CN115869581A - Rope recovery method and device for fitness equipment, fitness equipment and storage medium - Google Patents
Rope recovery method and device for fitness equipment, fitness equipment and storage medium Download PDFInfo
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- CN115869581A CN115869581A CN202110962551.6A CN202110962551A CN115869581A CN 115869581 A CN115869581 A CN 115869581A CN 202110962551 A CN202110962551 A CN 202110962551A CN 115869581 A CN115869581 A CN 115869581A
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Abstract
The invention relates to the technical field of fitness equipment, and discloses a rope recovery method and device of the fitness equipment and the fitness equipment. The rope recovery method of the fitness equipment comprises the following steps: determining the change result of the rope unwinding length of the winding assembly under the action of the current recovery force, and recovering the rope according to the change result. The embodiment fully considers the recovery effect of the current recovery operation on the rope, can apply the recovery force to the rope tentatively, flexibly and gradually recover the rope, avoids continuously outputting the fixed recovery force without considering the current recovery condition and easily causes the occurrence of the condition of safety accidents, and can reliably and effectively recover the rope.
Description
Technical Field
The invention relates to the technical field of fitness equipment, in particular to a rope recovery method and device of the fitness equipment, the fitness equipment and a storage medium.
Background
The existing fitness equipment is various in types, people can exercise different parts of the human body by utilizing various fitness equipment, and the rope type fitness equipment is simple and easy to use and can help people to exercise muscle strength on each part.
Typically, each time the cord-type exercise device is powered up, an initialization routine is performed to retrieve the cord. Generally, the fitness equipment recovers the rope according to the fixed recovery force, even if one end of the rope is clamped by a foreign object, the fitness equipment can continuously output the fixed recovery force to pull the rope hard, and the recovery method is easy to cause safety accidents.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a rope recovering method and apparatus for an exercise machine, and an exercise machine, which are used to solve the technical defects in the prior art.
In a first aspect, embodiments of the present invention provide a method of recovering a cord of an exercise machine, comprising:
determining a change result of the rope paying-off length of the winding assembly under the action of the current recovery force;
and recovering the rope according to the change result.
Optionally, the change result comprises a length invariance or a length change, and according to the change result, the retrieving the rope comprises:
if the length is unchanged as a result of the change, increasing the current recovery force to a target recovery force, and recovering the rope according to the target recovery force;
and if the change result is the length change, recovering the rope according to the position of the winding assembly.
Optionally, the increasing the current recovery force to a target recovery force comprises:
and increasing the current recovery force to a target recovery force according to a preset recovery function.
Optionally, said recovering the rope according to the target recovery force comprises:
determining a change result of the rope releasing length of the rope under the action of the target recovery force;
if the length is unchanged as a result of the change, recovering the rope according to the target recovery force and the recovery force threshold;
and if the length is changed as a result of the change, the rope is recovered according to the position of the winding assembly.
Optionally, said retrieving said line according to said target retrieval force and retrieval force threshold comprises:
judging whether the target recovery force is greater than or equal to the recovery force threshold value;
if yes, generating prompt information;
and if not, recovering the rope according to the current recovery force.
Optionally, after generating the prompt message, the method further includes: reducing the current recovery force of the rope to a preset recovery force.
Optionally, said retrieving the cord according to the position of the free end of the cord comprises:
judging whether the winding assembly is at an initial position;
if yes, entering a standby state;
if not, the rope is recovered according to the specified recovery force.
Optionally, the specified recovery force is an initial recovery force at the beginning of recovering the rope; or the specified recovery force is a force which is in a preset proportion to the current recovery force; or, the specified recovery force is a force determined according to the current recovery force.
In a second aspect, embodiments of the present invention provide a cord retrieval apparatus for an exercise machine, comprising:
the length determining module is used for determining whether the rope releasing length is changed under the action of the current recovery force;
and the rope recovery module is used for recovering the rope according to the change result.
In a third aspect, embodiments of the present invention provide an exercise apparatus comprising:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the cord retrieval method of an exercise machine described above.
In a third aspect, embodiments of the present invention provide a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a cord retrieval method for an exercise apparatus as described above.
In the rope recovery method for the fitness equipment provided by the embodiment of the invention, the change result of the rope releasing length of the winding assembly under the action of the current recovery force is determined, and the rope is recovered according to the change result.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an exercise apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a winding assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another winding assembly according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for recovering a cable from an exercise apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a method for retrieving a cable from an exercise apparatus according to another embodiment of the present invention;
FIG. 6a is a schematic view of the flow of S42 shown in FIG. 5;
FIG. 6b is a schematic flowchart of S421 shown in FIG. 6 a;
FIG. 6c is a first flowchart of S4212 shown in FIG. 6 b;
FIG. 6d is a second flowchart of S4212 shown in FIG. 6 b;
FIG. 7 is a schematic flow chart of S422 of the pair shown in FIG. 6 a;
FIG. 8a is a schematic diagram of a cord retraction device for an exercise apparatus, according to an embodiment of the present invention;
fig. 8b is a schematic structural view of the rope recovery module shown in fig. 8 a;
fig. 9 is a schematic circuit structure diagram of an exercise 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 below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in device schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in a different order than the block divisions in devices, or in flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
The embodiment of the invention provides an exercise machine. Referring to fig. 1, the exercise apparatus 100 includes a frame body 200 and two pulling force assemblies 300, wherein the two pulling force assemblies 300 are respectively installed at two opposite sides of the frame body 200.
