CN110624209A

CN110624209A - Body-building equipment, data monitoring method and device thereof and computer readable storage medium

Info

Publication number: CN110624209A
Application number: CN201910746153.3A
Authority: CN
Inventors: 袁远
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-08-13
Filing date: 2019-08-13
Publication date: 2019-12-31
Anticipated expiration: 2039-08-13
Also published as: CN110624209B

Abstract

The invention relates to exercise equipment, which comprises a base, a motion arm assembly, an operating piece, a force detection assembly, an angle sensor assembly and a controller. The motion arm assembly is rotatably connected with the base. The operating member is disposed on the motion arm assembly. The force detection assembly is arranged on the operating part and used for detecting the stress information of the operating part at different positions. An angle sensor assembly is disposed on the motion arm assembly and is used to detect an included joint angle between the motion arm assembly and the base. The controller is used for acquiring fitness data according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system. The fitness equipment can obtain comprehensive fitness data in a simpler and lower-cost mode without adopting more complex sensors, so that a user can know the fitness data in the later period and make exercise adjustment according to the fitness data.

Description

Body-building equipment, data monitoring method and device thereof and computer readable storage medium

Technical Field

The present invention relates to the field of fitness equipment, and in particular, to a fitness device, a data monitoring method, a data monitoring apparatus, a computer device, and a computer-readable storage medium.

Background

At present, fitness equipment mainly aims at the collection of physiological characteristics (heart rate, blood pressure and other data) of a user or the collection of counting data of exercise actions of the user, and aims at the collection of output characteristic data of the user in a preset direction, such as the gravity direction, the quantity of the equipment is small, generally, the equipment is based on a balance weight, and a pull pressure sensor is used for sensing and driving the pull pressure of a rope or a lever of the balance weight relative to the balance weight to collect the output characteristic data of the user.

However, the inventor finds in the implementation that: generally, the sensor in the fitness equipment based on the balance weight and capable of detecting the output characteristic data has a single function, and usually needs to work in cooperation with multiple sensors to obtain more comprehensive exercise data, such as a camera, an infrared sensor and the like for counting, so that the complexity of the system is increased, and the monitoring cost is high. Accordingly, there is a need for an exercise device that can fully collect user exercise data without increasing system complexity and monitoring costs.

Disclosure of Invention

In view of the above, it is necessary to provide a fitness device, a data monitoring method, a data monitoring apparatus, a computer device and a computer readable storage medium for solving the problems of the existing fitness device that the exercise data is not completely acquired and the acquisition mode is complicated.

An exercise apparatus includes a base, a motion arm assembly, an operating member, a force sensing assembly, an angle sensor assembly, and a controller.

A motion arm assembly is rotatably coupled to the base. The operating member is disposed on the motion arm assembly. The force detection assembly is arranged on the operating piece and used for detecting the stress information of the operating piece at different positions. An angle sensor assembly is disposed on the motion arm assembly and is configured to detect an included joint angle between the motion arm assembly and the base. The controller is used for acquiring fitness data according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system.

In the fitness equipment, the force detection assembly is used for detecting and acquiring the stress information of the operating part at different positions in a preset time period; detecting a joint angle between the motion arm assembly and the base by an angle sensor assembly arranged on the motion arm assembly; and finally, acquiring body-building data by the controller according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system. Compared with the existing fitness equipment, the fitness equipment can acquire comprehensive fitness data in a simpler and lower-cost mode without adopting more complex sensors, so that a user can know the fitness data in the later period and make exercise adjustment according to the fitness data.

A data monitoring method applied to the exercise device according to the above embodiment includes:

acquiring stress information of the operating part at different positions within a preset time period;

acquiring a joint included angle between the motion arm assembly and the base in the preset time period;

and acquiring fitness data according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system.

In the data monitoring method, stress information of the operating part at different positions in a preset time period is obtained; and acquiring a joint included angle between the motion arm assembly and the base; and finally, acquiring fitness data according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system. Compared with the existing body-building equipment, the body-building equipment provided by the invention can obtain comprehensive body-building data in a simpler and lower-cost mode by detecting the stress information of the operating part and the joint angle between the moving arm component and the base without adopting more complex sensors, so that a user can know the body-building data in the later period and can exercise and adjust the body-building data accordingly.

A data monitoring device applied to the exercise device in the above embodiment, comprising:

the stress information acquisition module is used for acquiring stress information of the operating piece at different positions within a preset time period;

the joint angle acquisition module is used for acquiring a joint included angle between the motion arm assembly and the base within the preset time period;

and the body-building data acquisition module is used for acquiring body-building data according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system.

A computer device comprising a memory storing a computer program and a processor implementing the steps of the method when executing the computer program.

A computer-readable storage medium, on which a computer program is stored, which, when being executed by a controller, carries out the steps of the method of the above-mentioned embodiments.

Drawings

FIG. 1 is a schematic diagram of the exercise apparatus of the present invention in one embodiment;

FIG. 2 is a schematic illustration of the exercise apparatus of the present invention in a laid down position in one embodiment;

FIG. 3 is a schematic, upright view of the exercise apparatus of the present invention in one embodiment;

FIG. 4 is a schematic diagram of electrical connections between a controller and other structures of the present invention in one embodiment;

FIG. 5 is a flow diagram illustrating a data monitoring method according to an embodiment of the present invention;

FIG. 6 is a schematic flow chart of step 16 of the present invention in one embodiment;

FIG. 7 is a schematic flow chart of step 16 of the present invention in one embodiment;

FIG. 8 is a schematic view of the assembly of the force sensing assembly and the operating member of the present invention in one embodiment;

FIG. 9 is a schematic view of the assembly of the force sensing assembly and the operating member of the present invention in one embodiment;

FIG. 10 is a schematic diagram of the force detection assembly of the present invention in one embodiment for calculating user force;

FIG. 11 is a schematic flow chart of step 16 of the present invention in one embodiment;

FIG. 12 is a flow diagram illustrating a data monitoring method according to one embodiment of the present invention;

fig. 13 is a schematic structural diagram of a data monitoring apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by the following embodiments, which are taken in conjunction with the accompanying drawings.

Referring to fig. 1, the present invention provides a fitness apparatus 100, which can be operated by a user to achieve the purpose of fitness.

