WO2009051314A1

WO2009051314A1 - Treadmill, module and method for controling the same and storage medium for the same

Info

Publication number: WO2009051314A1
Application number: PCT/KR2008/001834
Authority: WO
Inventors: Jae-Sang Park
Original assignee: Dasan Rnd Co., Ltd.
Priority date: 2007-10-16
Filing date: 2008-04-01
Publication date: 2009-04-23
Also published as: WO2009051315A1

Abstract

The present invention provides a treadmill, including: a body having a belt for supporting an exerciser; a driving motor for driving the belt; a motor driving portion for driving the driving motor; an exerciser detecting portion installed in a predetermined area of the body to measure a position of the exerciser; and a control portion for generating a control signal for adjusting a rotation speed of the driving motor corresponding to one control mode of a first control mode and a second control mode and for transmitting the control signal to the motor driving portion, the first control mode adjusts a rotation speed of the driving motor by using a measured value corresponding to a signal measured by one of the exerciser detecting portion and a converted value corresponding thereto, the second control mode adjusts the rotation speed of the driving motor independently from one of the measured value and the converted value. The treadmill has an advantage in that the exerciser can selectively drive a desired exercise mode and an advantage of resolving a problem in that when the exerciser exercise in a non-automatic mode, the belt is continuously rotating even by quick deceleration or braking, and so the exerciser may be exposed to a risky situation.

Description

TREADMILL, MODULE AND METHOD FOR CONTROLING THE SAME AND STORAGE MEDIUM FOR THE SAME

Technical Field

[1] The present invention relates to a treadmill.

Background Art

[2] In a conventional treadmill, in order to control a speed of a rotating belt, an exerciser has to manipulate a speed control button while walking or running and has to passively follow the manually controlled speed of the rotating belt. Therefore, such a conventional treadmill does not provide a good exercising experience to an exerciser and is also difficult to realize a natural feeling that an exerciser can have while walking or running on the ground.

[3] In order to overcome the above problems, techniques for measuring a position of an exerciser to automatically control a speed of a rotating belt have been developed. For example, Korean Patent No. 10-0398330 discloses a treadmill which measures a position of an exerciser using an ultrasonic sensor arranged below a control panel to locate an exerciser in a central region of the treadmill belt. The treadmill accelerates the rotating belt speed to move the exerciser back to the central region if the exerciser is ahead of the central region, and the treadmill decelerates the belt speed to return an exercise to the central region if the exerciser is behind the central region.

[4] The treadmill disclosed in Korean Patent No. 10-0398330 performs acceleration or deceleration when a position of the exerciser is within a certain range from the central region, but the treadmill cannot handle various situations such as quick deceleration when an exerciser desires to abruptly stop while running at a high speed.

[5] In addition, when a quick deceleration occurs, an overload occurs in a motor driving portion, and the motor driving portion stops driving the motor to protect itself. Thus, a conventional treadmill cannot execute a quick deceleration.

[6] Also, a conventional treadmill performs a deceleration at a fixed slow speed, independently of a driving speed, within a range of a deceleration which does not exceed an allowable range of a motor driving portion, and performs an emergency stop operation of the motor driving portion using a natural friction force which works on a belt and a driving motor.

[7] Also, since an abrupt deceleration during exercise can cause an exerciser to fall due to inertia and potential injury risks, a conventional treadmill has implemented a slow deceleration or a deceleration using a natural friction force.

[8] For the foregoing reasons, an exerciser who exercises on a conventional treadmill has a different feeling from what he/she has while walking or running on the actual ground. Further, such a conventional treadmill cannot effectively implement various exercising patterns of an exerciser.

[9] In order to improve an overall exercise experience and to cope with various exercising patterns of an exerciser, a treadmill needs to rapidly follow acceleration and deceleration of an exerciser, but a conventional treadmill cannot perform quick deceleration and thus cannot provide a satisfactory automatic speed control function.

[10] In the treadmill disclosed in Korean Patent No. 10-0398330 which measures a position of an exerciser by an ultrasonic sensor in order to control a speed of a belt to locate an exerciser in a central region, a measured value of an exerciser's position received from an ultrasonic sensor may contain erroneous values. Therefore, it is difficult to implement an automatic speed control function using only a technique for measuring an exerciser's position by an ultrasonic sensor in a treadmill.

[11] In addition, measured values received from an ultrasonic sensor can be distorted due to various ambient noise, and undesired measured values, for example, a position value of an arm or a leg, may be obtained while an exerciser walks or runs. Such signal distortion and undesired measured values make it difficult for a treadmill to automatically control a speed of a belt.

[12] Korean Patent Publication Nos. 10-2007-0015687, 10-2007-0081476,

10-2007-0082277, and 10-2007-0082929 disclose techniques and mechanisms in which load sensors are arranged below front and rear portions of a belt, measured values obtained by load sensors are used to calculate an exerciser's position, and a speed of a rotating belt is controlled based on a difference between a calculated exerciser's position and a reference position.

[13] However, the above-described techniques using load sensors have a problem in that a cycle of a load that is applied to a load sensor depends on a speed of an exerciser, and a cycle of a load of when an exerciser runs at a highest speed is 2 or 3 times per second. This makes it very difficult to smoothly control the belt speed.

[14] Also, a position of an exerciser's foot continuously varies due to a movement of the belt even at a moment that an exerciser's foot pushes the belt, and the frequency with which the exerciser's feet make contact with the belt when an exerciser walks on the belt is not equal to that when an exerciser runs on the belt. Thus, it is difficult to accurately calculate a position of an upper body of an exerciser or the center of gravity.

[15] In addition, the above-mentioned Korean Patent Publications have not mentioned a control method for coping with various exercising patterns of an exerciser, such as quick acceleration or quick deceleration, and so it is difficult to automatically control the belt speed only using a difference between an exerciser's position and a reference position in a manner that provides satisfactory automatic speed control. [16] Also, there is a case where an exerciser wants to actively exercise in an automatic mode, but there is also a case where an exerciser wants to passively exercise according to a predetermined belt speed in a manual mode.

[17] Nevertheless, a conventional treadmill provides only one of the manual mode and the automatic mode, and thus there is a problem in that an exerciser cannot select a desired exercise mode.

[18] When an exerciser can select either the automatic mode in which a speed is automatically controlled or a typical manual mode, if an exerciser who is exercising in the manual mode is already familiar with the automatic mode or overlooks what manual mode is selected, even though an exerciser tries to brake by quick deceleration, the exerciser may risk injury since the exercise mode is the manual mode and the belt is continuously rotating.

[19] Even though Korean Patent No. 10-0398330 discloses a treadmill having an automatic speed control function and to provide an emergency stop function during an automatic speed control, it has a problem in that the above problems are not resolved in the manual mode.

[20] Also, in case where an exerciser sets a belt speed by the manual mode or passively exercises according to a belt speed that varies depending on a speed change per unit time stored in a storage portion of a treadmill, since an actual speed at which an exerciser runs or walks is increased or decreased within a certain speed range, there is a problem in that an exercising feeling is not good in the manual mode in which an exerciser has to exercise exactly according to the set speed or stored speed.

[21] Korean Patent Publication Nos. 10-2007-0084976 and 10-2007-0087377 disclose a treadmill with an automatic speed control function in which an automatic speed control can be performed only within an allowable section range set by an exerciser. For the allowable section range, an upper limit speed and a lower limit speed are set, and exercising beyond the range setting is not allowed in order to prevent an exerciser from excessively exercising. Therefore, an exerciser exercises only between an upper limit speed and a lower limit speed that are set by an exerciser, wherein a problem exists in that it is difficult to apply an automatic speed control to a change of a speed per time stored in a storage portion, i.e., a speed profile.

[22] Also, in a conventional treadmill, when an exerciser exercises on a belt that is rotating with the limited length, since an exerciser usually gazes at the front at an angle of 15° or at a display device during exercising, an exerciser may overlook his/her current position and may exercise within a risky area on the belt, whereby an exerciser may be exposed to a very risky situation.

[23] In addition, in order to prevent such a risk, an exerciser has to intermittently look down at the belt to recognize his/her current position, which is very inconvenient. Disclosure of Invention

Technical Problem

[24] It is an object of the present invention to resolve a problem in that, in a conventional treadmill, an exercising experience is unsatisfactory since an exerciser passively exercises on a treadmill and the feeling of exercising on the ground is not realized.

[25] It is another object of the present invention to resolve a problem in that a conventional treadmill does not quickly follow acceleration and deceleration of an exerciser.

[26] It is still another object of the present invention to resolve a problem in that a conventional treadmill does not accept various exercising patterns of an exerciser.

[27] It is yet still another object of the present invention to resolve a problem in that, in a conventional treadmill, a motor driving portion does not endure an overload caused by quick deceleration.

[28] It is yet still another object of the present invention to resolve a problem in that a conventional treadmill cannot control a speed of a belt due to measurement errors contained in measured values of an exerciser's position.

[29] It is yet still another object of the present invention to resolve a problem in that, in a conventional treadmill, an exerciser cannot select a desired exercising mode.

[30] It is yet still another object of the present invention to solve a problem in that, a conventional treadmill, an exerciser cannot select a desired exercising mode while exercising on a belt.

[31] It is yet still another object of the present invention to solve a problem in that, in a conventional treadmill with both the automatic mode and the manual mode, when an exerciser is exercising in a non-automatic mode, a belt is continuously rotating even by quick deceleration or braking, thereby creating a risks situation for an exerciser.

[32] It is yet still another object of the present invention to solve a problem in that when an exerciser exercises according to a speed set by an exerciser or a speed change per time stored in a storage portion, since an exerciser passively exercises, an exercising feeling is lowered.

[33] It is yet still another object of the present invention to remove a risk situation that may happen since an exerciser cannot be informed of his/her current position on a rotating belt having the limited length or an inconvenience that an exerciser has to change a gazing angle in order to recognize his/her current position on the rotating belt. Technical Solution

[34] In order to achieve the above objects, one aspect of the present invention provides a treadmill, comprising: a body having a belt for supporting an exerciser; a driving motor for driving the belt; a motor driving portion for driving the driving motor; an exerciser detecting portion installed in a predetermined area of the body to measure a position of the exerciser; and a control portion for generating a control signal for adjusting a rotation speed of the driving motor corresponding to one control mode of a first control mode and a second control mode and transmitting the control signal to the motor driving portion, the first control mode adjusting a rotation speed of the driving motor by using a measured value corresponding to a signal measured by one of the exerciser detecting portion and a converted value corresponding thereto, the second control mode adjusting the rotation speed of the driving motor independently from the one of the measured value and the converted value.

[35] Preferably, in the treadmill, the control portion comprises a mode change portion for changing the control mode from one of the first and second control modes to the other control mode, and for generating the control signal for adjusting the rotation speed of the driving motor corresponding to one of the first control mode and the second control mode changed by the mode change portion.

[36] Preferably, in the treadmill, when the driving motor is being driven in one of the first and second control modes, the mode change portion changes to the other of the first and second control modes.

[37] Preferably, in the treadmill, a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is substantially the same as a speed of the first control mode at the moment when the control mode is changed.

[38] Preferably, in the treadmill, a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is a driving speed previously set.

[39] Preferably, in the treadmill, the second control mode contains a fixed speed section.

[40] Preferably, in the treadmill, when the control signal corresponding to the second control mode is generated, the mode change portion determines whether a mode change condition is satisfied and changes the control mode to one of the first control mode and an emergency mode for stopping the driving motor, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, and b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range.

[41] Preferably, in the treadmill, the control portion further comprises a control gain portion for generating a control gain by using one of the measured value and the converted value and a control signal generating portion for receiving the control gain from the control gain portion to generate the control signal. [42] Preferably, in the treadmill, when the control signal corresponding to the second control mode is generated, the mode change portion determines whether a mode change condition is satisfied and changes the control mode to one of the first control mode and an emergency mode for stopping the driving motor, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range, and c) a condition that the control gain is not within an allowable accelerating/decelerating range.

[43] Preferably, in the treadmill, when the control mode change is changed from the first control mode to the second control mode, the mode change portion inactivates the control gain portion or forbids the control gain generated in the control gain portion to be transmitted to the control signal generating portion.

[44] Preferably, in the treadmill, when the control mode change is changed from the second control mode to the first control mode, the mode change portion activates the control gain portion or allows the control gain generated in the control gain portion to be transmitted to the control signal generating portion.

[45] Preferably, in the treadmill, when the control mode change is changed from the first control mode to the second control mode, the mode change portion inactivates the control signal generating portion, and generates the control signal corresponding to the second control mode to be transmitted to the motor driving portion.

[46] Preferably, in the treadmill, when the control mode change is changed from one of the second control mode and the first control mode, the mode change portion activates the control signal generating portion.

[47] Preferably, in the treadmill, if a driving speed of the driving motor is in an allowable speed range computed by operating a central portion that is a target value per unit time for the driving speed corresponding to a rotation speed of the driving motor transmitted from the control portion and an upper limit speed range and/or a lower limit speed range, the mode change portion changes the control mode to the first control mode, whereas if the driving speed is beyond the allowable speed range, the mode change portion changes the control mode to the second control mode.

[48] Preferably, in the treadmill, the central speed corresponds to speed data per unit time of a profile containing at least two different speed data during a predetermined time.

[49] Preferably, in the treadmill, the profile further comprises the upper limit speed range and/or the lower limit speed range.

[50] Preferably, in the treadmill, the profile is stored in a profile storing portion in the treadmill and is transmitted to the control portion or is transmitted to the control portion via a wire line communication system or a wireless communication system. [51] In order to achieve the above objects, another aspect of the present invention provides a storage medium for a treadmill, comprising: a profile including at least two different belt driving speeds during a predetermined time, and an upper limit speed range and/or a lower limit speed range which are/is operated to a central speed that is a target value per unit time for the driving speed to define an allowable speed range.

[52] Preferably, in the storage medium for the treadmill, at least two upper limit speed ranges and/or lower limit speed ranges are provided to respectively correspond to the driving speed is two in number or a single upper limit speed range and/or lower limit speed range is provided for all of the driving speeds.

[53] In order to achieve the above objects, another aspect of the present invention provides a control module for a treadmill, comprising: a base substrate with an electrical wire line formed therein; a control portion coupled to the base substrate and having a semiconductor circuit electrically connected to the electrical wire line; and a connecting terminal coupled to the base substrate and electrically connecting the control portion to a motor driving portion for driving a driving motor and an exerciser detecting portion for measuring a position of an exerciser via the electrical wire line, wherein the control portion generates a control signal for adjusting a rotation speed of the driving motor corresponding to one control mode of a first control mode and a second control mode and transmits the control signal to the motor driving portion via the connecting terminal, the first control mode adjusting a rotation speed of the driving motor by using a measured value corresponding to a signal measured by one of the exerciser detecting portion and a converted value corresponding thereto, the second control mode adjusting the rotation speed of the driving motor independently from one of the measured value and the converted value.

[54] Preferably, in the control module for the treadmill, the control portion comprises a mode change portion for changing the control mode from one of the first and second control modes to the other control mode, and generating the control signal for adjusting the rotation speed of the driving motor corresponding to one of the first control mode and the second control mode changed by the mode change portion.

[55] Preferably, in the control module for the treadmill, when the driving motor is being driven in one of the first and second control modes, the mode change portion changes to the other of the first and second control modes.

[56] Preferably, in the control module for the treadmill, a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is substantially the same as a speed of the first control mode at the moment when the control mode is changed.

[57] Preferably, in the control module for the treadmill, a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is a driving speed previously set.

[58] Preferably, in the control module for the treadmill, the second control mode contains a fixed speed section.

[59] Preferably, in the control module for the treadmill, when the control signal corresponding to the second control mode is generated, the mode change portion determines whether a mode change condition is satisfied or not and changes the control mode to one of the first control mode and an emergency mode for stopping the driving motor, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, and b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range.

[60] Preferably, in the control module for the treadmill, the control portion further comprises a control gain portion for generating a control gain by using one of the measured value and the converted value and a control signal generating portion for receiving the control gain from the control gain portion to generate the control signal.

[61] Preferably, in the control module for the treadmill, when the control signal corresponding to the second control mode is generated, the mode change portion determines whether a mode change condition is satisfied or not and changes the control mode to one of the first control mode and an emergency mode for stopping the driving motor, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range, and c) a condition that the control gain is not within an allowable accelerating/decelerating range.

[62] Preferably, in the control module for the treadmill, when the control mode change is changed from the first control mode to the second control mode, the mode change portion inactivates the control gain portion or forbids the control gain generated in the control gain portion to be transmitted to the control signal generating portion.

[63] Preferably, in the control module for the treadmill, when the control mode change is changed from the second control mode to the first control mode, the mode change portion activates the control gain portion or allows the control gain generated in the control gain portion to be transmitted to the control signal generating portion.

[64] Preferably, in the control module for the treadmill, when the control mode change is changed from the first control mode to the second control mode, the mode change portion inactivates the control signal generating portion, and generates the control signal corresponding to the second control mode to be transmitted to the motor driving portion.

[65] Preferably, in the control module for the treadmill, when the control mode change is changed from the second control mode to the first control mode, the mode change portion activates the control signal generating portion.

[66] Preferably, in the control module for the treadmill, if a driving speed of the driving motor is in an allowable speed range computed by operating a central portion that is a target value per unit time for the driving speed corresponding to a rotation speed of the driving motor transmitted from the control portion and an upper limit speed range and/ or a lower limit speed range, the mode change portion changes the control mode to the first control mode, whereas if the driving speed is beyond the allowable speed range, the mode change portion changes the control mode to the second control mode.

[67] Preferably, in the control module for the treadmill, the central speed corresponds to speed data per unit time of a profile containing at least two different speed data during a predetermined time.

[68] Preferably, in the control module for the treadmill, the profile further comprises the upper limit speed range and/or the lower limit speed range.

[69] Preferably, in the control module for the treadmill, the profile is transmitted to the control portion via one of a wire line communication system and a wireless communication system or is transmitted to the control portion from a profile storing portion that is coupled to the base substrate and electrically connected to the control portion via the electrical wire line.

[70] In order to achieve the above objects, one aspect of the present invention provides a method for controlling a treadmill, comprising: (i) generating a control signal for adjusting a rotation speed of a driving motor corresponding to one control mode of a first control mode and a second control mode, the first control mode adjusting a rotation speed of the driving motor by using a measured value corresponding to a signal measured by one of the exerciser detecting portion and a converted value corresponding thereto, the second control mode adjusting the rotation speed of the driving motor independently from one of the measured value and the converted value; and (ii) transmitting the control signal to a motor driving portion for driving the driving motor.

[71] Preferably, in the method for controlling the treadmill, the step (i) comprises a mode change step for changing the control mode from one of the first and second control modes to the other control mode; and generating the control signal for adjusting the rotation speed of the driving motor corresponding to one of the first control mode and the second control mode changed by the mode change portion.

[72] Preferably, in the method for controlling the treadmill, when the driving motor is being driven in one of the first and second control modes, the mode change step changes to the other of the first and second control modes.

[73] Preferably, in the method for controlling the treadmill, a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is substantially the same as a speed of the first control mode at the moment when the control mode is changed.

[74] Preferably, in the method for controlling the treadmill, a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is a driving speed previously set.

