CN110270053B - Running machine motion detection method and device based on laser sensor - Google Patents
Running machine motion detection method and device based on laser sensor Download PDFInfo
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- CN110270053B CN110270053B CN201910600191.8A CN201910600191A CN110270053B CN 110270053 B CN110270053 B CN 110270053B CN 201910600191 A CN201910600191 A CN 201910600191A CN 110270053 B CN110270053 B CN 110270053B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B2071/0694—Visual indication, e.g. Indicia
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
- A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Emergency Alarm Devices (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a running machine motion detection method and device based on a laser sensor. When a sporter is in different exercise training courses, whether the sporter accords with a normal exercise state or not is judged, so that the sporter is reminded and assisted to perform exercise more effectively and reliably, and the sporter can also make corresponding safety protection measures, alarms and the like once abnormal dangerous actions or states are found on the basis. In addition, the running machine gauge head controller can obtain the motion state, trend and the like of the runner when analyzing the laser sensor data, so that the running machine gauge head controller can also adaptively control the gradient speed and the like of the running machine, and can provide more services and assistance for the runner.
Description
Technical Field
The invention relates to the field of body-building exercise equipment, in particular to a running machine motion detection method and device based on a laser sensor.
Background
Along with the improvement of the living standard of people and the increasing requirement on exercise and fitness, the running machine is accepted by the masses, and becomes a piece of mark-matched exercise and fitness equipment selected by a plurality of running lovers slowly, and the mark-matched exercise and fitness equipment is not influenced by time and places, and can be run as desired. However, many running machines in the market are still in an unintelligible state, the speed control mode and the safety device are mechanized, the current running state monitoring is not particularly perfect and effective for the runners with high exercise effect requirements, and the running machine device capable of autonomously judging the exercise posture and state of the runners and carrying out safety reminding and protection is urgently needed in the market, and meanwhile, the running machine can be controlled in specific gradient and speed. Such a course of exercise is undoubtedly a more comfortable and convenient one, and will also slowly attract more running lovers.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a running machine motion detection method based on a laser sensor, which can well assist in motion.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A running machine motion detection method based on a laser sensor. The method mainly comprises the following strategy links:
(a) The running machine gauge head controller continuously reads the laser sensor data in the movement process of the sporter, and the distance D_target of the correlation object from the gauge head is calculated through the emission and the total return time T_fly of the laser information of the laser sensor. The distance information, acquired by the laser sensor, of the athlete from the treadmill head is read by the treadmill head controller after a period of time T_start_test when the athlete runs, and the position is calculated and determined to be init_D through a moving average filtering algorithm.
(B) The running machine gauge head controller records distance information cur_D of the sporter in real time through laser return data, reads the time interval T_r in real time and compares the time interval T_r with the initialized position init_D, judges the motion state change value of the sporter, namely calculates the change of the sporter position information in the running process, continuously records, and continuously records n times of data.
dr_D＝cur_D-init_D；
(C) Continuously recording distance information for n times before and after, recording n dr_D values, comparing the change conditions of n-i and i (0 < i < n/2) times of data, and if the change exceeds a certain threshold Th, considering that the running state of the runner has data mutation behaviors, judging mutation behaviors and performing response processing, and referring to the D-f method processing steps.
(D) The gauge outfit can record running data of the current athlete through the laser sensor while the athlete is continuously running on the treadmill. At this time, when the distance information of the sporter fluctuates positively and negatively within a certain range value Th1 and the fluctuation range is very small, the gauge head controller records that the sporter is in a normal running state through the data state, and encourages and persists the sporter through the display screen or the mobile terminal. When the distance information of the sporter exceeds the preset positive and negative fluctuation value range, the gauge head controller judges that the sporter is in an unstable running state by recording the data state, and at the moment, the sporter can be reminded of running without swinging back and forth through the running machine or the mobile terminal to pay attention to running stably.
(E) The gauge outfit can record running data of the current athlete through the laser sensor data while the athlete continues to run on the treadmill. At the moment, if the distance information of the sporter suddenly becomes smaller, the change value is between Th2 and Th3, and the state is changed with a certain frequency, namely, the body parts such as arms of the sporter appear in front of the body of the sporter, the body parts are considered to be swing arms with a certain frequency, the phenomenon that the swing arms are too large is judged to appear at the moment, and at the moment, the sporter is reminded through the running machine or the moving end not to be too large, so that the exercise effect of the sporter is influenced.
