CN109009142B - Running posture judgment method and system, intelligent wearable device and storage medium - Google Patents
Running posture judgment method and system, intelligent wearable device and storage medium Download PDFInfo
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Abstract
The application discloses a running posture judging method which comprises the steps of receiving ankle movement data detected by a six-axis sensor, and separating and processing the ankle movement data to obtain an accelerometer signal and a gyroscope signal; wherein, the six-axis sensor is arranged at the ankle part; judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals; if the ankle part is in the supporting state, determining the swing angle of the ankle part according to the gyroscope signal, and judging whether the swing angle is within a preset range; if not, the running posture is judged to be wrong. The method can accurately judge whether the ankle posture is correct in the running process, and helps a user to maintain the correct running posture in the running process. The application also discloses a running posture judging system, a computer readable storage medium and an intelligent wearable device, which have the beneficial effects.
Description
Technical Field
The invention relates to the technical field of intelligent wearable equipment, in particular to a running posture judgment method and system, a computer-readable storage medium and intelligent wearable equipment.
Background
In the current society, the work rhythm is too fast, and more people bear huge operating pressure and possess irregular life, make more people adjust own physique through the motion, keep healthy state. In each movement, more people select running to exercise the body, the correct running posture, the human body constitution is enhanced, and the human body aging is delayed. However, if the running posture is incorrect, the knee is damaged, the knee is strained, and the like, so that it is necessary to avoid damage due to an incorrect running posture.
Among the prior art, mainly run the correction of posture through the motion running shoes that have the function of correcting the appearance of running, this motion running shoes's inside integrated a plurality of sensors, through the human foot range of contacting to the earth and motion frequency when running of monitoring, the data that will gather send to the cell-phone end through wireless bluetooth communication to correct wrong running posture. However, if the posture of the foot is incorrect during running, the human body can be damaged, and the ground contact range and the movement frequency detected by the sports running shoe with the running posture correcting function in the prior art can only correct the movement states of the foot and the leg, so that whether the ankle posture is correct or not cannot be judged.
Therefore, how to accurately judge whether the ankle posture is correct during running and help the user maintain the correct running posture during running is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a running posture judging method and system, a computer readable storage medium and an intelligent wearable device, which can accurately judge whether the ankle posture is correct in the running process and help a user to maintain a correct running posture in the running process.
In order to solve the above technical problem, the present application provides a running posture determining method, including:
the ankle movement data detected by the six-axis sensor are received, and the ankle movement data are separated and processed to obtain an accelerometer signal and a gyroscope signal; wherein, the six-axis sensor is arranged at the ankle part;
judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals;
if the ankle part is in the supporting state, determining the swing angle of the ankle part according to the gyroscope signal, and judging whether the swing angle is within a preset range;
if not, the running posture is judged to be wrong.
Optionally, determining the swing angle of the ankle according to the gyroscope signal includes:
and performing analog-to-digital conversion on the gyroscope signal to obtain a first digital signal, and performing filtering processing on the first digital signal by using a Kalman filter to obtain the swing angle of the ankle part.
Optionally, performing analog-to-digital conversion on the gyroscope signal to obtain a first digital signal, and performing filtering processing on the first digital signal by using a kalman filter to obtain the swing angle of the ankle portion includes:
performing analog/digital conversion on the gyroscope signal to obtain a first digital signal, and performing filtering processing on the first digital signal to obtain an actual angular velocity measurement value
Actual measurement value of angular velocity according to compensation formula
Carrying out offset compensation to obtain a true angular velocity measurement value W, and calculating a swing angle according to the true angular velocity measurement value W; wherein the compensation formula is
KijThe cross-coupling effect parameter of the gyroscope of the six-axis sensor, and b is the offset of the gyroscope.
Optionally, the determining, according to the accelerometer signal, whether the foot corresponding to the six-axis sensor is in the supporting state includes:
performing analog-to-digital conversion on the accelerometer signal to obtain a second digital signal, and performing filtering processing on the second digital signal by using a Kalman filter to obtain acceleration data of the ankle part;
judging whether the component of the acceleration data in the gravity direction is equal to the gravity acceleration or not;
if yes, the foot corresponding to the six-axis sensor is in a supporting state.
Optionally, the method further includes:
judging whether the time that the foot is continuously in the supporting state is greater than a preset value or not;
if so, judging that the running frequency is too low and prompting the user to improve the running frequency.