[75] Preferably, in the method for controlling the treadmill, the second control mode contains a fixed speed section.

[76] Preferably, in the method for controlling the treadmill, when the control signal corresponding to the second control mode is generated, the mode change step comprises a mode change determining step for determining whether a mode change condition is satisfied or not and a mode change processing step for changing the control mode to one of the first control mode and an emergency mode for stopping the driving motor by the mode change determining step, the mode change condition including at least one of a) a condition that one of the measured value and the converted value is not within an allowable position range, and b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range.

[77] Preferably, in the method for controlling the treadmill, the step (i) comprises a control gain generating step for generating a control gain by using one of the measured value and the converted value and a control signal generating step for receiving the control gain from the control gain portion to generate the control signal.

[78] Preferably, in the method for controlling the treadmill, when the control signal corresponding to the second control mode is generated, the mode change step comprises a mode change determining step for determining whether a mode change condition is satisfied or not and a mode change processing step for changing the control mode to the first control mode or an emergency mode for stopping the driving motor by the mode change determining step, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range, and c) a condition that the control gain is not within an allowable accelerating/decelerating range.

[79] Preferably, in the method for controlling the treadmill, when the control mode change is changed from the first control mode to the second control mode, the mode change step inactivates the control gain step or forbids the control gain generated in the control gain step to be used in the control signal generating step.

[80] Preferably, in the method for controlling the treadmill, when the control mode change is changed from the second control mode to the first control mode, the mode change step activates the control gain step or allows the control gain generated in the control gain step to be used in the control signal generating portion.

[81] Preferably, in the method for controlling the treadmill, when the control mode change is changed from the first control mode to the second control mode, the mode change step inactivates the control signal generating step, and generate the control signal corresponding to the second control mode to be transmitted to the motor driving portion.

[82] Preferably, in the method for controlling the treadmill, when the control mode change is changed from the second control mode to the first control mode, the mode change step activates the control signal generating step.

[83] Preferably, in the method for controlling the treadmill, the mode change step comprises (a) receiving a central speed which a target value per unit time for a driving speed corresponding to a rotation speed of a driving motor, and an upper limit speed range and/or a lower limit speed range; (b) generating an upper limit speed and a lower limit speed per unit time by using the central speed and the upper limit speed range and/or the lower limit speed range; and (c) determining whether a belt speed is within an allowable speed range defined by the upper limit speed and the lower limit speed.

[84] Preferably, in the method for controlling the treadmill, in the step (c), the mode change step generates the control signal corresponding to the first control mode if the belt speed is within the allowable speed range and generates the control signal corresponding to the second control mode if the belt speed is not within the allowable speed range.

[85] Preferably, in the method for controlling the treadmill, the central speed corresponds to speed data per unit time of a profile containing at least two different speed data during a predetermined time.

[86] Preferably, in the method for controlling the treadmill, the profile further comprises the upper limit speed range and/or the lower limit speed range.

[87] Preferably, in the method for controlling the treadmill, the profile is stored in a profile storing portion and transmitted to the control portion or is transmitted to the control portion via one of a wire line communication system and a wireless communication system.

Advantageous Effects

[88] A treadmill according to the present invention quickly follows acceleration or deceleration of an exerciser and thus has an advantage of realizing a feeling like what an exerciser has while exercising on the ground to thereby improve an exerciser's exercising feeling.

[89] The treadmill according to the present invention has an advantage of accepting various exercising patterns of an exerciser.

[90] The treadmill according to the present invention has an advantage of resolving a problem in that a motor driving portion is tripped due to a load caused by quick deceleration.

[91] The treadmill according to the present invention adjusts a location of a sensor for measuring an exerciser's position and thus has an advantage of minimizing noise and measurement errors contained in measured signals.

[92] The treadmill according to the present invention pre-processes measured values of an exerciser's position and thus has an advantage of resolving a problem in that a speed of a belt can not be controlled due to measurement errors contained in measured values.

[93] The treadmill according to the present invention has an advantage of maximizing exercise satisfaction since an exerciser can select a desired exercising mode.

[94] The treadmill according to the present invention has an advantage in that an exerciser can select a desired exercising mode while exercising on a belt.

[95] The treadmill according to the present invention has an advantage of resolving a problem in that, in a conventional treadmill with both the automatic mode and the manual mode, when an exerciser is exercising in a non-automatic mode, a belt is continuously rotating even by quick deceleration or braking, thereby creating a risky situation to an exerciser.

[96] The treadmill according to the present invention has an advantage in that when an exerciser exercises according to a speed set by an exerciser or a speed change per time stored in a storage portion, an exerciser can exercise in an automatic mode up to a certain speed from the speed, so that an exercising feeling can be improved and desired exercising can be achieved.

[97] The treadmill according to the present invention has an advantage of removing a risk situation that may happen since an exerciser cannot be informed of his/her current position on a rotating belt with the limited length or an inconvenience that an exerciser has to change a gazing angle in order to recognize his/her current position on a belt. Brief Description of Drawings

[98] FIG. 1 is a measurement graph to set up a load of a treadmill according to the exemplary embodiment of the present invention;

[99] FIG. 2 is a side view illustrating the treadmill according to the exemplary embodiment of the present invention;

[100] FIG. 3 is a block diagram illustrating the treadmill according to the exemplary embodiment of the present invention;

[101] FIGs. 4 to 6 are various circuit diagrams illustrating an electrical braking method using an AC motor according to the exemplary embodiment of the present invention; [102] FIGs. 7 to 9 are various circuit diagrams illustrating electrical braking methods using a DC motor according to the exemplary embodiment of the present invention; [103] FIGs. 10 to 12 are block diagrams illustrating a control portion according to the exemplary embodiment of the present invention. [104] FIG. 13 is a flowchart illustrating a control method of the control portion according to the exemplary embodiment of the present invention; [105] FIG. 14 is a flowchart illustrating an operation of a state determining portion according to the exemplary embodiment of the present invention; [106] FIGs. 15 and 16 are flowcharts illustrating an operation of a data converting portion according to the exemplary embodiments of the present invention; [107] FIG. 17 is a flowchart illustrating an operation of a reference position generating portion according to the exemplary embodiment of the present invention; [108] FIG. 18 is a graph illustrating a method for restricting a maximum acceleration/deceleration according to the exemplary embodiment of the present invention; [109] FIGs. 19 and 20 are flowcharts illustrating a sensitivity adjusting method performed by a sensitivity adjusting portion according to the exemplary embodiments of the present invention; [110] FIG. 21 is a block diagram illustrating a main configuration of a treadmill according to another exemplary embodiment of the present invention; [111] FIG. 22 is a flowchart illustrating a mode change operation of a control portion according to the exemplary; [112] FIG. 23 is a view illustrating a control panel of the treadmill according to the exemplary embodiment of the present invention; [113] FIG. 24 is a flowchart illustrating a control operation of a semi-automatic mode according to the exemplary embodiment of the present invention; [114] FIG. 25 is a graph illustrating a speed change per time by the semi-automatic mode according to the exemplary embodiment of the present invention; [115] FIG. 26 is a view illustrating display information displayed on a display device of the treadmill according to the exemplary embodiment of the present invention; and [116] FIG. 27 is a perspective view illustrating a control module for the treadmill according to the exemplary embodiment of the present invention. [117]

[118] * Description of Major Symbols in the above Figures [119] 400 : base substrate [120] 402 : wire line

[121] 410 : exerciser detecting portion connecting terminal [122] 420 : operating portion connecting terminal [123] 430 : display device connecting [124] 440 : power supplying portion connecting terminal

[125] 450 : electrical braking portion connecting terminal

[126] 460 : motor driving portion connecting terminal

[127] 1000 : exerciser

[128] 2100 : body

[ 129] 2200 : control panel

[130] 2211 : mode change button

[131] 2212: start/end button

[132] 2213: emergency stop button

[133] 2220: display device

[134] 3000 : exerciser detecting portion

[135] 4000 : driving motor

[136] 5000 : belt

[137] 6000 : motor driving portion

[138] 7000 : control portion

[139] 7100 : pre-processing portion

[140] 7110 : state determining portion

[141] 7120 : data converting portion

[142] 7130 : data storing portion

[143] 7200 : reference position generating portion

[144] 7300 : driving command portion

[145] 7310 : control gain portion

[146] 7320 : sensitivity adjusting portion

[147] 7330 : control signal generating portion

[148] 7500: mode change portion

[149] 7510: mode change determining portion

[150] 7520: mode change processing portion

[151] 9000 : profile storing portion Mode for the Invention

[152] While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. However, it should be understood that there is no intent to limit the invention to the particular forms disclosed, but on the contrary, the invention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. In the drawings, like reference numerals denote like parts.

[153] It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

[154] It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[155] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising,", "includes" and/or "including", when used herein, specify the presence of stated features, integers, steps, operations, elements, components or a combination thereof these, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

[156] Hereinafter, a current value X ^τ represents a current measured value X or a current r r converted value X ', and is a representative term for describing current data in a stream r of time. That is, a current value X ^τ means data corresponding to a current time (e.g., r current measuring cycle). [157] Similarly, a past value X ^τ (i=l,...n) represents a past measured value X (i=l,...n) or a past converted value X ' (i=l,...n), and is a representative term for describing past data in a stream of time. That is, a past value X ^τ (i=l,...n) means data corresponding to a past time (e.g., past measuring cycle). [158] Also, a data value X ° (i=0,...n) is a representative term for describing data containing a current value X and a past value X (i= 1 , ...n) .

[159] Also, a belt speed, a driving belt speed, a rotation speed of a driving motor, and a driving speed have the same meaning, and so even though one term is described as an example, it may contain the meaning of other terms.

[160] That is, a belt speed or a driving belt speed can be calculated by operating a rotation speed of a driving motor and a constant like a radius of a roller, can be calculated by using/operating a signal provided to a driving motor from a motor driving portion, or can be calculated by using a control signal (i.e., a first control signal) provided to a motor driving portion from a control portion. [161] A belt speed, a driving belt speed, a rotation speed of a driving motor may be directly measured by using a predetermined measuring means.

[162] An exemplary embodiment of the present invention is described below in detail with reference to attached drawings.

[163] FIG. 1 is a measurement graph illustrating various load patterns of a treadmill that can be used according to an exemplary embodiment of the present invention. The graph of FIG. 1 comparatively shows maximum allowable decelerations 110 and 120 of a motor driving portion that can be generated, due to a trip occurring in a motor driving portion, when braking a driving motor according to a driving speed of a belt if an electrical braking portion of the present invention is not provided. The graph of FIG. 1 also shows the target decelerations 210 and 220 used to provide an exerciser with an exercising feeling like what an exerciser has while exercising on an actual ground.

[164] In additional, FIG. 1 shows problems which occur when a fixed small deceleration

310 and a fixed high deceleration 320 are provided according to a conventional art in a state that does not variably control a deceleration depending on a driving speed of a belt.

[165] Since an experiment for performing quick deceleration while an exerciser exercises on a treadmill at a high speed is very risky, data in the graph of FIG. 1 are ones measured without an exerciser on the treadmill. The maximum allowable deceleration 110 is measured by using a motor driving portion with a capacity of 2.2kW, and the maximum allowable deceleration 120 is measured by using a motor driving portion with a capacity of 3.7kW.

[166] The graph of FIG. 1 is first described below centering on the maximum allowable deceleration 110 measured using a motor driving portion with a capacity of 2.2kW.

[167] The maximum allowable deceleration 110 represents a maximum allowable load of a motor driving portion to brake a belt in a treadmill which does not have an electrical braking portion of the present invention. Areas A-a, A-b and A-c below a maximum allowable deceleration 110 line segment are deceleration areas containing an allowable load of a motor driving portion, and a deceleration in these areas can be performed only by a braking torque (first braking torque) of a motor driving portion itself without using the electrical braking portion of the present invention.

[168] Areas B-a, B-b and B-c above the maximum allowable deceleration 110 line segment are deceleration areas which exceed an allowable load of a motor driving portion, and a deceleration in these areas needs a braking torque (second braking torque) provided by the electrical braking portion of the present invention.

[169] As can be seen in the graph of FIG. 1, a maximum allowable deceleration depends on a driving speed of a belt. [170] In a low speed section in which a driving speed of a belt is 5km/h, a maximum allowable deceleration is about 7.9km/h per second, but in a high speed section in which a driving speed of a belt is 19km/h, a maximum allowable deceleration is about 2.3km/h per second.

[171] Since a kinetic energy is larger as a driving speed of a belt is faster, a motor driving portion requires a larger load for braking, and so a maximum allowable deceleration at which a trip occurs in a motor driving portion becomes smaller. That is, if the electrical braking portion of the present invention is not provided, a larger deceleration is impossible as a driving speed of a belt is faster, and so it can be seen that there is a problem in that a belt which rotates at a speed of, for example, 19km/h cannot perform a deceleration of more than 2.3km/h per second.

[172] In the present invention, it has been determined that an exerciser has a tendency to stop within a predetermined time regardless of a driving speed of a belt when an exerciser desires to stop while walking or running on a treadmill. Through an experiment for a relationship between a belt speed and a stop time using a plurality of subjects, it was determined that most exercisers feel satisfied when a stop time is in a range of 1.5 seconds to 5 seconds, preferably 2 seconds to 4 seconds.

[173] It was also found through an experiment that a deceleration of an initial decelerating stage corresponds to a stop time which is a time taken for a belt which rotates at a certain speed to completely stop, and a deceleration tendency of an exerciser described above can be satisfied even when a stop time is varied during a deceleration.

[174] Hereinafter, a stop time means the time taken for a belt to stop according to a deceleration of an exerciser.

[175] A ratio between a belt driving speed and a stop time corresponds to an exerciser's desired deceleration, and so, in the graph of FIG. 1, target decelerations 210 and 220 with respect to a belt driving speed are respectively indicated by an upper target deceleration 220 corresponding to a stop time of 2 seconds and a lower target deceleration 210 corresponding to a stop time of 4 seconds.

[176] Therefore, it is preferable that areas A-b and B-b between the lower and upper target deceleration 210 and 220 are set as target deceleration areas where a deceleration of a belt is controlled. In the exemplary embodiment of the present invention, a target deceleration is set to 3 seconds.

[177] As can be seen in FIG. 1, the target decelerations 210 and 220 are increases as a belt driving speed increases, but in a conventional treadmill having no electrical braking portion as in the present invention, there is a problem in that the maximum allowable decelerations 110 and 220 decreases as a belt driving speed increases.

[178] That is, it is necessary to use braking areas B-a, B-b and B-c where a braking torque (second braking torque) of the electrical braking portion is additionally provided since it is impossible to brake only by using a braking torque (first braking torque) of a motor driving portion itself. A relationship with the target decelerations 210 and 220 is described in more detail below.

[179] Areas A-a and B-a defined by the upper target deceleration 220 are areas which may pose a risk to an exerciser due to a very fast deceleration, and, in these areas, there is a need for restricting a maximum deceleration.

[180] Areas A-b and B-b defined by the upper target deceleration 220 and the lower target deceleration 210 are areas which provide a fast deceleration while not risking an exerciser. Particularly, the left area A-b defined by the maximum allowable deceleration 110 is an area in which a braking torque (first braking torque) of a motor driving portion is provided, and the right area B-b defined by the maximum deceleration 110 is an area which needs a braking torque (second braking torque) of an electrical braking portion.

[181] Areas A-c and B-c defined by the lower target deceleration 210 are areas which provide a slower deceleration than the areas A-b and B-b but need a provision of a braking torque. Particularly, the left area A-c defined by the maximum allowable deceleration 110 is an area in which a braking torque (first braking torque) of a motor driving portion is provided, and the right area B-c defined by the maximum allowable deceleration 110 is an area which needs a braking torque (second braking torque) of the electrical braking portion.

[182] Therefore, as can be seen in FIG. 1, an exerciser who requires the upper target deceleration 220 needs a braking torque (second braking torque) of the electrical braking portion at a belt speed of more than about 8km/h, and an exerciser who requires the lower target deceleration 210 needs a braking torque (second braking torque) of the electrical braking portion at a belt speed of more than about 11.5km/h.

[183] An exerciser usually exercises on a treadmill at a speed of 7km/h to 15km/h, and there are exercisers who exercise on a treadmill even at a speed of more than 20km/h.

[184] A treadmill with only a braking torque (first braking torque) provided by a motor driving portion cannot realize a braking of a deceleration desired by an exerciser even in a general exercising speed range. Such a problem is resolved by providing the electrical braking portion of the present invention.

[185] A conventional treadmill provides a fixed slow deceleration 310 at a driving speed of the whole section and so cannot provides a deceleration desired by an exerciser.

[186] If a motor driving portion with a large capacitor of 3.7kW is employed, then the maximum allowable deceleration 120 is increased compared to a motor driving portion with a capacity of 2.2kW, but its increment rate is large in a low speed section and is small in a high speed section.

[187] The maximum allowable deceleration 120 is increased with an opposite tendency to the target decelerations 210 and 220.

[188] That is, the target deceleration requires a large deceleration at a high speed rather than a low speed, but even though a motor driving portion with a large capacity is employed, an incremented rate of a deceleration at a low speed is large, and an incremented rate of a deceleration at a high speed is small. Therefore, there is a problem in that it is impossible to provide a braking torque corresponding to a target deceleration. For such reasons, it is preferable to provide a braking torque (second braking torque) through the electrical braking portion of the present invention.

[189] Also, if a fixed high speed deceleration 320 is provided at a driving speed of the whole section in order to overcome the above problem of a conventional treadmill, a large deceleration with which an exerciser is difficult to cope is generated in a low speed section, whereby there is a problem in that such a deceleration is contained in the areas A-a and B-b which can cause potential risks to an exerciser.

[190] For the foregoing reasons, in the exemplary embodiment of the present invention, a deceleration is preferably variably controlled corresponding to a driving speed of a belt.

[191] By using a variable deceleration control method according to the present invention, the treadmill of the present invention variably controls a deceleration corresponding to a driving speed of a belt within the lower areas A-b and A-c defined by the target decelerations 210 and 220 and the maximum allowable decelerations 110 and 120, without using an electrical braking portion of the present invention, thereby significantly improving an exercising feeling compared to the conventional treadmill.

[192] Such a variable deceleration control is provided within a range of the target deceleration and is performed by a deceleration control method which will be described with reference to FIGs. 10 to 20.

[193] That is, a target deceleration means a deceleration which is on a target to improve an exerciser's exercising feeling corresponding to a rotation speed of a driving motor or a speed of a belt corresponding thereto, and a provision deceleration means a deceleration provided by a treadmill in consideration of various factors such as a position change rate of an exerciser within a range of the target deceleration. The provision deceleration corresponds to a first control signal provided to a motor driving portion 6000 from a control portion 7000.

[194] Here, the target deceleration corresponds to a target braking torque, the provision deceleration corresponds to a provision braking torque, and the maximum allowable deceleration corresponds a braking torque (first braking torque) provided by the motor driving portion 6000.

[195] Therefore, a braking torque (second braking torque) provided by the electrical braking portion 8000 of the present invention is generated such that a switching portion contained in the electrical braking portion 8000, which will be described later, operates when the provision braking torque is equal to or more than the first braking torque.

