Exerciseing with small children, any ideas?

I love exercising, I have a treadmill & a bowflex. Both great machines. My problem is I'm having a really hard time finding the time to exercise with 3 small kids, 6, 4 & 2. I've tried to get up early & exercise before the kids get up but sometimes my 2 year old doesn't sleep well so I end being too tired to get up. I've also tired to exercise when my husband gets home from work, he watches the kids & it works great but his schedule is crazy so I can't always depend on him to be home. Another thing I've tried is to let the kids play around me while I'm getting my exercise done. It worked ok but I find that I have to get on & off the treadmill to chase my 2 year old. As you can see I've tried just about everything. I know how important exercise is & I really enjoy the time to myself. I also feel like exercise should be a scheduled so you get used to doing it everyday. So how do the rest of you work around it with small children? Thanks for any advice

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