Transmission system resistance compensation circuit and strength training equipment

Abstract

The present application discloses a transmission system resistance compensation circuit and strength training equipment. The transmission system resistance compensation circuit comprises an acquisition module and a main control module. The acquisition module is configured to be connected to a transmission system, and the acquisition module is used for acquiring a first deformation signal outputted by the transmission system under no-load conditions and a second deformation signal outputted by the transmission system under loaded conditions. The main control module is connected to the acquisition module; the main control module is configured to be connected to a driving mechanism; the driving mechanism is configured to be connected to a strength training terminal; the main control module is used for calibrating the second deformation signal on the basis of a difference between the first deformation signal and the second deformation signal, to generate a calibrated control signal; and the calibrated control signal is used for controlling the driving mechanism to drive the strength training terminal to output target resistance. The transmission system resistance compensation circuit provided by the present application can dynamically adjust the resistance generated by different strength training, thereby improving the sense of realism for users during use.

Description

A transmission system resistance compensation circuit and a strength training device

[0001] This application claims priority to Chinese Patent Application No. 202510359782.6, filed with the Chinese Patent Office on March 25, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of circuit design technology, and in particular to a resistance compensation circuit for a transmission system and a strength training device. Background Technology

[0003] Strength training equipment typically assists trainees in performing various strength training movements by providing resistance or weight. The transmission system of strength training equipment is the device that transmits the power and motion of the power unit to the execution system.

[0004] Currently, conventional strength training transmission systems transmit the power output from the drive mechanism to the strength training terminal. However, due to energy loss during the transmission from the drive mechanism to the strength training terminal, the force generated by the strength training terminal is not precise enough. Summary of the Invention

[0005] This application provides a transmission system resistance compensation circuit and a strength training device to solve the problem of insufficient accuracy of the force generated by the strength training terminal in related technologies.

[0006] According to one aspect of this application, a transmission system resistance compensation circuit is provided, including a data acquisition module and a main control module;

[0007] The acquisition module is used to connect to the transmission system, and the acquisition module is used to acquire the first deformation signal output by the transmission system when it is unloaded, and the second deformation signal output by the transmission system when it is loaded.

[0008] The main control module is connected to the acquisition module. The main control module is used to connect to the drive mechanism. The drive mechanism is used to connect to the strength training terminal. The main control module is used to calibrate the second deformation signal according to the difference between the first deformation signal and the second deformation signal, and generate a calibrated control signal. The calibrated control signal is used to control the drive mechanism to drive the strength training terminal to output the target resistance.

[0009] Optionally, the main control module includes an ADC sampling unit, which is used to sample the first deformation signal and the second deformation signal in real time.

[0010] Optionally, the transmission system resistance compensation circuit further includes an amplification module, which is connected between the output terminal of the acquisition module and the input terminal of the main control module. The amplification module is used to amplify the first deformation signal and the second deformation signal.

[0011] Optionally, the amplification module includes an instrumentation amplifier and a first resistor. The two ends of the first resistor are connected to the instrumentation amplifier. The positive input terminal of the instrumentation amplifier is connected to the first output terminal of the acquisition module. The negative input terminal of the instrumentation amplifier is connected to the second output terminal of the acquisition module. The output terminal of the instrumentation amplifier is connected to the output terminal of the amplification module. The instrumentation amplifier is used to amplify the first deformation signal and the second deformation signal differentially. The first resistor is used to adjust the amplification factor of the instrumentation amplifier.

[0012] Optionally, the transmission system resistance compensation circuit further includes a bias module, which is used to connect to the amplification module and to provide a bias signal so that the signal output by the amplification module is within a preset range.

[0013] Optionally, the bias module includes a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and an operational amplifier. The first end of the second resistor is connected to a first power supply terminal. The second end of the second resistor is connected to the first end of the third resistor, the first end of the first capacitor, and the positive input terminal of the operational amplifier. The negative input terminal of the operational amplifier is connected to the output terminal of the operational amplifier and the first end of the fourth resistor. The second end of the fourth resistor is connected to the output terminal of the bias module. The power supply terminal of the operational amplifier is connected to the first power supply terminal and the first end of the second capacitor. The second end of the second capacitor, the ground terminal of the operational amplifier, the second end of the third resistor, and the second end of the first capacitor are grounded.