[196] FIG. 2 is a side view illustrating the treadmill according to the exemplary embodiment of the present invention, and FIG. 3 is a block diagram illustrating the treadmill according to the exemplary embodiment of the present invention. The treadmill of the present invention comprises a body portion 2100, an exerciser detecting portion 3000, a driving motor 4000, a belt 5000, a motor driving portion 6000, and a control portion 7000.

[197] The belt 5000 on which the exerciser 1000 walks or runs, the driving motor 4000 for driving the belt 5000, the motor driving portion 6000 for driving the driving motor, and the control portion 7000 are installed in the body portion 2100. The body portion 2100 can be variously configured depending on a design of a frame 2110.

[198] The frame 2110 is arranged on one side of the body portion 2100, and a control panel 2200 which has an operating portion 2210 with buttons manipulated by the exerciser 1000 and a display device 2220 for displaying various information, and the exerciser detecting portion 3000 for detecting a position of the exerciser 1000 are arranged on one side of the frame 2110.

[199] The belt 5000 is endlessly rotated by a pair of rollers 2310 and 2320 installed in the body portion 2100 and substantially supports the exerciser 1000. One roller 2310 of a pair of rollers 2310 and 2320 is engaged with the driving motor 4000 to receive torque from the driving motor 4000.

[200] A torque transferring means 2400 arranged between the driving motor 4000 and the roller 2310 may be realized by a gear or a belt. Preferably, the torque transferring means 2400 is realized by a belt which has relatively small noise.

[201] The exerciser detecting portion 3000 comprises a non-contact type sensor such as an optical sensor or an ultrasonic sensor and serves and measures a distance between the exerciser detecting portion 3000 and the exerciser 1000.

[202] In the exemplary embodiment of the present invention, an ultrasonic sensor is used as the exerciser detecting portion 3000 since an optical sensor has a problem in that light emitted from an optical sensor may be absorbed by clothes of the exerciser 1000.

[203] Such a non-contact type sensor measures a distance between the exerciser detecting portion 3000 and the exerciser 1000 by transmitting a signal at a predetermined interval and receiving a signal reflected from the exerciser 1000. For example, an ultrasonic sensor measures a distance between the exerciser detecting portion 3000 and the exerciser 1000 by calculating half of a reciprocating distance which is obtained by multiplying a speed at which a signal moves in the air and a time taken for a signal to return. [204] In case of an ultrasonic sensor, if a radiation angle (θ) is small, a noise is small, and so a measurement error which may occur when the exerciser 1000 shakes an arm or a leg is reduced, but its price is high. To the contrary, if a radiation angle (θ) is large, its price is low, but noise and a measurement error of the inexpensive sensor are increased.

[205] In order to overcome the above problem, an ultrasonic sensor with a radiation angle (θ) of equal to or less than about 25° is preferably used. In the exemplary embodiment of the present invention, a relatively cheap ultrasonic sensor with a radiation angle (θ) of about 25° is used, and a noise and a measurement error resulting from a cheap sensor are compensated by a control method programmed in the control portion 7000 which will be described later.

[206] The exerciser detecting portion 3000 is arranged on one side of the body portion

2100 at a height of 50cm to 150cm from a top surface of the belt 5000 in consideration of an adult average height and a detecting area. Preferably, the exerciser detecting portion 1000 is arranged at a height of 70cm to 110cm from a top surface of the endless belt 5000 in consideration of a height of a lower pelvis of when the exerciser lifts a leg and a height of an elbow of when the exerciser 1000 swings an arm in order to measure a position of an abdomen of the exerciser 1000.

[207] In the exemplary embodiment of the present invention, a position of the exerciser 1000 is measured at a predetermined measuring cycle (for example, more than 10Hz) by using an ultrasonic sensor as the exerciser detecting portion 3000. Since the exerciser 1000 swings an arm at a cycle of about 2Hz to 3Hz if he/she exercises at a fast speed, a position of an arm or knee of the exerciser 1000 other than an upper body of the exerciser 1000 may be contained in a measured value. In order to minimize this measurement error, an installation height of the exerciser detecting portion 3000 is adjusted, and the measured value is compensated by the control portion 7000.

[208] Preferably, a measuring cycle of an ultrasonic sensor is greater than or equal to 4Hz which is twice the variation cycle of a measured signal (for example, a position variation cycle of an upper body of the exerciser when the exerciser exercises) and less than or equal to 10Hz in consideration of the maximum distance between the exerciser detecting portion 3000 and the exerciser 1000 which is about 1.5 m and a moving speed of a sonic wave. More preferably, a measuring cycle of an ultrasonic sensor is equal to or more than 6Hz which is three times of a variation cycle of a measured signal.

[209] When the exerciser 1000 rapidly runs to accelerate from a current speed, a current position X of the exerciser 1000 is ahead of a reference position X , and the exerciser detecting portion 3000 transmits a signal corresponding to a current position of the exerciser 1000 measured or a current-position measured value X corresponding thereto to the control portion 7000.

[210] The control portion 7000 calculates a difference between the reference position value X and the current-position measured value X of the exerciser 1000 and transmits a

0 r first control signal corresponding to the difference to the motor driving portion 6000.

The motor driving portion 6000 controls electrical power supplied from a power supply portion 2500 to increase a rotation speed of the driving motor 4000. [211] When a rotation speed of the driving motor 4000 is increased, a speed of the belt

5000 engaged with the driving motor 4000 is increased, which moves the exerciser

1000 backward in a direction of the reference position X . [212] Similarly, when the exerciser 1000 slowly runs to decelerate from a current speed, the current-position measured value X of the exerciser 1000 is behind the reference r position X , and the exerciser detecting portion 3000 transmits a signal corresponding to a current position of the exerciser 1000 measured or the current-position measured value X corresponding thereto to the control portion 7000.

[213] The control portion 7000 calculates a difference between the reference position value X and the current-position measured value X and transmits the first control signal corresponding to the difference to the motor driving portion 6000. The motor driving portion 6000 controls electrical power supplied from the power supply portion 2500 to decrease a rotation speed of the driving motor 4000.

[214] When a rotation speed of the driving motor 4000 is decreased, a speed of the belt 5000 engaged with the driving motor 4000 is decreased, which moves the exerciser 1000 moves forward in a direction of the reference position X .

[215] Accordingly, when the exerciser 1000 desires to accelerate or decelerate, a speed of the belt is automatically controlled so that the exerciser 1000 can be located in the reference position X .

[216] A rotation speed of the driving motor 4000 is controlled by the motor driving portion 6000, and torque of the driving motor 4000 is transferred to the roller 2310 engaged with the belt 5000 through the torque transferring means 2400.

[217] As the driving motor 4000, a direct current (DC) motor or an alternating current (AC) motor which is usually used may be used. In the exemplary embodiment of the present invention, an AC motor is used.

[218] The motor driving portion 6000 is supplied with electrical power from the power supplying portion 2500 and controls a rotation speed of the driving motor 4000 in response to the first control signal transmitted from the control portion 7000.

[219] The motor driving portion 6000 comprises either of an inverter and a converter depending on a kind of the driving motor 4000 as shown in FIGs. 4 to 9. In the exemplary embodiment of the present invention, an inverter for supplying an AC current to an AC motor is used. [220] In the exemplary embodiment of the present invention, the first control signal transmitted from the control portion 7000 to the motor driving portion 6000 is a frequency modulation (FM) signal, and in order to increase a speed of the driving motor 4000, the first control signal with a high frequency is generated.

[221] An electrical braking portion 8000 provides a braking torque to the driving motor 4000 to decelerate the driving motor 4000 when the exerciser 1000 desires to decelerate while walking or running at a certain speed.

[222] When the driving motor 4000 is an AC motor, the electrical braking portion 8000 may be variously realized by, for example, dynamic braking, regenerative braking, DC braking, single-phase braking, or reversed-phase braking. In the exemplary embodiment of the present invention, the electrical braking portion 8000 is realized by the dynamic braking and comprises a resistor which reduces kinetic energy of the driving motor 4000 to heat energy.

[223] Even when the driving motor 4000 is a DC motor, the electrical braking portion 8000 may be realized by, for example, dynamic braking, regenerative braking, or reversed- phase braking.

[224] At this point, since the motor driving portion 6000 has a braking means contained therein, the motor driving portion 6000 can provide a first braking torque to the driving motor 4000. However, a required braking torque exceeds the first braking torque when the electrical braking portion 8000 is not provided, a trip occurs, as shown in FIG. 1.

[225] For the forgoing reason, the electrical braking portion 8000 generates a second braking torque to brake the driving motor 4000.

[226] The present invention resolves the above-described problem such that only the first braking torque which is a part of a target braking torque is provided by the motor driving portion 6000 and the rest is provided by the electrical braking portion 8000.

[227] The second braking torque of the electrical braking portion 8000 preferably corresponds to a part of the target braking torque which exceeds the first braking torque. That is, the target braking torque minus the first braking torque is the second braking torque.

[228] FIGs. 4 to 6 are various circuit diagrams illustrating electrical braking methods using an AC motor according to the exemplary embodiment of the present inventions. The power supplying portion 2500 for supplying an AC power, the driving motor 4000, the motor driving portion 6000 for controlling a speed of the driving motor 4000, and the electrical braking portion 8000 for providing a braking torque to the driving motor 4000 are shown in FIGs. 4 to 6, respectively.

[229] In case where the power supplying portion 2500 supplies an AC power and the driving motor 4000 is an AC motor, the motor driving portion 6000 may comprise a typical inverter. [230] The inverter comprises a converting portion 6100 for rectifying an AC power supplied to the motor driving portion 6000, a DC smoothing portion 6200 for sm oothing a voltage rectified by the converting portion 6100, and an inverting portion 6300 for frequency-modulating a DC power smoothed by the DC smoothing portion 6200 through the control portion 7000 and providing the frequency-modulated power to the driving motor 4000. The driving motor 4000 changes its rotation speed depending on a frequency.

[231] When the first control signal for deceleration is transmitted to the motor driving portion 6000 from the control portion 7000 while the driving motor 4000 is rotating at a certain speed, the kinetic energy corresponding to a difference between a current speed and a decelerated speed flows to the motor driving portion 6000 from the driving motor 4000 as regenerative energy. Accordingly, the sum of a voltage of the power supplying portion 2500 and a voltage of the regenerative energy is applied between both output terminals of the converting portion 6100 or between both output terminals of the DC smoothing portion 6200.

[232] FIG. 4 shows that in order to emit the regenerative energy from the motor driving portion 6000, the electrical braking portion 8000 uses a braking resistor 8200 to reduce the regenerative energy to the heat energy.

[233] A switching portion 8100 of the electrical braking portion 8000 operates when a voltage applied between both output terminals of the converting portion 6100 or between both output terminals of the DC smoothing portion 6200 exceeds a predetermined reference voltage, that is, when a braking torque which exceeds a braking torque (first braking torque) of the motor driving portion 4000 is required, so that at least part of the regenerative energy which flows to the motor driving portion 6000 from the driving motor 4000 is emitted as the heat energy by the braking resistor 8200 which comprises a resistor connected between one end of the switching portion 8100 and one end of either the converting portion 6100 or the DC smoothing portion 6200.

[234] The switching portion 8100 may be configured to operate in response to a second control signal transmitted from the control portion 7000.

[235] The braking resistor 8200 is preferably designed, corresponding to a capacity of the motor driving portion 6000 and a load applied to the driving motor 4000, for example, a braking torque (first braking torque) of the motor driving portion 6000 and a maximum target braking torque which is a braking torque for providing the target decelerations 210 and 220 described in FIG. 1. In the exemplary embodiment of the present invention, the motor driving portion 6000 with a capacity of 2.2KW and the braking resistor 8200 with a resistance of 50O are used.

[236] FIGs. 5 and 6 show that the regenerative energy is sent back to the power supplying portion 2500 by the electrical braking portion 8000 for emitting the regenerative energy out of the motor driving portion 6000 or consuming it.

[237] In FIG. 5, the electrical braking portion 8000 has a similar configuration to the inverting portion 6300 of the motor driving portion 6000 and is connected between both terminals of the converting portion 6100 or between both terminals of the DC smoothing portion 6200.

[238] When a voltage applied between both terminals of the converting portion 6100 or between both terminals of the DC smoothing portion 6200 is more than a predetermined reference voltage due to the regenerative energy flowing into the motor driving portion 6000 from the driving motor 4000, that is, when a braking torque which exceeds a braking torque (first braking torque) of the motor driving portion 6000 is required, then the switching portion 8100 of the electrical braking portion 8000 operates to transfer the regenerative energy to the power supplying portion 2500.

[239] At this time, a plurality of switching portions 8100 of the electrical braking portion

8000 are respectively controlled to synchronize a phase of the regenerative energy with an AC power of the power supplying portion 2500.

[240] The switching portion 8100 may be configured to be operated by a circuit configuration of the inverter 6000 itself or to be operated by the second control signal transmitted from the control portion 7000.

[241] In FIG. 6, the regenerative braking similar to that of FIG. 5 is used, but unlike that of FIG. 5, the switching portion 8100 is added to the converting portion 6100 to serve as the electrical braking portion 8000.

[242] Diodes arranged in the converting portion 6100 or the electrical braking portion 8000 serve to rectify an AC power of the power supplying portion 2500 when a forward power is supplied to the driving motor 4000 from the power supplying portion 2500, and the switching portion 8100 serves to transfer the regenerative energy to the power supplying portion 2500 from the driving motor 4000. The diodes and the switching portion 8100 of FIG. 6 are the same in operating principle as those of FIG. 5.

[243] The circuit configurations of FIGs. 4 to 6 according to the exemplary embodiment of the present invention are described below in more detail.

[244] The power supplying portion 2500 supplies an AC power which is usually supplied to home.

[245] The converting portion 6100 is configured by three pairs of diodes for rectifying an AC power supplied from the power supplying portion 2500, and outputs the rectified power through its output terminal.

[246] The DC smoothing portion 6200 is configured by electrically connecting a capacitor to both output terminals of the converting portion 6100 in parallel and serves to smooth the rectified wave form.

[247] The inverting portion 6300 is electrically connected to the output terminal of the DC smoothing portion 6200 and is configured by three pairs of insulated gate bipolar transistors (IGBTs) in which a switching element like a transistor and a diode are connected in parallel. A signal of a frequency modulator (not shown) for modulating a frequency corresponding to the first control signal transmitted from the control portion 7000 is input to gates of the IGBTs, and electrical power of a predetermined frequency is supplied to the driving motor 4000, thereby controlling a speed of the driving motor 4000.

[248] In case of the DC braking, a braking torque can be provided by blocking a path of from the power supplying portion 2500 to the driving motor 4000 and then making a DC current to flow to a primary winding of the driving motor 4000 in the configurations of FIGs. 4 to 6.

[249] In case of the single phase braking, a braking torque can be provided to the driving motor by connecting two terminals of a primary winding to each other and then applying a single-phase AC current between the connected terminal and the other terminal in the configurations of FIGs. 4 to 6.

[250] In case of the reversed-phase braking, a braking torque can be provided to the driving motor 4000 by operating the IGBTs of the inverting portion 6300 to adjust a phase in the configurations of FIGs. 4 to 6.

[251] Here, the electrical braking portion 8000 serves to emit the regenerative energy out of the motor driving portion 6000 or consume it and also serves to provide a braking torque of an opposite direction to a forward torque of the driving motor 4000.

[252] FIGs. 7 to 9 are various circuit diagrams illustrating electrical braking methods using a DC motor according to the exemplary embodiment of the present invention. The power supplying portion 2500 for supplying an AC power, the driving motor 4000 which comprises a DC motor in which a rotation speed is controlled by a voltage difference, the motor driving portion 6000 for controlling a speed of the driving motor 4000, and the electrical braking portion 8000 for providing a braking torque to the driving motor 4000 are shown in FIGs. 7 to 9, respectively.

[253] In case where the power supplying portion 2500 supplies an AC power and the driving motor 4000 is a DC motor, the motor driving portion 6000 may comprise a typical converter.

[254] The converter comprises a converting portion 6110 for rectifying an AC power flowing to the motor driving portion 6000, and the driving motor 4000 comprises an AC field supplying portion connected to an electrical power source. A rotation speed of the motor driving portion 6000 depends on an average voltage magnitude of a pulse- width modulation wave which flows in from the motor driving portion 6000.

[255] The power supplying portion 2500 supplies an AC power which is usually supplied to home. [256] The converting portion 6110 comprises three pairs of silicon controlled rectifiers (SCRs) for rectifying an AC power supplied from the power supplying portion 2500 and outputs the rectified power through its output terminal. The converting portion 6100 controls a switching element like a transistor arranged at its output terminal to modulate a pulse width in order to control a speed of the driving motor 4000.

[257] When the first control signal for deceleration is transmitted to the motor driving portion 6000 from the control portion 7000 while the driving motor 4000 is rotating at a certain speed, the kinetic energy corresponding to a difference between a current speed and a decelerated speed flows to the motor driving portion 6000 from the driving motor 4000 as regenerative energy, so that the sum of a voltage of the power supplying portion 2500 and a voltage of the regenerative energy is applied between both output terminals of the converting portion 6110.

[258] FIG. 7 shows that the regenerative energy is reduced to the heat energy by using the electrical braking portion 8000, for example, the braking resistor 8200.

[259] The switching portion 8100 of the electrical braking portion 8000 operates when a voltage applied between both output terminals of the converting portion 6110 exceeds a predetermined reference voltage, so that the regenerative energy flowing into the motor driving portion 6000 from the driving motor 4000 is reduced to heat energy by the braking resistor 8200 which comprises a resistor electrically connected between one end of the switching portion 8100 and one end of the converting portion 6110.

[260] Here, the switching portion 8100 may be configured to operate in response to the second control signal transmitted from the control portion 7000.

[261] FIG. 8 shows that the regenerative energy is sent back to the power supplying portion 2500 by the electrical braking portion 8000 for emitting the regenerative energy out of the motor driving portion 6000 or consuming it.

[262] The electrical braking portion 8000 is connected to both ends of the converting portion 6110 which has a similar configuration of the inverting portion 6300 of the inverter shown in FIGs. 4 to 6.

[263] When a voltage applied between both output terminals of the converting portion 6110 exceeds a predetermined reference voltage due to the regenerative energy flowing into the motor driving portion 6000 from the driving motor 4000, the switching portion 8100 of the electrical braking portion 8000 operates to thereby transfer the regenerative energy to the power supplying portion 2500.

[264] Here, a plurality of switching portions 8100 of the electrical braking portion 8000 are respectively controlled to synchronize a phase of the regenerative energy with an AC power of the power supplying portion 2500.

[265] The switching portion 8100 may be configured to operate in response to a circuit configuration of the converter itself or operate by the second control signal transmitted from the control portion 7000.

[266] FIG. 9 shows a reversed-phase braking by using the electrical braking portion 8000 according to the exemplary embodiment of the present invention.

[267] To accelerate the driving motor 4000, the SCRs of the converting portion 6110 are turned on, and the SCRs of the electrical braking portion 8000 are turned off, so that a voltage of a predetermined polarity is supplied to the driving motor 4000.

