined by a height parameter input by the user. Since different target output lengths are suitable for users of different heights, for example, a taller user may need to pull the cable longer, corresponding to a larger target output length, a mapping relationship between height and target output length may be pre-set. After the user inputs their height, the user's suitable predetermined output length is determined as the target output length based on the mapping relationship.

[0261] Of course, it is not limited to this. The predetermined output length can also be directly the length value input by the user, which is not limited here.

[0262] Step S502: When the cable reaches the target state, retract the cable, and the motion parameters during the process of retracting the cable are the same as or related to the motion parameters during the process of outputting the cable;

[0263] The motion parameter includes at least one of a velocity parameter, a tension parameter, and an acceleration parameter.

[0264] Exemplarily, when the cable reaches the target state, for example, when the cable output length reaches the target output length, in order to simulate the changes produced when the cable of a flywheel fitness equipment is stretched to the limit, the motor is controlled to start outputting an output resistance for recovering the cable.

[0265] In actual flywheel fitness equipment, after the cable is pulled out, the flywheel continues to rotate due to the effect of inertia, causing the cable to reversely wind around the flywheel. Since the user's hand is still pulling the cable, the force of the cable's reverse winding opposes each other, and the kinetic energy of the flywheel is converted into mechanical energy that opposes the user, allowing the user to achieve muscle eccentric training. It is understandable that due to the law of conservation of energy, in actual flywheel fitness equipment, the motion parameters of the cable during the stage of retraction depend on the motion parameters of the cable during the stage of being pulled out. Therefore, in the output device control method provided in the embodiment of the present application, the motion parameters of the cable in step S502 are determined by the motion parameters in the process of the user pulling the cable to output the cable in step S501.

[0266] For example, after step S502 is completed, the user can repeatedly pull the cable and execute the process of outputting the cable in step S501 again, and the control method of steps S501 to S502 is cyclically executed to achieve multiple trainings.

[0267] In some embodiments, when the cable reaches the target state, retracting the cable, wherein the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable, comprises:

[0268] During the output process of the cable, the speed parameter of the cable before reaching the target state is the first speed parameter. After the cable reaches the target state, the speed parameter of the cable is switched to the second speed parameter. The first speed parameter and the second speed parameter are equal in magnitude and opposite in direction.

[0269] It can be understood that, in contrast to step S501 where the user pulls out the cable to convert his / her own mechanical energy into kinetic energy output by the cable, step S502 where the cable is retracted to convert the stored kinetic energy into mechanical energy of the user's muscles.

[0270] To illustrate this with an actual flywheel fitness machine, in step S501, the user pulls out the cable, converting their mechanical energy into kinetic energy for the flywheel's rotation. In step S502, the cable winds back due to the flywheel's inertia, converting the flywheel's stored kinetic energy into mechanical energy for the user's muscles. Therefore, during this process, the flywheel's rotational speed initially increases, then decreases after reaching a maximum. Correspondingly, the cable's output speed initially increases, then, because the cable's end is fixed to the flywheel, drops to zero at the moment the cable is fully pulled, then returns to a retraction speed equal to, but in the opposite direction of, its pre-extension speed.

[0271] Therefore, after the output length of the cable reaches the target output length, the speed parameter of the cable is switched to a second speed parameter that is equal in magnitude to the first speed parameter and opposite in direction.

[0272] In some embodiments, when the cable reaches the target state, retracting the cable, wherein the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable, comprises:

[0273] When the cable reaches the target state, the tension parameter during the cable retraction process is less than or equal to the tension parameter during the cable output process, and the direction of the tension parameter during the cable retraction process is opposite to that during the cable output process.

[0274] For example, in an ideal situation, due to the law of conservation of energy, the pulling force used to retract the cable in step S502 and the pulling force used by the user to pull out the cable in step S501 should be equal in magnitude and opposite in direction. However, in the actual use of flywheel fitness equipment, due to energy loss factors such as friction, air resistance, and elastic deformation, the pulling force exerted by the user on the cable during the retraction process may be less than the pulling force exerted by the user on the cable during the extension process.

[0275] In the control method of the output device provided in the embodiment of the present application, the tension parameter size during the cable retraction process is smaller than the tension parameter size during the cable output process, so as to simulate the energy loss in real flywheel fitness equipment, improve the simulation degree of the output device, and thus improve the user's sense of reality when using the output device.

[0276] In some embodiments, when the cable reaches the target state, the cable is retracted, and the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable, including:

[0277] When the cable reaches the target state, the acceleration parameter during the cable retraction process is smaller than or equal to the acceleration parameter during the cable output process, and the direction of the acceleration parameter during the cable retraction process is opposite to that during the cable output process.