[0014] Optionally, the transmission system resistance compensation circuit further includes a voltage-to-current conversion module, which is used to connect the main control module and the drive mechanism. The voltage-to-current conversion module is used to convert the input voltage signal into a current signal and transmit the current signal to the drive mechanism.

[0015] Optionally, the voltage-to-current conversion module includes a voltage-to-current converter and a first transistor. The input terminal of the voltage-to-current converter is connected to the input terminal of the voltage-to-current conversion module, the output terminal of the voltage-to-current converter is connected to the first terminal of the first transistor, the control terminal of the voltage-to-current converter is connected to the control terminal of the first transistor, and the second terminal of the first transistor is connected to the driving mechanism. The voltage-to-current converter is used to convert the input voltage signal into a current signal. The first transistor is used to turn on or off according to the control signal output by the control terminal of the voltage-to-current converter, and when it is on, it transmits the current signal output by the voltage-to-current converter to the driving mechanism.

[0016] Optionally, the transmission system resistance compensation circuit further includes a status indication module, which is connected to the main control module and is used to display the status of the main control module according to the indication signal output by the main control module.

[0017] According to another aspect of this application, a strength training device is provided, including a drive mechanism, a strength training terminal, and a resistance compensation circuit for the transmission system.

[0018] The technical solution of this application provides a transmission system resistance compensation circuit, including a data acquisition module, an amplification module, a bias module, and a main control module. The data acquisition module acquires a first deformation signal output by the transmission system when it is unloaded and a second deformation signal output by the transmission system when it is loaded. The main control module calibrates the second deformation signal based on the difference between the first and second deformation signals, generating a calibrated control signal. The calibrated control signal is used to control the drive mechanism to drive the force training terminal to output the target resistance. Since the first deformation signal is the deformation signal generated when the transmission system is unloaded, that is, when the transmission system is not under force, it may deform due to environmental factors, self-loss, etc. By calibrating the second deformation signal based on the difference between the first and second deformation signals by the main control module, errors caused by environmental influences, self-loss, etc., in the transmission system can be eliminated, improving the accuracy of the resistance output by the force training terminal, enhancing the realism of the user experience, and solving the problem of insufficient force generation by force training terminals in related technologies.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 is a schematic diagram of a transmission system resistance compensation circuit provided in an embodiment of this application;

[0022] Figure 2 is a circuit diagram of a transmission system resistance compensation circuit provided in an embodiment of this application;

[0023] Figure 3 is a circuit diagram of another transmission system resistance compensation circuit provided in an embodiment of this application;

[0024] Figure 4 is a structural schematic diagram of the strength training device provided in an embodiment of this application. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] This application provides a transmission system resistance compensation circuit. Figure 1 is a schematic diagram of the structure of a transmission system resistance compensation circuit provided in this application embodiment. As shown in Figure 1, the transmission system resistance compensation circuit 100 includes a data acquisition module 110 and a main control module 120. The data acquisition module 110 is used to connect to the transmission system and to acquire a first deformation signal output by the transmission system when it is unloaded and a second deformation signal output by the transmission system when it is loaded. The main control module 120 is connected to the data acquisition module 110 and is used to connect to the drive mechanism. The drive mechanism is used to connect to the force training terminal. The main control module 120 is used to calibrate the second deformation signal according to the difference between the first deformation signal and the second deformation signal, and to generate a calibrated control signal. The calibrated control signal is used to control the drive mechanism to drive the force training terminal to output the target resistance.

[0028] In this embodiment, "unloaded" refers to the state of the transmission system when it is not subjected to external force, and "first deformation signal" refers to the deformation signal generated by the transmission system in the unloaded state. For example, the transmission system deforms in the unloaded state due to external environmental influences, its own wear, and other factors. "Loaded" refers to the state of the transmission system when it is subjected to external force, and "second deformation signal" refers to the deformation signal of the transmission system in the loaded state. The first deformation signal can be an electrical signal representing the deformation generated by the transmission system in the unloaded state, and the second deformation signal can be an electrical signal representing the deformation generated by the transmission system in the loaded state.

[0029] The transmission system resistance compensation circuit 100 is an auxiliary circuit used to correct or improve the performance of the transmission system, and can offset or reduce the effects of environmental influences and self-loss in the transmission system. The acquisition module 110 is a module that collects the physical parameters of the transmission system under no-load or load conditions. For example, the acquisition module 110 includes sensors, and can be used to collect the deformation of the transmission system. The main control module 120 is the module responsible for monitoring, managing, and controlling the system. The main control module 120 can receive input signals, process information, and adjust the system's operating state according to its internal control program.