[268] To decelerate the driving motor 4000, the SCRs of the converting portion 6110 are turned off, and the SCRs of the electrical braking portion 8000 are turned on, so that a voltage of an opposite polarity to that for acceleration is supplied to the driving motor 4000 as a braking torque.

[269] As described above, the treadmill of the present invention processes the regenerative energy generated in the driving motor by using the electrical braking portion, thereby achieving the target braking torque.

[270] Hereinbefore, the electrical braking portion 8000, the motor driving portion 6000, and the driving motor 4000 have been described focusing on their exemplary configuration, but their configuration may be variously modified.

[271] Here, the electrical braking portion 8000 means the regenerative energy processing portion for emitting the regenerative energy generated in the driving motor 4000 out of the motor driving portion 6000 or consuming it in order to brake the driving motor 4000, and may comprise the switching portion 8100 for performing a switching operation for providing the second braking torque.

[272] FIGs. 10 to 12 are block diagrams illustrating the control portion according to the exemplary embodiment of the present invention.

[273] In FIG. 10, the control portion 7000 computes a measured value X corresponding to r a signal obtained by measuring a position of the exerciser 1000 by the exerciser detecting portion 3000 by using a predetermined criterion and transfers the first control signal to the motor driving portion 6000. The control portion 7000 comprises a preprocessing portion 7100, a reference position generating portion 7200, and a driving command portion 7300. [274] FIGs. 10 to 21 show that the measured value X is transferred to the control portion r

7000 from the exerciser detecting portion 3000, but this is for easy description and is not limited to it. [275] The measured value X may be a value corresponding to an exerciser position r generated in the exerciser detecting portion 3000. Also, the measured value X r may be a value corresponding to an exerciser position which is converted from a signal transmitted to the control portion 7000 from the exerciser detecting portion 3000. [276] In the exemplary embodiment of the present invention described below, the measured value X means a value generated in the exerciser detecting portion 3000 and then transferred to the control portion 7000. [277] The pre-processing portion 7100 processes noise and undesired values included in the measured value X , which corresponds to a signal obtained by measuring a position r of the exerciser 1000, transmitted from the exerciser detecting portion 3000 by a data converting criterion to generate a converted value X ' and transmits the converted value r

X ' to the reference position generating portion 7200 and/or the driving command portion 7300. [278] The pre-processing portion 7100 stores the measured values X (i=0,...,n) cor- responding to a position of the exerciser 1000 which are measured at a unit time interval or the corresponding converted values X ' (i=0,...,n) processed by the data converting criterion and transmits the measured values X (i=0,...,n) or the converted values X ' (i=0,...,n) to the reference position generating portion 7200 and the driving command portion 7300.

[279] The pre-processing portion 7100 generates a current state value S which represents which state among an accelerating state, a decelerating state and a maintaining state the treadmill is in using a state determining criterion based on the measured values X (i=0,...,n) corresponding to a position of the exerciser 1000 which are measured at a unit time interval or the corresponding converted values X ' (i=0,...,n) processed by the data converting criterion, and transmits the current state value S r to the driving command portion 7300.

[280] The reference position generating portion 7200 generates a reference position value X which is used to determine a difference value with the measured value X or the

0 r converted value X ' which corresponds to a current position of the exerciser 1000, and r transmits the reference position value X to the driving command portion 7300.

[281] Here, the reference position value X means a distance from the exerciser detecting portion 3000 that a driving speed of the driving motor 4000 can be constantly maintained when the exerciser 1000 is at a predetermined position.

[282] The reference position generating portion 7200 adjusts the reference position value based on a driving speed containing a belt speed or a corresponding speed thereto. Here, the driving speed may be a rotation speed of the driving motor or a speed corresponding to the rotation speed, for example, a speed of the belt 5000 or the first control signal, transmitted to the motor driving portion 6000 from the control portion 7000.

[283] The driving command portion 7300 computes a difference value ΔX between the reference position value X transmitted from the reference position generating portion 7200 and the measured value X r corresponding to a position of the exerciser 1000 or the converted value X ' transmitted from the pre-processing portion 7100 to transmit the first control signal for controlling a speed of the driving motor 4000 to the motor driving portion 6000. [284] In the exemplary embodiment of the present invention, the converted value X ' r transmitted from the pre-processing portion 7100 is used in order to obtain the difference value ΔX with the reference position value X . [285] The driving command portion 7300 performs a closed-loop control and converts control constants contained in a control equation for a closed-loop control to adjust a control gain, thereby controlling a control sensitivity. [286] FIG. 11 is a detailed block diagram illustrating the pre-processing portion shown in

FIG. 10. The pre-processing portion 7100 comprises a state determining portion 7110, a data converting portion 7120, and a data storing portion 7130. [287] The state determining portion 7110 determines which state among the accelerating state, the decelerating state and the maintaining state the exerciser 1000 is in using the state determining criterion and generates the current state value S corresponding to a r current state of the exerciser 1000.

[288] The data converting portion 7120 processes noise and undesired values included in the measured values X which correspond to a signal transmitted from the exerciser detecting portion 3000 using the data converting criterion to generate the converted value X r '.

[289] The data storing portion 7130 stores the measured values X (i=0,...,n) which are measured at a unit time interval or the converted values X ' (i=0,...,n) which are generated at a unit- time interval by the data converting portion 7120. The data storing portion 7130 may store the state values S (i=0,...,n) which are generated at a unit time interval in the state determining portion 7110.

[290] In more detail, the state determining portion 7110 compares the current measured value X containing noise and undesired data transmitted from the exerciser detecting r portion 3000 to the past values X (i=l,...,n) stored in the data storing portion 7130 to determine the current state using the state determining criterion, thereby generating the current state value S which is one of the accelerating state, the decelerating state or the r mainlining state. [291] In an exemplary embodiment of the present invention, the past converted values X '

(i=l,...,n) are used as the past values X (i=l,...,n) to be compared to the current measured value X to generate the current state value S . r r

[292] The generated current state value S may be stored in the data storing portion 7130 or r may be transmitted to the driving command portion 7300 to be used to generate the first control signal.

[293] In more detail, the data converting portion 7120 determines a forward or backward direction of the exerciser 1000 based on the past values X (i=l,...,n) and the current measured value X to generate the current converted value X '. [294] In the exemplary embodiment of the present invention, the past converted values X '

(i=l,...,n) are used as the past values X ^τ (i=l,...,n) to be compared to the current measured value X to generate the current converted value X '. r r

[295] The current converted value X ' generated is stored in the data storing portion 7130 r for a comparison for generating the converted value X ' of the measured value X of r+l r+1 the next unit time and is transmitted to the driving command portion 7300 to be used to compute the position difference value ΔX which is a difference with the reference position value X . Also, the current converted value X ' may be transmitted to the reference position generating portion 7200 to be used to generate the reference position value X . o

[296] FIG. 12 is a detailed block diagram illustrating the driving command portion 7300 shown in FIG. 10. The driving command portion 7300 comprises a control gain portion 7310, a sensitivity adjusting portion 7320, a control signal generating portion 7330.

[297] The control gain portion 7310 generates a control gain ΔV corresponding to a speed by applying the position difference value ΔX which is a difference between the reference position value X transmitted from the reference position generating portion 7200 and the current value X r , for example, the current converted value X r ' transmitted from the pre-processing portion 7100 to a PI control of Equation 1 or a PID control of Equation 2 [298] [Equation 1]

[300] [Equation 2]

[302] Here, a proportional constant K , an integral constant K , and a differential constant K which are used as control constants are adjusted by the sensitivity adjusting portion d

7320 in order to accept various exercising patterns of the exerciser 1000.

[303] In the exemplary embodiment of the present invention, an experiment has been performed by using a PI control, which is fast in response speed and small in target value error, expressed by Equation 1, but other control methods can be used.

[304] The control signal generating portion 7330 generates the first control signal for controlling a speed of the driving motor 4000 through the motor driving portion 6000 based on the control gain ΔV transmitted from the control gain portion 7310 and transmits the first control signal to the motor driving portion 6000.

[305] The sensitivity adjusting portion 7320 changes the values of the control constants used in the control gain portion 7310 in consideration of various exercising patterns of the exerciser 1000 to adjust the sensitivity of a speed response of the belt to movement of the exerciser 1000.

[306] The respective components 7100, 7200 and 7300 contained in the control portion

7000 may be respectively configured in separate physical spaces or may be configured by a program code in a single physical space.

[307] FIG. 13 is a flowchart illustrating a control method of the control portion 7000 according to the exemplary embodiment of the present invention. The control method of the control portion 7000 comprises a position measuring step SlOOO for the exerciser detecting portion 3000 measuring a position of the exerciser, a pre-processing step S2000 for the control portion 7000 receiving a measured signal or a corresponding measured value X and converting the measured value X to the converted value X ' by r r r the pre-processing procedure, a reference position generating step S3000 for generating the reference position value X based on the driving speed, which can include the belt speed or a speed corresponding to the belt speed, and a driving command step S4000 for transmitting the first control signal to the motor driving portion 6000 based on either of the measured value X r and the converted value X r ' and the reference position value X to perform a driving command.

[308] The pre-processing step S2000 comprises a state determining step S2100 for determining a current state of the exerciser and a data converting step S2200 for converting the measured value X to the converted value X '. r r

[309] The driving command step S4000 comprises a sensitivity adjusting step S4100 for determining the driving speed containing the belt speed or the speed corresponding to the belt speed or a position change rate of the exerciser to adjust the control constant, a control gain generating step S4200 for generating the control gain by the closed-loop control equation, and a control signal generating step S4300 for transmitting a command to the motor driving portion 6000 based on the control gain.

[310] FIG. 14 is a flowchart illustrating an operation of the state determining portion according to the exemplary embodiment of the present invention. In the flowchart of FIG. 14, the portion marked as "(a)" shows steps according to performed functions, and the portion marked "(b)" shows a determining criterion of each step in the portion "(a)".

[311] The state determining step S2100 includes a data direction determining step S2110 for determining a forward or backward direction in which the measured value X r or the converted value X ' obtained at a unit-time interval changes with respect to an immediately previous or previous measured value or an immediately previous or previous converted value, that is, for determining a data direction corresponding to a forward or backward direction in which a subsequent data value among data values X ° (i=0,...,n) changes in with respect to a preceding data value; an acceleration/deceleration magnitude reference comparing step S2120 for determining whether a difference between a measured value or converted value of a predetermined previous unit time which is used as a reference value, for example, a preceding data value of a predetermined previous unit time which is used as a reference value and a current measured value or current converted value satisfies a predetermined criterion C or C or not; and a state determining step S2130 for finally determining the current state. [312] The state determining step S2130 may further include a step for generating a state value S by using a value corresponding to the current exerciser state. r

[313] The data direction determining step S2110 uses the past values X (i=l,...,n) stored

T " in the data storing portion 7130 and the current value X . Here, an immediately r previously occurring converted value and earlier previous converted values are used as the past values X (i=l,...,n), and the current measured value Xr is used as the current value X . If the past values X (i=l,...,n) and the current value X comprises only of a continuous forward direction or a maintaining direction and the difference between the past value X (j is a positive integer) of the predetermined previous unit r-J _τ time and the current value X r results in a forward direction, then the procedure goes to an acceleration magnitude reference comparing step S2121. That is, if the subsequent data value among the data values X ° (i=0,...,n) is configured to be a continuous forward direction or a maintaining direction with respect to the preceding data value only, and the current value X ^τ, has a data direction (which is either a r continuous forward direction or a maintaining direction with respect to the preceding data value) which is a forward direction, then the procedure goes to the acceleration magnitude reference comparing step S2121. [314] Also, if the past values X ^τ (i=l,...,n) and the current value X ^τ are configured as a continuous backward direction or maintaining direction and a difference between the past value X T (j is a positive integer) of the predetermined previous unit time and the r-J current value X results in a backward direction, then the procedure goes to a de- r celeration magnitude reference comparing step S2122. That is, if the subsequent data value among the data values X ° (i=0,...,n) comprises only of a continuous backward direction or a maintaining direction with respect to the preceding data value, and the

T current value X has a data direction (which is generated as either a backward r direction or a maintaining direction with respect to the preceding data value) is a backward direction, then the procedure goes to the deceleration magnitude reference comparing step S2122. [315] Further, if the data values X ° (i=0,...,n) do not have a continuous direction, that is, a forward direction and a backward direction exist together in the data values X

(i=0,...,n) or the data values X ° (i=0,...,n) have a continuous maintaining direction, then the procedure does not go to the acceleration/deceleration magnitude reference comparing step S2120, and in the state determining step S2130, the current sate is determined as a maintaining state (step S2132). [316] Preferably, the data direction is determined by using the past values X ' (i= 1,2,3) of r-i at least 3 previously occurring unit times immediately before the current unit time, for example, the values X ' (i=l,,,,n) where n is equal to or more than 3, as the past values r-i

X (i=l,...,n) and the current measured value X as the current value X . r-i r r

[317] In the acceleration magnitude reference comparing step S2121 of the acceleration/deceleration magnitude reference comparing step S2120, when a data direction is determined as a forward direction in the data direction determining step S2111, it is determined whether a difference value between a past value X (j is a positive r-J _τ integer) of a predetermined previous unit time and a current value X exceeds the pre- r determined acceleration magnitude reference value C or not (step S2121). If the a difference value exceeds the predetermined acceleration magnitude reference value C a , then the current state is determined as an acceleration state (step S2131). If the difference value is equal to or less than a predetermined acceleration magnitude reference value C , then the current state is determined as a maintaining state (step S2132).

[318] When a data direction is determined as a backward direction in the data direction determining step S2111, in the deceleration magnitude reference comparing step S2122, it is determined whether a difference value between a past value X ^τ (j is a positive r-J _τ integer) of a predetermined previous unit time and a current value X exceeds a pre- r determined deceleration magnitude reference value C or not (step S2122). If the d difference value exceeds the predetermined deceleration magnitude reference value C , d then the current state is determined as a deceleration state (step S2133), and if the difference value is equal to or less than the predetermined deceleration magnitude reference value C , then the current state is determined as a maintaining state (step S2132). [319] The data direction is determined by using preferably the past value X of an at r-2 least second most recent or earlier previous unit time from the current unit time, more preferably the past value X of a third most recent previous unit time as the past value X (j is a positive integer) of a predetermined previous unit time to be r-J compared in difference with the current measured value X , and the current measured

T ^r value X r as the current value X r .

[320] Also, the state determining step S2130 may further include a step for generating an accelerating state, a maintaining state or a decelerating state as the current state S r . The generated current state S may be stored in the data storing portion 7130 or may be used in the driving command portion 7300. [321] FIG. 15 is a flowchart illustrating an operation of the data converting portion according to the exemplary embodiment of the present invention. In the flowchart of FIG. 15, the portion marked "(a)" shows steps according to performed functions, and the portion marked "(b)" shows a determining criterion of each step in the portion "(a)".

[322] The data converting step S2200 includes a past data direction determining step S2210 for determining a direction in which the past values X (i=l,...,n) change, a current data direction determining step S2220 for determining a direction of the current measured value X relative to the immediately previous past value X , and a r r-1 converted value generating step S2230 for converting/generating the current measured value X into the current converted value X '. r r

[323] The converted value generating step S2240 may further include a step for converting a weighted average value of a converted value X ' once converted by the above step r and the past values X (i=l,...,n) predetermined unit times (n) into the current converted value X r '.

[324] The past data direction determining step S2210 determines whether the past values X

T

(i=l,...,n) continuously results in a forward direction or a maintaining direction or continuously results in a backward direction or a maintaining direction using the past values X (i=l,...,n) of from a predetermined previous unit time (n), and determines whether there exists a constant direction that a difference with the past value X r-n of the predetermined previous unit time is generated in a forward direction or a backward direction or not (step S2211).

[325] If it is determined in the past data direction determining step S2210 that there is no constant direction, e.g., since the past values X (i=l,...,n) have only a maintaining direction (i.e., same values), or have a forward direction and a backward direction together, then the current converted value X ' is generated in the converted value r generating step S2230 using the current measured value X without going to the current r data direction determining step S2220 (step S2232). In this instance, the current measured X is used as the current converted value X '. r r

[326] If it is determined in the past data direction determining step S2210 that a constant direction exists, e.g., since the past values X (i=l,...,n) continuously results in a forward direction or a maintaining direction or continuously results in a backward direction or a maintaining direction and a difference with the past value [327] X r-n of a predetermined previous unit time (n) also results in a forward direction or a backward direction, then the procedure goes to the current data direction determining step S2220.

[328] In the exemplary embodiment of the present invention, the past values X ' (i= 1,2,3) of 3 previously occurring unit times immediately before the current unit time are used as the past values X (i=l,...,n) used in the past data direction determining step S2210. [329] The current data determining step S2220 determines whether the current value

(current measured value) maintains a direction of the past data (past converted value) determined by the past data direction determining step S2210 or not. In cases where the past values X ^τ (i=l,...,n) have a forward direction which has a continuous forward direction or maintaining direction, if the current value (current measured value) changes in a backward direction compared to the immediately previous past value X , then the current converted value X ' is generated by restricting the current r-l r measured value X (step S2231) in the converted value generating step S2230. r T

[330] Similarly, in case where the past values X (i=l,...,n) have a backward direction which has a continuous backward direction or maintaining direction, if the current value (current measured value) changes in a forward direction compared to the immediately previous past value X , then the current converted value X ' is generated by restricting the current measured value X r (step S2231) in the converted value generating step S2230.