The stand body 200 has a support surface 21 for supporting a user, and the user can stand on the support surface 21 of the stand body 200 and operate the pulling force assembly 300 with both hands during exercise.
The pulling force assembly 300 comprises a counterweight mechanism 31 and a winding assembly 32, the winding assembly 32 is connected with the counterweight mechanism 31, and the counterweight mechanism 31 can drive the winding assembly 32 to move.
Referring to fig. 2, the counterweight mechanism 31 includes a motor 311, the motor 311 is installed in the bracket body 200, an output shaft of the motor 311 is connected to the winding assembly 32, and the motor 311 can drive the winding assembly 32 to move.
With reference to fig. 2, the winding assembly 32 includes a winding wheel 321 and a rope 322, an output shaft of the motor 311 is connected to the winding wheel 321, the winding wheel 321 has a slot, and all the rope 322 is wound in the same slot, wherein a first end of the rope 322 is used for a user to apply a pulling force, and a portion of the rope far from the first end is wound in the slot of the winding wheel 321.
The motor 311 can drive the reel 321 to rotate along with the rope 322, and when the output shaft of the motor 311 moves in the first circumferential direction, the reel 321 can wind the rope 322 in the wire slot. When the output shaft of the motor 311 moves in a second circumferential direction, the reels 321 can carry the rope 322 out of the trunking, and the first circumferential direction is opposite to the second circumferential direction.
While exercising, the user first sets the current resistance on the exercise machine 100. Next, the user stands on the support surface 21, and pulls the rope 322 with both hands. The exercise machine 100 controls the operating state of the motor 311 based on the current resistance. Under the control of the motor 311, the reel 321 pulls the rope 322 to generate current resistance, and the rope 322 can be wound on the wheel surface of the reel 321 or separated from the wheel surface of the reel 321 under the action of the pulling force of a user and the current resistance.
The structure of the winding assembly 32 is different from that of the winding assembly 32 shown in fig. 2 in that, in some embodiments, referring to fig. 3, the winding assembly 32 further includes a rotating shaft 323 and a mounting bracket 324, one end of the winding reel 321 is sleeved on the output shaft of the motor 311, the other end of the winding reel 321 is fixedly connected with one end of the rotating shaft 323, the other end of the rotating shaft 323 is movably mounted on the mounting bracket 324, a spiral winding groove is formed on the periphery of the winding reel 321, and the rope 322 is sequentially wound in the spiral winding groove.
When the reel 321 is at the initial position, that is, when the reel 321 is at the leftmost side in fig. 3, the reel 321 is in the initial state, at which time the motor 311 stops outputting torque and all the ropes 322 are wound in the corresponding slots.
During body building, a user applies pulling force to the rope 322, the motor 311 outputs resistance to the wire winding wheel 321, the rope 322 overcomes the resistance under the action of the pulling force to pull the wire winding wheel 321 to rotate, the wire winding wheel 321 drives the rotating shaft 323 to rotate, and then the wire winding wheel 321 and the rotating shaft 323 move axially away from the initial position along the output shaft of the motor 311, so that part of the rope gradually separates from the spiral wire chase, wherein the separation length of the part of the rope 322 from the wire chase is equal to the movement distance of the wire winding wheel 321 during axial movement away from the initial position, and the outlet position 325 of the rope 322 relative to the mounting frame 324 is kept unchanged, so that constant torque is kept, the pulling force required by the user is constant, and the expected training effect is achieved.
When the rope 322 needs to be recovered, the motor 311 outputs resistance to the winding wheel 321 to drive the winding wheel 321 to rotate, so that the rope 322 is wound back into the wire slot of the winding wheel 321, and meanwhile, the winding wheel 321 moves in the axial direction close to the initial position.
Typically, each time the exercise apparatus 100 is powered on, an initialization operation is performed, wherein the initialization operation includes a cord retrieval operation. Generally, the rope outlet of the exercise apparatus 100 is provided with a travel switch, when the free end of the rope 322 is located at the rope outlet, that is, all the rope 322 is recovered into the exercise apparatus 100, at this time, the rope 322 abuts against the travel switch, so that the travel switch generates a zero position signal, and the exercise apparatus 100 determines that the rope 322 is completely recovered according to the zero position signal.