As shown in FIG. 1, the exercise apparatus 100 includes a base 10, a motion arm assembly 20, a handle member 30, a drive assembly 40, and a controller 50. The moving arm assembly 20 is movably connected to the base 10. The operating member 30 is provided on the moving arm assembly 20. Referring to fig. 4, the exercise apparatus 100 further includes a force sensing assembly 80 and an angle sensor assembly 70. The force detecting assembly 80 is disposed on the operation member 30 and is used for detecting force information of the operation member 30 at different positions. An angle sensor assembly 70 is disposed on the motion arm assembly 20 and is used to detect the included joint angle between the motion arm assembly 20 and the base 10. The controller 50 is used to obtain fitness data based on the force information, the joint angle, and the translation between the base coordinate system and the operator coordinate system.

In particular, the base 10 is used for the user to maintain a lying or sitting position. As shown in fig. 1 and 2, the base 10 can be used for lying down for the user to do exercise such as bench press, sitting press, etc.; as shown in fig. 3, the device can also be used for vertical placement, so that a user can perform fitness exercises such as pull-up, weight lifting and arm lifting, and different placement can be performed according to scene requirements.

The moving arm assembly 20 is movably connected to the base 10. In one embodiment, the motion arm assembly 20 is pivotally connected to the base 10. In this manner, the moving arm assembly 20 can be rotated to different angles relative to the base 10. In another embodiment, the moving arm assembly 20 is slidably connected to the base 10. In this manner, the moving arm assembly 20 may be slid to different positions relative to the base 10, for example, from one end of the base 10 to the opposite end. In other embodiments, the moving arm assembly 20 is telescopically coupled to the base 10, for example, one end of the moving arm assembly 20 is fixedly coupled to the base 10, and the other end can be relatively close to or far from the base 10. The moving arm assembly 20 includes a moving arm having a certain rigidity to prevent the moving arm from being greatly deformed due to a large acting force, which affects the service life of the moving arm. The shape of the moving arm can be straight rod, column, arc, etc. In addition, the number of the moving arms can be set according to specific requirements, and when the number of the moving arms is one, the moving arms are rotatably connected with the base 10; when the number of the moving arms is plural, the plural moving arms are sequentially rotatably connected, and one of the moving arms located at the outer side is rotatably connected to the base 10. In this embodiment, the plurality is two or more. One of the moving arms is pivotally connected to the base 10, and the remaining moving arms are in turn pivotally connected and connected to the moving arm.

The operating member 30 is provided on the moving arm assembly 20. The operating member 30 is a member for a user to operate, for example, a hand of the user can be held to perform hand movements, body movements, and the like, such as bench presses, back pulls, arm lifts, weight lifts, and the like; of course, the user's foot may also be held by the operating member 30 to perform leg exercises such as leg raising and leg kicking. The operating member 30 may be rod-shaped, i-shaped, or the like. In one embodiment, the operating member 30 is disposed on the end of the moving arm assembly 20 remote from the base 10, i.e., forming a "T" shape. In another embodiment, the operating member 30 is disposed on the middle of the moving arm assembly 20 away from the base 10, i.e., formed in a cross shape. During exercise, the user operates the operating member 30 to move the motion arm assembly 20 relative to the base 10, and thus the position of the operating member 30 changes.

The drive assembly 40 includes a motor 41, and the motor 41 is used to drive the motion arm assembly 20 relative to the base 10. In one embodiment, referring to FIG. 1, during an exercise, the motor 41 drives the motion arm assembly 20 to rotate relative to the base 10 in either a clockwise or counterclockwise direction as viewed in the figures, thereby causing the operating member 30 disposed on the motion arm assembly 20 to rotate relative to the base 10. The motor 41 may be disposed on the moving arm assembly 20, or on the base 10, or may be partially disposed on the moving arm assembly 20 and partially disposed on the base 10.

Referring to fig. 4, the force detecting assembly 80 is disposed on the operating element 30 and is used for detecting force information of the operating element 30 at different positions. In use, the force detecting assembly 80 is disposed on the operation member 30. When the user operates the operation member 30, for example, by grasping or holding the operation member 30, the force detecting assembly 80 located between the hand of the user and the operation member 30 can detect the force information of the operation member 30.

An angle sensor assembly 70 is disposed on the motion arm assembly 20 and is used to detect the included joint angle between the motion arm assembly 20 and the base 10. When the user moves the operating member 30 to move the moving arm assembly 20 relative to the base 10, or the moving arm assembly 20 moves relative to the base 10 as driven by the motor 41, the included angle between the moving arm assembly 20 and the base 10 changes, and the position of the operating member 30 also changes. By obtaining the joint angle between the moving arm assembly 20 and the base 10, the position information of the operating member 30 can be obtained. Wherein the articulation angle of the moving arm assembly 20 to the base 10 is related to the number of moving arms of the moving arm assembly 20. When the number of the moving arms is one, the angle sensor assembly 70 detects the joint angle of the moving arms with the base 10. When the number of the moving arms is plural, the angle sensor assembly 70 detects the joint angle between the moving arm and the base and the joint angle between each two moving arms, respectively.

The controller 50 is electrically connected to the force detection assembly 80 and the angle sensor assembly 70, respectively. After receiving the force information detected by the force detection assembly 80 and the joint angle detected by the angle sensor 70, the controller 50 obtains fitness data according to the force information, the joint angle, and the conversion relationship between the base coordinate system and the operating member coordinate system.

The fitness data are data generated by a user in an exercise time period and comprise output characteristic data and exercise amplitude data of the user in a preset direction. Further, an effective number of exercises can be obtained based on the exercise magnitude data.

According to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system, the stress characteristic data of the user in the preset direction can be obtained. The position information of the operating member 30 is obtained according to the joint angle and the conversion relationship between the base coordinate system and the operating member coordinate system, so that the exercise amplitude data of the user is obtained, and then the effective exercise times are obtained according to the exercise amplitude data. The force information of the operating member 30 is the acting force of the operating member 30 when the user operates the operating member 30, for example, the force of the operating member 30 in a preset direction. Since the position of the operating member 30 moves along with the user operation or changes along with the movement of the moving arm assembly 20, the position information of the operating member 30 may be the position at each time within a preset time period or the position at each sampling time within the preset time period. The sampling time depends on the accuracy of the exercise device 100, with less sampling time, more locations collected, and more accuracy.