(F) When the sporter is in the action training of the course running interval, if the gauge head controller detects that the human body distance continuously changes within a specific range Th 4. It is considered that it does not do the relevant actions such as stretching. At the moment, the exercise machine can assist in reminding an athlete to pay attention to follow courses to perform intermittent stretching actions and the like.
(G) When the sporter runs normally, the laser sensor data are read in real time, when more than 5 pieces of data are non-detected target objects, the detected laser data are regarded as non-target objects when BN is detected currently, whether the sporter belongs to a normal running state is determined through comparison of front and rear 10 times of data, and if mutation exists in the front and rear 10 times of data, the mutation threshold value is larger than Th5 and no person is detected currently. The athlete is deemed to have fallen or come off the treadmill, and so on. At the moment, the running machine is subjected to an emergency stop speed control function, and a warning lamp reminding function is performed on a gauge head display or a mobile terminal.
Further, the running machine gauge head controller monitors the running behavior data of the runner in real time, and the monitoring time interval T is between 50 ms and 100 ms. The actual specific value setting will be changed according to the current speed value cur_sp. When the speed is high, the T value is set at a small interval, and when the speed is low, the T value is set at a large interval, so that the related operation of timely judging and responding to the user behavior can be achieved, and the personal safety of the user is ensured.
T＝cur_Sp/P_ST；
P_ST is set according to long-term test data, and each treadmill has a certain difference.
Further, when the data is suddenly changed in the running process, the threshold value of the change condition between the front data and the rear data is compared. For example, the thresholds Th1, th2, th3, th4, and Th5 all require running data of a large number of athletes for a long period to test, and we combine the mobile terminal APP to perform a large number of data tests, and implement the thresholds to effectively assist the above method.
Further, when it is detected that the exercise state of the athlete does not conform to the exercise mode set by the current treadmill, the treadmill or the mobile terminal needs to remind the athlete of currently conforming to the exercise course set by the treadmill as much as possible.
Further, the treadmill meter controller includes bluetooth, ANT+ or wifi module. Through combining these modules with remove end APP or server, APP can communicate with the treadmill through this module, acquires sportsman's motion state and treadmill sensor information, and supplementary treadmill carries out suggestion, early warning, emergency treatment etc..
Furthermore, the running machine needs to be provided with a countdown function, records the initial state of the exerciser when the exerciser starts running, and records the position information of the exerciser when the exerciser starts running.
Further, the running machine gauge head controller continuously records the distance information n times before and after running, records the data change condition of the sportsman in a buffer temp n before and after running for a period of time, and judges the exercise state, running posture and the like of the sportsman according to the change of the sportsman real-time data
Further, the running machine gauge head controller continuously records the distance information for n times before and after, and the value n is obtained through the current speed and the recorded sensor data interval; and the motion state of the sporter is effectively captured and judged in an auxiliary way by taking a large amount of data as an auxiliary way.
The intelligent speed control running machine based on the laser sensor comprises an iron frame, a gauge outfit, a handrail, an upright post, a running board, a running belt, a motor, the laser sensor, a safety lock switch, a running machine gauge outfit controller unit and a motor controller unit. The running machine gauge head controller unit is connected with the laser sensor through the communication cable, and the laser sensor sends laser information digital signals acquired by the sensor to the running machine gauge head controller unit. The running machine gauge outfit control unit is connected with the motor controller unit through the serial communication cable, and the running machine gauge outfit control unit sends the data to the motor controller unit through serial communication mode, and the motor controller unit controls the motor in the form of PWM wave to control the running machine roller to drive the running belt to run with speed and slope that software algorithm obtained.
Further, the laser sensor is arranged at the central position of the meter head of the running machine, and is used for collecting analog data transmitted and received by laser and converting the analog data into laser information digital signals, so that the MCU on the meter head controller module of the running machine can conveniently process the analog data.
Further, the motor controller unit is located below the running machine, the position near the motor at the front part of the running machine, the laser sensor is located at the center of the meter head of the running machine, and the laser sensor is installed to be perpendicular to the vertical plane of the meter head, so that the area which can normally run by the runner on the running plate is ensured to be right against.