When the free end of the cord 322 is not at the cord exit, i.e., when at least a portion of the cord 322 has been pulled from the interior of the exercise apparatus 100, the cord 322 disengages from the travel switch, and the travel switch fails to generate the zero signal, the exercise apparatus performs a cord retrieval operation because the zero signal is not detected by the exercise apparatus 100 and the initialization routine is performed upon power-up.
As another aspect of an embodiment of the present invention, a method of recovering a cord in an exercise apparatus is provided. Referring to fig. 4, a method S400 for retrieving a cable of an exercise apparatus includes:
s41, determining a change result of the rope paying-off length of the winding assembly under the action of the current recovery force;
by way of example and not limitation, the recovered force is the force applied to the cord by the exercise machine for the purpose of recovering the cord into the exercise machine, and the current recovered force is the recovered force currently applied to the cord by the exercise machine. It is understood that the current recovery force may be the same or different at different times, for example, at time t1, the current recovery force is 200 n. At time t2, the current recovery force was 250 newtons.
By way of example and not limitation, the payout length is a length of the rope that has been paid out when the free end of the rope is paid out from the current position to the initial position, for example, the length of the rope that has been paid out when the free end is set at the initial position is 0. When the free end moves from the initial position to the current position, the length of the rope that the rope has paid out from the reel is 30 centimeters, and therefore, the payout length =30-0=30 centimeters.
By way of example and not limitation, the free end is the end of the rope that is not wound onto the reel and is free to move, wherein the free end is self-defined by the user according to the above definition, as previously described, the free end may be the first end of the rope, or the free end may be a location on the reel that is not wound onto the reel at a specified length from the first end and is free to move, the specified length being user-defined by the user, for example, the specified length being 3 centimeters or 5 centimeters, etc.
By way of example and not limitation, the initial position is the position of the free end when the rope is fully wound onto the reel, e.g., the rope is not being pulled and the rope is fully wound onto the reel under the effect of the recovery force, at which time the position of the free end is the initial position.
By way of example and not limitation, the change result is used to indicate a change of the payout length of the winding assembly under the current recovery force, in some embodiments, the rope is caught or blocked by a foreign object, and the change result of the payout length may be a constant length, that is, the payout length of the winding assembly does not change even if the winding assembly is subjected to the current recovery force because the rope is caught or blocked by the foreign object. In some embodiments, the rope is not caught or blocked by the foreign object, and the change of the rope releasing length may result in the changed length, that is, the rope releasing length of the winding assembly is changed under the current recovery force because the rope is not caught or blocked by the foreign object.
In some embodiments, S41 comprises: the method comprises the steps of obtaining an angle change difference value of a motor, and determining a change result of the rope unwinding length of a winding assembly under the action of the current recovery force according to the angle change difference value, wherein the angle change difference value is a difference value of rotation angles at two adjacent moments.
The motor is provided with an angle sensor for acquiring the rotation angle of the motor. Usually, when the rope is blocked or blockked by the foreign matter, because the reel of motor also can receive the pulling force that the foreign matter gave, the motor can't drive the reel and rotate, because the reel can't rotate, the unable rope of retrieving of reel, consequently, the angle change difference that angle sensor gathered this moment is close or equals 0.
When the rope is not clamped or blocked by foreign matters, the motor can drag the rope to rotate by the recovery force applied to the rope by the winding wheel, so that the rope is recovered into the body-building apparatus, and the angle change difference value acquired by the angle sensor is larger than 0.
Therefore, the exercise machine determines the change result of the unreeled rope length by acquiring the angle change difference according to the angle change difference, for example, when the angle change difference is equal to 0, the change result is determined as the length is not changed. When the angle change difference is greater than 0, determining that the change result is a length change. For example, at the time point t1, the rotation angle is θ 1, at the time point t2, the rotation angle is θ 2, and when Δ θ = θ 2- θ 1=0, it means that the motor does not rotate from the time point t1 to the time point t2, and therefore, the length is not changed as a result of the change. When Δ θ = θ 2- θ 1>0, it indicates that the motor has rotated from the time point t1 to the time point t2, and therefore, the length changes as a result of the change.
In addition to using the angle sensor to detect the change in payout length, in some embodiments, the payout length of the rope or the position of the reel relative to the mount may be directly detected to determine the change in payout length.
In some embodiments, S41 comprises: and determining the rope releasing lengths of the ropes at two adjacent moments, and further determining the change result of the rope releasing length of the winding assembly under the action of the current recovery force.
For example, the motor outputs a current recovery force to the winding assembly, wherein the winding wheel can drive the rope to move under the current recovery force. The fitness equipment obtains the moving speed and the moving duration of a rope, and the rope releasing length is calculated according to the moving speed and the moving duration, wherein the moving speed is the speed when the rope moves from an initial position to a current position, the moving duration is the duration required when the rope moves from the initial position to the current position, in some embodiments, a linear velocity sensor is arranged at the initial position and can acquire the moving speed of the rope, and when the free end of the rope is at the initial position, the time T is recorded Front side Let time T Rear end The moving speed is v for the current time, and the rope releasing length L = v (T) Rear end -T Front side )。
From T 0 To T 1 At any moment, the rope releasing length L 1 ＝v*(T 1 -T 0 ). From T 1 To T 2 At any moment, the rope releasing length L 2 ＝v*(T 2 -T 1 )，ΔL＝L 2 -L 1 If Δ L is greater than 0, the change results in a length change. If Δ L is equal to 0, the length is unchanged as a result of the change.