Optionally, after determining that the running posture is wrong, the method further includes:
and generating prompt information for prompting the user to correct the running posture, and transmitting the prompt information to the user side.
The present application also provides a running posture determination system, including:
the data processing module is used for receiving ankle movement data detected by the six-axis sensor and separating the ankle movement data to obtain an accelerometer signal and a gyroscope signal; wherein, the six-axis sensor is arranged at the ankle part;
the foot state judging module is used for judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals;
the ankle angle determining module is used for determining the swing angle of the ankle part according to the gyroscope signal when the foot is in a supporting state, and judging whether the swing angle is within a preset range;
and the evaluation module is used for judging that the running posture is wrong when the swing angle is not in the preset range.
The present application also provides a computer-readable storage medium, on which a computer program is stored, which when executed implements the steps performed by the above-described running posture determining method.
This application still provides an intelligence wearing equipment, and this intelligence wearing equipment includes:
the ankle motion monitoring device comprises a six-axis sensor arranged at an ankle part and used for acquiring ankle motion data of the ankle part;
the filtering circuit is connected with the six-axis sensor and is used for separating ankle movement data into an accelerometer signal and a gyroscope signal;
the processor is connected with the filter circuit and used for judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals; if the ankle part is in the supporting state, determining the swing angle of the ankle part according to the gyroscope signal, and judging whether the swing angle is within a preset range; if not, the running posture is judged to be wrong.
Optionally, the processor includes:
the A/D sampling circuit is connected with the filter circuit and is used for respectively carrying out analog/digital conversion on the accelerometer signal and the gyroscope signal to obtain a first digital signal and a second digital signal;
the Kalman filter is connected with the A/D sampling circuit and is used for respectively filtering the first digital signal and the second digital signal to obtain a swing angle and an acceleration value in the gravity direction of the ankle part;
the processing circuit is connected with the Kalman filter and used for judging whether the foot corresponding to the six-axis sensor is in a supporting state or not according to the acceleration value in the gravity direction; if the swing angle is in the supporting state, judging whether the swing angle is within a preset range; if not, the running posture is judged to be wrong.
The invention provides a running posture judging method which comprises the steps of receiving ankle movement data detected by a six-axis sensor, and carrying out separation processing on the ankle movement data to obtain an accelerometer signal and a gyroscope signal; wherein, the six-axis sensor is arranged at the ankle part; judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals; if the ankle part is in the supporting state, determining the swing angle of the ankle part according to the gyroscope signal, and judging whether the swing angle is within a preset range; if not, the running posture is judged to be wrong.
The running exercise mainly completes the whole running posture through the feet, and the human health can be damaged when the swing angle of the ankles of the supporting legs is too large when the feet are alternately supported in the running process. Based on this, the invention can acquire the accelerometer signal and the gyroscope signal through the six-axis sensor by arranging the six-axis sensor at the ankle part. The moment that the foot is in the supporting state can be confirmed according to the accelerometer signal, and then the swing angle of supporting the foot ankle in the running process is detected through gyroscope signal acquisition, if the swing angle is too big, the incorrect suggestion of running posture of suggestion user corrects the running posture. This scheme can be accurate judgement running in-process ankle gesture whether correct, help the user to maintain correct running posture at the running in-process. This application still provides a posture of running decision system, a computer readable storage medium and intelligent wearing equipment simultaneously, has above-mentioned beneficial effect, no longer gives unnecessary details here.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a running posture determining method according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a running speed adjustment provided by an embodiment of the present application;
FIG. 3 is a flow chart of another method for determining a running posture according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a running posture determining system according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an intelligent wearable device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart of a running posture determining method according to an embodiment of the present disclosure.
The specific steps may include:
s101: the ankle movement data detected by the six-axis sensor are received, and the ankle movement data are separated and processed to obtain an accelerometer signal and a gyroscope signal;
wherein, six sensors set up in the ankle position, and six sensors can with ankle position direct contact, also can with ankle position indirect contact, and the relative position at six sensors and ankle position keeps unchangeable in the use anyway, and the motion state of six sensors and ankle position keeps unanimous constantly promptly, and the ankle motion data that six sensors detected can truly reflect the motion state at ankle position. The number of the six-axis sensors is not limited in the embodiment, the six-axis sensors can be arranged on only the left ankle or the right ankle, the six-axis sensors can also be arranged on the ankles of two feet, the six-axis sensors are arranged on only one ankle of one foot, the motion state of one foot can be detected only, and the running gesture of the user can be evaluated more comprehensively by arranging the six-axis sensors on the ankles of two feet. The six-axis sensor is also called a six-axis motion sensor.