[0278] Exemplarily, since there is a tension applied by the user to accelerate the output of the cable, the acceleration parameter in step S501 accelerates the output of the cable; and in step S502, since the force applied by the user is used to hinder the retraction of the cable, the acceleration parameter decelerates the retraction of the cable; the acceleration parameter corresponds to the tension parameter, that is, the direction of the acceleration parameter during the retraction of the cable is opposite to the direction of the acceleration parameter during the output of the cable, and ideally, the magnitudes are equal.

[0279] It is understandable that due to energy loss, the acceleration parameter size during the cable retraction process may be smaller than the acceleration parameter size during the cable output process, thereby improving the simulation degree of the output equipment.

[0280] It is understood that, ideally, the motion parameters of the cable in steps S501 and S502 are symmetrical about the moment the cable reaches the target state. When controlling the output device based on realistic factors, the motion parameters under ideal conditions can be used as a reference, and the motion parameters can be appropriately reduced based on this to simulate energy loss. The reduction value can be a preset value. This is of course not limiting and is not intended to be limiting here.

[0281] In some embodiments, step S502 retracts the cable when the cable reaches the target state, and the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable, including: when the cable reaches the target state, controlling the motor output to counteract the user's pulling force and slow down the retraction of the cable. Output resistance.

[0282] For example, the output resistance of the motor is used to control the output device to output and retract the cable in the manner of step S501-step S502, thereby avoiding the problems of flywheel-type fitness equipment such as large weight, large volume, and cumbersome operation, and improving the diversity of the output device's functions.

[0283] Since in step S502, the pulling force applied by the user opposes the force used to retract the cable, for example, the output resistance of the motor opposes the pulling force of the user, the cable is decelerated and recovered in step S502, thereby improving the simulation of the output device simulating a flywheel-type fitness equipment.

[0284] The control method of the power output device provided in the present application includes: outputting the cable until the cable reaches a target state; when the cable reaches the target state, retracting the cable, and the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable; wherein the motion parameters include at least one of a speed parameter, a tension parameter, and an acceleration parameter. By retracting the cable according to the motion parameters during the output of the cable when the cable reaches the target state, the user can perform eccentric muscle training against the output resistance used to retract the cable, simulating the training logic of flywheel-type fitness equipment, avoiding the problems of flywheel-type fitness equipment with heavy weight, large volume, and cumbersome operation, and improving the diversity of the power output device's functions.

[0285] In some embodiments, the method comprises:

[0286] During the process of the output device outputting the cable, controlling the motor to output a first resistance in a first output mode, wherein the first resistance includes: inertia resistance, damping resistance, elastic band stretching resistance and / or chain resistance;

[0287] During the process of the output device retracting the cable, the motor is controlled to output a second resistance in a second output mode, wherein the second resistance includes: elastic band retraction resistance and / or chain resistance, and the second resistance is opposite to the first resistance.

[0288] For example, a traditional rowing machine is used to simulate the resistance of water stirred by blades. The control method of the output device provided in the embodiments of the present application can simulate the resistance of a traditional rowing machine by controlling the output resistance of the motor. Among them, inertial resistance is used to simulate the resistance generated by the inertia of water flow, damping resistance is used to simulate the resistance generated by water as a fluid medium, elastic band stretch resistance and elastic band retraction resistance are used to simulate the resistance added by the elastic band of a traditional rowing machine, and chain resistance is used to simulate the resistance added by the chain tension of a traditional rowing machine.

[0289] For example, during the process of the output device outputting the cable, the first resistance overcomes the user's pulling force on the cable, simulating the oar pulling process in rowing, thereby training the user's muscles concentrically. During this process, the user needs to exert force to overcome inertial resistance, damping resistance, elastic band stretch resistance, and / or chain resistance to simulate the force required to pull the oar in real rowing.

[0290] For example, during the cable retraction process, the motor uses a second resistance to retract the cable, simulating the retraction process in rowing, thereby eccentrically training the user's muscles. During this process, the user stops exerting force, and the motor retracts the cable through the elastic band retraction resistance and chain resistance, preventing inertial resistance and damping resistance from interfering with the smoothness of the cable retraction.

[0291] In some embodiments, the method comprises:

[0292] During the process of the power output device retracting the cable, the cable is retracted at a constant speed, wherein the fluctuation range of the constant speed is ±0.05 m / s.

[0293] For example, the control method for the power output device provided in this embodiment allows the power output device to maintain a constant speed as much as possible during cable retraction, thereby improving the controllability of the power output device. Specifically, a preset speed for cable retraction can be set, and the resistance output by the motor can be controlled to adjust the retraction speed within a certain range. For example, if the preset speed is set to 5 m / s, the constant speed of cable retraction is 5 ± 0.05 m / s.