In some embodiments, since the reel is movable relative to the mount during pulling of the rope and recovering of the rope, S41 further includes: the positions of the reels at two adjacent moments are determined, and the change result of the unreeling length of the winding assembly under the action of the current recovery force is determined according to the positions of the reels at the two adjacent moments.
For another example, the motor outputs a current recovery force to the winding assembly, wherein the winding wheel can drive the rope to move under the current recovery force. The body-building apparatus is equipped with the position detection module, and the position detection module is used for detecting the position of the relative mounting bracket of reel.
From T 0 To T 1 At this time, the position detection module detects that the position of the reel relative to the mount is S1. From T 1 To T 2 At the moment, the position detection module detects the relative position of the reelThe position of the mounting rack is S2, and if the position S1 and the position S2 belong to the same position, the length is unchanged as a result of the change. If the position S1 and the position S2 belong to different positions, the length change is the result of the change.
In some embodiments, the position detecting module includes an infrared transceiver disposed on the mounting bracket, the infrared transceiver is capable of emitting an infrared signal, the infrared signal is reflected back to the infrared transceiver by the reel, the infrared transceiver calculates a distance between the infrared transceiver and the reel according to the emission time and the reception time, and determines the position of the reel according to the distance. The infrared transceiver comprises an infrared transmitter and an infrared receiver, and the infrared transmitter and the infrared receiver can be arranged on the same side of the mounting rack and also can be respectively arranged on different sides of the mounting rack.
It will be appreciated that any suitable position sensing arrangement may be selected by those skilled in the art to sense the position of the reel and is not limited to the embodiments provided above.
S42, recovering the rope according to the change result;
by way of example and not limitation, retraction is the act of winding the cord back onto the exercise apparatus, during which the exercise apparatus may retract the cord in accordance with the retraction force.
Therefore, the embodiment fully considers the recovery effect of the current recovery operation on the rope, can apply the recovery force to the rope tentatively, and can flexibly and gradually recover the rope, thereby avoiding the occurrence of the situation that the safety accident is easily caused by continuously outputting the fixed recovery force regardless of the current recovery situation, and further reliably and effectively recovering the rope.
In some embodiments, prior to performing S41, referring to fig. 5, the method S400 of recovering a tether further includes:
s43, acquiring a power-on signal;
s44, judging whether the winding assembly is at the initial position or not according to the electrifying signal, if so, executing S45, and if not, entering S41;
and S45, entering a standby state.
By way of example and not limitation, the power-on signal is a signal for starting the operation of the exercise apparatus, and the power-on signal is used for triggering the exercise apparatus to perform an initialization operation, where the initialization operation includes a rope recovery operation, and the power-on signal may be triggered by a user pressing a power button of the exercise apparatus, or may be triggered in other forms.
The fitness equipment needs to execute rope recovery operation according to the power-on signal. Before performing a rope recovery operation, the exercise machine needs to determine whether the winding assembly is in an initial position, e.g., whether the free end of the rope is in an initial position, or whether the reel is in an initial position. If the rope is in the initial position, the rope is completely recovered into the fitness equipment, the rope recovery operation is not required to be executed, and the fitness equipment enters a standby state to wait for an operation command of a user. If not in the home position, the exercise machine requires that the cord be retrieved for later operation by the user.
In some embodiments, when the exercise machine determines that the winding assembly is not at the initial position, the initial recovery force may be selected as the current recovery force to perform S41, that is, the change of the pay-off length of the rope due to the initial recovery force is determined, wherein the initial recovery force is the force output from the motor to the winding assembly when the exercise machine is in the recovery mode. It will be appreciated that the user may operate the exercise machine to set the initial recovery force, for example, 10 newtons or 20 newtons, etc. Alternatively, the exercise machine selects the default recovery force as the initial recovery force.
Generally, if the rope is recovered too fast, related safety accidents are easily caused or the loss of the exercise equipment is caused, for example, the rope with too high moving speed easily cuts or hurts the user, and meanwhile, the handle can generate large impact on the body of the exercise equipment due to too fast recovery speed of the rope, so that the service life of the exercise equipment is shortened. If the exercise machine is retracting the cord too slowly, the user may have to wait a longer time to operate the cord, which is not conducive to the user's experience.