[0030] In this embodiment, the acquisition module 110 acquires a first deformation signal of the transmission system when it is unloaded and a second deformation signal of the transmission system when it is loaded. The main control module 120 first acquires the first deformation signal under unloaded conditions, and then corrects the second deformation signal based on the difference between the first deformation signal under unloaded conditions and the second deformation signal under load. For example, the correction process includes subtracting the second deformation signal from the first deformation signal to generate a calibrated control signal. The calibrated control signal controls the drive mechanism to drive the force training terminal to output the target resistance, which can eliminate errors caused by environmental influences, self-loss, and other factors in the transmission system, improve the accuracy of the output resistance of the force training terminal, and enhance the realism of the user experience.

[0031] The technical solution of this application provides a transmission system resistance compensation circuit. The acquisition module 110 acquires a first deformation signal output by the transmission system when it is unloaded and a second deformation signal output by the transmission system when it is loaded. The main control module 120 calibrates the second deformation signal based on the difference between the first and second deformation signals, generating a calibrated control signal. The calibrated control signal is used to control the drive mechanism to drive the force training terminal to output the target resistance. Since the first deformation signal is generated when the transmission system is unloaded, meaning that the transmission system may deform due to environmental factors, self-loss, etc., when it is not under force, the main control module 120 calibrates the second deformation signal based on the difference between the first and second deformation signals. This eliminates errors caused by environmental influences, self-loss, etc., in the transmission system, improving the accuracy of the resistance output by the force training terminal, enhancing the user's sense of realism, and solving the problem of insufficient force generation by force training terminals in related technologies.

[0032] Based on the above embodiments, the main control module 120 includes an ADC (Analog-to-Digital Converter) sampling unit. The ADC sampling unit converts analog signals into digital signals. It is connected to the acquisition module 110 and is used to sample the first deformation signal and the second deformation signal output by the acquisition module 110 in real time, outputting a first digital signal corresponding to the first deformation signal and a second digital signal corresponding to the second deformation signal. The ADC sampling unit is also connected to a processor inside the main control module. The processor performs correction processing on the second digital signal based on the difference between the first and second digital signals. For example, the ADC sampling unit includes an analog-to-digital converter that samples 1000 times per second, enabling real-time sampling of the first and second deformation signals.

[0033] In addition, the main control module 120 also includes a DAC (Digital-to-Analog Converter) unit. The DAC unit is connected to the processor and converts the calibrated second digital signal output by the processor into an analog signal. The DAC unit is also connected to the drive mechanism, transmitting the analog signal to the drive mechanism. The analog signal output by the DAC unit is the calibrated control signal. For example, the DAC unit may include a digital-to-analog converter with an operating frequency of up to 1kHz, enabling real-time output of the calibrated control signal.

[0034] Figure 2 is a circuit diagram of a transmission system resistance compensation circuit provided in an embodiment of this application. As shown in Figure 2, the acquisition module 110 includes a sensor unit 111 and a bridge circuit unit 112. The sensor unit 111 is connected to the transmission system, and the bridge circuit unit 112 is connected to the sensor unit 111. The first deformation signal and the second deformation signal output by the sensor unit 111 are both voltage signals. The bridge circuit unit 112 is used to amplify the voltage signal output by the sensor unit 111.

[0035] In this embodiment, the sensor unit 111 is a unit that converts the measured signal into a corresponding output signal, and the sensor unit 111 includes a sensor. The bridge circuit unit 112 is a unit that includes a bridge circuit. When the resistance in the bridge arm connected to the sensor changes slightly, the unbalanced voltage output by the bridge will amplify the slight change according to a certain proportional relationship. Compared with directly measuring the change in sensor resistance, the change in voltage signal output by the bridge circuit is more obvious. At the same time, the bridge circuit has good common-mode rejection capability, which can effectively suppress common-mode interference and only process and amplify the differential-mode part of the sensor output signal, thereby improving the accuracy of the measurement results and making the measurement data more accurately reflect the actual measured situation.