[0294] In some embodiments, the method comprises:

[0295] When the rope-collecting speed is lower than a preset speed, the resistance output by the motor is increased and / or the rotation speed of the motor is reduced so that the rope-collecting speed matches the constant speed.

[0296] For example, a speed sensor can be set at the rope outlet to detect the rope collection speed output by the cable; or the rope collection speed can be determined by obtaining the rotational speed of the motor, where the motor is connected to a rope winding mechanism for winding the rope; or the rotational speed of the rope winding mechanism can be detected by a speed sensor to determine the rope collection speed.

[0297] For example, the size of the rope-collecting speed can be pre-set as a preset speed. When the rope-collecting speed is less than the preset speed, the resistance output by the motor is increased to increase the rope-collecting speed, so that the rope-collecting speed is closer to the preset speed or equal to the rope-collecting speed.

[0298] For example, during the process of retracting the cable, the resistance output by the motor of the output device is the original resistance. The cable retraction speed is obtained. If the retraction speed is less than a preset speed, the resistance output by the motor is increased from the original resistance to a target resistance. The resistance difference between the target resistance and the original resistance is determined based on the speed difference between the retraction speed and the preset speed.

[0299] Alternatively, when the output device is retracting the cable, the motor speed is at an original speed. A retraction speed is obtained, and if the retraction speed is less than a preset speed, the motor speed is increased from the original speed to a target speed. The speed difference between the target speed and the original speed is determined based on the speed difference between the retraction speed and the preset speed.

[0300] Specifically, a target mapping relationship between the resistance difference and the speed difference can be pre-established. When the resistance output by the motor needs to be increased, the increased resistance difference is determined in the target mapping relationship based on the speed difference between the rope retraction speed and the preset speed. Alternatively, a target mapping relationship between the rotational speed difference and the speed difference can be pre-established. When the motor rotational speed needs to be reduced, the increased rotational speed difference is determined in the target mapping relationship based on the speed difference between the rope retraction speed and the preset speed.

[0301] For example, in order to avoid excessive resistance causing strain to the user, when the sum of the original resistance and the resistance difference is greater than the preset resistance upper limit, the preset resistance upper limit is used as the target resistance, thereby avoiding excessive resistance output by the motor.

[0302] For example, to prevent sudden changes in motor output resistance from causing strain to the user, the motor output resistance is increased based on a preset algorithm when the rope retraction speed is less than a preset speed. The preset algorithm is used to slowly change the motor output resistance from the original resistance to the target resistance over a preset change duration, preventing the motor resistance from suddenly changing from the original resistance to the target resistance all at once. Specifically, the preset algorithm can be a linear gradient function or a nonlinear gradient function, such as a linear function, a quadratic function, or an exponential function, with a domain of the preset change duration and a range of (original resistance, target resistance).

[0303] Please refer to Figures 11 and 12. Figure 11 is a curve diagram of a preset rope length and resistance in the related art; Figure 12 is a curve diagram of a preset rope length and resistance provided in an embodiment of the present application.

[0304] In some embodiments, the method comprises:

[0305] As the length of the output rope increases, the output resistance of the motor of the output device increases or decreases.

[0306] For example, the magnitude of the output resistance is positively or negatively correlated with the length of the output rope, so that the magnitude of the output resistance can simulate more diverse fitness equipment, such as simulating the output logic of chain fitness equipment, or the output logic opposite to that of chain fitness equipment.

[0307] In some embodiments, as the length of the output rope increases, the output resistance of the output device motor increases or decreases, including:

[0308] As the length of the output rope increases, the output resistance of the motor of the output device increases or decreases linearly.

[0309] As you can understand, the resistance applied by a chain fitness device to the user depends on the weight of the chain, and the rate at which the weight of the chain increases or decreases is related to the gravitational constant. Specifically, for every 1kg increase in chain weight, the weight of the chain increases by 9.8N, and the resistance applied to the user also increases by 9.8N. Therefore, to simulate the resistance variation of the chain, the output resistance of the output device motor also varies linearly.

[0310] In some embodiments, as the length of the output rope increases, the output resistance of the output device motor increases or decreases, including:

[0311] Within the target rope length range, as the output rope length increases, the output resistance of the output device motor increases or decreases.

[0312] For example, a chain fitness device can be simulated by a section of rope of the output device. Specifically, when the rope length is within the target rope length range, the output resistance of the control motor increases or decreases as the rope length increases, so that the rope within the target rope length range can be used to simulate the chain fitness device.