The six-axis sensor may include an accelerometer and a gyroscope, and thus, the ankle movement data for describing the ankle movement condition may be separated into an accelerometer signal and a gyroscope signal through a separation process. The accelerometer signals are signals for sensing the acceleration state in the axial direction of three directions of the three-dimensional space, and the movement acceleration, the movement direction and the movement rate of the ankle can be determined according to the acceleration signals. The gyroscope signal is a signal for describing the change condition of the angular velocity of the ankle part in the three-dimensional space in all directions, and the rotation angular velocity of the ankle part in the movement process can be determined according to the gyroscope signal, so that the rotation angle of the ankle part can be obtained.
It should be noted that the six-axis sensor in this embodiment is disposed at the ankle portion, and the default six-axis sensor is completely consistent with the movement state of the ankle portion, so that the obtained accelerometer signal and the obtained gyroscope signal are both signals representing the movement state of the ankle portion.
S102: judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals; if yes, entering S103; if not, ending the flow;
the purpose of this step is to determine whether the foot corresponding to the six-axis sensor (i.e., the foot corresponding to the ankle provided with the six-axis sensor) is in a supporting state or a suspended state according to the accelerometer signal. The acceleration of the ankle part can be determined according to the accelerometer signal, and when the foot of the ankle part is in a supporting state, the component of the acceleration of the ankle part in the gravity direction (vertical direction) is gravity acceleration; when the foot of the ankle portion is in a suspended state (non-supporting state), the component of the acceleration of the ankle portion in the gravity direction (vertical direction) is greater than or less than the gravity acceleration. Therefore, the acceleration of the ankle part can be determined according to the accelerometer signal, and whether the acceleration of the ankle part meets the acceleration requirement of the ankle part when the foot is supported or not is judged, so that whether the foot corresponding to the six-axis sensor is in a supporting state or not is analyzed.
Specifically, the process of determining whether the foot is in the supporting state is as follows:
when the six-axis sensor is not in the plane position along with the movement of the ankle, the initial acceleration value a can be obtained according to the signals of the accelerometerx＝0，ay＝0，az＝g；ax、ay、azThe acceleration components of the ankle part in the X axis direction, the Y axis direction and the Z axis direction are respectively, the six-axis sensor is not located at a plane position along with the movement of the ankle part, so that the six-axis sensor is only under the action of gravity and can only detect the acceleration, namely the gravity acceleration g, in the vertical direction (Z axis direction), and no acceleration exists in other directions. When the ankle part is in a motion state, acceleration components in the X axis direction, the Y axis direction and the Z axis direction can be changed, and at the moment, a real measured value of the acceleration can be obtained according to the signals of the accelerometer
If the component of the real measured value of the acceleration in the vertical direction is equal to the component of the initial value of the acceleration in the vertical direction
When the six-axis sensor is used, the foot corresponding to the six-axis sensor is in a supporting state.
Since the swing angle of the ankle of the supporting foot is the standard for evaluating whether the running posture is correct during running, in this embodiment, it is determined whether the foot corresponding to the six-axis sensor is in the supporting state, and then the swing angle of the ankle is analyzed. If the feet corresponding to the six-axis sensors are not in the supporting state, the swinging angle obtained by determining the swinging angle according to the gyroscope signal does not have reference value.
S103: determining the swing angle of the ankle part according to the gyroscope signal;
based on the fact that the step S102 has determined that the foot corresponding to the six-axis sensor is in the supporting state, it can be known from the foregoing discussion that the swing angle of the ankle portion to be determined in this embodiment is the swing angle when the foot corresponding to the ankle portion is in the supporting state, and therefore the step defaults that the gyroscope signal mentioned here and the accelerometer signal in S102 are two signals measured by the six-axis sensor at the same time.