Furthermore, the laser sensor is connected with the treadmill meter head controller through a hardware communication cable, the communication mode is IIC, and the cable comprises four IIC communication cables, VCC and GND power lines.
Furthermore, the laser sensor is close to the original safety lock switch of the running machine, so that the position of the traditional safety lock switch is not changed, and the auxiliary safety lock switch can detect and control the personal safety of a sporter during running to a greater degree.
Furthermore, the running machine gauge head controller unit can obtain accurate information such as safe distance, movement state and the like through analyzing laser return data. The running machine gauge outfit controller unit includes bluetooth, ANT+ or wifi module, and these modules can be used for laser sensor data, accuse speed, information feedback such as motion state to APP, PC end, high in the clouds server, WEB etc. can give the runner more better service based on these platforms.
Further, a through hole is formed in the center of the front panel of the running machine, the laser sensor is installed in the through hole, four screw holes are formed in the inner side of the front panel in the through hole, the four corners of the laser sensor are corresponding to the corresponding screw holes, the size of the laser sensor is consistent with the size of the screw holes around the through hole in the inner side of the front panel, and the laser sensor is connected with the four screw holes in the inner side of the through hole through screws so as to fix the laser sensor in the through hole. Every screw all need be equipped with a rubber pad when the installation, plays shock attenuation buffering and protection laser sensor's effect.
By adopting the technical scheme of the invention, the invention has the beneficial effects that: compared with the prior art, the invention can accurately obtain the movement posture information of the sporter in the running process by analyzing and algorithmically processing the laser sensor data through the cooperation of the plurality of unit modules such as the laser sensor, the motor controller unit, the treadmill gauge head controller unit and the like, thereby carrying out necessary reminding and guidance on the sporter and the like, and simultaneously, effectively and reliably controlling the speed or emergency strategy and helping the sporter to achieve better movement effect and safety guarantee.
Drawings
Fig. 1 is a schematic diagram of a running machine motion detection method and device based on a laser sensor according to the present invention.
Fig. 2 is a logic diagram of a method and apparatus for detecting movement of a treadmill based on a laser sensor according to the present invention.
Detailed Description
Specific embodiments of the present invention will be further described with reference to the accompanying drawings.
The invention relates to a running machine motion detection method and device based on a laser sensor. When a sporter is in different exercise training courses, whether the sporter accords with a normal exercise state or not is judged, so that the sporter is reminded and assisted to perform exercise more effectively and reliably, and the sporter can also make corresponding safety protection measures, alarms and the like once abnormal dangerous actions or states are found on the basis. In addition, the running machine gauge head controller can obtain the motion state, trend and the like of the runner when analyzing the laser sensor data, so that the running machine gauge head controller can also adaptively control the gradient speed and the like of the running machine, and can provide more services and assistance for the runner.
As shown in figure 1 of the drawings,
A running machine motion detection and device based on a laser sensor is characterized in that a running machine gauge head controller unit 1 is arranged in a running machine gauge head 4, a safety lock 3 is arranged on the front side edge of the running machine gauge head 4, a through hole is formed in the space above the safety lock, a laser sensor 2 is arranged in the through hole, the laser sensor 2 is connected with the running machine gauge head controller unit 1 through a hardware communication cable, the running machine gauge head controller unit 1 collects data of the laser sensor 2 to conduct software processing, a running machine handrail 5 is connected with the running machine gauge head 4, a motor controller 9 is connected with the running machine gauge head controller unit 1 through a cable in a running machine upright post 6, the running machine gauge head controller 1 can control a running machine motor 8 through a data instruction of the motor controller 9, the running machine motor 8 is located in a front area below a running plate 10, the running machine motor 8 drives a running machine running belt 11 to conduct motion through a conveying belt, and a running machine iron frame 7 mainly plays a supporting role.
As shown in FIG. 2, the running machine collects information collected by the laser sensor during running of the sporter in real time, calculates the movement distance and posture change of the sporter, and gives more service and reminding functions to the sporter when running in different courses.