[0313] In some embodiments, as the length of the output rope increases, the output resistance of the output device motor increases or decreases, including:

[0314] When the output rope length of the output device is an initial length, controlling the motor to output an output resistance corresponding to the initial resistance, wherein the initial resistance is equal to the gravity of the chain simulated by the output device;

[0315] When the output rope length of the output device is within the target rope length range, controlling the motor to reduce the output resistance according to the increase of the output rope length until the output rope length reaches the target length and the output resistance reaches the target resistance;

[0316] When the output rope length of the output device is greater than the target length, controlling the motor to output an output resistance corresponding to the target resistance;

[0317] Wherein, the target rope length range is between the initial length and the target length.

[0318] As shown in Figure 11, the output device in the related art can be used to simulate the resistance generated by a chain. It is understandable that when traditional chain-type fitness equipment starts to pull the chain, a portion of the chain leaves the ground, and the resistance generated on the user is equal to the gravity of the portion of the chain that leaves the ground, which is the initial resistance in Figure 11. As the user continues to pull the chain, the portion of the chain that leaves the ground increases, and the resistance generated on the user also increases accordingly, until the chain completely leaves the ground, and the resistance generated on the user is equal to the gravity of the chain, reaching a maximum value, which is the target resistance in Figure 11. During the continued pulling process, the output resistance is maintained at the target resistance.

[0319] Therefore, the motor output resistance is controlled based on the rope length and resistance curve in Figure 11, simulating a chain fitness machine through the output device, where L represents the length of the rope and F represents the output resistance. In the rope length and resistance curve in Figure 11, the initial resistance can be, for example, 5 pounds, and the target resistance can be, for example, 10 pounds. This is of course not limiting and is not intended to be a limitation here.

[0320] As shown in Figure 12, the output device provided in the embodiment of the present application can be used to reversely simulate the resistance generated by a chain. When the user begins to pull the cable, that is, when the output length reaches the initial length, the output resistance is equal to the weight of the chain, that is, the initial resistance in Figure 12. As the user continues to pull the cable, the output length increases, and the output resistance decreases until the output length reaches the target length, at which point the output resistance reaches the target resistance. After the output length reaches the target length, if the user continues to pull the cable until the output length exceeds the target length, the output resistance remains equal to the target resistance.

[0321] In the rope length and resistance curve diagram of FIG12 , the initial resistance may be, for example, 10 pounds, and the target resistance may be, for example, 5 pounds. In the rope length and resistance curve diagram of FIG12 , the initial length may be 0 meters or 2 meters. This is not intended to be limiting and is not intended to be a limitation herein.

[0322] In some embodiments, the method further comprises:

[0323] The motor is controlled to output an output resistance equal to the pulling force applied to the cable, so that the cable remains stationary relative to the power output device, and numerical information corresponding to the output resistance is recorded.

[0324] For example, the output device control method provided in the embodiments of the present application can detect the tension on the cable when the cable remains stationary relative to the output device, thereby achieving isometric dynamometer. Isometric dynamometer is a test method used to assess muscle strength. It mainly measures the maximum force of a muscle through isometric contraction (muscle length remains unchanged during contraction). In this case, although the muscle is contracting with force, the joint angle and muscle length remain unchanged.

[0325] Therefore, in order to achieve isometric force measurement through the output device provided in the embodiment of the present application, it is necessary to control the motor output to produce an output resistance equal to the tension exerted on the cable so that the cable remains stationary relative to the output device; and record the numerical information corresponding to the output resistance so that the tension exerted on the cable can be displayed on the display device of the output device, so that the user can know the result of isometric force measurement. Since the magnitude of the output resistance is equal to the tension exerted on the cable, the output resistance can be directly displayed on the display device, for example, the maximum value, average value, etc. of the output resistance can be displayed.

[0326] In some embodiments, the method further comprises:

[0327] When the output rope length is between the first length and the second length, the output rope length and the output resistance have a mapping relationship;

[0328] The output resistance of the motor is controlled according to the mapping relationship between the output rope length and the output resistance.

[0329] For example, in the control method for the power output device provided in the embodiments of the present application, the user can customize the range of usable cable lengths. Specifically, the user can input a first input length and a second input length, thereby scaling the preset mapping relationship between output cable length and output resistance to a value between the first and second input lengths. When the output cable length is between the first input length and the second output length, the motor is controlled to output resistance based on the preset mapping relationship.

[0330] The preset mapping relationship between the output rope length and the output resistance can be any mapping relationship, for example, the rope length and resistance curves shown in Figures 9, 10, and 11. Taking Figure 9 as an example, the rope length range in the curve in Figure 9 is between 0 and 2.5, and the resistance value decreases from 4 to 0. Assuming the first input length is 5 and the second input length is 10, the curve in Figure 9 is scaled to between 5 and 10, so that the resistance value decreases from 4 to 0 between 5 and 10. Of course, this is not limited to this, and the rope length-output resistance mapping relationship can also be any form of curve, which is not limited here.