Typically, the user-acceptable speed ranges from 0.3 m/s to 0.5 m/s, and in some embodiments the rope moves at a speed equal to the preset speed threshold under the influence of the initial recovery force. Wherein, the preset speed threshold value can select any speed value in the speed range [0.3,0.5 ]. Correspondingly, when the rope is not under tension and corresponds to the speed range of 0.3,0.5, the initial recovery force takes on the value range of 10 newtons and 20 newtons. The fitness equipment slowly and progressively recovers the rope according to the initial recovery force, and the problem caused by too fast or too slow recovery of the rope is avoided.
In some embodiments, the change results include a constant length or a change in length, see fig. 6a, s42 including:
s421, if the length is unchanged as a result of the change, increasing the current recovery force to a target recovery force, and recovering the rope according to the target recovery force;
and S422, if the length is changed as a result of the change, recovering the rope according to the position of the winding assembly.
By way of example and not limitation, a constant length corresponds to the result that the payout length of the rope does not change under the current recovery force. The result corresponding to the length change is the result that the rope releasing length of the rope changes under the action of the current recovery force.
By way of example and not limitation, the exercise machine increases the current recovery force to a target recovery force, wherein the magnitude of the increase is customizable by the user. In some embodiments, S421 includes: and increasing the current recovery force to the target recovery force according to a preset recovery function.
In some embodiments, the preset recovery function is a linear recovery function, and increasing the current recovery force to the target recovery force according to the preset recovery force function comprises: adding the current recovery force to the target recovery force according to a linear recovery function, e.g., y = k 0 x+b 0 X is the current recovery power, y is the target recovery power, k 0 And b 0 Are all known values.
At t 1 At the moment, the current recovery force is x 1 Then y is 1 ＝x 1 *k 0 +b 0 Thus, the exercise machine will determine the current recovery force x according to the predetermined recovery force function 1 Increase to the target recovery force y 1 The exercise machine recovering force y according to the target 1 RecoveringA rope. When the time reaches t 2 At the moment, since the current recovery force is t 1 Target recovery force y of time 1 According to a linear recovery function, the current recovery force y 1 Increase to the target recovery force y 2 Wherein x = y 1 ，y 2 ＝k 0 x+b 0 ＝k 0 *(x 1 *k 0 +b 0 )+b 0 。
In some embodiments, the preset recovery function is a curvilinear recovery function, and increasing the current recovery force to the target recovery force according to the preset recovery force function comprises: adding the current recovery force to the target recovery force according to a curvilinear recovery function, e.g., y = k 0 x 2 +b 0 x + c, x is the current recovery power, y is the target recovery power, k 0 And b 0 Are all known values.
At t 3 At the moment, the current recovery force is x 1 Then y is 1 ＝k 0 x 1 2 +b 0 x 1 + c, therefore, the exercise machine will deliver the current recovery force x according to the preset recovery force function 1 Increase to the target recovery force y 1 The exercise machine recovering force y according to the target 1 And (6) recovering the rope. When the time reaches t 2 At the moment, since the current recovery force is t 1 Target recovery force y of time 1 According to a curve recovery function, the current recovery force y 1 Increase to the target recovery force y 2 Wherein x = y 1 ，y 2 ＝k 0 x 2 +b 0 x+c＝k 0 (k 0 x 1 2 +b 0 x 1 +c) 2 +b 0 (k 0 x 1 2 +b 0 x 1 +c)+c。
As described above, when the length of the rope is not changed as a result of the change, it means that the rope is caught or blocked by the foreign object, and the current recovery force is at least smaller than the resistance force generated by the foreign object, and in order to be able to recover the rope more intelligently and to take into account the problem of recovery safety, the exercise machine may tentatively increase the current recovery force to the target recovery force, and recover the rope according to the target recovery force, it can be understood that when the exercise machine recovers the rope with the target recovery force, the target recovery force is the current recovery force.
In some embodiments, when the change results in a length change, the winding assembly may return to or continue near the initial position under the current recovery force, e.g., the free end of the rope returns to or continues near the initial position, or the reel returns to or continues near the initial position. If the winding assembly returns to the initial position, the exercise apparatus need not continue to retrieve the cord. If the winding assembly has not returned to the initial position, the exercise apparatus continues to retrieve the cord.
In some embodiments, the length of the rope can be changed or not when the exercise device recovers the rope according to the target recovery force, please refer to fig. 6b, and s421 includes:
s4211, determining a change result of the rope releasing length of the winding assembly under the action of a target recovery force;
s4212, if the length is unchanged as a result of the change, recovering the rope according to the target recovery force and the recovery force threshold;
and S4213, if the length is changed as a result of the change, recovering the rope according to the position of the winding assembly.
By way of example and not limitation, the threshold recovery force is a critical recovery force at which the rope enters a dangerous state, wherein the dangerous state includes that the rope is stressed too much to be easily damaged or that the rope can break loose from the constraint of foreign objects but a safety accident occurs as a result. Since the hazardous condition is customizable by the user, the threshold recovery force may also be customized by the user, for example, if the rope moves at a speed greater than 2 meters/second into the hazardous condition, the threshold recovery force is 80 newtons.