The conversion relationship between the base coordinate system and the operator coordinate system is a geometric relationship, such as an angular relationship and a distance relationship, of the base 10 and the operator 30. However, since the geometric relationship of the base 10 and the operating member 30 is related to the configuration of the moving arm assembly 20, the configuration of the moving arm assembly 20 is different, and the conversion relationship between the base coordinate system and the operating member coordinate system is different. The description will now be given with respect to the configuration of one moving arm:

illustratively, referring to fig. 1, the moving arm assembly 20 includes a first moving arm 21, the first moving arm 21 is rotatably connected to the base 10, and a first joint 42 is formed at the connection. The geometric relationship among the operating member 30, the first moving arm 21 and the base 10 is established by taking the center of the first joint 42 as the origin of a three-dimensional coordinate system, the plane of the base 10 as an X-Z plane and the normal direction of the plane of the base 10 as a Y-axis direction, and assuming that the included angle of the joint between the first moving arm 21 and the base 10 is alpha₁When the distance OP between the center of the first joint 42 and the center of the operating element 30 is L1 and the center of the operating element 30 is point P, the coordinates P (x, y) thereof are expressed as follows:

P(x,y)＝(L₁*cos(α₁),L₁*sin(α₁))

thus, by obtaining the joint angle between the first moving arm 21 and the base 10, the position of the current operating element 30 can be calculated, that is, the position information of the operating element 30 can be obtained. Wherein alpha is₁As measured by the angle sensor assembly 70, L1 can be obtained directly from the distance measurement.

Further, it is possible to determine the movement of the operating member 30 for a preset exercise period based on the position information, calculate exercise magnitude data of the user during exercise, and determine the effective number of exercises based on the exercise magnitude data. Compared with the existing method of counting the movement of the user through the infrared sensor and the camera, the method has the advantages that the joint angle detection mode is simpler, and the monitoring cost is favorably reduced.

Furthermore, according to the force information and the conversion relationship between the base coordinate system and the operating member coordinate system, the force magnitude of the operating member 30 in the preset direction can be obtained:

illustratively, the preset direction is assumed to be the gravity direction, and the preset movement resistance is assumed to be F_g，F_gAt an angle alpha to the moving arm assembly 20₃. Resultant force F applied by the user_userA component force F in the direction of gravity_usergComponent force in the horizontal direction is F_userhAnd then:

F_userg＝F_user cos(θ_user)cos(α₃)

F_userh＝F_user cos(θ_user)sin(α₃)

when the motion arm assembly 20 is in a motion arm configuration, the relationship between the base coordinate system and the operator coordinate system is:

therefore, the temperature of the molten metal is controlled,

in the formula, alpha₁The joint angle between the first moving arm 21 and the base 10 can be directly detected by the angle sensor assembly 70. F_userAnd theta_userCan be calculated from the force information detected by the force detecting component 80.

Therefore, the stress magnitude of the operating element 30 in the preset direction can be determined according to the stress information and the joint angle detected by the force detection assembly 80 and the conversion relationship between the base coordinate system and the operating element coordinate system, and the output characteristic data of the user in the preset direction can be obtained.

Since the force condition collected by the force detecting assembly 80 provided on the operation member 30 is determined based on the operation member coordinate system, however, when the position of the operation member 30 is changed, the operation member coordinate system is also rotated with respect to the base coordinate system. Therefore, the force applied to the operating element 30 in the predetermined direction (e.g. the gravity direction) cannot be analyzed and obtained only based on the force applied based on the operating element coordinate system, so that the user cannot know how much the effective movement is actually performed in the predetermined direction.

In the present embodiment, the base coordinate system does not shift during the operation of the operating element 30, and a certain conversion relationship exists between the base coordinate system and the operating element coordinate system, so that the stress condition of the operating element coordinate system rotating in real time is converted into the stress condition of the base coordinate system through the conversion relationship between the base coordinate system and the operating element coordinate system. Therefore, according to the stress condition on the base coordinate system, the stress magnitude of the operating element 30 in the preset direction can be obtained, and the effective output characteristic data of the user can be really reflected.

In the exercise device 100, the force detection component 80 detects and acquires the stress information of the operating element 30 at different positions within the preset time period; detecting an included joint angle between the moving arm assembly 20 and the base 10 by an angle sensor assembly 70 provided on the moving arm assembly 20; finally, the controller 50 obtains fitness data such as force characteristic data, exercise amplitude data, effective exercise times and the like in a preset direction according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating member coordinate system. Compared with the existing fitness equipment, the fitness equipment 100 of the invention can detect the stress information of the operating part 30 and the joint angle between the moving arm assembly 20 and the base 10 without adopting more complex sensors, and can obtain comprehensive and effective fitness data in a simpler and lower-cost mode by combining the conversion relation between the base coordinate system and the operating part coordinate system, so that a user can conveniently know the fitness data in the later period and make exercise adjustment according to the comprehensive and effective fitness data.

The embodiment of the invention also provides a data monitoring method which is applied to the fitness equipment 100 in the embodiment. As shown in fig. 5, the data monitoring method includes the following steps:

step S12, acquiring stress information of the operating element 30 at different positions in a preset time period;

step S14, acquiring a joint angle between the moving arm assembly 20 and the base 10 within a preset time period;

and step S16, acquiring fitness data according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating member coordinate system.

The preset time period is the time required for completing the exercise mode, for example, the user selects the bench press exercise mode, the set time is from nine am to 11 am, and the user needs to perform bench press exercise within the set time from nine am to 11 am.

As to how to acquire the exercise data according to the stress information, the joint angle, and the transformation relationship between the base coordinate system and the operating element coordinate system in step S16, please refer to the manner in which the controller 50 acquires the exercise data in the embodiment of the exercise apparatus 100 above in detail, which is not described herein again.

In the data monitoring method, the stress information of the operating element 30 at different positions in the preset time period is obtained; and obtaining the joint angle between the moving arm assembly 20 and the base 10; and finally, acquiring the force characteristic data, the exercise amplitude data, the effective exercise times and the like in the preset direction according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system. Compared with the existing exercise equipment, the exercise equipment 100 of the present invention can obtain comprehensive and effective exercise data in a simpler and lower-cost manner by detecting the force information of the operating element 30 and the joint angle between the moving arm assembly 20 and the base 10 without using more complicated sensors, so that the user can know the exercise data later and make exercise adjustment accordingly.