[331] That is, it is determined whether a direction of the current value (current measured value) changes with respect to the past values X (i=l,...,n) or not (step S2221). If it changes, in the converted value generating step S2230, the current measured value X r is restricted to generate the current converted value X ' (step S2231), whereas if it does not change, the current converted value X ' is generated by using the current measured value X (step S2232). r

[332] This is done because it is physically impossible for the exerciser to change to a deceleration state immediately from an acceleration state or to an acceleration state immediately from a deceleration state. Thus, the current measured value X is converted r into the current converted value X ' which is a physically possible value for the current value X ^τ. r

[333] In addition to the determining steps and the determining criterions of FIG. 15, if based on the past values X (i=l,...,n) of from a predetermined previous unit time (n) and the current value (current measured value), it is determined that the past values [334] X (i=l,...,n) from a predetermined previous unit time (n) and the current value

(current measured value) continuously have only a forward direction or a maintaining direction or continuously have only a backward direction or a maintaining direction and a difference with the pas value X r-n of the predetermined previous unit time (n) generates a forward direction or a backward direction, then the current measured value X r may be used to generate the current converted value X r ' (step S2232). Otherwise, that is, if a forward direction and a backward direction exist together, then the current measured value X may be restricted to generate the current converted value X ' (step S2231). [335] In the step S2231 of the converted value generating step S2230 for restricting the current measured value X to generate the current converted value X ', the past value X r r τ of a first most recent previous unit time which is the immediately previous unit time is preferably used as the current converted value X '. r

[336] After generating the current converted value X ' as described above, the current r converted value X ' may be used in a subsequent control procedure "as is" but in order r to prevent the current converted value X ' from greatly changing from the immediately r previous converted value X ', the procedure may further include a weight- averaging r-l step for generating a final converted value X ' by weight-averaging the past values X ' r r-i

(i=l,...,k) of predetermined unit times (k) and the current converted value X '. r

[337] The past converted values X ' (i= 1,2,3) of 3 (first to third) previous unit times are r-l preferably used as the past converted values X ' for a weight average. r-i

[338] FIG. 16 is a flowchart illustrating an operation of the data converting portion according to another exemplary embodiment of the present invention. [339] Hereinafter, a term "a normal range reference N a includes an acceleration normal reference range N a and a deceleration normal reference range N d . The normal range reference N a means a reference for determining whether the current measured value is

T normal or not based on a difference with the past value X r-k (k is a positive integer) of a predetermined previous unit time (k). [340] The data converting step S2200 of FIG. 16 includes a normal range control step

S2240, a normal range determining step S2250, and a converted value generating step

S2260. [341] In the normal range determining step S2250, a result of a function using the current measured value X and/or the past value X ^τ (k is a positive integer) of a pre- r r-k determined previous unit time (k) is compared to the normal reference range N . r

[342] In the normal range determining step S2250, it is determined whether a difference

T between the current measured value X and the past value X (k is a positive integer) r r-k of a predetermined previous unit time (k) is in the normal reference range N or not r

(step S2251). If the difference is in the normal reference range N , the current r converted value X ' is generated by using the current measured value X "as is "(step r r

S2261), whereas if the difference is not in the normal reference range N , the current r converted value X ' is generated by restricting the current measured value X (step S2262). [343] If the difference between the current measured value X r and the past value X r-k (k is a positive integer) of a predetermined previous unit time (k) is not in the normal reference range N , a count (i, i is an integer) with a predetermined initial value is increased by 1 (i=i+l) (step S2253), whereas if the difference is in the normal reference range N , the count (i) is reset to the initial value (step S2252). The initial r value of the count (i) is preferably set to zero (0). [344] In the normal range control step S2240, the normal reference range is adjusted, maintained or initialized by comparing the count (i) (step S2241). [345] In more detail, if the count (i) is larger than the initial value and is equal to or less than a predetermined reference (n, n is an integer), the normal reference range N is r adjusted (step S2242). Preferably, an absolute value of the normal reference range N is r adjusted. In the below description, the normal reference range N will be described r focusing on the deceleration range reference N , and the acceleration range reference N d will be easily understood from the description by reversing a sign by a person skilled a in the art. [346] The normal reference range N may be adjusted by using the same change magnitude r or difference change magnitudes. [347] If the count (i) has the initial value, the normal reference range N is initialized (step

S2243), and if the count (i) is larger than the predetermined reference (n), the normal reference range N is maintained (step S2244). [348] The normal reference range N r corresponding to the predetermined reference (n), i.e., a maximum value of the normal reference range N is preferably set to correspond to a magnitude of a position change generated by an exerciser with an excellent exercising ability, and the normal reference range N of when the count (i) has the initial value, i.e., an initial value of the normal reference range N is preferably set to be equal to or r less than the maximum value of normal reference range N . r

[349] The acceleration range reference N and the deceleration range reference N may a d have the same value or difference values from each other. For example, in the normal range determining step S2250, if a change of the current measured value X to the past r value X (k is a positive integer) of a predetermined previous unit time (k) has a r-k forward direction, the acceleration range reference N may be applied as the normal a reference range N , whereas if a change of the current measured value X to the past r r value X (k is a positive integer) of a predetermined previous unit time (k) has a r-k backward direction, the deceleration range reference N may be applied as the normal d reference range N . In the exemplary embodiment of the present invention, the ac- r celeration range reference N and the deceleration range reference N have different a d values from each other.

[350] The predetermined reference (n) to be compared with the count (i) when a change of the current measured value X to the past value X (k is a positive integer) of a predetermined previous unit time (k) has a forward direction may have the same value as or may have a different value from when a change of the current measured value X to the past value X r-k (k is a positive integer) of a predetermined previous unit time (k) has a backward direction. In the exemplary embodiment of the present invention, the predetermined reference (n) to be compared with the count (i) when a change of the current measured value X to the past value X (k is a positive integer) of a pre- r r-k determined previous unit time (k) has a forward direction has a different value from when a change of the current measured value X to the past value X (k is a positive r r-k integer) of a predetermined previous unit time (k) has a backward direction. [351] In the exemplary embodiment of the present invention, in the step S2262 of the converted value generating step S2260 for restricting the current measured value X to r generate the current converted value X ', a value obtained by adding the normal r reference range N to the past value X (k is a positive integer) of a predetermined r r-k previous unit time (k) is generated as the current converted value X '. r

[352] That is, when the current measured value X exceeds the normal range reference N

T ^{r r} with respect to the past value X (k is a positive integer) of a predetermined previous r-k unit time (k), the current converted X ' is generated by restricting the current measured value X r such that the normal range reference N r is set as a change limit of the current converted value X ' with respect to the past value X (k is a positive integer) of a predetermined previous unit time (k).

[353] Of course, a value which is equal to or smaller than a value obtained by adding the normal range reference N r to the past value X r-k (k is a positive integer) of a pre- determined previous unit time (k) may be generated as the current converted value X '. [354] In the exemplary embodiment of the present invention, the immediately previous past value X , for example, the past value of the first most recent previous unit time r-l

(k=l) is used as the past value X ^τ (k is a positive integer) of a predetermined r-k previous unit time (k) used to determine whether the current measured value X r exceeds the normal range reference N or not. r

[355] After generating the current converted value X ' as described above, the current r converted value X ' may be used in a subsequent control procedure "as is" but in order r to prevent the current converted value X ' from greatly changing from the immediately r previous converted value X ', the procedure may further include a weight- averaging r-l step for generating a final converted value X ' by weight-averaging the past values X ' r r-i

(i=l,...,k) of predetermined unit times and the current converted value X ' obtained by r the above procedure. [356] The past converted values X ' (i= 1,2,3) of 3 (first to third) previous unit times are r-l preferably used as the past converted values X r-i ' for a weight average.

[357] Each step and a combination relationship between the respective steps of FIG. 16 may be variously modified by a person skilled in the art. [358] Also, a person skilled in the art can sufficiently understand that the normal range reference of FIG. 16 can be applied to the flowchart of FIG. 15. [359] For example, in the converted value generating step S2230, the step S2232 for using the current measured value X to generate the current converted value X ' shown in r r

FIG. 15 may be replaced with the step for determining the normal range reference N r shown in FIG. 16.

[360] FIG. 17 is a flowchart illustrating an operation of the reference position generating portion according to the exemplary embodiment of the present invention, which includes a belt speed determining step S3010 for determining a speed of the driving belt and a reference position value adjusting step S3020 for adjusting and generating a reference position corresponding to the speed.

[361] The belt speed determining step S3010 is a step for determining a driving speed containing a belt speed or a speed corresponding to the belt speed which is to be transferred to the reference position generating portion 7200. The driving speed may be computed using the first control signal transmitted to the motor driving portion 6000 from the control portion 7000 or using a signal transmitted to the driving motor 4000 from the motor driving portion 6000.

[362] The driving speed may be computed by measuring a rotation speed of the driving motor 4000 or the roller 2310 or by directly measuring a moving speed of the driving belt 5000.

[363] In the reference position value adjusting step S3020, the reference position value X is decreased if the driving speed is fast, whereas the reference position value X is increased if the driving speed is slow.

[364] While the exerciser 1000 exercises at a low speed, the reference position value X is set to be far from the exerciser detecting portion 3000 in order to achieve a fast acceleration, whereas while the exerciser 1000 exercises at a high speed, the reference position value X is set to be short from the exerciser detecting portion 3000 in order to achieve a fast deceleration.

[365] That is, the reference position value X is variably controlled depending on a speed of the driving belt such that the reference position value X is increased if the driving speed is slow and the reference position value X is decreased if the driving speed is fast.

[366] Also, based upon a moving direction of a top surface of the belt which supports the exerciser, the reference position value X is set to be short from a start point of the belt if the driving speed is fast, and the reference position value X is set to be far from the start point of the belt if the driving speed is slow.

[367] A range in which the reference position value X is varied preferably corresponds to a distance of from the start point to the end point in a moving direction of the top surface of the belt. That is, a range in which the reference position value X is varied is preferably less than the length of the top surface of the belt. [368] More preferably, a range in which the reference position value X is varied is separated by a predetermined distance from the start point and the end point of the top surface of the belt. This is because when the reference position value X which is a reference for causing acceleration or deceleration by using a difference with the current position of the exerciser is too close to the start point or the end point of the top surface of the belt, then the risk to the exerciser may increase.

[369] FIG. 18 is a graph illustrating a method for restricting a maximum acceleration/deceleration according to the exemplary embodiment of the present invention.

[370] A maximum acceleration/deceleration is restricted depending on a speed to the extent that can prevent the treadmill from applying an acceleration/deceleration that is difficult for the exerciser 1000 to react to, thereby reducing injury risk for the exerciser 1000.

[371] Also, an abrupt acceleration/deceleration in a low speed section may cause the exerciser to feel uncomfortable and may be risky. But, a treadmill needs to rapidly follow the exerciser's acceleration/deceleration intent in a high speed section. For the foregoing reasons, a maximum acceleration/deceleration is restricted depending on a speed.

[372] As shown in FIG. 1, in case of a low speed, since the areas A-a and B-a, in which a deceleration is larger than the upper target deceleration 220, may pose risk to the exerciser as can bee seen by the target deceleration line segments 210 and 220, the maximum deceleration is thus preferably set to a value equal to or less than the upper target deceleration 220. In case of a high speed, since the upper target deceleration 220 is large, the maximum deceleration of a high speed is thus preferably set to a larger value than that of a low speed.

[373] Even though it depends on the exerciser's exercising ability, the exerciser can exercise with a good exercising feeling with a deceleration of up to the target deceleration corresponding to the driving speed containing the belt speed or a speed corresponding to the belt speed, but the exerciser may feel uncomfortable or fall down in an abrupt deceleration of more than the target deceleration.

[374] The experiment according to the exemplary embodiment of the present invention shows that the upper target deceleration 220 is about 2.5km/h per second when the driving speed is a low speed of 5km/h, and the upper target deceleration 220 is about 9.5km/h per second when the driving speed is a high speed of 19km/h.

[375] Therefore, it is preferred that the maximum deceleration is restricted to a large value if the driving speed is fast and to a small value if the driving speed is slow.

[376] A similar principle can be applied to a restriction of the maximum acceleration depending on the driving speed.

[377] The driving speed can be computed or measured by the various methods described in FIG. 17, and the maximum acceleration and the maximum deceleration are adjusted depending on the speed.

[378] In a low speed section in which the driving speed is slow, the maximum acceleration and/or the maximum deceleration are set to a small value, and in a high speed section in which the driving speed is fast, the maximum acceleration and/or the maximum deceleration are set to a large value.

[379] Also, in a middle speed section which the driving speed is not fast nor slow, the maximum acceleration and/or the maximum deceleration are increased as the driving speed is increased.

[380] Such a restriction of the maximum acceleration/deceleration depending on the driving speed is performed by the driving command portion 7300 of the control portion 7000, preferably by the control signal generating portion 7330.

[381] The control signal generating portion 7330 restricts the first control signal to be output, based on the driving speed and a control gain ΔV which is a signal corresponding to an acceleration/deceleration generated in the control gain portion 7310.

[382] FIGs. 19 and 20 are flowcharts illustrating an operation of the sensitivity adjusting portion according to the exemplary embodiment of the present invention.

[383] A control sensitivity which will be described below is computed based on a difference value between the reference position value and the data value and means a sensitivity of a control gain for generating the control signal. When a control sensitivity is large, a control gain is larger, compared to when a control sensitivity is small.

[384] That is, the control sensitivity means a response degree to the control gain output by using the difference value as an input variable.

[385] An expression that the control sensitivity is large, high or sensitive means that the response degree of the control gain which is a result of the difference value as an input variable is large. An expression that the control sensitivity is small, low or insensitive means that the response degree of the control gain which is a result of the difference value as an input variable is small.

[386] FIG. 19 is a flowchart illustrating a sensitivity adjusting method performed by the sensitivity adjusting portion according to the exemplary embodiment of the present invention. The sensitivity adjusting method of FIG. 19 includes a current position determining step S4110 for determining whether the exerciser 1000 is located in a stable section X or not, a state determining step S4120 for determining a current state of the exerciser 1000 corresponding to a current state value of the exerciser generated by the state determining portion 7110, a period determining step S4130 for determining whether the exerciser 1000 stays in the stable section X during a predetermined time period or not, and a control sensitivity adjusting step S4140 for adjusting a control sensitivity when the exerciser 1000 stays in the stable section X during a pre- determined time period. [387] The stable section X represents a predetermined area range containing the reference position value X . When the measured value X or the converted value X ' cor- o r r responding to the position of the exerciser 1000 is in a range of the stable section X , the control sensitivity is lowered or the previous first control signal is not changed so that the exerciser 1000 can maintain the speed.

[388] In the current position determining step S4110, it is determined whether or not the current value X corresponding to the current position of the exerciser 1000 is in a r range of the stable section X containing a predetermined area range (step S4111). If

T ^s the current value X is in a range of the stable section X , the procedure goes to the r s state determining step S4120, whereas if the current value X is not in a range of the r stable section X , a count is initialized (in the exemplary embodiment of the present invention, an initial count is "zero")(step S4122), and then the procedure goes to the speed change section control sensitivity applying step S4142 which will be described in detail with reference to FIG. 20 and/or Equation 3. [389] In the state determining step S4120, the current state value S r of the exerciser determined by performing the state determining method of FIG. 14 is received from the state determining portion 7110 or the data storing portion 7130 of the preprocessing portion 7100, and it is determined whether the current state S is an accelerating state or a decelerating state. [390] At this time, if the current state value S is either of an accelerating state and a de- r celerating state (step S4122), the count is reset (i=0), and then the speed change section control sensitivity adjusting step S4142 which will be described with reference to FIG. 20 and/or Equation 3 is performed. If the current state value S is neither of an ac- r celerating state and a decelerating state, the period determining step S4130 is performed.

[391] In the period determining step S4130, a count (i) with a predetermined initial value is increased by one (1) (i=i+l) (step S4131), and it is determined whether the count is equal to or greater than a predetermined reference (k) or not (step S4132). If the count is equal to or greater than the predetermined reference (k), a stable section control sensitivity applying step S4141 is performed to apply a stable section control sensitivity as a control sensitivity of the control gain portion 7310, whereas if the count is smaller than the predetermined reference (k), a speed change section control sensitivity applying step S4142 which will be described with reference to FIG. 20 and/ or Equation 3 is performed. Preferably, "zero" is used as an initial value of the count

(i). [392] In the stable section control sensitivity applying step S4141 of the control sensitivity adjusting step S4140, a control constant in a control equation of the control gain portion 7310 is adjusted to lower the control sensitivity, so that a speed change sensitivity of the belt with respect to a position change of the exerciser 1000 is lowered, satisfying a speed maintaining intend of the exerciser 1000.

[393] In the exemplary embodiment of the present invention, the reference (k) used in the step S4131 for determining whether the count (i) is equal to or greater than the predetermined reference (k) is set to five (5). That is, when the current value X exists in r the stable section X equal to or more than five (5) times, it is determined as the speed maintaining intend of the exerciser 1000, so that the control constant is adjusted to lower the control sensitivity.

[394] A relationship between the control constant and the control sensitivity and a method for adjusting the control sensitivity to adjust the control sensitivity will be explained later with reference to Equation 3.

[395] FIG. 20 is a flowchart illustrating a control sensitivity adjusting method according to the exemplary embodiment of the present invention. The control sensitivity adjusting method of FIG. 20 includes a current state determining step S4150 for determining whether the current state is an accelerating state or a decelerating state, a speed/change rate determining step S4160 for determining a driving speed containing a belt speed or a corresponding speed thereto or an exerciser position change rate, and a control sensitivity adjusting step S4160 for adjusting a control sensitivity according to the determined speed/change rate. The control sensitivity adjusting method of FIG. 20 may further include a control gain adjusting step S4210 for computing a control gain obtained by a control equation that a control sensitivity is adjusted and finally adjusting a control gain.

[396] In the current state determining step S4150, it is determined whether or not the current state value S generated in the state determining portion 7110 is a value cor- r responding to either of an accelerating state and a decelerating state (step S4151). If the current state is either of an accelerating state and a decelerating state, the speed/ change rate determining step S4160 is performed, whereas if the current state is neither of an accelerating state and a decelerating state, the control sensitivity is adjusted in a stable section control sensitivity applying step S4173 corresponding to a stable section which is described with reference to FIG. 19 and Equation 3. [397] The speed/change rate determining step S4160 includes two steps. One is an exerciser position change rate determining step S4161 for determining a change rate per unit time of the measure value X (i=0,....,n) or the converted values X ' (i=0,...,n), and the other is a driving speed determining step S4162.

[398] The exerciser position change rate determining step S4161 is to determine an accelerating or decelerating trend of the exerciser 1000. A change rate per unit of the converted values X ' (i=0,...,n) is determined to determine a forward or backward speed. [399] The exerciser can change position by accelerating or decelerating independently from the driving speed. [400] That is, if the exerciser 1000 intends to accelerate from a current speed, the current value X ^τ gets smaller than the past value X ^τ, whereas if the exerciser 1000 intends r r-1 to decelerate from a current speed, the current value X gets greater than the past value X r-1

[401] The exerciser position change rate determining step S4161 is a step for determining a degree which the exerciser 1000 intends to accelerate or decelerate from the current speed, and it is understood that if a change rate per unit time is large, then the exerciser intends to accelerate or decelerate quickly.

[402] If the position change rate per unit time of the exerciser 1000 is large, the control sensitivity is increased by adjusting, i.e., increasing the control constant, and if the position change rate per unit time of the exerciser 1000 is small, then the control sensitivity is decreased by adjusting, i.e., decreasing the control constant, whereby it is possible to rapidly follow an accelerating or decelerating intention of the exerciser 1000.

[403] The belt speed determining step S4162 is used to determine an actual driving speed. A method for computing the driving speed is similar to the method described in the reference position generating step S3000 of FIG. 17.

[404] If the driving speed is high, that is, if the belt speed is fast, the control sensitivity is increased, and if the driving speed is slow, that is, if the belt speed is low, the control sensitivity is decreased.

[405] If the exerciser 1000 exercising at a high speed intends to decelerate, then the control sensitivity is increased since the exerciser 1000 may face risk if a deceleration is slow.

[406] To the contrary, if the exerciser 1000 exercising at a low speed intends to decelerate, the control sensitivity is decreased since the exerciser 1000 may feel uncomfortable or face risk if a deceleration is fast.

[407] Referring to the target decelerations 210 and 220 of FIG. 1, it is understood that the target deceleration is low if the driving speed is slow, and the target deceleration is high if the driving speed is fast.

[408] In the control sensitivity adjusting step S4170, the control sensitivity is adjusted as follow, based on the determination in the speed/change rate determining step S4160.

[409] A control gain Gl is computed by adjusting the control sensitivity such that if it is determined in the exerciser position change rate determining step S4161 that a position change rate of the exerciser 1000, i.e., a backward speed of the exerciser 1000, is large, then the control constant is increased to increase the deceleration of the belt. If it is determined that it is small, then the control constant is decreased (step S4162). A control gain G2 is computed by adjusting the control sensitivity such that if it is determined in the belt speed determining step S4162 that if the driving speed is fast, then the control constant is increased, and if the driving speed is slow, then the control constant is decreased.