[0036] Furthermore, due to changes in the sensor's inherent characteristics or environmental factors, errors such as zero-point drift and sensitivity variations may occur. For example, in strain gauge sensors, temperature changes can cause additional fluctuations in the strain gauge resistance, leading to measurement errors. In a bridge circuit, these errors can be compensated for by appropriately selecting the bridge arm components, ensuring that the final output signal more accurately corresponds to the measured physical quantity and reducing measurement deviations caused by various interferences and error factors. The bridge circuit unit 112 includes full-bridge circuits, half-bridge circuits, etc.

[0037] For example, sensor unit 111 includes a first sensor T1 and a second sensor T2, and bridge circuit unit 112 includes a first interface J1, a second interface J2, a third capacitor C3, a fourth capacitor C4, a fifth resistor R5, and a sixth resistor R6. The first interface J1 is connected to the first sensor T1, and the second interface J2 is connected to the second sensor T2. The first end of the third capacitor C3 is connected to the first end of the first interface J1, the fourth end of the first interface J1, the first power supply terminal V1, and the first end of the fifth resistor R5. The second end of the third capacitor C3 is connected to the second end of the first interface J1, the third end of the first interface J1, and the first output terminal of the bridge circuit unit 112. The second end of the fifth resistor R5 is connected to the second output terminal of the bridge circuit unit 112 and the first end of the sixth resistor R6. The first end of the fourth capacitor C4 is connected to the first end of the second interface J2, the fourth end of the second interface J2, and the first output terminal of the bridge circuit unit 112. The second end of the fourth capacitor C4, the second end of the second interface J2, the third end of the second interface J2, and the second end of the sixth resistor R6 are grounded.

[0038] In this embodiment, the first sensor T1 and the second sensor T2 are strain gauge sensors, for example, strain gauges. The first sensor T1 and the second sensor T2 are mounted on the transmission system and connected to the first interface J1 and the second interface J2, respectively. The bridge circuit unit 112 has a half-bridge circuit structure. When the transmission system deforms, the electrical parameters of the sensors, such as resistance, change accordingly. Connecting to the half-bridge circuit causes a change in the output voltage of the half-bridge circuit. For example, when measuring minute deformations in the transmission system, the half-bridge circuit performs differential measurement, and the difference between the two output signals can more accurately reflect the actual strain. Especially when external interference factors (such as temperature changes, electromagnetic interference, etc.) exist, the two signals are affected by the same interference. Therefore, the difference between the two signals can largely cancel out common-mode interference, reduce errors, and improve measurement accuracy.

[0039] Referring again to Figure 2, the transmission system resistance compensation circuit also includes an amplification module 210. The amplification module 210 is connected between the output of the acquisition module 110 and the input of the main control module 120. The amplification module 210 amplifies the first deformation signal and the second deformation signal. Specifically, the amplification module 210 is a module that amplifies the input signal; for example, it can perform differential amplification on the input signal.

[0040] Specifically, the amplification module 210 includes an instrumentation amplifier U1 and a first resistor R1. The two ends of the first resistor R1 are connected to the instrumentation amplifier U1. The positive input terminal of the instrumentation amplifier U1 is connected to the first output terminal of the acquisition module 110. The negative input terminal of the instrumentation amplifier U1 is connected to the second output terminal of the acquisition module. The output terminal of the instrumentation amplifier U1 is connected to the output terminal of the amplification module 210. The instrumentation amplifier U1 is used to differentially amplify the first deformation signal and the second deformation signal. The first resistor R1 is used to adjust the amplification factor of the instrumentation amplifier.

[0041] In this embodiment, the amplification module 210 further includes a thirteenth capacitor C13, a fourteenth capacitor C14, a fifteenth capacitor C15, an eleventh resistor R11, and a second diode D3. The fifteenth capacitor C15 and the eleventh resistor R11 form an RC filter. The second diode D3 can be a Schottky diode. The first terminal of the fourteenth capacitor C14 is connected to the first terminal of the thirteenth capacitor C13, the power supply terminal of the instrumentation amplifier, and the second power supply terminal V2. The second terminal of the fourteenth capacitor C14, the second terminal of the thirteenth capacitor C13, and the ground terminal of the instrumentation amplifier are grounded.