[0331] For example, the user may input the first and second lengths by numerical values, or may pull the rope out to a certain length as the first and second lengths, which is not limited here.

[0332] In some embodiments, the method further comprises:

[0333] When the rope-drawing speed is less than a preset speed or is zero, the current rope-drawing length is used as the initial length of the rope.

[0334] Exemplarily, the initial length of the cable may be 0. When the user does not apply any external force, the cable is completely retracted into the power output device and wound on the winding mechanism, that is, the length of the cable out is 0.

[0335] In the embodiment provided in the present application, the initial length of the cable can also be any length, so that when the user does not apply any external force, a certain length of cable still remains outside the output device, and the cable can start to output at a position that is the initial length away from the rope outlet of the output device, so that the user can start pulling the cable from a position at a certain distance from the output device, thereby improving the flexibility of training.

[0336] For example, if the initial length needs to be set, the user pulls the cable at a certain speed to make the cable be output at the same speed. When the cable reaches the desired length, the user stops pulling the cable, and the cable output speed is less than the preset speed or is zero. The cable output length at this time is used as the initial length of the cable. The user can also enter the initial length numerically, which is not limited here.

[0337] In some embodiments, when the rope-out speed is less than a preset speed, the rope-out length of the power output device is detected, and the rope-out length is used as the initial length of the rope, including: when the rope-out speed is less than the preset speed and the time length during which the rope-out speed is less than the preset speed is greater than a preset time length, the rope-out length of the power output device is detected, and the rope-out length is used as the initial length of the rope.

[0338] For example, the rope-out length is used as the initial length. In addition to satisfying that the rope-out speed is less than the preset speed, it is also necessary to satisfy that the time when the rope-out speed is less than the preset speed is greater than the preset time. This avoids using the rope-out length as the initial length when there is an extremely short pause during the user's rope pulling process, thereby improving the rationality of the output equipment control.

[0339] Exemplarily, the above method may be implemented in the form of a computer program, which may be run on a computer device as shown in FIG13 .

[0340] Please refer to Figure 13, which is a schematic block diagram of the structure of a computer device provided in an embodiment of the present application. The computer device can be an output device.

[0341] As shown in FIG13 , the computer device includes a processor, a memory, and a network interface connected via a system bus, wherein the memory may include a storage medium and an internal memory.

[0342] The storage medium can store an operating system and a computer program. The computer program includes program instructions, which, when executed, can enable the processor to execute any control method for the output device.

[0343] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0344] The internal memory provides an environment for the operation of the computer program in the storage medium. When the computer program is executed by the processor, the processor can execute the control method of any output device.

[0345] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that the structure shown in FIG13 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. A specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0346] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0347] In one embodiment, the processor is used to run a computer program stored in a memory, performing the steps described in any one of the embodiments of the present application.

[0348] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control of the output equipment described above can refer to the corresponding process in the control method embodiment of the aforementioned output equipment, and will not be repeated here.

[0349] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the various embodiments of the control method of the output device of the present application.

[0350] The computer-readable storage medium may be an internal storage unit of the computer device described in the aforementioned embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the computer device.

[0351] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0352] It should also be understood that the term "and / or" used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system that includes the element.

[0353] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments. The above description is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for controlling an output device, characterized in that: The method comprises: During at least one of the processes of the power output device outputting the cable and retracting the cable, the motor is controlled to output resistance.

2. The control method of the output device according to claim 1, characterized in that: The output device includes a motor, a winding mechanism connected to the motor, and a cable provided on the winding mechanism, the motor is used to generate an output resistance for overcoming an external force on the cable, and the method includes: Detecting whether the output device meets the preset sleep condition; When the output device meets a preset dormancy condition, detecting the traction force of the accessories on the cable on the cable; When the traction force is greater than the preset resistance, controlling the motor to adjust the output resistance to a first target resistance until the traction force disappears, and controlling the output device to enter a dormant state; When the traction force is less than or equal to the preset resistance, the output device is controlled to enter a dormant state.

3. The control method of the output device according to claim 1, characterized in that: The controlling the motor to adjust the output resistance to the first target resistance until the traction force disappears, and controlling the output device to enter a dormant state, includes: When controlling the motor to output the first target resistance, detecting the output speed of the cable; When the output speed is less than or equal to a preset speed threshold, it is determined that the traction force disappears, and the output device is controlled to enter a dormant state.

4. The control method of the output device according to claim 1, characterized in that: The first target resistance is smaller than the traction force; wherein the magnitude of the first target resistance is determined according to the traction force, or the magnitude of the first target resistance is a preset accessory release resistance.