[410] In the control gain adjusting step S4210, an operation on the two or more control gains Gl and G2 which are obtained in an accelerating state or a decelerating state or are obtained by adjusting the control sensitivities by determinations according to various exemplary embodiments of the present invention may be performed to thereby generate a final control gain ΔV.

[411] In the exemplary embodiment of the present invention, the control gains are weight- averaged to generate the final control gain ΔV.

[412] Another exemplary embodiment of the present invention to adjust the control sensitivity is described below.

[413] If the exerciser 1000 desires to reduce an acceleration or to decelerate in an accelerating state, the current value X which represents a current position of the exerciser 1000 has a larger value than the past value X r-l , but it still has a smaller value than the reference position value X , and so the belt is accelerated contrary to the decelerating intention of the exerciser 100.

[414] The exemplary embodiment of the present invention to overcome the above- described problem is described below in detail with reference to Equations.

[415] Equation 1 can be expressed by a per unit time as follows:

[416] [Equation Ia]

[417] r-±

[418] [Equation Ib]

[419] - t=o [420] Equation Ia is a control equation which corresponds to an immediately previous unit time (j=r-l) based on a current time (j=r), and Equation Ib is a control equation which corresponds to the current time (j=r).

[421] Equation 3 is obtained by allying Equations Ia and Ib. [422] [Equation 3]

^[423] Δ V_r- Δ V_r_₁ =K_pX (X_r._ι '-X_r ^r)+K_i X ΛX_rX Δ/

[424] As can be seen by Equation 3, in case where the exerciser 1000 desires to reduce an acceleration or to decelerate in an accelerating state, in a large-small relationship of variables on a right side of Equation 3, the past value X is smaller than the current r-l value X ^τ, and the current value X ^τ is smaller than the reference position value X . r r 0

[425] In this instance, the exerciser 1000's intention is to reduce an acceleration or to decelerate. Therefore, since a current acceleration should be smaller than a past acceleration, a value obtained by subtracting the past speed change amount, i.e., a past acceleration ΔV from the current speed change amount, i.e., a current acceleration r-l

ΔV should be a negative value, and so a left side of Equation 3 should be a negative r number.

T

[426] However, since a value obtained by subtracting the current value X from the r reference position value X is a positive number, and a value obtained by subtracting

T T the current value X from the past value X is a negative number, if the pro- r r-l portional constant K and the integral constant K which are the control constants

P ⁱ multiplied to them are fixed values, particularly, if a value of the integral constant K is large, the right side becomes a positive number. This produces a problem in that an acceleration is increased regardless of the exerciser's intention for reducing an acceleration or decelerating.

[427] For the foregoing reasons, in the exemplary embodiment of the present invention, the control constants are independently controlled.

[428] When the exerciser 1000 moves back in an accelerating state, that is, when the current value X corresponding to a position of the exerciser 1000 gets greater than the past value X ^τ, it is possible to decrease the integral constant K which is a control r-l i constant of a portion for determining an absolute position of the exerciser 1000 or to increase the proportional constant K which is a control constant of a portion for de-

P termining a position change rate per unit time of the exerciser 1000 until a position of the exerciser 1000 is ahead of the reference position with respect to the exerciser detecting portion 3000, that is, the current value X is smaller than the reference r position value X . [429] In the exemplary embodiment of the present invention, the integral constant K is adjusted without adjusting the proportional constant K , but it is possible to realize

P various modifications, for example, to increase the proportional constant K and to

P reduce the integral constant K .

[430] Similarly, even when the exerciser 1000 desires to reduce a deceleration in a decelerating state or to accelerate, the same phenomenon occurs, and so it is preferred to independently adjust the control constants.

[431] In case where the exerciser 1000 desires to reduce a deceleration in a decelerating state or to accelerate, in a large-small relationship of variables on the right side of Equation 3, the past value X is greater than the current value X , and the current value X is greater than the reference position value X . [432] In this instance, since the exerciser 1000's intention is to reduce a deceleration or to accelerate, a current deceleration should be smaller than a past deceleration. Therefore, a value obtained by subtracting the past speed change amount, i.e., a past deceleration ΔV from the current speed change amount, i.e., a current deceleration ΔV should be r-l r a positive value, and so the left side of Equation 3 should be a positive number. [433] However, since a value obtained by subtracting the current value X ^τ from the r reference position value X is a negative number, and a value obtained by subtracting the current value X from the past value X is a positive value, if the proportional r r-l constant K and the integral constant K which are the control constants multiplied to

P ⁱ them are fixed values, particularly, if a value of the integral constant K is large, then the right side becomes a negative number. Thus, hat there occurs a problem in that a deceleration is increased regardless of the exerciser's intention for reducing a deceleration or accelerating. [434] When the exerciser 1000 moves forward in a decelerating state, that is, when the current value X r corresponding to a position of the exerciser 1000 gets smaller than the past value X , it is possible to decrease the integral constant K which is a control constant of a portion for determining an absolute position of the exerciser 1000 or to increase the proportional constant K which is a control constant of a portion for de-

P termining a position change rate per unit time of the exerciser 1000 until a position of the exerciser 1000 is behind the reference position with respect to the exerciser detecting portion 3000, that is, the current value X ^τ is greater than the reference r position value X . [435] In the exemplary embodiment of the present invention, the integral constant K is adjusted without adjusting the proportional constant K , but it is possible to realize

P reduce the integral constant K .

[436] By the same method as described above, the automatic mode for detecting a position of the exerciser 1000 to automatically adjust a speed of the belt 5000 can be implemented.

[437] However, there is a case where the exerciser 1000 wants to actively exercise in the automatic mode, but there is also a case where the exerciser wants to passively exercise in the manual mode according to a predetermined belt speed like the conventional art.

[438] Therefore, the treadmill according to the exemplary embodiment of the present invention preferably has a mode change function through which the exerciser 1000 can select the automatic mode in which a speed is automatically controlled or speed is controlled in the manual mode.

[439] In case where the exerciser 1000 exercises in the manual mode on the treadmill with the automatic mode in which a speed is automatically controlled and the manual mode according to the present invention, when the exerciser 1000 misunderstands a current control mode as the automatic mode and so tries to quickly decelerate, since a current control mode is set to the manual mode regardless of a deceleration intention of an exerciser, a belt rotates at a set speed regardless of a position of an exerciser, so that an exerciser may be exposed to a risky situation.

[440] Therefore, since applying two or more control modes by simply combining the automatic mode and the manual mode may cause the above-mentioned problem, in the exemplary embodiment of the present invention, which will be described later, the control mode change is preferably performed such by detecting a position of the exerciser 1000 even in a situation when the automatic mode is not selected, the control portion 7000 variously changes the control mode from the manual mode to, for example, the automatic mode for decreasing a belt speed and an emergency stop mode.

[441] Preferably, besides the control mode change between the automatic mode and the manual mode, when an exerciser exercises, for example, in a semi-automatic mode which is an intermediate control mode between the automatic mode and the manual mode, the control mode 7000 determines a mode change condition and then changes to various control modes, such as the automatic mode or an emergency stop mode.

[442] Here, the semi-automatic mode is realized such that an exerciser exercises in the automatic mode within an allowable speed range, which has an upper allowable speed and a lower allowable speed by using, as an intermediate speed, either an exercising speed input by an exerciser through a control panel or a speed of a speed profile selected by an exerciser among one or more speed profiles stored in a profile storing portion, and when an exerciser tries to exercise at a speed beyond an allowable speed range, that is, when an exerciser tries to exercise at a faster speed than an upper limit allowable speed or when an exerciser tries to exercise at a slower speed than a lower limit allowable speed, a belt speed is restricted to an upper limit allowable speed or to a lower limit allowable speed.

[443] Here, a profile contains information such as a speed per unit time and an inclination of during a predetermined time period.

[444] For purposes of convention, a first control mode means the control mode, including the automatic mode, for transmitting to the motor driving portion 6000 a control signal for adjusting a rotation speed of the driving motor 4000 corresponding to a position of the exerciser measured by the exerciser detecting portion 3000, and a second control mode means the control mode for transmitting a control signal for adjusting a rotation speed of the driving motor 4000 to the motor driving portion 6000 independently from a position of the exerciser measured by the exerciser detecting portion 3000 like the manual mode. [445] Also, an emergency mode means the control mode for quickly decelerating or stopping the driving motor when the exerciser 1000 pushes an emergency stop button on the control panel 2200 or the control portion 7000 detects a movement of the exerciser through the exerciser detecting portion 3000 and determines that an emergency stop has to be performed while the treadmill is operating in either of the first and second control modes.

[446] A structure and a method for implementing a mode change and a semi-automatic mode according to the exemplary embodiment of the present invention will be described with reference to FIGs. 21 to 26.

[447] First, a main structure of the treadmill and a control procedure of the control portion for a mode change function according to the exemplary embodiment of the present invention will be described with reference to FIGs. 21 and 22.

[448] In FIG. 21, the control portion 7000 further comprises a mode change portion 7500 for performing a mode change function in addition to the main components of the control portion for performing the automatic speed control function, which are described in FIGs. 10 to 12.

[449] The mode change portion 7500 comprises a mode change determining portion 7510 for determining whether to change a current control mode to another control mode or not, and a mode change processing portion 7520 for performing a change of the control mode by the determination of the mode change determining portion 7510.

[450] Referring to FIGs. 2, 21 and 22, the exerciser 1000 pushes a mode change button or a mode designating button in the operating portion 2210 of the control panel 2200 or clicks a mode change function or a mode designating function in the display device 2220 having a touch pad or a touch screen, so that a mode change command Cm is transmitted to the mode change determining portion 7510 of the mode change portion 7500 from the control panel 2200.

[451] Here, the mode change command Cm may be generated through one of a wire line system and a wireless communication system by using, for example, a remote controller or by a voice recognition function. In the below description, the mode change command Cm through the control panel 2200 will be exemplarily described.

[452] Here, the mode change command Cm may be one of a digital signal and an analog signal corresponding to the respective control modes. For example, a digital signal is processed as a signal corresponding to each of the control modes, that is, a first control mode has a signal of "001" and a second control mode has a signal of "010". An analog signal may be processed such that the first control mode and the second control mode have different voltages.

[453] Also, the mode change command Cm may be a single signal. In this instance, whenever the mode change command Cm is applied, a plurality of control modes including the first control mode and the second control mode are sequentially changed.

[454] The mode change determining portion 7510 determines whether there exists the mode change command Cm transmitted from the control panel 2200 (step S21110) in a mode change command determining step S21100. If the mode change command Cm exists, the mode change processing portion 7520 performs mode change processing to thereby change to a corresponding control mode (step S21320) in a mode applying step S21300.

[455] In the mode change processing step S2130, mode change processing is performed corresponding to the control mode selected by the exerciser 1000, and each mode change processing method may be performed as follows.

[456] First, in case where the exerciser 1000 pushes an operating button of the control panel 2200 corresponding to the first control mode, or the treadmill is set to start in the first control mode, when the exerciser 1000 pushes a start/end button, the mode change command Cm generated and transmitted from the control panel 2200 is a signal corresponding to the first control mode, and the mode change determining portion 7510 instructs the mode change processing portion 7520 to change the control mode to the first control mode corresponding to the mode change command Cm.

[457] Therefore, the mode change processing portion 7520 transmits a mode change processing command to the control gain portion 7310 so that the automatic speed control function according to the exemplary embodiments of the present invention described in FIGs. 1 to 20 can be performed.

[458] The control gain portion 7310 transmits the control gain ΔV according to the exemplary embodiments of the present invention described above to the control signal generating portion 7330, so that the first control mode for adjusting the speed of the belt corresponding to a position of the exerciser 1000 measured by the exerciser detecting portion 3000 is realized.

[459] Alternatively, in order to perform the automatic speed control function, the mode change processing portion 7520 may transmit the mode change processing command to the control signal generating portion 7330, thereby realizing the first control mode for adjusting the speed of the belt corresponding to a position of the exerciser 1000 measured by the exerciser detecting portion 3000.

[460] That is, the mode change processing portion 7520 may transmit the mode change processing command to the control gain portion 7310 or the control signal generating portion 7310 to control what the control gain ΔV generated in the control gain portion 7310 or the control signal (first control signal) generated in the control signal generating portion 7330 is transmitted to the motor driving portion 6000, corresponding to a position of the exerciser 1000 measured by the exerciser detecting portion 3000. [461] If the exerciser 1000 instructs the control panel 2200 to change the control mode to the second mode while exercising in the first control mode in the above-described method, the mode change command Cm corresponding to the second control mode transmitted from the control panel 2200 is transmitted to the mode change determining portion 7510.

[462] The mode change determining portion 7510 recognizes the second control mode corresponding to the mode change command Cm and transmits a signal to the mode change processing portion 7520 to change the control mode to the second control mode.

[463] If the signal transmitted from the mode change determining portion 7510 is a signal corresponding to the second control mode, then the mode change processing portion 7520 transmits the mode change processing command to the control gain portion 7310 to inactivate the control gain portion 7310 or to prevent the control gain ΔV from being transmitted to the control signal generating portion 7330, and transmits the speed change value ΔV of zero (0) to the control signal generating portion 7330.

[464] Alternatively, mode change processing may be performed as follows.

[465] The mode change processing portion 7520 transmits the mode change processing command to the control signal generating portion 7330 to ignore the control gain ΔV transmitted from the control gain portion 7310, and transmits the speed change value ΔV of zero (0) to the control signal generating portion 7330.

[466] Besides, mode change processing may be performed as follows.

[467] The mode change processing portion 7520 transmits the mode change processing command to the control signal generating portion 7330 to inactivate the control signal generating portion 7330 or to prevent the control signal (first control signal) generated from the control signal generating portion 7330 from being transmitted to the motor driving portion 6000, and transmits the control signal (first control signal) to the motor driving portion 6000. In this instance, the mode change processing portion 7520 may generate the control signal (first control signal) that is to be transmitted to the motor driving portion 6000 through the control gain ΔV received from the control gain portion 7310.

[468] Therefore, by forbidding the belt 5000 to rotate at a speed corresponding to a position of the exerciser 1000 measured by the exerciser detecting portion 3000 according to the exemplary embodiment of the present invention, the first control mode is released, and a speed of a moment that the control mode is changed from the first control mode to the second control mode becomes an initial belt speed of the second control mode.

[469] Also, when the control mode is changed from the first control mode to the second control mode, a belt speed may be set to reach a previously set target speed gradually from the initial belt speed.

[470] The previously set target speed may exist in the mode change portion 7400 in a source-coded form or may be stored in the profile storing portion 9000. Also, an acceleration/deceleration to reach the target speed may exist in the mode change portion 7400 in a source-coded form or may be stored in the profile storing portion 9000.

[471] If the control mode is changed from the second control mode to the first control mode, the method for changing the control mode from the first control mode to the second control mode according to the exemplary embodiment of the present invention described above may be reversely performed.

[472] For example, in case where the control gain portion 7310 is inactivated or processing for forbidding the control gain ΔV generated in the control gain portion 7310 to be transmitted to the control signal generating portion 7330 is performed by the mode change processing command as a method for releasing the first control mode, when the control mode is changed from the second control mode to the first control mode, the control gain portion 7310 is activated or processing for allowing the control gain ΔV generated in the control gain portion 7310 to be transmitted to the control signal generating portion 73330 is performed by the mode change processing command.

[473] Also, in case where the control signal generating portion 7330 ignores the control gain ΔV generated in the control gain portion 7310 or the mode change processing portion 7520 transmits the speed change value ΔV of zero (0) to the control signal generating portion 7330 by the mode change processing command as another method for releasing the first control mode, when the control mode is changed from the second control mode to the first control mode, processing for allowing the control signal generating portion 7330 to receive the control gain ΔV transmitted from the control gain portion 7310 and to generate the control signal (first control signal) is performed by the mode change processing command.

[474] Also, in case where the mode change processing portion 7520 transmits the mode change processing command to the control signal generating portion 7330 to inactivate the control signal generating portion 7330 or to forbid the control signal (first control signal) generated in the control signal generating portion 7330 to be transmitted to the motor driving portion 6000 as another method for releasing the first control mode, when the control mode is changed from the second control mode to the first control mode, processing for inactivating the control signal generating portion 7330 or allowing the control signal (first control signal) generated in the control signal generating portion 7330 to be transmitted to the motor driving portion is performed.

[475] As described above, the mode change corresponding to the control mode selected by the exerciser 1000 through the control panel 2200 can be processed.

[476] In the exemplary embodiment of the present invention, the treadmill of FIG. 2 may further comprise a handle or a heart rate detecting portion (not shown) installed in a predetermined area of the body portion. When the exerciser grasps or pushes the handle or the heart rate detecting portion while the exerciser 1000 is exercising in the first control mode, the handle or the heart rate detecting portion transmits the mode change command Cm described above to the mode change portion 7500 to perform a mode change to the second control mode.

[477] Even when a current control mode is the second control mode, the mode change portion 7500 detects a position of the exerciser 1000 to change the control mode.

[478] When the exerciser 1000 is exercising in the control mode in which the first control mode is released, i.e., in the second control mode, the mode change determining portion 7510 receives a signal corresponding to a position of the exerciser 1000 measured by the exerciser detecting portion 3000, i.e., the measured value X or the r converted value X ' to determine a position or a position change rate of the exerciser or r receives the control gain ΔV from the control gain portion 7310 to perform determination on the exerciser's acceleration/deceleration, in order to determine whether to change the control mode or not independently from what the exerciser 1000 selects the control mode through the control panel 2200.

[479] The mode change determining portion 7510 changes the control mode to the first control mode or the emergency mode if at least one of the following mode change conditions (a) to (c) is satisfied:

[480] (a) condition that the converted value X ' received from the pre-processing portion r

7100, particularly the data converting portion 7120, is not within an allowable position range; [481] (b) condition that a difference ΔX ' of the converted value X ' per unit time is not r r within an allowable change rate range; and

[482] (c) condition that the control gain ΔV received from the control gain portion 7310 is not within an allowable accelerating/decelerating range.

[483] For example, the mode change condition (a) is a condition that when a position of the exerciser 1000 is in a risky position, that is, is beyond an allowable position range corresponding to a safe section of the belt, the current control mode is changed from the second control mode (control mode in which the first control mode is released) to one of the first control mode and the emergency mode to accelerate or decelerate the belt to thereby protect the exerciser.

[484] At this time, since the exerciser 1000 exercises staring at an opposite direction to the rotating direction of the belt 5000, when the exerciser 1000 is at a position which is farther than a predetermined position based on the rotating direction of the belt 5000, it is dangerous. Therefore, if the converted value X ' corresponding to a position of the exerciser 1000 is greater than an allowable position value as the allowable position range, the control mode is preferably changed to one of the first control mode and the emergency mode. [485] Also, the mode change condition (b) is a condition that when the difference ΔX ' of r the converted value X ' per unit time, i.e., an actual position change is large to deviate r from the allowable change rate range, the current control mode is changed from the second control mode to one of the first control mode and the emergency mode to accelerate or decelerate the belt to thereby protect the exerciser. That is, when the exerciser 1000 does not follow a speed of the belt that is rotating at a certain speed and so abruptly moves backward in the rotating direction of the belt, the mode change determining portion 7510 detects/determines it to change the control mode to one of the first control mode and the emergency mode.