Referring to fig. 2, in one embodiment, the moving arm assembly 20 includes a plurality of moving arms, which are sequentially rotatably connected, and one of the moving arms located at the outer side is rotatably connected to the base 10. The driving assembly 40 includes a plurality of motors 41, and the plurality of motors 41 correspond to the plurality of moving arms one to one and are respectively used for driving the plurality of moving arms to rotate relative to the base 10.

In this embodiment, the plurality is two or more. One of the moving arms is pivotally connected to the base 10, and the remaining moving arms are in turn pivotally connected and connected to the moving arm. For example, the number of the moving arms is two, one of the moving arms is rotatably connected to the base 10, and the other moving arm is rotatably connected to the moving arm. For another example, the number of the moving arms is three, the first moving arm is rotatably connected to the base 10, the second moving arm is rotatably connected to the first moving arm, and the third moving arm is rotatably connected to the second moving arm.

The number of the motors 41 is multiple, and each motor 41 corresponds to one moving arm and drives the corresponding moving arm to rotate relative to the arm 10. For example, the number of the motors 41 is three, a first motor 41 is used for driving a first moving arm to rotate relative to the base 10, a second motor 41 is used for driving a second moving arm to rotate relative to the first moving arm, and a third motor 41 is used for driving a third moving arm to rotate relative to the second moving arm.

Referring to fig. 2 and 3, in one embodiment, the number of the moving arms is two. Specifically, the moving arm assembly 20 includes a first moving arm 21 and a second moving arm 22.

The first moving arm 21 is pivotally connected to the base 10 and forms a first joint 42 at the connection. The second moving arm 22 is pivotally connected to the first moving arm 21 and forms a second joint 43 at the connection, and the operating member 30 is disposed on the second moving arm 22 at a position away from the second joint 43. The motor 41 includes a first motor 411 and a second motor 412, the first motor 411 is used for driving the first moving arm 21 to rotate around the first joint 42 relative to the base 10, and the second motor 412 is used for driving the second moving arm 22 to rotate around the second joint 43 relative to the first moving arm 21.

The shape of the first moving arm 21 and the shape of the second moving arm 22 may be the same, and for example, they may be straight rod-like, columnar, arc-like, or they may be different. The joint between the first moving arm 21 and the base 10 forms a first joint 42, and the first moving arm 21 is rotatable relative to the base 10 about the first joint 42. The joint between the second moving arm 22 and the first moving arm 21 forms a second joint 43, and the second moving arm 22 is rotatable relative to the first moving arm 21 about the second joint 43.

In one embodiment, the first moving arm 21 and the base 10 rotate relative to each other in an angle range of 0 to 180 degrees, and the first moving arm 21 and the second moving arm 22 rotate relative to each other in an angle range of 270 to 320 degrees.

The operating member 30 is disposed on the second moving arm 22 at a position away from the second joint 43. When the first motor 411 drives the first moving arm 21 to rotate around the first joint 42 relative to the base 10, the first moving arm 21 drives the second moving arm 22 and the operating member 30 to rotate relative to the base 10. When the second motor 412 drives the second moving arm 22 to rotate relative to the first moving arm 21 around the second joint 43, the second moving arm 22 drives the operating member 30 to rotate relative to the first moving arm 21.

Referring to FIG. 4, in one embodiment, the angle sensor assembly 70 includes a first angle sensor 71 and a second angle sensor 72. The first angle sensor 71 is disposed on the first moving arm 21 and electrically connected to the controller 50, and is configured to detect an included joint angle between the first moving arm 21 and the base 10, and send a detection result to the controller 50. The second angle sensor 72 is disposed on the second moving arm 22 and electrically connected to the controller 50, and is configured to detect a joint angle between the second moving arm 22 and the first moving arm 21, and send a detection result to the controller 50.

The controller 50 is further configured to obtain exercise data according to the detection result of the first angle sensor 71 and the detection result of the second angle sensor 72, and by combining the conversion relationship between the base coordinate system and the operating member coordinate system.

When the user moves the operating element 30 to drive the first moving arm 21 and the second moving arm 22 to move, or the first moving arm 21 is driven by the first motor 411 to move, and the second moving arm 22 is driven by the second motor 412 to rotate, the joint angle between the first moving arm 21 and the base 10 and the joint angle between the first moving arm 21 and the second moving arm 22 change.

Referring to FIG. 2, the operating member 30, the first moving arm 21, the second moving arm 22 and the base 10 have a geometric relationship with each other, which is centered on the first joint 42The base coordinate system O-XYZ is established by taking the plane of the base 10 as the X-Z plane and the normal direction of the plane of the base 10 as the Y-axis direction as the origin of the three-dimensional coordinate system, and assuming that the included angle between the joint of the first motion arm 21 and the base 10 is alpha₁The joint angle between the first moving arm 21 and the second moving arm 22 is α₂When the distance between the center of the first joint 42 and the center of the second joint 44 is L1, the distance between the center of the second joint 44 and the center of the operating member 30 is L2, and the center of the operating member 30 is the point P, the coordinates P (x, y) thereof are expressed as follows:

P(x,y)＝[(L₁*cos(α₁)+L₂*cos(2π-α₁-α₂)),(L₁*sin(α₁)+L₂*sin(2π-α₁-α₂))]

thus, by obtaining the joint angle between the first moving arm 21 and the base 10 and the joint angle between the first moving arm 21 and the second moving arm 22, the position of the current operating element 30 can be calculated, that is, the position information of the operating element 30 can be obtained.

Wherein, the first angle sensor 71 can detect the joint angle between the first moving arm 21 and the base 10, the second angle sensor 72 can detect the joint angle between the second moving arm 22 and the first moving arm 21, and the controller 50 receives the detection result of the first angle sensor 71 and the detection result of the second angle sensor 72, so as to obtain the current position information of the operating element 30.

In one embodiment, the first angle sensor 71 includes a rotary potentiometer, an angular velocity meter, or a gyroscope. The second angle sensor 72 includes a rotary potentiometer, an angular velocity meter, or a gyroscope.