Step S1: after the running machine device is powered on, when the athlete presses a running start button, the running machine gauge head controller unit counts down for 5 times to enter the running process of the running machine. In the countdown process, the treadmill meter controller records the signal information of the sporter laser sensor, calculates the distance information D_target of the sporter at the position of the sporter meter sensor through light emission and range time T_fly, and defines the position information as init_D so as to record the relative change of the sporter movement distance subsequently, thereby calculating the posture data of the sporter. If the step is wrong, abrupt and the like, prompting the user and reentering the countdown process to collect the laser sensor information of the user. If the acquired data information is within the normal range 20-1200, step S2 is performed.
Step S2: the running machine gauge head controller records distance information cur_D of the sporter in real time through laser return data, reads the time interval as T_r in real time and compares the time interval with the initialized position init_D, judges the sporter movement state change value dr_D=cur_D-init_D, namely calculates the change of the sporter position information in the running process, continuously records, and continuously records n times.
When running normally, the real-time reading time interval T_r is 100ms, and if the athlete is in a rest course, the reading time interval is increased, so that more frequent reading is avoided to occupy CPU processing time.
When the running data of the athlete is read in real time, if the data is normal and the running machine does not have any error problem, step S3 is entered.
Step S3: the distance information of n times before and after is continuously recorded in real time, n dr_D values are recorded, the change condition of n-i and i (0 < i < n/2) times is compared, under normal conditions, the n value is 12, the data information of 6 times before and after is compared, and if a sporter is in a rest course, the n value is relatively reduced. If the change exceeds a certain threshold Th, the running state of the runner is considered to have data mutation behaviors, mutation behavior judgment and response processing, the processing steps of the method refer to the steps S4-S7, if the data are normal, the running machine gauge head controller continuously performs the processing of the steps S3 and S4-S7.
Step S4: the gauge outfit can record running data of the current athlete through the laser sensor while the athlete is continuously running on the treadmill. At this time, when the distance change information of the sporter fluctuates positively and negatively within a certain range value Th1 and the fluctuation range is very small, the Th1 value is about 100, and when the distance change information of the sporter continuously oscillates within positive and negative 100, the gauge head controller records that the sporter is in a normal running state through the data state, and encourages and adheres to the sporter through a display screen or a mobile terminal. When the distance information of the sporter exceeds the preset positive and negative fluctuation value range, the gauge head controller judges that the sporter is in an unstable running state by recording the data state, and at the moment, the sporter can be reminded of running without swinging back and forth through the running machine or the mobile terminal to pay attention to running stably.
Step S5: the gauge outfit can record running data of the current athlete through the laser sensor data while the athlete continues to run on the treadmill. At this time, if the distance data cur_d of the athlete suddenly becomes smaller, and the value of the distance change information dr_d is between Th2 and Th3 (Th 2 is about 200, th3 is about 500, the data value may have individual differences according to different types of treadmills), and the state is a change with a certain frequency, the frequency interval is between 0.3S and 2S, that is, the body parts such as the arm of the athlete are considered to appear in front of the body of the athlete, and at a certain frequency are found in the swing arm, at this time, it is determined that the swing arm is too large, and at this time, the athlete is reminded through the treadle mill or the mobile terminal that the swing arm is not too large, so as to affect the exercise effect of the athlete.
Step S6: when the sporter is in the action training of the course running clearance, if the gauge head controller detects that the human body distance is continuously changed within a certain specific range Th4 for 5S, the Th4 value is about within plus or minus 200, the sporter is considered to be not in relevant actions such as stretching and the like, and the sporter can be assisted to be reminded of carrying out intermittent stretching actions and the like along with the course.