5. The control method of the output device according to claim 1, characterized in that: The controlling the output device to enter a dormant state includes: The motor is controlled to adjust the output resistance to a second target resistance, wherein the second target resistance is determined according to the preset resistance.

6. The control method of the power output device according to claim 5, characterized in that: The second target resistance is greater than or equal to the preset resistance.

7. The control method for output equipment according to any one of claims 2 to 6, characterized in that: The preset sleep condition includes: whether the static time of the output device reaches a preset time; wherein, the static time is the time the cable is in a static state.

8. The control method of the output device according to claim 7, characterized in that: The preset duration includes at least one of a first preset duration, a second preset duration, and a third preset duration; and detecting whether the output device meets the preset sleep condition includes at least one of the following: If the idle time of the output device after receiving the sleep instruction is longer than the first preset time, it is determined that the output device meets the preset sleep condition; If the output device remains idle for a period of time greater than a second preset period of time after being started, confirming that the output device meets the preset sleep condition; If the output device remains stationary for longer than a third preset time after interacting with the user, confirming that the output device meets the preset sleep condition; The first preset duration is shorter than the second preset duration, and the second preset duration is shorter than the third preset duration.

9. The control method of the output device according to claim 1, characterized in that: Applied to power output equipment, the power output equipment includes a motor and a winding mechanism connected to the motor, the winding mechanism is used to wind a cable, the method includes: Acquiring acceleration information of the cable when performing a winding or releasing operation; determining inertial weight information for simulating inertial effects according to the acceleration information; The target control parameters of the motor are determined according to the inertial weight information and preset basic weight information, and the motor output resistance is controlled according to the target control parameters.

10. The control method of the output device according to claim 1, characterized in that: The determining of inertial weight information for simulating inertial action according to the acceleration information includes: determining inertial force information for simulating inertial action based on the basic weight information and the acceleration information; The inertial weight information is determined according to a ratio of the inertial force information to the gravitational acceleration.

11. The control method of the power output device according to claim 10, characterized in that: The determining, based on the basic weight information and the acceleration information, inertial force information for simulating inertial action includes: The inertial force information for simulating inertial action is determined according to the product of the basic weight information and the acceleration information.

12. The control method of the power output device according to claim 11, characterized in that: The determining, based on the product of the basic weight information and the acceleration information, the inertial force information for simulating inertial action includes: Obtaining a preset inertia coefficient, wherein the inertia coefficient is used to indicate the strength of the inertial effect; The magnitude of the inertial force information is determined according to the product of the basic weight information, the acceleration information, and the inertia coefficient.

13. The control method of the power output device according to claim 9, characterized in that: The determining the target control parameter of the motor according to the inertial weight information and the preset basic weight information, and controlling the motor output resistance according to the target control parameter, includes: If the direction of the acceleration information is consistent with the relative motion direction of the cable, determining the target weight value according to the sum of the inertial weight information and the basic weight information; If the direction of the acceleration information is inconsistent with the relative motion direction of the cable, determining the target weight value according to the difference between the inertial weight information and the basic weight information; The target control parameter is determined according to the target weight value, so as to control the motor to output a resistance corresponding to the target weight value according to the target control parameter.

14. The control method for output equipment according to any one of claims 9 to 13, characterized in that: The method further comprises: In response to a sliding operation on a first control in the weight adjustment interface, determining the basic weight information; and / or In response to a click operation on a second control in the weight adjustment interface, the basic weight information is determined.

15. The control method of the power output device according to claim 14, characterized in that: The determining the basic weight information in response to a sliding operation on a first control in the weight adjustment interface includes: determining the basic weight information according to the relative displacement of the sliding operation and the first step length corresponding to the first control; The determining the basic weight information in response to a click operation on the second control in the weight adjustment interface includes: The basic weight information is determined according to a second step length corresponding to the second control.

16. The control method of the power output device according to claim 1, characterized in that: include: determining a target factor among resistance-related factors based on the first user operation; Determining at least one motion parameter value based on the second user operation and the target factor, and determining a rope-out resistance value corresponding to the motion parameter value; Performing curve fitting based on the motion parameter value and the rope-out resistance value to generate a rope-out resistance curve; Based on the rope-out resistance curve, the motor output resistance is controlled.

17. The control method of the power output device according to claim 16, characterized in that: The resistance-related factors include rope length, rope speed and output range.

18. The control method of the power output device according to claim 17, characterized in that: The determining, based on the second user operation and the target factor, at least one motion parameter value, and determining a rope-out resistance value corresponding to the motion parameter value, includes: When the target factor is the rope length, the rope length value is used as the motion parameter value; Based on the second user operation, at least one rope-out length value and a rope-out resistance value corresponding to each rope-out length value are obtained.