Referring to FIG. 6, in one embodiment, the step of obtaining the exercise data according to the joint angle and the transformation relationship between the base coordinate system and the manipulator coordinate system in step S16 includes the following steps:

step S161, acquiring position information of the operating part according to the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system;

step S162, acquiring the initial position of the operating element 30 in the preset direction according to the position information, and determining the total number of exercise actions; the movement of the exercise movement as the operating member 30 from the initial position to each return to the initial position;

in step S163, the farthest position farthest from the initial position in each exercise motion is acquired, and the exercise amplitude data is determined according to the amplitude difference between the initial position and the farthest position each time.

The initial position may be a uniform position of the automatic adjustment operation member 30 after the exercise device 100 is started, or may be obtained according to position information of an initial time of a preset time period. The movement process of the operating member 30 from the initial position to the next return to the initial position is determined as an exercise motion, and the total number of times the operating member 30 returns to the initial position is obtained according to the position information of the operating member 30, thereby determining the total number of exercise motions. The path of the movement may be different in each exercise motion, and the farthest position from the initial position may be different. And determining exercise amplitude data in a mode of sequentially acquiring the amplitude difference value between the farthest position farthest from the initial position and the initial position in each exercise action.

For example, assuming that the initial position is y equal to 20cm, the total number of exercise motions is 15 when the operating member 30 returns to the initial position 15 times in total according to the position information of the operating member 30. The farthest positions farthest from the initial position in each exercise action are 50cm, 55cm, 60cm, 58cm, 50cm, 52cm, 55cm, 50cm, 48cm, 50cm, 45cm and 44cm in sequence, and compared with the initial position, the exercise amplitude data of the user are as follows in sequence: 30cm, 35cm, 40cm, 38cm, 30cm, 32cm, 35cm, 30cm, 28cm, 30cm, 25cm, and 24 cm.

Referring to fig. 7, in one embodiment, after the step of determining exercise amplitude data according to the amplitude difference between the initial position and the farthest position in step S163, the method further includes the following steps:

step S164, judging whether the amplitude difference value of the farthest position and the initial position is larger than a preset exercise amplitude each time;

and step S165, if yes, determining the exercise motions as effective exercise motions, and counting the total number of the effective exercise motions.

And if the difference value of the amplitudes of the farthest position and the initial position is larger than the preset exercise amplitude, determining the farthest position and the initial position as the effective exercise action. And if the amplitude difference value of the farthest position and the initial position is smaller than the preset exercise amplitude, determining the farthest position and the initial position as invalid exercise motions. And counting the times of all effective exercise actions in a preset time period to obtain the total number of the effective exercise actions.

Continuing with the above scenario as an example, assuming that the preset exercise range is 30cm, of the 15 exercise motions, the exercise motions greater than 30cm are taken as the first to tenth and thirteenth exercise motions for 12 effective exercise motions, and the tenth, fourteenth and fifteenth exercises are taken as ineffective exercise motions for 3 effective exercise motions. So, through judging whether the exercise action of user is effective exercise action, be convenient for the user to know whether the exercise is in place. In one embodiment, other workout data, such as calories burned by the user during a workout movement, may also be calculated based on the total number of active workout activities.

In one embodiment, the moving arm assembly 20 includes a plurality of moving arms that are rotatably connected in turn, and one of the moving arms located at the outer side is rotatably connected to the base 10. The drive assembly 40 includes a plurality of motors 41, and the plurality of motors 41 are used to drive a portion of the motion arm to rotate relative to the base 10.

In one embodiment, the number of motors 41 is the same as the number of moving arms, and the plurality of motors 41 only drive a portion of the moving arms to move. For example, the number of the motors 41 is two, the number of the moving arms is two, the two motors 41 only drive one of the moving arms to rotate relative to the base 10, and do not drive the other moving arm to move, at this time, the moving state of the moving arm assembly 20 is the same as the moving state of the moving arm assembly 20 including the first moving arm 21 in the above embodiment, and for specific limitations, reference may be made to the limitation that the moving arm assembly 20 includes the first moving arm 21, which is not described herein again. For another example, the number of the motors 41 is three, the number of the moving arms is three, and the three motors 41 drive only a part of the moving arms to move, for example, only one or two of the moving arms to move.

In another embodiment, the moving arms driven by the motor 41 are respectively connected in a rotating manner, and the moving arm not driven by the motor 41 can be connected with the other moving arm in a fixed connection manner. For example, the number of the motors 41 is three, and the number of the moving arms is four. At most, the three motors 41 can only drive three of the moving arms to rotate relative to the base 10, and the other moving arm is fixedly connected with the three moving arms, and when the three motors 41 drive the three moving arms to rotate, the other moving arm moves along with the three moving arms.

Fig. 8 is a schematic structural diagram of the force detection assembly 80 in this embodiment. As shown in fig. 8, in one embodiment, the force detection assembly 80 includes a fixing sleeve unit 81, a pressure detection unit 82, and a transmission unit 83.

The fixing sleeve unit 81 includes a pressure sleeve 811, and the pressure sleeve 811 is configured to fit over the operation member 30. The pressure detecting unit 82 is provided on the pressure housing 811 and serves to detect force information of the operating element 30. The transmission unit 83 includes a transmission member 831, and the transmission member 831 is disposed between the operation member 30 and the pressure housing 811 and serves to reduce a frictional force between the operation member 30 and the pressure housing 811.

The fixing sleeve unit 81 is used for fixing the pressure detection unit 82 and the transmission unit 83. Specifically, the fixing sleeve unit 81 includes a pressure sleeve 811, and the pressure sleeve 811 may be made of rubber, thermoplastic, or the like. Because the rubber or the thermoplastic has better elasticity and surface friction force, the rubber or the thermoplastic is convenient for a user to operate and is not easy to slip.

The pressure detecting unit 82 is disposed on the pressure sleeve 811 by means including, but not limited to, gluing, snapping, etc. When the user operates the operating element 30, for example, the pushing operation element 30, the pressure detecting unit 82 may directly detect the force information of the operating element 30, so as to obtain the force characteristic data of the user.

The transmission unit 83 is disposed between the operating element 30 and the pressure sleeve 811. When the user operates the operating member 30, the transmission member 831 freely rotates around the center of the cross-section of the operating member 30 to reduce the friction between the operating member 30 and the pressure sleeve 811, so that the user feels more comfortable in gripping during exercise.