Specifically, the process of calculating the swing angle of the ankle portion is as follows:
the actual measured value of the angular velocity can be obtained according to the gyroscope signal
Wherein
The components of angular velocity of the ankle portion in the three directions of the X-axis, Y-axis and Z-axis, respectively. It should be noted that the actual measurement of angular velocity in three directions
The initial measurement value without considering the gyroscope offset cannot truly reflect the rotation angle of the ankle part. In the gyroscope, horizontal acceleration and vertical acceleration with the same frequency can simultaneously act on the pendulum of the gyroscope through the cross coupling effect, so that the cross coupling effect parameter K is also required to be considered when calculating the real measured value of the angular velocityij. When the angular velocity of the autorotation of the earth is larger than the sensitivity of the gyroscope, the influence of the local longitude and latitude on the gyroscope can be ignored, and the actual measured value of the angular velocity can be offset compensated to obtain the true measured value W of the angular velocityx、Wy、WzWherein
Finally, the swing angle of the ankle part can be obtained according to the real measured value of the angular speed.
Wherein, KijIf i and j in (a) and (b) are selected to be x, y and z, respectively, x represents a horizontal axis, y represents a vertical axis, and z represents a height, the specification shows that K is now in an xy planeijFor cross-coupling of gyroscopes in the xy planeEffect parameters, and so on.
S104: judging whether the swing angle is within a preset range; if yes, ending the process; if not, entering S105;
the step is to judge whether the user is in a correct running posture when the ankle part is positioned at the swing angle on the basis of determining the swing angle of the ankle part of the supporting foot. According to the kinematic analysis, the optimal running posture of the human is that the ankle part and the hip part of the supporting foot are on the same straight line, and a proper range can be set as the correct rotation angle of the ankle part of the supporting foot. In a most preferred embodiment, a rotation angle of the ankle portion, for example, 80 ° to 100 ° (when the rotation angle is 90 °, the ankle portion and the hip portion are on the same straight line) when the ankle portion of the support foot is in a correct running posture is first set, and it is determined whether or not the swing angle is in a range of 80 ° to 100 ° after a swing angle of the ankle portion is obtained in S103; if so, the running posture is correct; if not, the running posture is wrong.
S105: and judging that the running posture is wrong.
Wherein, on the basis of judging the wrong posture of running, can also rectify the posture of running through the mode suggestion user that generates tip information, send tip information to the cell-phone end through wireless bluetooth communication and show or voice broadcast to correct wrong posture of running. Of course, as a preferred implementation method, the degree of the running posture error of the user can also be determined according to the deviation amount between the swing angle and the preset range, and corresponding prompt information can be generated according to different degrees so as to prompt the user to better correct the running posture.
The running exercise mainly completes the whole running posture through the feet, and the human health can be damaged when the swing angle of the ankles of the supporting legs is too large when the feet are alternately supported in the running process. In this case, the present embodiment can provide the six-axis sensor at the ankle portion, and can provide the accelerometer signal and the gyro signal by the six-axis sensor. The moment that the foot is in the supporting state can be confirmed according to the accelerometer signal, and then the swing angle of supporting the foot ankle in the running process is detected through gyroscope signal acquisition, and if the swing angle is too big, the running posture is incorrect. The embodiment can judge whether the ankle posture is correct in the running process, and helps a user to maintain a correct running posture in the running process.
Referring to fig. 2, fig. 2 is a flowchart of a running speed adjustment according to an embodiment of the present disclosure; this embodiment may be an added operation after S102 in the previous embodiment, and may prompt the user to increase the running frequency.
The specific steps may include:
s201: judging whether the time that the foot is continuously in the supporting state is greater than a preset value or not; if yes, entering S202; if not, ending the flow;
the time that the foot is continuously in the support state during the running of the human being is related to the running frequency, so the number of steps of the user in the target time period can be determined according to whether the time that the foot is continuously in the support state is larger than a certain preset value. For example, the optimal running speed of a normal human is 70 steps-90 steps/min, and a when the human falls to the ground is detected by an accelerometer of a six-axis sensorzTime t when the foot of the human body falls to the ground>1s, the running frequency of the user is too low.
S202: determining that the running frequency is too low and prompting the user to increase the running frequency.
The same as S105 in the previous embodiment, in this step, the user may be prompted to increase the running frequency in a manner of generating the prompt information, and the prompt information may be sent to the mobile phone terminal through the wireless bluetooth communication to be displayed or voice broadcast. Of course, as a preferred implementation method, the degree that the running frequency of the user is lower than the standard value can be determined according to the time length that the foot is continuously in the supporting state, and corresponding prompt information can be generated according to different degrees so as to prompt the user to better correct the running posture and improve the running frequency.