19. The control method of the power output device according to claim 18, characterized in that: The performing curve fitting based on the motion parameter value and the rope-out resistance value to generate a rope-out resistance curve includes: Determining a resistance level corresponding to each of the rope length values based on a preset length threshold and the rope length value; Based on the resistance level, curve fitting is performed on the rope-out length value and the rope-out resistance value to generate the rope-out resistance curve.

20. The control method of the power output device according to claim 17, characterized in that: The determining, based on the second user operation and the target factor, at least one motion parameter value, and determining a rope-out resistance value corresponding to the motion parameter value, includes: When the target factor is the rope-out speed, the rope-out speed value is used as the motion parameter value; Based on the second user operation, at least one rope-drawing speed value and a rope-drawing resistance value corresponding to each rope-drawing speed value are obtained.

21. The method for controlling the power output device according to claim 17, wherein: The determining, based on the second user operation and the target factor, at least one motion parameter value, and determining a rope-out resistance value corresponding to the motion parameter value, includes: When the target factor is the output interval, the rope length interval is used as the motion parameter value; Based on the second user operation, at least one rope length interval and a rope-out resistance value corresponding to each rope length interval are obtained.

22. The control method of the power output device according to any one of claims 16 to 21, characterized in that: After performing curve fitting based on the motion parameter value and the rope-out resistance value to generate a rope-out resistance curve, the method further includes: Based on the third user operation, calling the curve testing module to collect the motion parameter values of the user during the motion process; Based on the motion parameter value and the rope-out resistance curve, the motor output resistance is controlled so that the user can adjust the rope-out resistance curve according to the output resistance.

23. The control method of the power output device according to claim 1, characterized in that: The output device includes a controller, a motor, a winding mechanism connected to the motor, and a cable provided on the winding mechanism. The motor is configured to generate resistance according to control instructions of the controller to overcome an external force on the cable. The method includes: Determining a resistance output strategy of the motor, wherein the resistance output strategy includes that the longer the cable length is, the smaller the output resistance of the motor is; Obtaining the current length of the cable on the winding mechanism; Determining a target resistance corresponding to the current rope length according to the current rope length; According to the resistance output strategy, the motor is controlled to output the target resistance to the cable.

24. The control method of the power output device according to claim 1, characterized in that: The determining, based on the current rope length, a target resistance corresponding to the current rope length includes: determining a first predetermined length and a second predetermined length of the cable; If the current rope-out length is greater than or equal to the first preset length and less than or equal to the second preset length, the target resistance corresponding to the current rope-out length is determined to be the variable first resistance.

25. The control method of the power output device according to claim 24, characterized in that: The step of controlling the motor to output the target resistance to the cable according to the resistance output strategy includes: generating a resistance control instruction according to the resistance output strategy within a length range consisting of the first preset length and the second preset length; The resistance control instruction is sent to the motor, so that the motor outputs the first resistance to the cable according to the resistance control instruction.

26. The control method of the power output device according to claim 25, characterized in that: The resistance control instruction includes at least one of a voice instruction and a gesture operation instruction.

27. The control method of the power output device according to claim 23, characterized in that: The step of obtaining the current length of the cable on the winding mechanism includes: Obtaining angle information of the motor rotation; The current outgoing length of the cable on the winding mechanism is determined according to the angle information.

28. The control method of the power output device according to claim 27, characterized in that: The obtaining of the angle information of the motor rotation includes: The angle information of the motor rotation is determined based on an angle sensor, wherein the angle sensor includes at least one of a rotary transformer and an optical encoder.

29. The method for controlling the power output device according to claim 24, wherein: The method further comprises determining a target resistance corresponding to the current rope length based on the current rope length: If the current rope length is less than the first preset length, determining that the target resistance corresponding to the current rope length is a constant second resistance; If the current rope-out length is greater than the second preset length, the target resistance corresponding to the current rope-out length is determined to be a constant third resistance.

30. The control method of the power output device according to claim 1, characterized in that: The power output device includes a motor, a rope winding mechanism connected to the motor, and a cable provided in the rope winding mechanism, and the method includes: Outputting the cable until the cable reaches a target state; When the cable reaches the target state, retracting the cable, wherein the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable; The motion parameter includes at least one of a velocity parameter, a tension parameter, and an acceleration parameter.

31. The control method of the power output device according to claim 30, characterized in that: Outputting the cable until the cable reaches a target state includes: The cable is output until the output length of the cable reaches a target output length.

32. The control method of the power output device according to claim 31, characterized in that: The method further comprises, before outputting the cable until the output length of the cable reaches a target output length: The cable is output, and the output length of the cable when the output stops is the same as or related to the target output length.