[486] At this time, when the exerciser 1000 quickly moves back in the rotating direction of the belt 5000, it may be dangerous to the exerciser 1000. Therefore, if an absolute value of the difference ΔX ' of the converted value X ' per unit time is beyond the allowable change rate value as the allowable change rate range, the control mode is preferably changed to one of the first control mode and the emergency mode.

[487] Also, the mode change condition (c) is a condition in which the control gain ΔV is considered. When the belt 5000 is rotating at a speed irrelevant to a position of the exerciser 1000 but the exerciser 1000 intends to quickly accelerate or decelerate, if the belt speed is not rapidly accelerated or decelerated corresponding to it, it may be dangerous to the exerciser. Therefore, the mode change determining portion 7510 detects/determines a value of the control gain ΔV that represents an accelerating/decelerating tendency of the exerciser 1000 and changes the control mode to one of the first control mode and the emergency mode if the control gain ΔV is not within the allowable accelerating/decelerating range.

[488] At this time, when the exerciser 1000 rapidly moves back in the rotating direction of the belt 5000 and so the absolute value of the negative control gain ΔV is rapidly increased, that is, when it is preferable for the belt speed to be rapidly reduced compared to the current speed by the automatic speed control but the belt speed is not rapidly reduced because the current control mode is the second control mode, it may be dangerous to the exerciser 1000. Therefore, if the control gain ΔV is smaller than the allowable decelerating reference value as the allowable accelerating/decelerating range, the control mode is preferably changed to one of the first control mode and the emergency mode.

[489] Therefore, the mode change determining portion 7510 determines whether at least one of the mode change conditions (a) to (c) is satisfied or not (step S21210) in the mode change condition determining step S21200 as in FIG. 14, and if satisfied, the mode change processing portion 7520 performs mode change processing for changing the control mode to one of the first control mode and the emergency mode through the above-described method (step S21320) in the mode applying step S21300.

[490] Also, if it is determined in the mode change condition determining step S21200 that at least one of the mode change conditions (a) to (c) is not satisfied, the mode change processing portion 7520 maintains the current control mode (step S21310) in the mode applying step S21300.

[491] When the mode change condition is determined as satisfied in the mode change condition step S21200 and it is tried to change the current control mode to the emergency mode, the mode change processing portion 7520 may transmit the mode change processing command to the control gain portion 7310 to transmits a value obtained by multiplying the current driving speed V by a negative number as the control gain ΔV generated in the control gain portion 7310 or may perform a "cool down" function for sequentially transmitting a negative control gain ΔV of a large value in order to make the current driving speed V zero (0).

[492] Alternatively, in the exemplary embodiment of the present invention, as a method for implementing the emergency mode, the mode change processing portion 7520 may transmit the mode change processing command to the control signal generating portion 7330 to ignore the control gain ΔV received from the control gain portion 7310, and the control signal generating portion 7330 receives a negative speed change value ΔV transmitted from the mode change processing portion 7520 and adds it to the current driving speed V to thereby transmit the control signal (first control signal) corresponding to the decelerated driving speed to the motor driving portion 6000.

[493] Furthermore, in the exemplary embodiment of the present invention, as another method for implementing the emergency mode, the mode change processing portion 7520 may generate the control signal (first control signal) that is a target driving speed for deceleration and may transmit it directly to the motor driving portion 6000.

[494] As described above, if the mode change condition described above is determined as satisfied in the mode change condition determining step S21200, then the control mode is changed to one of the first control mode and the emergency mode to prevent the exerciser 1000 for being exposed to a risky situation. In the exemplary embodiment of the present invention, mode change processing has been performed by applying the first control mode.

[495] The mode change function described above with reference to FIG. 22 is briefly described below.

[496] The mode change portion 7500 determines whether the exerciser 1000 inputs the mode change command Cm for instructing the mode change through the control panel 2200 (step S21110) or not in the mode change command determining step S21100, and if input, in order to change the corresponding control mode, then the mode change processing portion 7520 performs mode change processing by using the various methods described above (step S21320) in the mode applying step S21300. [497] In one case, the mode change command Cm is not input to the mode change determining portion 7510 and the current control mode is the second control mode, whether the converted value X ' or the control gain ΔV satisfies the mode change r condition described above or not is determined (step S21210) in the mode change condition determining step S21200. If the mode change condition is not satisfied, then the current control mode is maintained "as is"(step S21310), and if satisfied, mode change processing for changing the control mode to one of the first control mode and the emergency mode is performed by using the various methods described above (step S21320) in the mode applying step S21300.

[498] The semi-automatic mode of the treadmill according to the exemplary embodiment of the present invention will be described with reference to FIGs. 23 to 25.

[499] FIG. 23 shows the control panel of the treadmill according to the exemplary embodiment of the present invention.

[500] The control panel 2200 comprises the display device 2220 for displaying information, such as a current speed of the exerciser, a speed profile that the exerciser has to follow, and a traveled distance, and so on, to the exerciser 1000, and the operating portion 2210 having various buttons that the exerciser 1000 manipulates to transmit an instruction to the control portion.

[501] The display device 2220 serves to display information transmitted from the control portion 7000, and may comprise a touch pad or a touch screen to function as various buttons.

[502] That is, even though the operating portion 2210 having various buttons and the display device 2220 have been separately described above, a manipulation by a touch pad or a touch screen may be also interpreted as a manipulation by the operating portion 2210.

[503] First, the operating portion 2210 comprises a mode change button 2211, a start/end button 2212, and an emergency stop button 2213, and may comprise a speed control button (not shown) through which the exerciser 1000 adjusts a belt speed to a desired speed and a slope control button (not shown) for adjusting a slope of the treadmill, which are used in the conventional treadmill. Also, the operating portion 2210 may further comprise a cursor manipulating button (not shown) for adjusting a position of a cursor to set an environment configuration or to set (11100, 11200, 12100, and 12200) an upper limit speed range or a lower limit speed range which is to be used in the semiautomatic mode according to the exemplary embodiment of the present invention in the display device 2220.

[504] In the exemplary embodiment of the present invention, the automatic mode has an advantage that the exerciser 1000 can exercise at a desired speed, and the manual mode has an advantage that the exerciser can exercise at the driving or rotating speed of the belt 5000 set by using the speed control button (not shown) on the control panel 2200 or at the driving speed of the belt 5000 driven such that that the exerciser 1000 uses the cursor manipulating button (not shown) on the control panel 2000 to select one of profiles in which a speed of the belt 5000 changes at least one time according to a time and which is stored in the profile storing portion 9000.

[505] However, in the manual mode, since the belt 5000 is driven regardless of a movement of the exerciser, there is a disadvantage in that the exerciser cannot have an exercising feeling that an exerciser would normally feel exercising on the actual ground.

[506] For this reason, the present invention provides the semi-automatic mode that can use both an advantage of the automatic mode and an advantage of the manual mode.

[507] The semi-automatic mode is activated such that when the exerciser 1000 who is exercising in the manual mode selects a semi-automatic button (not shown) in the control panel 2200 or pushes the mode change button 2211 to select the semiautomatic mode, an allowable speed range is generated by the control portion 7000. Here, the allowable speed range has an upper limit speed range and/or a lower limit speed range that are previously set centering on a speed set by the exerciser 1000 through the control panel 2200 or a speed of the speed profile selected by the exerciser 1000 among the speed profiles stored in the profile storing portion 9000.

[508] Therefore, the exerciser 1000 exercises in the automatic mode within the allowable speed range centering on the central speed, and when the belt speed reaches the upper limit speed that is the upper limit speed range or the lower limit speed that is the lower limit speed range, the belt 5000 is driven or rotated at the upper limit speed or the lower limit speed regardless of the exerciser's intention.

[509] That is, the semi-automatic mode is a control mode in which the first control mode is applied within the allowable speed range and the second control mode is applied at the moment when the belt speed exceeds the allowable speed range.

[510] Also, the semi-automatic mode may be activated such that when the exerciser 1000 is exercising in the automatic mode selects the semi-automatic mode button (not shown) in the control panel 2200 or the exerciser 1000 is exercising in the manual mode pushes the mode change button 2211 to select the semi-automatic mode, the allowable speed range having the upper limit speed range and the lower limit speed range that are set centering the belt speed of the selecting moment is generated by the control portion 7000.

[511] Thereafter, in the same method as adjusting the speed in the manual mode, in the semi-automatic mode, the exerciser 1000 can set the central speed or select it in the profile storing portion to be inputted.

[512] A method for setting the upper limit speed range and the lower limit speed range will be exemplarily described with reference to FIG. 23.

[513] In setting a semi-automatic mode configuration, an upper limit range setting section 12100 and a lower limit range setting section 12200 are separately disposed, and each of the setting sections 12100 and 12200 comprises a speed range reference setting section 11100 and a speed range setting value input section 11200.

[514] The speed range reference setting section 11100 is a section for inputting a unit of a speed range setting value corresponding to the central speed, and the speed range setting value input section 11200 is a section for inputting an actual setting value for a unit inputted in the speed range reference setting section.

[515] For example, if one were to assume that in the upper range setting section 12100,

"%" is selected and inputted in the speed range reference setting section 1110, and "15" is inputted in the speed range setting value input section 11200. In addition, in the lower range setting section 12200, "speed" is selected and inputted in the speed range reference setting section 11100, and "1.5" is inputted in the speed range setting value input section 11200. Also, let us assume that when the exerciser 1000 selects a certain speed profile from the profile storing portion 2000 to exercise in the semi-automatic mode, the central speed according to a time changes from 10Km/h to 12Km/h. In this instance, due to the above setting, when the central speed is 10Km/h, the upper limit speed is 11.5Km/h which is as 15% increased as the central speed of 10Km/h, and the lower limit speed is 8.5Km/h, and when the central speed is 12Km/h, the upper limit speed is 13.8Km/h which is as 15% increased as the central speed of 12Km/h, and the lower limit speed is 10.5Km/h.

[516] Therefore, the exerciser 1000 can exercise in the first control mode within the allowable speed range having the upper limit speed of 11.5Km/h and the lower limit speed of 8.5Km/h when the central speed is 10Km/h, and if the central speed is changed to 12Km/h, the exerciser 1000 can exercise in the first control mode within the allowable speed range having the upper limit speed of 13.8Km/h and the lower limit speed of 10.5Km/h. However, the exerciser 1000 cannot exercise in the first control mode at a speed beyond or exceeding the allowable speed range, and the belt is driven or rotated at the corresponding upper limit speed or lower limit speed.

[517] Here, zero (0) may be inputted in the speed range setting value input section 11200.

[518] That is, when the belt speed corresponding to a position of the exerciser measured by the exerciser detecting portion 3000 is in the allowable speed range, the control mode is changed to the first control mode, and if not, the first control mode is released, and the control mode is changed to the second control mode in which the belt speed is driven at the upper limit speed or the lower limit speed. [519] In the exemplary embodiment of the present invention, it has been described that the semi-automatic mode control method is implemented in the mode change portion 7500 of the control portion 7000, but it may be implemented in a separate unit block.

[520] Also, in the exemplary embodiment of the present invention, it has been described that the allowable speed range data inputted through the speed range reference setting section 11100 or the speed range setting value input section 11200 that correspond to the upper limit speed range and/or the lower limit speed range are set directly by the user, but the allowable speed range data are not set by the user, and instead, the allowable speed range data previously set by a manufacturer and then stored in the profile storing portion 9000 may be used.

[521] Also, the profile stored in the profile storing portion 9000 may have the allowable speed range.

[522] Also, the profile storing portion 9000 may comprise a semiconductor circuit as in a control module for a treadmill of FIG. 27 according to the exemplary embodiment of the present invention and may further comprise a separate storage medium, such as external memories, compact disks (CDs), and digital video disks.

[523] The profile storing portion 9000 stores at least one profile, and the profile preferably contains data, such as a speed per unit time and a traveled distance per unit time.

[524] A method for implementing the semi-automatic mode will be described below with reference to FIG. 24.

[525] In a profile input step S22100, the mode change portion 7500, particularly the mode change determining portion 7510, receives the central speed that corresponds to a target speed input by the exerciser 1000 through the control panel 2200 or a target speed per time transmitted from the speed profile selected by the exerciser 1000 among the speed profiles stored in the profile storing portion 9000 (step S22110) and receives the upper limit speed range and/or the lower limit speed range that are the allowable speed range data stored in the profile storing portion 9000 (steps S22120 and 22130).

[526] Then, in an allowable range generating step 22200, the mode change portion 7500, particularly the mode change determining portion 7510, computes and generates the upper limit speed and/or the lower limit speed by using the central speed and the upper limit speed range and/or the lower limit speed range (step S22210).

[527] Then, in a mode change condition determining portion step S22300, the mode change portion 7500, particularly the mode change determining portion 7510, determines whether a target driving speed obtained by adding the control gain ΔV to a current driving speed of the belt is within the allowable speed range corresponding to the upper limit speed and/or the lower limit speed generated in the allowable range generating step S22200 or not by using the control gain ΔV transmitted from the control gain portion 7310 (step S22310). [528] If the mode change portion 7500, particularly the mode change determining portion 7510, determines that the target driving speed is within the allowable speed range, then the mode change processing portion 7520 outputs a control signal (first control signal) corresponding to the automatic mode, i.e., the first control mode in a speed output step S22400 to drive the treadmill (step S22420). If it is determined that the target driving speed is not within the allowable speed range, then the mode change processing portion 7520 changes the control mode to the second control mode in the speed output step S22400 and outputs the control signal corresponding to the upper limit speed or the lower limit speed generated within the allowable range generating step S22200 to drive the treadmill (step S22410).

[529] A method for outputting the upper limit speed or the lower limit speed (step S22410) in the speed output step S22400 may be performed in substantially the same method as the operation of the mode change processing portion 7520 by the second control mode described above. For example, the mode change processing portion 7520 controls the control gain portion 7310 or the control signal generating portion 7330 so that the target speed of the belt corresponding to a position of the exerciser measured by the exerciser detecting portion 3000 cannot be transmitted to the motor driving portion 6000.

[530] In other words, the mode change processing portion 7520 transmits the mode change processing command to the control gain portion 7310 not to transmit, to the control signal generating portion 7330, the control gain ΔV generated in the control gain portion 7310 corresponding to the converted value X ' generated in the pre-processing r portion 7100, and transmits the speed change value ΔV corresponding to the upper limit speed or the lower limit speed to the control signal generating portion 7330 to be added to the current driving speed of the belt so that the belt speed does not deviate from the allowable speed range.

[531] Alternatively, the mode change processing portion 7520 transmits the mode change processing command to the control signal generating portion 7330 to inactivate the control signal generating portion 7330 or not to transmit, to the motor driving portion 6000, the control signal (first control signal) generated in the control signal generating portion 7330 corresponding to the converted value X ' generated in the pre-processing r portion 7100, and the mode change processing portion 7520 transmits the control signal (first control signal) corresponding to the upper limit speed or the lower limit speed directly to the motor driving portion 6000.

[532] The semi-automatic mode can be implemented as described with reference to FIGs. 23 and 24. A speed measuring value by the semi-automatic mode according to the exemplary embodiment of the present invention will be exemplarily described with reference to FIG. 25. [533] The central speed 13111 changes per time, and as described in FIG. 15, centering on the central speed 13111, the upper limit speed 13112 is set to a 15% increased speed from the central speed 1311, and the lower limit speed 13113 is set to a 1.5Km/h reduced speed from the absolute value of the central speed 13111, so that the allowable speed range is set to a range defined by the upper limit speed 13112 and the lower limit speed 13113.

[534] At this time, it can be seen that the target speed changed by the exerciser 1000 through the control panel 2200 or a speed per unit time input from the profile storing portion 9000 corresponds to the central speed 13111, and the driving speed 13114 of the belt actually driven or rotated by a movement of the exerciser 1000 is controlled in the automatic mode in which the speed can be automatically controlled, i.e., the first control mode within the allowable speed range but is limited not to be beyond the allowable speed range.

[535] The exerciser 1000 exercises in the automatic mode within the allowable speed range by the semi-automatic mode and cannot exercise at the belt speed that is beyond the allowable speed range. Even in case where the exerciser 1000 tries to accelerate beyond the allowable speed range corresponding to the lower limit speed, the driving speed of the belt is not lower than the lower limit speed.

[536] That is, when the belt is being driven at the lower limit speed, the second control mode is applied, but if the exerciser 1000 does not follow the driving speed of the belt, since the belt speed is not adjusted corresponding to the position change of the exerciser 1000, it may be dangerous to the exerciser 1000.

[537] In this instance, the mode change portion 7500, particularly the mode change determining portion 7510, changes the control mode from the second mode to one of the first control mode and the emergency mode through the mode change processing portion 7520 if it is determined in the mode change condition determining portion S21200 that the mode change condition is satisfied. The method for changing to one of the first control mode and the emergency mode is substantially the same as that described above.

[538] FIG. 26 shows display information displayed on the display device of the treadmill according to the exemplary embodiment of the present invention.

[539] When the exerciser 1000 selects one of at least one profile stored in the profile storing portion 7500 to exercise on the treadmill according to the exemplary embodiment of the present invention, a profile display area 2200 and an exercise information display area 2300 are provided. The profile display area 22000 shows a speed change progress of until a future time after a predetermined time so that the exerciser 1000 can predict a future speed, and the exercise information display area 2300 displays a current speed of the exerciser 1000, a total calorie output, a total exercising time, and a current slope of the belt.

[540] Also, an avatar display area 2100, a belt position display area 2600, and a traveled distance display area 2500 are provided. The avatar display area 2100 displays an exerciser avatar 21100 for representing the exerciser 1000 and a trainer avatar 21200 for representing a trainer. The belt position display area 2600 displays a position of the exerciser on the belt. The traveled distance display area 2500 displays a traveled distance 25100 which the exerciser 1000 exercises and moves compared to a total target exercising distance 25200.

[541] Also, in the automatic mode in which the speed is automatically controlled, i.e., the first control mode, since it is difficult that the exerciser 1000 makes the exerciser avatar 21100 coincide in a position or speed with the trainer avatar 21200 by seeing the avatar display area 21000 or makes his/her current position or speed coincide with a position or speed corresponding to the profile by seeing the profile display area 22000, it is preferable to provide an enlarged display area 24000 which enlarges and displays profile speeds 24110 and 24120 and exerciser speeds 24210 and 24220 so that the exerciser 1000 can more efficiently make a position or speed coincide with the profile.

[542] At this time, the profile display area 22000 contains a speed change line segment 22100 for a current profile speed 22110 and a future profile speed 22120, and compares the current speed 22200 of the exerciser 1000 to the speed change line segment 22100 and displays the comparison so that the exerciser 1000 can predict a future speed change in advance and easily follow it.

[543] The belt position display area 26000 displays whether the exerciser 1000 exercises within a safe area 26220 or within risky areas 26211 and 26212 on the belt 26200 and informs the exerciser 1000 of that the exerciser 1000 should be positioned within the safe area if the exerciser 1000 is exercising within the risky areas 26211 and 26212 and at a location adjacent to the risky areas 26211 and 26212.