In some embodiments, if the length is unchanged as a result of the change, it indicates that the rope is not moved due to the constraint of the foreign object, on one hand, the exercise apparatus needs to continue to increase the recovery force to recover the rope, and on the other hand, when the rope is recovered under the increased recovery force, the problem that the excessive recovery force causes a safety hazard through the rope needs to be considered, so the exercise apparatus needs to recover the rope according to the target recovery force and the recovery force threshold.
As mentioned above, when the rope is caught or blocked by the foreign object and the resistance generated by the foreign object is larger than the target recovery force, the length of the rope can be unchanged, that is, the length is unchanged as a result of the change, and the target recovery force can be increased again subsequently, but considering that the excessive increase of the recovery force generates some adverse results, on one hand, once the larger recovery force causes the rope to break away from the resistance constraint of the foreign object, the acceleration of the rope changes greatly, and the moving speed during recovery is too fast, which easily causes various consequences, for example, the excessive recovery force causes the rope to break away from the constraint resistance of the foreign object, so the rope starts to recover at a high speed, and during the high-speed recovery process, the rope is tied to the child and drags the child to move, and therefore, the continuous increase of the recovery force causes excessive recovery force to cause personal safety hazards.
On the other hand, when the larger recovery force is unable to make the rope break away from the resistance constraint of the foreign object, the continuously increased recovery force is also a loss to the rope, and since the exercise machine continuously increases the recovery force, the rope is continuously subjected to the dual effects of the resistance and the recovery force for a long time, the material of the rope is over-fatigued, and the service life of the rope is reduced, so that the exercise machine needs to recover the rope according to the target recovery force and the recovery force threshold value so as to seek the balance point under the above circumstances.
When the rope is not caught or blocked by the foreign object, or even if the rope is blocked by the foreign object, the rope can break away from the resistance of the foreign object due to a small recovery force, therefore, in order to smoothly and reliably recover the rope into the exercise machine, in some embodiments, the exercise machine may recover the rope according to the position of the winding assembly or the position of the free end of the rope, for example, even if a part of the rope is recovered by the target recovery force, but another part of the rope is not recovered into the exercise machine, the exercise machine needs to recover the rope gradually according to the position of the winding assembly or the position of the free end of the rope.
In some embodiments, referring to fig. 6c, s4212 comprises:
s61, judging whether the target recovery force is larger than or equal to a recovery force threshold value;
s62, if yes, generating prompt information;
and S63, if not, recovering the rope according to the current recovery force.
By way of example and not limitation, the prompting message is a message for prompting intervention manual operation, wherein the prompting message has a wide variety of expression types, for example, the prompting message is a voice message, a text message, a flash message, or the like.
For example, at time t10, the target recovery power is 20 n and the recovery power threshold is 40 n. Assuming that the payout length does not change, the exercise machine takes the target recovery force at time t10 as the current recovery force because the target recovery force 20 n at time t10 is less than the recovery force threshold 40 n.
Assuming that the preset recovery function is a linear recovery function, and the linear recovery function is y =1.5x, the step S421 is executed at the time t11, and the target recovery force is 1.5 × 20=30 n. The exercise machine retrieves the cords according to the target retrieval force. Assuming that the payout length does not change, the exercise machine takes the target recovery force at time t11 as the current recovery force because the target recovery force 30 n at time t11 is less than the recovery force threshold 40 n.
At time t12, step S421 is executed, and the target recovery force is 1.5 × 30=45 n. The exercise machine retrieves the cords according to the target retrieval force. Assuming that the payout length does not change, the exercise machine generates a prompt to prompt the user to intervene in the process of retrieving the rope, since the target retrieval force 45 n at time t12 is greater than the retrieval force threshold 40 n.
In some embodiments, in performing S63, the exercise device may return to step S421 with the target recovery force as the current recovery force, i.e., increase the current recovery force to the target recovery force, and recover the cable according to the target recovery force.
As mentioned above, when the length of the rope is not changed and the target recovery force is greater than or equal to the recovery force threshold, it indicates that the rope is stuck on the foreign object with a large resistance with a large probability, and the recovery force applied to the rope is relatively large, and as mentioned above, when the larger recovery force cannot make the rope break loose from the resistance constraint of the foreign object, the recovery force that continuously increases is also a loss for the rope, and when the rope breaks loose from the resistance constraint of the foreign object due to the manual intervention, the rope moves fast at the moment of recovery under the large recovery force, which is easy to cause a safety accident or reduce the user experience, so in some embodiments, after the prompt information is generated, see fig. 6d, s4212 further including S64, S64: the current recovery force of the rope is reduced to a preset recovery force.
By way of example and not limitation, the preset recovery force is the recovery force that reduces the speed of movement of the cord to a minimum speed, in some embodiments the minimum speed is 0 and the preset recovery force is 0, i.e., when the preset recovery force is 0, the exercise machine applies a force to the cord until the current recovery force is discharged to 0. When the manual work intervenes and makes the rope shake off the resistance constraint of foreign matter, the rope can not remove, receives too big recovery power and the accident that causes that removes at a high speed on avoiding the rope.