Referring to fig. 9, in one embodiment, the pressure sleeve 811 includes a pressure inner sleeve 812, a pressure outer sleeve 813, and a fixing sleeve 814, the fixing sleeve 814 is configured to fit over the operation device 30, the pressure inner sleeve 812 fits over the fixing sleeve 814, and the pressure outer sleeve 813 fits over the pressure inner sleeve 812. The pressure detecting unit 82 is provided between the pressure inner housing 812 and the pressure outer housing 813, and is used to detect force information of the operation element 30. The transmission element 831 is arranged between the fastening sleeve 814 and the pressure sleeve 812.

The pressure inner housing 812 and the pressure outer housing 813 are used to fix the pressure detection unit 82. The inner pressure housing 812 and the outer pressure housing 813 are fitted over the operation element 30 in this order, and the pressure detection unit 82 is disposed between the inner pressure housing 812 and the outer pressure housing 813. When the user holds the pressure jacket 813, the pressure detection unit 82 can directly detect the stress information of the operation member 30 in the pressure jacket 813, and the stress information accurately reflects the force characteristic data of the user. In addition, the pressure jacket 813 also serves to space the pressure detecting unit 82 and the transmission member 831 from each other.

The fixing sleeve 814 is directly fitted over the operation member 30, so that the entire force detecting unit 80 can be easily mounted on the operation member 30. In addition, the fastening sleeve 814 and the pressure sleeve 812 serve to fasten the transmission element 831 together.

In this embodiment, since the transmission member 831 is disposed between the operation member 30 and the inner pressure housing 812, when the hand of the user holds the outer pressure housing 813 and drives the entire operation member 30 and the force detection assembly 80 to rotate, the transmission member 831 can reduce the friction between the operation member 30 and the inner pressure housing 812, so as to prevent the wrist of the user from being injured due to the large relative rotation between the hand of the user and the inner pressure housing 812, and improve the comfort of the user in operating the operation member 30.

In one embodiment, the pressure detection unit 82 is communicatively coupled to the controller 50 of the exercise device 100 via a conductive member including, but not limited to, a wiring harness, a hot-pluggable bayonet, or a connection terminal. The force information of the operating member 30 detected by the pressure detecting unit 82 is transmitted to the controller 50 so that the controller 50 processes the force information.

With continued reference to fig. 9, in one embodiment, the pressure detecting unit 82 includes a first pressure sensor 821, a second pressure sensor 822, a third pressure sensor 823, and a fourth pressure sensor 824. The first pressure sensor 821 is used for detecting the force information of the operating member 30 in the first direction. The second pressure sensor 822 is disposed adjacent to the first pressure sensor 821 and is used to detect force information of the operating element 30 in a second direction, which is perpendicular to the first direction. The third pressure sensor 823 is disposed opposite to the first pressure sensor 821 and is configured to detect force information of the operating member 30 in a third direction, which is opposite to the first direction. The fourth pressure sensor 824 is disposed opposite to the second pressure sensor 822, and is configured to detect force information of the operating element 30 in a fourth direction, which is opposite to the second direction.

In one embodiment, taking fig. 9 as an example, the first direction is a positive direction of the z-axis, the second direction is a positive direction of the y-axis, the third direction is a negative direction of the z-axis, and the fourth direction is a negative direction of the y-axis. Assuming that the force detected by the first pressure sensor 821 is F1, the force detected by the second pressure sensor 822 is F2, the force detected by the third pressure sensor 823 is F3, the force detected by the fourth pressure sensor 824 is F4, and the total force applied by the user is F4_user. Depending on the forces detected by the first pressure sensor 821, the second pressure sensor 822, the third pressure sensor 823 and the fourth pressure sensor 824, the resultant force applied by the user on the operating member 30 can be quickly calculated even if the user operates the operating member 30 in different postures. Referring to fig. 8 and 10 together, the operating element coordinate system o-xyz is established with the center of the operating element 30 as the origin, the first direction as the positive direction of the x-axis, and the second direction as the positive direction of the y-axis, and the specific calculation principle is as follows:

if the position of the user operating the operating member 30 is a position of a certain pressure sensor, F_userIs the same as the detection direction of a certain pressure sensor. Thus, F detected by the force detecting member 80_userIs equal to the pressure sensed by the pressure sensor and has a direction equal to the pressure sensed by the pressure sensorThe direction of the pressure sensed by the pressure sensor. For example, F_userIs the same as the detection direction of the fourth pressure sensor 824, F_userF4, and F_userIs the fourth direction.

If the position of the user-operated operating member 30 is a position between some two pressure sensors, F_userIs between some two pressure sensors, e.g., between the second pressure sensor 822 and the third pressure sensor 823, assuming that the second pressure sensor 822 measures F_userComponent force in the second direction being F_user1And the third pressure sensor 823 measures F_userComponent force in the second direction being F_user2And then:

F_user1＝F₂；F_user2＝F₃。

if F_userAnd F_user1Angle theta in counterclockwise direction_userAnd then:

θ_user＝arctan(F_user2/F_user1)＝arctan(F₃/F₂)。

thus, F_user＝F_user1/cos(θ_user)＝F₂/cos(θ_user)＝F₂/cos(arctan(F₃/F₂))。

In this way, the resultant force F applied by the user to the operating member 30 can be quickly obtained according to the data detected by the second pressure sensor 822 and the third pressure sensor 823_user。

In one embodiment, the pressure detecting unit 82 includes a plurality of sets of pressure sensors distributed along the axial direction of the operating element 30, each set including a first pressure sensor 821, a fourth pressure sensor 824, a third pressure sensor 823 and a fourth pressure sensor 824.

The plurality of sets of pressure sensors are distributed along the axial direction of the operating element 30, so that the plurality of sets of pressure sensors can detect the stress information of different positions of the operating element 30 in the axial direction, and the stress information of the operating element 30 can be obtained more accurately and comprehensively.

Referring to fig. 11, in one embodiment, in step S16, the step of obtaining the exercise data according to the stress information, the joint angle, and the transformation relationship between the base coordinate system and the operating member coordinate system includes the following steps:

step S166, obtaining the stress of the operating element 30 in the preset direction according to the stress information, the joint angle, and the conversion relationship between the base coordinate system and the operating element coordinate system, and determining the data of the output characteristic.