[0042] Based on the above embodiments, the first deformation signal includes two voltage signals output by the acquisition module 110, and the second deformation signal also includes two voltage signals output by the acquisition module 110. The instrumentation amplifier U1 performs differential amplification on the two input voltage signals. The instrumentation amplifier has a high open-loop gain, enabling it to significantly amplify even small input differential voltage signals. Simultaneously, the instrumentation amplifier U1 can flexibly and precisely adjust its gain through an external first resistor R1. For example, it can set an appropriate amplification factor as needed based on the specific signal input amplitude and subsequent processing requirements, ensuring that the signal is sufficiently amplified without distortion due to over-amplification, thus guaranteeing the accuracy and effectiveness of signal amplification.

[0043] Referring again to Figure 2, the transmission system resistance compensation circuit also includes a bias module 220. The bias module 220 is connected to the amplifier module 210 and provides a bias signal to ensure that the signal output by the amplifier module 210 is within a preset range. The bias module 220 provides a bias current or voltage. By providing a stable DC voltage or current, the bias module 220 ensures that the amplifier module 210 operates under appropriate bias conditions. The bias module 220 provides a bias voltage to ensure that the electrical signal output by the amplifier module 210 is within a preset range, meeting the requirements of subsequent processing and ensuring the stability and reliability of the system.

[0044] Specifically, the bias module 220 includes a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1, a second capacitor C2, and an operational amplifier U2. The first end of the second resistor R2 is connected to the first power supply terminal V1. The second end of the second resistor R2 is connected to the first end of the third resistor R3, the first end of the first capacitor C1, and the positive input terminal IN+ of the operational amplifier U2. The negative input terminal IN- of the operational amplifier U2 is connected to the output terminal OUT of the operational amplifier U2 and the first end of the fourth resistor R4. The second end of the fourth resistor R4 is connected to the output terminal of the bias module 220. The power supply terminal VDD of the operational amplifier U2 is connected to the first power supply terminal V1 and the first end of the second capacitor C2. The second end of the second capacitor C2, the ground terminal VSS of the operational amplifier U2, the second end of the third resistor R3, and the second end of the first capacitor C1 are grounded.

[0045] Based on the above embodiment, the voltage of the first power supply terminal V1 is divided by the second resistor R2 and the third resistor R3 and then transmitted to the positive input terminal of the operational amplifier U2. The operational amplifier U2 amplifies the input signal and then transmits it to the instrumentation amplifier U1 through the output terminal to provide a bias voltage for the instrumentation amplifier U1. The instrumentation amplifier U1 corrects the output signal according to the bias voltage so that the electrical signal output by the amplification module 210 is within a preset range, which can meet the subsequent processing requirements and ensure the stability and reliability of the system.

[0046] Figure 3 is a circuit diagram of another transmission system resistance compensation circuit provided in an embodiment of this application. As shown in Figure 3, the transmission system resistance compensation circuit 100 further includes a voltage-to-current conversion module 230. The voltage-to-current conversion module 230 is connected to the main control module 120 and the drive mechanism. The voltage-to-current conversion module 230 is used to convert the input voltage signal into a current signal and transmit the current signal to the drive mechanism.

[0047] In this embodiment, the voltage-to-current conversion module 230 is a module that converts an input voltage signal into a current signal according to a certain conversion ratio. Specifically, the voltage-to-current conversion module 230 includes a voltage-to-current converter U3 and a first transistor Q1. The input terminal of the voltage-to-current converter U3 is connected to the input terminal of the voltage-to-current conversion module 230, the output terminal of the voltage-to-current converter U3 is connected to the first terminal of the first transistor Q1, the control terminal of the voltage-to-current converter U3 is connected to the control terminal of the first transistor Q1, and the second terminal of the first transistor Q1 is connected to the driving mechanism. The voltage-to-current converter U3 is used to convert the input voltage signal into a current signal, and the first transistor Q1 is used to turn on or off according to the control signal output by the control terminal of the voltage-to-current converter U3, and when it is on, it transmits the current signal output by the voltage-to-current converter U3 to the driving mechanism.

[0048] In this embodiment, the voltage-to-current converter U3 includes pins VIN, SET, EP, GND, OD, VG, IS, and VSP. Pin VIN serves as the input terminal of the voltage-to-current converter U3, pin VG as the control terminal, and pin IS as the output terminal.