[544] The control portion 7000 converts one of the measured value X and the converted r value X ' corresponding to a position of the exerciser transmitted from the exerciser r detecting portion 3000 into a value corresponding to a coordinate value of the display device 2220, i.e., a position display value which represents a relative position of the exerciser to the belt display portion, and transmits the position display value to the display device, whereby a position of the exerciser is displayed on the display device. [545] The controller 7000 compares one of the measured value X and the converted value r

X r ' corresponding to a position of the exerciser transmitted from the exerciser detecting portion 3000 to a value corresponding to the risky areas 26211 and 26212, i.e., a risky area range and generates a warning signal if it is determined that the exerciser is positioned within the risky areas 26211 and 26212. [546] The warning signal generated in the control portion 7000 may be generated by de- termining the mode change condition (a) described in FIGs. 21 to 25. Alternatively, the warning signal may be generated in the mode change processing portion 7520 by determination of the mode change determining portion 7510 on whether to generate the warning signal.

[547] Also, as described in FIGs. 21 to 25, mode change processing between the first control mode and the second control mode or mode change processing to the emergency mode may be performed by the warning signal generated in the control portion 7000.

[548] Particularly, while the control portion 7000 is being driven in the second control mode, if it is determined that the exerciser 100 is in the risky areas 26211 and 26212, then the control mode is preferably changed to the first control mode.

[549] Also, a warning indication or sign for informing the exerciser 1000 of a danger may be displayed on the display device 2220, or a warning sound may be output through a speaker installed in a predetermined area of the body portion 2100.

[550] Here, the warning indication or sign may include a warning message stored in the profile storing portion or a predetermined memory area of the control portion or may include various methods or effects, such as a color change or flickering of the display device, for example.

[551] Particularly, when the exerciser 1000 exercises within the rear risky area 26212 or at a location adjacent to the rear risky area 26212, it is preferable that the warning signal is generated or the warning indication or sound is output.

[552] The belt position display area 2600 includes an exerciser position display portion

26100 and a belt display portion 26200. The belt display portion 26200 includes a safe area display portion 26220 and risky area display portions 26211 and 26212. The exerciser position display portion 26100 preferably displays a position of the exerciser within the belt display portion 26200 by using the converted value X ' corresponding to r the current position of the exerciser 1000 transmitted from the pre-processing portion 7100 of the control portion 7000, particularly the data converting portion 7120.

[553] FIG. 27 is a perspective view illustrating a control module for the treadmill according to the exemplary embodiment of the present invention. The control module of FIG. 21 includes the control portion 7000 and/or the profile storing portion 7500 that are mounted on a base substrate 400 containing a printed circuit board (PCB).

[554] A control system for the treadmill may be realized such that an electrical braking portion 8000 is electrically connected to the base substrate 400 containing the control portion 7000 and/or the profile storing portion 7500.

[555] The control module for the treadmill having the base substrate 4000 further includes connecting terminals 410, 420, 430, 440, 450, and 460 that are electrically connected, respectively, with respective components of the treadmill described in FIGs. 1 to 25 according to the exemplary embodiment of the present invention.

[556] The control module for the treadmill according to the exemplary embodiment of the present invention uses a PCB as the base substrate 4000, and the base substrate 4000 includes the control portion 7000 that comprises semiconductor circuits and/or the profile storing portion 7500, and includes electrical wire lines 402 that electrically connect the control portion 7000 and the connecting terminals 410, 420, 430, 440, 450, and 460 and the profile storing portion 7500.

[557] The base substrate 400 further includes coupling holes 401 through which the base substrate 400 is coupled to a predetermined area of the body portion 2100 of the treadmill.

[558] An exerciser detecting portion connecting terminal 410 serves to transmit, to the control portion 7000, a signal corresponding to a position of the exerciser measured by one of the exerciser detecting portion 3000 and the measured value.

[559] An operating portion connecting terminal 420 serves to transmit a signal corresponding to a manipulating button selected by the exerciser to the control portion 7000 from the operating portion 2210 with the manipulating button.

[560] A display connecting terminal 430 serves to transmit, to the display device 2220, a signal corresponding to display information that is processed by the control portion 7000 to be provided to the exerciser and/or to transmit, to the control portion 7000, a signal corresponding to a manipulation of the exerciser on a touch screen or a touch pad arranged in the display device 2220.

[561] A power supply portion connecting terminal 440 serves to transmit electrical power supplied from the power supply portion 2500 to the control portion 7000 to drive the semiconductor circuits in the control portion 7000.

[562] An electrical braking portion connecting terminal 450 serves to transmit the second control signal to the electrical braking portion 8000 when the switching portion 8100 in the electrical braking portion 8000 is desired to be controlled by the second control signal transmitted from the control portion 7000, as shown in FIGs. 3 to 9.

[563] A motor driving portion connecting terminal 460 serves to transmit the first control signal to the motor driving portion 6000 from the control portion 7000 in order to control a speed of the driving motor.

[564] Although not shown, the base substrate 400 may further comprise a connecting terminal for transmitting to the control portion 7000 a signal for detecting a driving speed containing a speed of the belt 5000 or a corresponding speed thereto, a communication connecting terminal for performing communications with an external portion, and a modem for performing communications.

[565] In the exemplary embodiment of the present invention, a braking resistor is used as the electrical braking portion 8000, and a heat sink portion that is made of a metal, such as aluminum, to discharge a heat generated in the braking resistor is also arranged.

[566] The electrical braking portion 8000 further includes a driving portion connecting line 8011 that is connected to the motor driving portion 6000 to transfer regenerative energy flowing into the motor driving portion 6000 to the electrical braking portion 8000 and/or a control connecting line 8012 fro receiving the second control signal transmitted from the control portion 7000.

[567] Electrical braking portion coupling holes 401 for coupling the electrical braking portion 8000 to a predetermined area of the treadmill body portion 2100 are also arranged.

[568] Here, if the electrical braking portion 8000 serves as a regenerative energy processing portion in which the regenerative energy generated in the driving motor 4000 when the electrical braking portion 8000 brakes the driving motor 4000 is discharged or consumed, then the electrical braking portion 8000 can be called the regenerative energy processing portion, and the electrical braking portion connecting terminal and the electrical braking portion coupling hole can be called a regenerative energy processing portion connecting terminal and a regenerative energy processing portion coupling hole, respectively.

[569] In the exemplary embodiment of the present invention, the electrical braking portion 800 may be arranged on the base substrate 400, and if a circuit for a regenerative braking is used as the electrical braking portion 8000 instead of the braking resistor, then an electronic circuit may be arranged instead of the heat sink portion for discharging heat.

[570] That is, the control module may be modified in configuration and form, depending on a configuration and form of the electrical braking portion 8000.

[571] A parallel port or a serial portion may be used as the connecting terminals described above, and a configuration and form of the connecting terminals may be modified depending on various modifications of the exemplary embodiment of the present invention.

Claims

[1] A treadmill, comprising: a body having a belt for supporting an exerciser; a driving motor for driving the belt; a motor driving portion for driving the driving motor; an exerciser detecting portion installed in a predetermined area of the body to measure a position of the exerciser; and a control portion for generating a control signal for adjusting a rotation speed of the driving motor corresponding to one control mode of a first control mode and a second control mode, and for transmitting the control signal to the motor driving portion, wherein the first control mode adjusts a rotation speed of the driving motor by using one of a measured value corresponding to a signal measured by the exerciser detecting portion and a converted value corresponding thereto, and the second control mode adjusts the rotation speed of the driving motor independently from one of the measured value and the converted value.

[2] The treadmill of claim 1, wherein the control portion comprises a mode change portion for changing the control mode from one of the first and second control modes to the other control mode, and for generating the control signal for adjusting the rotation speed of the driving motor corresponding to the one of the first control mode and the second control mode changed by the mode change portion.

[3] The treadmill of claim 2, wherein when the driving motor is being driven in one of the first and second control modes, the mode change portion changes to the other of the first and second control modes.

[4] The treadmill of claim 3, wherein a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is substantially the same as a speed of the first control mode at the moment when the control mode is changed.

[5] The treadmill of claim 3, wherein a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is a driving speed previously set.

[6] The treadmill of claim 4 or 5, wherein the second control mode contains a fixed speed section.

[7] The treadmill of claim 2, wherein when the control signal corresponding to the second control mode is generated, the mode change portion determines whether a mode change condition is satisfied and changes the control mode to one of the first control mode and an emergency mode for stopping the driving motor, and wherein the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, and b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range.

[8] The treadmill of claim 2, wherein the control portion further comprises a control gain portion for generating a control gain by using one of the measured value and the converted value and a control signal generating portion for receiving the control gain from the control gain portion to generate the control signal.

[9] The treadmill of claim 8, wherein when the control signal corresponding to the second control mode is generated, the mode change portion determines whether a mode change condition is satisfied and changes the control mode to one of the first control mode and an emergency mode for stopping the driving motor, and wherein the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range, and c) a condition that the control gain is not within an allowable accelerating/decelerating range.

[10] The treadmill of claim 8, wherein when the control mode change is changed from the first control mode to the second control mode, the mode change portion inactivates the control gain portion or forbids the control gain generated in the control gain portion to be transmitted to the control signal generating portion.

[11] The treadmill of claim 8, wherein when the control mode change is changed from the second control mode to the first control mode, the mode change portion activates the control gain portion or allows the control gain generated in the control gain portion to be transmitted to the control signal generating portion.

[12] The treadmill of claim 8, wherein when the control mode change is changed from the first control mode to the second control mode, the mode change portion inactivates the control signal generating portion, and generates the control signal corresponding to the second control mode to be transmitted to the motor driving portion.

[13] The treadmill of claim 8, wherein when the control mode change is changed from the second control mode to the first control mode, the mode change portion activates the control signal generating portion.

[14] The treadmill of claim 2, wherein if a driving speed of the driving motor is in an allowable speed range computed by operating a central portion that is a target value per unit time for the driving speed corresponding to a rotation speed of the driving motor transmitted from the control portion and an upper limit speed range and/or a lower limit speed range, then the mode change portion changes the control mode to the first control mode, whereas if the driving speed is beyond the allowable speed range, then the mode change portion changes the control mode to the second control mode.

[15] The treadmill of claim 14, wherein the central speed corresponds to speed data per unit time of a profile containing at least two different speed data during a predetermined time.

[16] The treadmill of claim 15, wherein the profile further comprises the upper limit speed range and/or the lower limit speed range.

[17] The treadmill of claim 15 or 16, wherein the profile is stored in a profile storing portion in the treadmill and is transmitted to the control portion or is transmitted to the control portion via one of a wire line communication system and a wireless communication system.

[18] A storage medium for a treadmill, comprising: a profile system including at least two different belt driving speeds during a predetermined time, and an upper limit speed range and/or a lower limit speed range that are/is operated to a central speed that is a target value per unit time for the driving speed to define an allowable speed range.

[19] The storage medium for the treadmill of claim 18, wherein at least two upper limit speed ranges and/or lower limit speed ranges are provided to respectively correspond to the driving speed is two in number or a single upper limit speed range and/or lower limit speed range is provided for all of the driving speeds.

[20] A control module for a treadmill, comprising: a base substrate with an electrical wire line formed therein; a control portion coupled to the base substrate and having a semiconductor circuit electrically connected to the electrical wire line; and a connecting terminal coupled to the base substrate and electrically connecting the control portion to a motor driving portion for driving a driving motor and an exerciser detecting portion for measuring a position of an exerciser via the electrical wire line, wherein the control portion generates a control signal for adjusting a rotation speed of the driving motor corresponding to one control mode of a first control mode and a second control mode and transmits the control signal to the motor driving portion via the connecting terminal, the first control mode adjusts a rotation speed of the driving motor by using a measured value corresponding to a signal measured by one of the exerciser detecting portion and a converted value corresponding thereto, and the second control mode adjusts the rotation speed of the driving motor independently from one of the measured value and the converted value.

[21] The control module for the treadmill of claim 20, wherein the control portion comprises a mode change portion for changing the control mode from one of the first and second control modes to the other control mode, and for generating the control signal for adjusting the rotation speed of the driving motor corresponding to one of the first control mode and the second control mode changed by the mode change portion.

[22] The control module for the treadmill of claim 21, wherein when the driving motor is being driven in one of the first and second control modes, the mode change portion changes to the other of the first and second control modes.

[23] The control module for the treadmill of claim 22, wherein a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is substantially the same as a speed of the first control mode at the moment when the control mode is changed.

[24] The control module for the treadmill of claim 22, wherein a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is a driving speed previously set.

[25] The control module for the treadmill of claim 23 or 24, wherein the second control mode contains a fixed speed section.

[26] The control module for the treadmill of claim 21, wherein when the control signal corresponding to the second control mode is generated, the mode change portion determines whether a mode change condition is satisfied or not and changes the control mode to one of the first control mode and an emergency mode for stopping the driving motor, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, and b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range.

[27] The control module for the treadmill of claim 21, wherein the control portion further comprises a control gain portion for generating a control gain by using one of the measured value and the converted value and a control signal generating portion for receiving the control gain from the control gain portion to generate the control signal.

[28] The control module for the treadmill of claim 27, wherein when the control signal corresponding to the second control mode is generated, the mode change portion determines whether a mode change condition is satisfied or not and changes the control mode to one of the first control mode and an emergency mode for stopping the driving motor, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range, and c) a condition that the control gain is not within an allowable accelerating/decelerating range.

[29] The control module for the treadmill of claim 27, wherein when the control mode change is changed from the first control mode to the second control mode, the mode change portion inactivates the control gain portion or forbids the control gain generated in the control gain portion to be transmitted to the control signal generating portion.

[30] The control module for the treadmill of claim 27, wherein when the control mode change is changed from the second control mode to the first control mode, the mode change portion activates the control gain portion or allows the control gain generated in the control gain portion to be transmitted to the control signal generating portion.

[31] The control module for the treadmill of claim 27, wherein when the control mode change is changed from the first control mode to the second control mode, the mode change portion inactivates the control signal generating portion, and generates the control signal corresponding to the second control mode to be transmitted to the motor driving portion.

[32] The control module for the treadmill of claim 27, wherein when the control mode change is changed from the second control mode to the first control mode, the mode change portion activates the control signal generating portion.

[33] The control module for the treadmill of claim 21, wherein if a driving speed of the driving motor is within an allowable speed range computed by operating a central portion that is a target value per unit time for the driving speed corresponding to a rotation speed of the driving motor transmitted from the control portion and an upper limit speed range and/or a lower limit speed range, the mode change portion changes the control mode to the first control mode, whereas if the driving speed is beyond the allowable speed range, the mode change portion changes the control mode to the second control mode.

[34] The control module for the treadmill of claim 33, wherein the central speed corresponds to speed data per unit time of a profile containing at least two different speed data during a predetermined time.

[35] The control module for the treadmill of claim 34, wherein the profile further comprises the upper limit speed range and/or the lower limit speed range.

[36] The control module for the treadmill of claim 34, wherein the profile is transmitted to the control portion via one of a wire line communication system and a wireless communication system or is transmitted to the control portion from a profile storing portion that is coupled to the base substrate and electrically connected to the control portion via the electrical wire line.

[37] A method for controlling a treadmill, comprising:

(i) generating a control signal for adjusting a rotation speed of a driving motor corresponding to one control mode of a first control mode and a second control mode, the first control mode adjusts a rotation speed of the driving motor by using a measured value corresponding to a signal measured by one of the exerciser detecting portion and a converted value corresponding thereto, the second control mode adjusts the rotation speed of the driving motor independently from one of the measured value and the converted value; and (ii) transmitting the control signal to a motor driving portion for driving the driving motor.

[38] The method of claim 37, wherein the step (i) comprises: a mode change step for changing the control mode from one of the first and second control modes to the other control mode; and generating the control signal for adjusting the rotation speed of the driving motor corresponding to one of the first control mode and the second control mode changed by the mode change portion.

[39] The method of claim 38, wherein when the driving motor is being driven in one of the first and second control modes, the mode change step changes to the other of the first and second control modes.

[40] The method of claim 39, wherein a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is substantially the same as a speed of the first control mode at the moment when the control mode is changed.

[41] The method of claim 39, wherein a driving speed of the second control mode after the control mode is changed from the first control mode to the second control mode is a driving speed previously set.

[42] The method of claim 40 or 41, wherein the second control mode contains a fixed speed section.

[43] The method of claim 38, wherein when the control signal corresponding to the second control mode is generated, the mode change step comprises a mode change determining step for determining whether a mode change condition is satisfied or not and a mode change processing step for changing the control mode to one of the first control mode and an emergency mode for stopping the driving motor by the mode change determining step, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, and b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range.

[44] The method of claim 38, wherein the step (i) comprises a control gain generating step for generating a control gain by using one of the measured value and the converted value and a control signal generating step for receiving the control gain from the control gain portion to generate the control signal.

[45] The method of claim 44, wherein when the control signal corresponding to the second control mode is generated, the mode change step comprises a mode change determining step for determining whether a mode change condition is satisfied or not and a mode change processing step for changing the control mode to one of the first control mode and an emergency mode for stopping the driving motor by the mode change determining step, the mode change condition including at least one of a) a condition that one of the measured value and the converted is not within an allowable position range, b) a condition that a difference of one of the measured value and the converted value per unit time is not within an allowable change rate range, and c) a condition that the control gain is not within an allowable accelerating/decelerating range.

[46] The method of claim 44, wherein when the control mode change is changed from the first control mode to the second control mode, the mode change step inactivates the control gain step or forbids the control gain generated in the control gain step to be used in the control signal generating step.

[47] The method of claim 44, wherein when the control mode change is changed from the second control mode to the first control mode, the mode change step activates the control gain step or allows the control gain generated in the control gain step to be used in the control signal generating portion.

[48] The method of claim 44, wherein when the control mode change is changed from the first control mode to the second control mode, the mode change step inactivates the control signal generating step, and generate the control signal corresponding to the second control mode to be transmitted to the motor driving portion.

[49] The method of claim 44, wherein when the control mode change is changed from the second control mode to the first control mode, the mode change step activates the control signal generating step.

[50] The method of claim 38, wherein the mode change step comprises:

(a) receiving a central speed that is a target value per unit time for a driving speed corresponding to a rotation speed of a driving motor, and an upper limit speed range and/or a lower limit speed range;

(b) generating an upper limit speed and a lower limit speed per unit time by using the central speed and the upper limit speed range and/or the lower limit speed range; and

(c) determining whether a belt speed is within an allowable speed range defined by the upper limit speed and the lower limit speed.

[51] The method of claim 50, wherein in the step (c), the mode change step generates the control signal corresponding to the first control mode if the belt speed within the allowable speed range and generates the control signal corresponding to the second control mode if the belt speed is not within the allowable speed range.

[52] The method of claim 50, wherein the central speed corresponds to speed data per unit time of a profile containing at least two different speed data during a predetermined time.

[53] The method of claim 52, wherein the profile further comprises the upper limit speed range and/or the lower limit speed range.

[54] The method of claim 52 or 53, wherein the profile is stored in a profile storing portion and transmitted to the control portion or is transmitted to the control portion via a wire line communication system or a wireless communication system.