Referring to fig. 3, fig. 3 is a flowchart of another running posture determining method according to an embodiment of the present disclosure; the embodiment is obtained by combining the two previous embodiments, in the embodiment, the swing angle of the ankle during the running process of the user can be detected to judge whether the running posture is correct, and whether the running frequency is too slow can be judged according to the change condition of the acceleration information of the ankle part. The present embodiment is a more preferred embodiment based on the embodiments of fig. 1 and 2, which is capable of evaluating the running posture of the user from two angles, i.e., an ankle swing angle and a running frequency.
The specific steps may include:
s301: receiving ankle movement data detected by a six-axis sensor;
basic settings of the six-axis sensor can be performed in advance, wherein the basic settings comprise setting of sampling frequency and setting of measurement range. The sampling frequency is the number of discrete signals extracted from the six-axis sensor every second, and the sampling frequency of 100Hz can be selected in the embodiment; the setting range is that six sensors select accelerometer Acc and gyroscope Gyro, and this patent selects six sensors, and the measuring range selects-6 g-6g (g is acceleration of gravity) to measure.
Basic data compensation can be carried out on the six-axis sensor in advance, accuracy of data acquisition is improved, and systematic threshold value and detection time can be determined on the six-axis sensor, so that data detection setting is perfected.
S302: and separating the ankle movement data to obtain an accelerometer signal and a gyroscope signal, and performing noise reduction processing on the accelerometer signal and the gyroscope signal.
The filtering circuit has the function of separating different signals of the gyroscope and the accelerometer, the ankle movement data can be separated through the filtering circuit to obtain an accelerometer signal and a gyroscope signal, and filtering noise processing is carried out on the accelerometer signal and the gyroscope signal to obtain accurate movement information.
S303: performing analog-to-digital conversion on the accelerometer signal to obtain a second digital signal, and performing filtering processing on the second digital signal by using a Kalman filter to obtain acceleration data of the ankle part;
specifically, the step is to perform A/D data sampling on the acceleration signal and convert the analog signal into a digital signal.
S304: judging whether the component of the acceleration data in the gravity direction is equal to the gravity acceleration or not; if yes, entering S305 and S309; if not, ending the flow;
s305: performing analog-to-digital conversion on the gyroscope signal to obtain a first digital signal, and performing filtering processing on the first digital signal by using a Kalman filter to obtain an actual angular velocity measurement value
S306: according to a compensation formula, actually measuring the angular velocity
Carrying out offset compensation to obtain a true angular velocity measurement value W, and calculating the swing angle according to the true angular velocity measurement value W;
wherein, the swing angle is calculated by the formula
KijThe cross-coupling effect parameter of the gyroscope and b is the offset of the gyroscope. KijIf i and j in (a) and (b) are selected to be x, y and z, respectively, x represents a horizontal axis, y represents a vertical axis, and z represents a height, the specification shows that K is now in an xy planeijAnd (4) carrying out cross coupling effect parameters of the gyroscope in an xy plane, and the like.
S307: judging whether the swing angle is within a preset range; if yes, ending the process; if not, the step S308 is entered;
s308: and judging that the running posture is wrong, and ending the flow.
S309: judging whether the time that the foot is continuously in the supporting state is greater than a preset value or not; if yes, entering S310; if not, ending the flow;
s310: and judging that the running frequency is too low, prompting the user to improve the running frequency, and ending the flow.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a running posture determining system according to an embodiment of the present disclosure;
the system may include:
the data processing module 100 is configured to receive ankle movement data detected by the six-axis sensor, and separate the ankle movement data to obtain an accelerometer signal and a gyroscope signal; wherein, the six-axis sensor is arranged at the ankle part;
the foot state judging module 200 is used for judging whether the feet corresponding to the six-axis sensor are in a supporting state according to the accelerometer signal;
the ankle angle determining module 300 is configured to determine a swing angle of an ankle part according to a gyroscope signal when the foot is in a supporting state, and determine whether the swing angle is within a preset range;
and the evaluation module 400 is used for judging that the running posture is wrong when the swing angle is not in the preset range.