Step S7: when a sporter runs normally, laser sensor data are read in real time, once more than 5 pieces of data are found to be non-detected target objects, the detected laser data are currently regarded as non-target objects when BN (2000) is detected, whether the sporter belongs to a normal running state is determined through comparison of front and back 10 times of data, if mutation exists in the front and back 10 times of data, the mutation threshold value is larger than Th5 (1000) and no person is detected currently, the sporter is considered to fall or fall off the running machine, and the like, at the moment, the running machine is subjected to scram speed control function, and a warning lamp reminding function is carried out on a gauge head display or a mobile end.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (7)
1. The running machine motion detection method based on the laser sensor is characterized by comprising the following steps of:
(a) The running machine gauge head controller continuously reads laser sensor data in the running process of a sporter, calculates the distance D_target of an opposite object from the gauge head through the emission and the return total time T_fly of laser information of the laser sensor, reads distance information of the sporter, acquired by the laser sensor, from the position of the running machine gauge head after a period of time T_start_test is started when the sporter runs, and calculates and determines the position init_D through a filtering algorithm;
(b) The running machine gauge head controller records distance information cur_D of the sporter in real time through laser return data, reads the time interval as T_r in real time and compares the time interval with the initialized position init_D, judges the motion state change value of the sporter, namely calculates the change of the position information of the sporter in the running process, continuously records, and continuously records n times of data;
dr_D＝cur_D-init_D；
(c) Continuously recording distance information for n times before and after, recording n dr_D values, comparing the change conditions of n-i and i (0 < i < n/2) times data, and if the change exceeds a threshold Th, considering that the motion state of the runner has data mutation behaviors, judging the mutation behaviors and performing response processing, wherein the method comprises the steps (D) - (f);
(d) When an athlete runs continuously on the running machine, the gauge outfit can record running data of the current athlete through the laser sensor, and if the fluctuation range is within the set range, the user is prompted to continue the exercise; if the fluctuation range exceeds the set range, reminding the user of paying attention to the running gesture;
(e) When an athlete runs continuously on the running machine, the gauge outfit can record running data of the current athlete through the laser sensor data, if the distance information of the athlete becomes smaller, the change value is between Th2 and Th3, and the state is a change with a certain frequency, and the running machine or the mobile terminal is used for reminding the athlete that the swing arm is not too large;
(f) When the sporter is in the action training of the course running interval, if the gauge head controller detects that the human body distance continuously changes within a certain specific range Th4, the sporter is reminded to pay attention to intermittent stretching action;
(g) When a sporter runs normally, laser sensor data are read in real time, when more than 5 pieces of data are non-detected target objects, the detected laser data are regarded as non-detected target objects when BN is detected currently, whether the sporter belongs to a normal running state is determined through comparison of front and back 10 times of data, if mutation exists in the front and back 10 times of data, the mutation threshold value is larger than Th5, no person is detected currently, at the moment, the rapid stop speed control function is performed on the running machine, and the warning lamp reminding function is performed on a gauge head display or a mobile terminal.
2. The running machine movement detection method based on the laser sensor according to claim 1, wherein the running machine movement detection method is characterized in that the running behavior data of the runner is monitored in real time, the monitoring time interval T is 50-100ms, when the speed is high, the T value is set to be smaller, and when the speed is low, the T value is set to be larger, so that the relevant operation of timely judging and responding to the user behavior can be achieved, and the personal safety of the user is assisted and ensured;
T＝cur_Sp/P_ST；
P_ST is set according to long-term test data, and each treadmill has a certain difference.
3. The method for detecting the movement of the treadmill based on the laser sensor according to claim 1, wherein the threshold value of the change condition between the front data and the rear data is compared when the data is suddenly changed during running.
4. The method for detecting movement of a treadmill based on a laser sensor according to claim 1, wherein the treadmill head controller comprises a bluetooth, ant+ or wifi module.
5. The method for detecting exercise of a running machine based on a laser sensor according to claim 1, wherein the running machine is provided with a countdown function, records an initial state of an exerciser when the exerciser starts running, and records position information of the exerciser when the exerciser starts running.
6. The method for detecting exercise of a running machine based on a laser sensor according to claim 1, wherein the running machine gauge head controller continuously records distance information n times before and after running, records data change conditions of an exerciser in a buffer area temp [ n ] before and after running currently, and judges exercise state and running posture of the exerciser according to real-time data change of the exerciser.
7. The method for detecting movement of a running machine based on a laser sensor according to claim 1, wherein the running machine gauge head controller continuously records distance information n times before and after, the value n being obtained by the current speed and the recorded sensor data interval.
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| KR20030069941A (en) * | 2003-07-30 | 2003-08-27 | 채영진 | Auto speed control equipment of running machine |
| KR101253681B1 (en) * | 2010-04-28 | 2013-04-11 | 인하대학교 산학협력단 | An automatic speed control running machine using ultrasonic sensor modules and an automatic emegency stopping apparatus using ultrasonic sensor modules |
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