[0049] Based on the above embodiments, the voltage-to-current conversion module 210 further includes an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9, a first diode D2, and a third interface J3. The third interface J3 is connected to the drive mechanism. The voltage-to-current converter U3 converts the input voltage signal into a current signal, which is then transmitted to the drive mechanism through the third interface J3. Since current transmission is more stable than voltage transmission, converting the voltage signal into a current signal through the voltage-to-current converter U3 improves the anti-interference capability during signal transmission and reduces interference caused by the operation of the drive mechanism.

[0050] Referring again to Figure 3, the transmission system resistance compensation circuit 100 also includes a status indication module 240, which is connected to the main control module 120. The status indication module 240 is used to display the status of the main control module 120 according to the control signal output by the main control module 120.

[0051] In this embodiment, the status indication module 240 displays the operating status of the main control module 120. For example, the operating status of the main control module 120 includes zero-position calibration and real-time resistance calibration. The zero-position calibration status refers to the operating status where the main control module 120 detects the first deformation signal output by the transmission system when it is unloaded. The real-time resistance calibration status refers to the operating status where the main control module 120 calibrates the second deformation signal based on the difference between the first and second deformation signals.

[0052] Specifically, the status indicator module 220 includes a seventh resistor R7 and a light-emitting diode D1. The first end of the seventh resistor R7 is connected to the main control module 120, and the second end of the seventh resistor R7 is connected to the first end of the light-emitting diode D1. The second end of the light-emitting diode D1 is grounded. The microcontroller U4 outputs a status signal through pin PB1. For example, when the main control module 120 is in the zero-position calibration working state, the status signal is low and the light-emitting diode D1 is off. When the main control module 120 is in the real-time resistance calibration working state, the status signal is high and the light-emitting diode D1 is on.

[0053] Based on the above embodiments, the main control module 120 includes a microcontroller U4, a tenth capacitor C10, an eleventh capacitor C11, and a twelfth capacitor C12. The microcontroller U4 includes pins VDDA, PA1, PA2, PB1, and VDDA. Among them, pin PA1 serves as an input terminal to receive the first deformation signal and the second deformation signal, pin PA2 serves as an output terminal to output the calibrated control signal, and pin PB1 serves as a status indicator terminal to output the status signal.

[0054] In this embodiment, the acquisition module 110 acquires the first deformation signal output by the transmission system when it is unloaded and the second deformation signal output by the transmission system when it is loaded. The amplification module 210 differentially amplifies the first and second deformation signals. The bias module 220 provides a bias voltage to ensure that the electrical signal output by the amplification module is within a preset range, meeting the requirements of subsequent processing. The main control module 120 first acquires the first deformation signal under no-load conditions, then corrects the second deformation signal based on the difference between the first deformation signal under no-load conditions and the second deformation signal output by the transmission system under load, and outputs the corrected control signal to the drive mechanism. By adding a voltage-to-current conversion module between the main control module 120 and the drive mechanism, voltage transmission is converted into current transmission. The controller inside the drive mechanism converts the received current signal into a voltage signal to drive the drive mechanism to operate, thereby controlling the force training terminal. This improves the accuracy of the force output force of the force training terminal, enhances the realism of the user experience, and eliminates errors caused by factors such as belt aging, bearing lubrication failure, and metal deformation caused by temperature changes in the transmission system.

[0055] This application also provides a strength training device. Figure 4 is a structural schematic diagram of the strength training device provided in this application. As shown in Figure 4, the strength training device 10 includes a drive mechanism 310, a strength training terminal 320, a transmission system 330, and a transmission system resistance compensation circuit 100 provided in any of the above embodiments.

[0056] In this embodiment, the drive mechanism 310 is the power source for the entire device, and the strength training terminal 320 is the component that the trainee directly contacts and operates. Connected to the drive mechanism 310 via the transmission system 330, the trainee experiences resistance transmitted by the drive mechanism through the transmission system. For example, the strength training terminal 320 includes adjustable grips, handles, etc., and can output variable resistance for resistance training. The transmission system 330 is a device for transmitting power, and includes components such as conveyor belts and bearings.

[0057] In traditional strength training equipment, the conventional system transmits the power output from the drive mechanism to the strength training terminal. Due to factors such as belt aging, bearing lubrication failure, and metal deformation caused by temperature changes, the resistance ultimately transmitted to the strength training terminal deviates from the resistance output by the drive mechanism. This embodiment of the application uses a transmission system resistance compensation circuit 100 to acquire the deformation parameters of the transmission system in real time and calibrate the actual resistance. For example, the real-time data sampling and compensation signal output frequency of the transmission system resistance compensation circuit 100 can reach 1000 times per second. The drive mechanism simulates the resistance curve of strength training based on the signal output by the transmission system resistance compensation circuit 100, dynamically adjusting the resistance generated by different strength training exercises to improve the accuracy of the output force of the strength training terminal.