F_userg＝F_user cos(θ_user)cos(α₃)

F_userh＝F_user cos(θ_user)sin(α₃)

due to F_userAnd theta_userCan be derived from the plurality of pressure sensors of the above-described embodiment, and thus F can be calculated_usercos(θ_user). Illustratively, continue with θ in the above embodiments_user＝arctan(F₃/F₂)、F_user＝F_user1/cos(θ_user)＝F₂/cos(θ_user)＝F₂/cos(arctan(F₃/F₂) F) then_usercos(θ_user)＝F₂。

However, when the position of the operation element 30 is changed, the origin of the operation element coordinate system and the relative position to the origin of the base coordinate system are changed, and the operation element coordinate system is rotated with respect to the base coordinate system. Therefore, the force collected by the second pressure sensor 822 is not the force in the direction of gravity in real time, but needs to be multiplied by a component cos (α)₃)。

In the embodiment, the stress condition of the real-time rotating operation element coordinate system is converted into the stress condition of the base coordinate system through the conversion relationship between the base coordinate system and the operation element coordinate system, and the obtained stress magnitude of the operation element 30 in the preset direction can more truly reflect the effective output characteristic data of the user.

Among them, since the conversion relationship between the base coordinate system and the operation member coordinate system is related to the configuration of the moving arm assembly 20, the configuration of the moving arm assembly 20 is different, and the conversion relationship between the base coordinate system and the operation member coordinate system is different, which will be described separately:

therefore, the temperature of the molten metal is controlled,

in the formula, alpha₁Which is the joint angle between the first moving arm 21 and the base 10, can be measured by the angle sensor assembly 70.

Similarly, when the motion arm assembly 20 is in a two-motion-arm configuration, the transformation relationship between the base coordinate system and the operator coordinate system is:

therefore, the temperature of the molten metal is controlled,

in the formula, alpha₁Is the joint angle, alpha, between the first motion arm 21 and the base 10₂The joint angle between the first moving arm 21 and the second moving arm 22 can be measured by the first angle sensor 71 and the second angle sensor 72, respectively.

In summary, according to the force information detected by the force detecting assembly 80, the joint angle between the moving arm assembly 20 and the base 10, and the conversion relationship between the base coordinate system and the operating member coordinate system, the force magnitude of the operating member 30 in the preset direction can be obtained, and the force characteristic data can be further determined.

In addition, even if the pressure sensor is directly mounted on the operating element 30, the holding force applied to the operating element 30 by the user can be acquired, but since the coordinate system (such as the operating element coordinate system) where the pressure sensor is located rotates relative to the base 10, the acting force of the user in the preset direction cannot be detected in real time, and therefore the user cannot know how much effective movement is actually made in the preset direction.

In the embodiment of the present invention, the stress condition of the operating element coordinate system is converted into the stress condition of the base coordinate system according to the conversion relationship between the base coordinate system and the operating element coordinate system, so that when the operating element coordinate system changes, the stress magnitude of the operating element 30 in the preset direction can still be obtained through the base coordinate system, and thus, the obtained output characteristic data more truly reflects the effective output characteristic data of the user.

Referring to fig. 12, in one embodiment, before the step S12 obtains the force information of the operating element 30 at different positions in the preset time period, the method further includes the following steps:

in step S11, an input of exercise information is received.

The exercise information comprises exercise modes, preset exercise resistance, exercise time and exercise speed. The exercise mode includes a set direction mode and a set route mode.

In one embodiment, the exercise information may be entered by the user at various terminals in communication with the exercise device 100. The user input may be via a display input device, a cell phone interface, or a computer interface of the exercise device 100.

In some embodiments, the exercise information may be a single input by the user. It will be appreciated that the user may enter exercise information such as exercise mode, preset resistance to movement, exercise time and movement speed at a time, and the exercise apparatus 100 may be operated directly according to the exercise information when the motion arm assembly 20 is driven to rotate relative to the base 10 according to the control drive assembly for the user to exercise. Of course, in other embodiments, the exercise information may also be historical input for the user. When the exercise mode, the preset exercise resistance, the exercise time, the exercise speed, and the like are determined based on the exercise information of the user, the exercise information may be recorded, and a plurality of exercise information forms a plurality of history exercise modes by being accumulated. Thus, upon activation of the exercise apparatus 100, the exercise apparatus 100 may output a plurality of historical exercise patterns and a user may select a target exercise pattern from the plurality of historical exercise patterns that is desired for the current exercise, and the exercise apparatus 100 may control the motor 41 to rotate the motion arm assembly 20 relative to the base 10 according to the target exercise pattern selected by the user.

In one embodiment, the fitness data further comprises physiological characteristic data.

With continued reference to fig. 2, the exercise device 100 further includes a heart rate sensor 110 and/or a body temperature sensor 120. The heart rate sensor 110 is used to detect heart rate information of the user. The body temperature sensor 120 is used to detect body temperature information of the user.

The heart rate sensor 110 and/or the body temperature sensor 120 are/is wearable and mounted on the user, and the heart rate information and/or the body temperature information of the user are/is detected, so that the user can know the physiological characteristic data of the user in the fitness process.

In one embodiment, the exercise device 100 is further configured to be communicatively coupled to a terminal to enable human-computer interaction; or an interactive device is arranged on the fitness equipment 100 to realize human-computer interaction.

The terminal comprises a mobile phone, an ipad, a computer and the like. The interaction device includes a display input device, such as a display screen. The user input may be via a display input device, a cell phone interface, or a computer interface of the exercise device 100.

The exercise device 100 can output the exercise data acquired or processed during exercise to a terminal in communication connection with the exercise device 100 and display the exercise data on a display screen of the terminal. The exercise data may be the stress information of the operating element 30, or may be the force characteristic data, exercise amplitude data, effective exercise times, etc. of the user obtained by processing the stress information. Or, the fitness equipment 100 may also display the fitness data on a display screen provided on the fitness equipment 100, and with reference to fig. 1, the first moving arm 21 of the fitness equipment 100 may be provided with a display screen, so that the user may look up the fitness data through the display screen on the first moving arm 21; alternatively, the exercise apparatus 100 may be provided with a speaker, and the exercise data may be output from the speaker to inform the user of the exercise data that is currently or has been exercised. Thus, the user can quickly obtain the fitness data and make exercise adjustment accordingly.