33. The control method of the power output device according to claim 31, characterized in that: The method further comprises, before outputting the cable until the output length of the cable reaches a target output length: A predetermined output length is set, and the target output length is the same as or related to the predetermined output length.

34. The control method of the power output device according to claim 30, characterized in that: When the cable reaches the target state, the cable is retracted, and the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable, including: During the output process of the cable, the speed parameter of the cable before reaching the target state is the first speed parameter. After the cable reaches the target state, the speed parameter of the cable is switched to the second speed parameter. The first speed parameter and the second speed parameter are equal in magnitude and opposite in direction.

35. The control method of the power output device according to claim 30, characterized in that: When the cable reaches the target state, the cable is retracted, and the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable, including: When the cable reaches the target state, the tension parameter during the cable retraction process is less than or equal to the tension parameter during the cable output process, and the direction of the tension parameter during the cable retraction process is opposite to that during the cable output process.

36. The control method of the power output device according to claim 30, characterized in that: When the cable reaches the target state, the cable is retracted, and the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable, including: When the cable reaches the target state, the acceleration parameter during the cable retraction process is smaller than or equal to the acceleration parameter during the cable output process, and the direction of the acceleration parameter during the cable retraction process is opposite to that during the cable output process.

37. The control method of the power output device according to any one of claims 30 to 36, characterized in that: When the cable reaches the target state, the cable is retracted, and the motion parameters during the retracting of the cable are the same as or related to the motion parameters during the output of the cable, including: When the cable reaches a target state, the motor is controlled to output an output resistance for resisting the pulling force of the user and slowing down the retraction of the cable.

38. The control method of the power output device according to claim 1, characterized in that: The method comprises: During the process of the output device outputting the cable, controlling the motor to output a first resistance in a first output mode, wherein the first resistance includes: inertia resistance, damping resistance, elastic band stretching resistance and / or chain resistance; During the process of the output device retracting the cable, the motor is controlled to output a second resistance in a second output mode, wherein the second resistance includes: elastic band retraction resistance and / or chain resistance, and the second resistance is opposite to the first resistance.

39. The control method of the power output device according to claim 1, characterized in that: The method comprises: During the process of the power output device retracting the cable, the cable is retracted at a constant speed, wherein the fluctuation range of the constant speed is ±0.05 m / s.

40. The control method of the power output device according to claim 39, characterized in that: The method comprises: When the rope-collecting speed is lower than a preset speed, the resistance output by the motor is increased and / or the rotation speed of the motor is reduced so that the rope-collecting speed matches the constant speed.

41. The method for controlling the power output device according to claim 1, wherein: The method includes: as the length of the output rope increases, the output resistance of the motor of the output device increases or decreases.

42. The method for controlling the power output device according to claim 41, characterized in that: The output resistance of the output device motor increases or decreases as the length of the output rope increases, including: As the length of the output rope increases, the output resistance of the motor of the output device increases or decreases linearly.

43. The control method of the power output device according to claim 41 or 42, characterized in that: The output resistance of the output device motor increases or decreases as the length of the output rope increases, including: Within the target rope length range, as the output rope length increases, the output resistance of the output device motor increases or decreases.

44. The method for controlling the power output device according to claim 41, wherein: The output resistance of the output device motor increases or decreases as the length of the output rope increases, including: When the output rope length of the output device is an initial length, controlling the motor to output an output resistance corresponding to the initial resistance, wherein the initial resistance is equal to the gravity of the chain simulated by the output device; When the output rope length of the output device is within the target rope length range, controlling the motor to reduce the output resistance according to the increase of the output rope length until the output rope length reaches the target length and the output resistance reaches the target resistance; When the output rope length of the output device is greater than the target length, controlling the motor to output an output resistance corresponding to the target resistance; Wherein, the target rope length range is between the initial length and the target length.

45. The control method of the power output device according to claim 1, characterized in that: The method further comprises: The motor is controlled to output an output resistance equal to the pulling force applied to the cable, so that the cable remains stationary relative to the power output device, and numerical information corresponding to the output resistance is recorded.

46. The control method of the power output device according to claim 1, characterized in that: The method further comprises: When the output rope length is between the first length and the second length, the output rope length and the output resistance have a mapping relationship; The output resistance of the motor is controlled according to the mapping relationship between the output rope length and the output resistance.

47. The method for controlling the power output device according to claim 1, wherein: The method further comprises: When the rope-drawing speed is less than a preset speed or is zero, the current rope-drawing length is used as the initial length of the rope.

48. A computer device, characterized in that The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the control method of the power output device as described in any one of claims 1 to 47 are implemented.

49. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method for controlling the power output device according to any one of claims 1 to 47 are implemented.

Images