[0058] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

[0059] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A resistance compensation circuit for a transmission system, comprising a data acquisition module and a main control module; The acquisition module is used to connect to the transmission system, and the acquisition module is used to acquire the first deformation signal output by the transmission system when it is unloaded, and the second deformation signal output by the transmission system when it is loaded. The main control module is connected to the acquisition module. The main control module is used to connect to the drive mechanism. The drive mechanism is used to connect to the strength training terminal. The main control module is used to calibrate the second deformation signal according to the difference between the first deformation signal and the second deformation signal, and generate a calibrated control signal. The calibrated control signal is used to control the drive mechanism to drive the strength training terminal to output the target resistance.

2. The transmission system resistance compensation circuit according to claim 1, wherein, The main control module includes an ADC sampling unit, which is used to sample the first deformation signal and the second deformation signal in real time.

3. The transmission system resistance compensation circuit according to claim 1 further includes an amplification module, the amplification module being connected between the output terminal of the acquisition module and the input terminal of the main control module, the amplification module being used to amplify the first deformation signal and the second deformation signal.

4. The transmission system resistance compensation circuit according to claim 3, wherein, The amplification module includes an instrumentation amplifier and a first resistor. The two ends of the first resistor are connected to the instrumentation amplifier. The positive input terminal of the instrumentation amplifier is connected to the first output terminal of the acquisition module. The negative input terminal of the instrumentation amplifier is connected to the second output terminal of the acquisition module. The output terminal of the instrumentation amplifier is connected to the output terminal of the amplification module. The instrumentation amplifier is used to amplify the first deformation signal and the second deformation signal differentially. The first resistor is used to adjust the amplification factor of the instrumentation amplifier.

5. The transmission system resistance compensation circuit according to claim 3 further includes a bias module, the bias module being used to connect to the amplification module, the bias module being used to provide a bias signal so that the signal output by the amplification module is within a preset range.

6. The transmission system resistance compensation circuit according to claim 5, wherein, The bias module includes a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and an operational amplifier. The first end of the second resistor is connected to a first power supply terminal. The second end of the second resistor is connected to the first end of the third resistor, the first end of the first capacitor, and the positive input terminal of the operational amplifier. The negative input terminal of the operational amplifier is connected to the output terminal of the operational amplifier and the first end of the fourth resistor. The second end of the fourth resistor is connected to the output terminal of the bias module. The power supply terminal of the operational amplifier is connected to the first power supply terminal and the first end of the second capacitor. The second end of the second capacitor, the ground terminal of the operational amplifier, the second end of the third resistor, and the second end of the first capacitor are grounded.

7. The transmission system resistance compensation circuit according to claim 1 further includes a voltage-to-current conversion module, the voltage-to-current conversion module being used to connect the main control module and the drive mechanism, the voltage-to-current conversion module being used to convert the input voltage signal into a current signal and transmit the current signal to the drive mechanism.

8. The transmission system resistance compensation circuit according to claim 7, wherein, The voltage-to-current conversion module includes a voltage-to-current converter and a first transistor. The input terminal of the voltage-to-current converter is connected to the input terminal of the voltage-to-current conversion module, the output terminal of the voltage-to-current converter is connected to the first terminal of the first transistor, the control terminal of the voltage-to-current converter is connected to the control terminal of the first transistor, and the second terminal of the first transistor is connected to the driving mechanism. The voltage-to-current converter is used to convert the input voltage signal into a current signal. The first transistor is used to turn on or off according to the control signal output by the control terminal of the voltage-to-current converter, and when it is on, it transmits the current signal output by the voltage-to-current converter to the driving mechanism.

9. The transmission system resistance compensation circuit according to claim 1 further includes a status indication module, the status indication module being connected to the main control module, and the status indication module being used to display the status of the main control module according to the indication signal output by the main control module.

10. A strength training device, comprising a drive mechanism, a strength training terminal, a transmission system, and a resistance compensation circuit for the transmission system as described in any one of claims 1-9.

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