Further, the ankle angle determining module 300 includes:
the angle calculation unit is used for performing analog-to-digital conversion on the gyroscope signal to obtain a first digital signal and performing filtering processing on the first digital signal by using a Kalman filter to obtain a swing angle of an ankle part;
the judging unit is used for judging whether the swing angle is within a preset range or not;
further, the angle calculation unit includes:
an angular velocity calculating subunit, configured to perform analog-to-digital conversion on the gyroscope signal to obtain a first digital signal, and perform filtering processing on the first digital signal to obtain an actual measured value of angular velocity
An angle calculating subunit for calculating the actual angular velocity measurement according to a compensation formula
Carrying out offset compensation to obtain a true angular velocity measurement value W, and calculating the swing angle according to the true angular velocity measurement value W; wherein the compensation formula is
KijThe cross-coupling effect parameter of the gyroscope of the six-axis sensor, and b is the offset of the gyroscope.
The foot state determination module 200 includes:
the acceleration computing unit is used for performing analog-to-digital conversion on the accelerometer signal to obtain a second digital signal and performing filtering processing on the second digital signal by using a Kalman filter to obtain acceleration data of the ankle part;
an acceleration determination unit configured to determine whether a component of the acceleration data in a gravity direction is equal to a gravitational acceleration; if yes, the foot corresponding to the six-axis sensor is in a supporting state.
Further, the system further comprises:
judging whether the time that the foot is continuously in the supporting state is greater than a preset value or not;
if so, judging that the running frequency is too low and prompting the user to improve the running frequency.
Further, the data processing module 100 includes:
a data receiving unit for receiving ankle movement data detected by the six-axis sensor
And the data separation unit is used for separating the ankle movement data to obtain an accelerometer signal and a gyroscope signal and carrying out noise reduction processing on the accelerometer signal and the gyroscope signal.
Further, the system further comprises:
and the prompting module is used for generating prompting information for prompting the user to correct the running posture and transmitting the prompting information to the user side.
Since the embodiment of the system part corresponds to the embodiment of the method part, the embodiment of the system part is described with reference to the embodiment of the method part, and is not repeated here.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed, may implement the steps provided by the above-described embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Please refer to fig. 5, fig. 5 is a schematic structural diagram of an intelligent wearable device according to an embodiment of the present application. The application also provides intelligent wearable equipment, which can comprise a six-axis sensor arranged at the ankle part and used for acquiring ankle movement data of the ankle part; the filtering circuit is connected with the six-axis sensor and is used for separating ankle movement data into an accelerometer signal and a gyroscope signal; the processor is connected with the filter circuit and used for judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals; if the ankle part is in the supporting state, determining the swing angle of the ankle part according to the gyroscope signal, and judging whether the swing angle is within a preset range; if not, the running posture is judged to be wrong.
Optionally, the processor includes:
the A/D sampling circuit is connected with the filter circuit and is used for respectively carrying out analog/digital conversion on the accelerometer signal and the gyroscope signal to obtain a first digital signal and a second digital signal;
the Kalman filter is connected with the A/D sampling circuit and is used for respectively filtering the first digital signal and the second digital signal to obtain a swing angle and an acceleration value in the gravity direction of the ankle part;
the processing circuit is connected with the Kalman filter and used for judging whether the foot corresponding to the six-axis sensor is in a supporting state or not according to the acceleration value in the gravity direction; if the swing angle is in the supporting state, judging whether the swing angle is within a preset range; if not, the running posture is judged to be wrong.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A running posture determination method, comprising:
the ankle movement data detected by the six-axis sensor are received, and the ankle movement data are separated and processed to obtain an accelerometer signal and a gyroscope signal; the six-axis sensor is arranged at the ankle part;
judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals;
if the ankle part is in the supporting state, determining the swing angle of the ankle part according to the gyroscope signal, and judging whether the swing angle is within a preset range;
if not, the running posture is judged to be wrong.
2. The running posture determining method according to claim 1, wherein determining the swing angle of the ankle portion based on the gyro signal includes:
and performing analog-to-digital conversion on the gyroscope signal to obtain a first digital signal, and performing filtering processing on the first digital signal to obtain the swing angle of the ankle part.