It is understood that the interaction manner of the user with the terminal and/or the exercise device 100 may include, but is not limited to, touch, body feeling, voice, and the like.

In one embodiment, the display method includes, but is not limited to, any one or more of a text mode, a graphic mode and a video mode.

Referring to fig. 13, in one embodiment, the present invention further provides a data monitoring device 400, which is applied to the exercise apparatus 100 in any of the above embodiments. The data monitoring device 400 includes a force information acquisition module 410, a joint angle acquisition module 420, and a fitness data acquisition module 430.

The stress information acquiring module 410 is used for acquiring stress information of the operating element 30 at different positions in a preset time period;

a joint angle obtaining module 420, configured to obtain a joint included angle between the moving arm assembly 20 and the base 10 within a preset time period;

and the body-building data acquisition module 430 is used for acquiring body-building data according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating element coordinate system.

For specific limitations of the data monitoring device 400, reference may be made to the above limitations of the control method of the exercise apparatus 100, which are not described herein again. The various modules in the data monitoring apparatus 400 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

The invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the following steps:

In one of the embodiments, the processor, when executing the computer program, also performs the steps of the control method in all of the other described embodiments.

The present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

In one of the embodiments, the computer program, when being executed by the processor, further realizes the steps of the control method in all the other described embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An exercise apparatus, comprising:

a base;

the moving arm assembly is movably connected with the base;

an operating member disposed on the motion arm assembly;

the force detection assembly is arranged on the operating piece and used for detecting the stress information of the operating piece at different positions;

the angle sensor assembly is arranged on the motion arm assembly and used for detecting a joint angle between the motion arm assembly and the base; and

and the controller is used for acquiring body-building data according to the stress information, the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system.

2. The exercise apparatus of claim 1 wherein said motion arm assembly comprises a plurality of motion arms rotatably connected in series, one of said motion arms on the outer side rotatably connected to said base;

the exercise equipment further comprises a driving assembly, wherein the driving assembly comprises a plurality of motors, the motors correspond to the motion arms one to one and are respectively used for driving the motion arms to rotate relative to the base.

3. The exercise device of claim 2, wherein the motion arm assembly comprises:

the first moving arm is rotatably connected with the base and forms a first joint at the connection part; and

the second moving arm is rotatably connected with the first moving arm, a second joint is formed at the connection part, and the operating piece is arranged on the position, far away from the second joint, of the second moving arm;

the motor comprises a first motor and a second motor, the first motor is used for driving the first moving arm to rotate around the first joint relative to the base, and the second motor is used for driving the second moving arm to rotate around the second joint relative to the first moving arm.

4. The exercise device of claim 3, wherein the angle sensor assembly comprises a first angle sensor and a second angle sensor;

the first angle sensor is arranged on the first moving arm, is electrically connected with the controller, is used for detecting a joint included angle between the first moving arm and the base, and sends a detection result to the controller;

the second angle sensor is arranged on the second moving arm, electrically connected with the controller, used for detecting a joint included angle between the second moving arm and the first moving arm and sending a detection result to the controller.

5. The exercise device of any one of claims 1 to 4, wherein the force detection assembly comprises a pressure detection unit comprising:

the first pressure sensor is used for detecting the stress information of the operating piece in a first direction;

the second pressure sensor is arranged adjacent to the first pressure sensor and used for detecting the stress information of the operating piece in a second direction, and the second direction is perpendicular to the first direction;

the third pressure sensor is arranged opposite to the first pressure sensor and used for detecting the stress information of the operating piece in a third direction, and the third direction is opposite to the first direction; and

and the fourth pressure sensor is arranged opposite to the second pressure sensor and used for detecting the force information of the operating piece in a fourth direction, and the fourth direction is opposite to the second direction.

6. The exercise device of any one of claims 1 to 4, further comprising:

a heart rate sensor for detecting heart rate information of a user;

and/or a body temperature sensor for detecting body temperature information of the user.

7. A data monitoring method is characterized by being applied to fitness equipment, wherein the fitness equipment comprises a base, a motion arm assembly and an operating part; the motion arm assembly is movably connected with the base; the operating member is arranged on the moving arm assembly; the data monitoring method comprises the following steps:

8. The data monitoring method of claim 7, wherein the step of obtaining fitness data based on the force information, the joint angle, and the translation between the base coordinate system and the operator coordinate system comprises:

and acquiring the stress of the operating part in a preset direction according to the stress information, the joint included angle and the conversion relation between the base coordinate system and the operating part coordinate system, and determining the output characteristic data.

9. The method of claim 7, wherein the step of obtaining fitness data based on the joint angle and the translation between the base coordinate system and the operator coordinate system comprises:

acquiring position information of the operating part according to the joint angle and the conversion relation between the base coordinate system and the operating part coordinate system;

acquiring the initial position of the operating part in the preset direction according to the position information, and determining the total number of exercise actions; the exercise action is the movement process of the operating member from the initial position to each return to the initial position;

and acquiring the farthest position which is farthest from the initial position in each exercise action, and determining exercise amplitude data according to the amplitude difference value between the initial position and the farthest position in each exercise.

10. The data monitoring method of claim 9, further comprising, after the step of determining exercise amplitude data based on the amplitude difference between the initial position and each of the farthest positions:

judging whether the amplitude difference value of the farthest position and the initial position is larger than a preset exercise amplitude each time;

if yes, determining the exercise motions as effective exercise motions, and counting the total number of the effective exercise motions.

11. The data monitoring method according to claim 7, wherein before the step of obtaining the stress information of the operating element at different positions within a preset time period, the method further comprises:

receiving an input of exercise information; the exercise information comprises exercise modes, preset exercise resistance, exercise time and exercise speed.

12. A data monitoring device is characterized by being applied to fitness equipment, wherein the fitness equipment comprises a base, a motion arm assembly and an operating part; the motion arm assembly is movably connected with the base; the operating member is arranged on the moving arm assembly; the data monitoring device comprises:

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a controller, carries out the steps of the method of any one of claims 7 to 11.