In some embodiments, if the length change is a change, it indicates that the rope can be retracted under the current retracting force, and in order to fully retract the rope into the exercise apparatus, in some embodiments, please refer to fig. 7, S422 includes:
s4221, judging whether the winding assembly is at an initial position;
s4222, if yes, entering a standby state;
s4223, if not, the rope is recovered according to the specified recovery force.
As an example and not by way of limitation, the specified recovery force may be customized, and in some embodiments, the specified recovery force is a recovery force at which a change in the payout length of the rope currently occurs, that is, the specified recovery force is a current recovery force, for example, at time t13, the current recovery force is 60 newtons, and the payout length of the rope under the current recovery force does not change, but at time t14, the current recovery force is 70 newtons, and the length of the rope under the current recovery force changes, so that current recovery force =70 newtons may be used as the specified recovery force, and the exercise apparatus recovers the rope according to the specified recovery force.
In some embodiments, the specified recovery force is an initial recovery force at the beginning of recovering the rope in a recovery mode, which is a mode of recovering the rope, typically the initial recovery force is relatively small with respect to a recovery force threshold. Further, when the payout length of the rope is switched from the constant state to the variable state, a relatively large recovery force is often required, and the recovery force is often larger than the initial recovery force. In addition, when the rope breaks loose the resistance constraint of the foreign matter and appears moving, the rope often can break loose the resistance of the foreign matter once only and instantaneously, and the resistance of the foreign matter can not be received subsequently, so that most of the situations do not need large recovery force or only need initial recovery force to successfully recover the rope after the rope breaks loose the resistance constraint of the foreign matter.
After the resistance constraint of the foreign matter is struggled for to the rope, adopt initial recovery power to retrieve the rope as current, the rope can be retrieved to this embodiment slow low-speed relatively, and the travelling speed of avoiding retrieving is too fast and causes the incident easily or reduces user experience and feels.
In some embodiments, the specified recovery force is a force that is a preset proportion of the current recovery force, wherein the preset proportion is user-defined, for example, the preset proportion is 50%.
In some embodiments, the specified recovery force is a force determined from the current recovery force, e.g., if the current recovery force is greater than the safe recovery force, the specified recovery force is set to a force that is a minimum preset proportion of the current recovery force, e.g., a minimum preset proportion of 10%. If the current recovery force is less than the safe recovery force, the specified recovery force is set to a force that is a maximum preset proportion of the current recovery force, for example, a maximum preset proportion of 80%.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist among the steps, and it can be understood by those skilled in the art according to the description of the embodiments of the present invention that, in different embodiments, the steps may have different execution orders, that is, may be executed in parallel, may also be executed interchangeably, and the like.
As another aspect of an embodiment of the present invention, an embodiment of the present invention provides a rope recovery apparatus for an exercise machine. The rope recovery device of the exercise apparatus may be a software module, and the software module includes a plurality of instructions, which are stored in a memory, and the processor may access the memory and call the instructions to execute the instructions, so as to complete the rope recovery method of the exercise apparatus described in the above embodiments.
In some embodiments, the rope recovery device of the exercise apparatus may also be built by hardware components, for example, the rope recovery device of the exercise apparatus may be built by one or more than two chips, and the chips may work in coordination with each other to complete the rope recovery method of the exercise apparatus described in the above embodiments. For another example, the rope retrieving device of the exercise apparatus may be constructed by various logic devices, such as a general processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, an ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.
Referring to fig. 8a, a cord recovery apparatus 800 for an exercise machine includes a length determination module 81 and a cord recovery module 82.
The length determining module 81 is used for determining whether the rope unwinding length of the winding assembly is changed under the current recovery force, and the rope recovering module 82 is used for recovering the rope according to the change result.
The embodiment fully considers the recovery effect of the current recovery operation on the rope, can apply recovery force to the rope tentatively, and flexibly and gradually recover the rope, thereby avoiding continuously outputting fixed recovery force to easily cause the occurrence of the condition of safety accidents regardless of the current recovery condition, and further reliably and effectively recovering the rope.
In some embodiments, the change result includes a constant length or a changed length, referring to fig. 8b, the rope recovering module 82 includes a first recovering unit 821 and a second recovering unit 822, the first recovering unit 821 is configured to: and if the length is unchanged as a result of the change, increasing the current recovery force to the target recovery force, and recovering the rope according to the target recovery force. The second recovery unit 822 is for: if the length changes as a result of the change, the rope is recovered according to the position of the free end of the rope.
In some embodiments, the first recovery unit 821 is specifically configured to: and increasing the current recovery force to the target recovery force according to a preset recovery function.