3. The running posture determining method according to claim 2, wherein the analog/digital converting the gyro signal to obtain a first digital signal and the filtering processing of the first digital signal to obtain the swing angle of the ankle portion includes:
performing analog/digital conversion on the gyroscope signal to obtain a first digital signal, and performing filtering processing on the first digital signal to obtain an actual angular velocity measurement value
According to a compensation formula, actually measuring the angular velocity
Carrying out offset compensation to obtain a true angular velocity measurement value W, and calculating the swing angle according to the true angular velocity measurement value W; wherein the compensation formula is
KijThe cross coupling effect parameter of the gyroscope of the six-axis sensor is shown, and b is the offset of the gyroscope; wherein i and j are any value of x, y and z, x represents a horizontal axis, y represents a vertical axis, and z represents height.
4. The running posture determining method of claim 1, wherein determining whether the foot corresponding to the six-axis sensor is in a supporting state according to the accelerometer signal comprises:
performing analog-to-digital conversion on the accelerometer signal to obtain a second digital signal, and performing filtering processing on the second digital signal to obtain acceleration data of the ankle part;
judging whether the component of the acceleration data in the gravity direction is equal to the gravity acceleration or not;
if yes, the foot part corresponding to the six-axis sensor is in the supporting state.
5. The running posture determination method according to claim 1, further comprising:
judging whether the duration of the foot in the supporting state is greater than a preset value or not;
if yes, the running frequency is judged to be too low.
6. The running posture determining method according to claim 1, further comprising, after determining that the running posture is wrong:
and generating prompt information for prompting the user to correct the running posture, and transmitting the prompt information to the user side.
7. A running posture determining system, comprising:
the data processing module is used for receiving ankle movement data detected by the six-axis sensor and separating and processing the ankle movement data to obtain an accelerometer signal and a gyroscope signal; the six-axis sensor is arranged at the ankle part;
the foot state judging module is used for judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals;
the ankle angle determining module is used for determining the swing angle of the ankle part according to the gyroscope signal when the foot is in the supporting state, and judging whether the swing angle is within a preset range;
and the evaluation module is used for judging that the running posture is wrong when the swing angle is not in the preset range.
8. An intelligence wearing equipment which characterized in that includes:
the ankle motion detection device comprises a six-axis sensor arranged at an ankle part and used for acquiring ankle motion data of the ankle part;
a filter circuit connected to the six-axis sensor for separating the ankle movement data into an accelerometer signal and a gyroscope signal;
the processor is connected with the filter circuit and used for judging whether the feet corresponding to the six-axis sensor are in a supporting state or not according to the accelerometer signals; if the ankle part is in the supporting state, determining the swing angle of the ankle part according to the gyroscope signal, and judging whether the swing angle is within a preset range; if not, the running posture is judged to be wrong.
9. The smart wearable device of claim 8, wherein the processor comprises:
the A/D sampling circuit is connected with the filter circuit and is used for respectively carrying out analog/digital conversion on the accelerometer signal and the gyroscope signal to obtain a first digital signal and a second digital signal;
the Kalman filter is connected with the A/D sampling circuit and is used for respectively filtering the first digital signal and the second digital signal to obtain a swing angle and an acceleration value in the gravity direction of the ankle part;
the processing circuit is connected with the Kalman filter and used for judging whether the foot corresponding to the six-axis sensor is in a supporting state or not according to the acceleration value in the gravity direction; if the swing angle is in the supporting state, judging whether the swing angle is in a preset range; if not, the running posture is judged to be wrong.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of a running posture determination method as claimed in any one of claims 1 to 6.
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| CN110694252A (en) * | 2019-10-09 | 2020-01-17 | 成都乐动信息技术有限公司 | Running posture detection method based on six-axis sensor |
| CN116637352A (en) * | 2020-03-31 | 2023-08-25 | 荣耀终端有限公司 | Running gesture detection method and wearable device |
| CN114004247B (en) * | 2020-07-14 | 2022-11-01 | 荣耀终端有限公司 | Riding detection method, electronic device and computer readable storage medium |
| CN115188063A (en) * | 2021-04-06 | 2022-10-14 | 广州视源电子科技股份有限公司 | Running posture analysis method and device based on running machine, running machine and storage medium |
| CN117357873B (en) * | 2023-12-07 | 2024-04-09 | 浙江强脑科技有限公司 | Running mode control method and device, intelligent leg prosthesis, terminal and storage medium |
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