In some embodiments, the first recovery unit 821 is further specifically configured to: determining a change result of the rope paying-off length of the winding assembly under the action of the target recovery force; if the length is unchanged as a result of the change, the rope is recovered according to the target recovery force and the recovery force threshold; if the length changes as a result of the change, the rope is recovered according to the position of the winding assembly.
In some embodiments, the first recovery unit 821 is further specifically configured to: judging whether the target recovery force is greater than or equal to a recovery force threshold value; if yes, generating prompt information; and if not, recovering the rope according to the current recovery force.
In some embodiments, after generating the hint information, the first recycling unit 821 is further specifically configured to: the current recovery force of the rope is reduced to the preset recovery force.
In some embodiments, the second recovery unit 822 is specifically configured to: and judging whether the winding assembly is at an initial position, if so, entering a standby state, and if not, recovering the rope according to the specified recovery force.
In some embodiments, the specified recovery force is an initial recovery force at which recovery of the rope is initiated in a recovery mode; or, the specified recovery force is a force in a preset proportion to the current recovery force; or, the specified recovery force is a force determined according to the current recovery force.
The rope recovery device of the exercise machine can execute the rope recovery method of the exercise machine provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in the embodiments of the rope retracting device for an exercise machine, reference may be made to the rope retracting method for an exercise machine provided by the embodiments of the present invention.
Referring to fig. 9, fig. 9 is a schematic circuit structure diagram of an exercise machine according to an embodiment of the present invention. As shown in fig. 9, the exercise machine 900 includes one or more processors 91 and memory 92. In fig. 9, one processor 91 is taken as an example.
The processor 91 and the memory 92 may be connected by a bus or other means, and fig. 9 illustrates the connection by a bus as an example.
Memory 92, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the cord retrieval method of an exercise apparatus in accordance with embodiments of the present invention. Processor 91, by executing non-volatile software programs, instructions, and modules stored in memory 92, implements various functional applications and data processing of the tool state monitoring device, i.e., implements the cord retrieval method for an exercise machine and the functions of the various modules or units of the device embodiments described above.
The memory 92 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 92 may optionally include memory located remotely from the processor 91, which may be connected to the processor 91 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 92 and, when executed by the one or more processors 91, perform the cord retrieval method for an exercise machine of any of the method embodiments described above.
Embodiments of the present invention also provide a storage medium containing computer-executable instructions for execution by one or more processors, such as processor 91 of figure 9, to cause the one or more processors to perform a method of recovering a tether of an exercise apparatus in any of the method embodiments described above.
Embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions that, when executed by an exercise machine, cause the exercise machine to perform any of the method of cord retrieval for an exercise machine.
The above-described embodiments of the apparatus or device are only schematic, where the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A method of retrieving a cord for an exercise machine, comprising:
determining a change result of the rope paying-off length of the winding assembly under the action of the current recovery force;
and recovering the rope according to the change result.
2. The method of claim 1, wherein the change result comprises a length being constant or a length being changed, and wherein recovering the rope based on the change result comprises:
if the length is unchanged as a result of the change, increasing the current recovery force to a target recovery force, and recovering the rope according to the target recovery force;
and if the change result is the length change, recovering the rope according to the position of the winding assembly.
3. The method of claim 2, wherein the increasing the current recovery force to a target recovery force comprises:
and increasing the current recovery force to a target recovery force according to a preset recovery function.
4. The method of claim 2, wherein said recovering the rope based on the target recovery force comprises:
determining a change result of the rope unwinding length of the winding assembly under the action of the target recovery force;
if the length is unchanged as a result of the change, recovering the rope according to the target recovery force and the recovery force threshold;
and if the length is changed as a result of the change, the rope is recovered according to the position of the winding assembly.
5. The method of claim 4, wherein said recovering the rope based on the target recovery force and a recovery force threshold comprises:
judging whether the target recovery force is greater than or equal to the recovery force threshold value;
if so, generating prompt information;
and if not, recovering the rope according to the current recovery force.
6. The method of claim 5, after generating the prompt message, further comprising: reducing the current recovery force of the rope to a preset recovery force.
7. The method of claim 2, wherein said retrieving said rope based on said position of said winding assembly comprises:
judging whether the winding assembly is at an initial position;
if yes, entering a standby state;
if not, the rope is recovered according to the specified recovery force.
8. The method of claim 7, wherein the specified recovery force is an initial recovery force at which recovery of the rope is initiated in a recovery mode; or, the specified recovery force is a force in a preset proportion to the current recovery force; or, the specified recovery force is a force determined according to the current recovery force.
9. A cord retrieval apparatus for an exercise machine, comprising:
the length determining module is used for determining whether the length of the rope under the action of the current recovery force of the winding assembly changes;
and the rope recovery module is used for recovering the rope according to the change result.
10. An exercise machine, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a cord retrieval method for an exercise machine according to any one of claims 1 to 8.
11. A storage medium containing computer executable instructions for performing the cord retrieval method of an exercise machine according to any one of claims 1 to 8 when executed by a computer processor.
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