CN110732113B - Hula hoop and counting method thereof - Google Patents

Hula hoop and counting method thereof Download PDF

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Publication number
CN110732113B
CN110732113B CN201911015869.2A CN201911015869A CN110732113B CN 110732113 B CN110732113 B CN 110732113B CN 201911015869 A CN201911015869 A CN 201911015869A CN 110732113 B CN110732113 B CN 110732113B
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acceleration
hula hoop
coordinate system
gyroscope
signal processor
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CN110732113A (en
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方弦
方绍飞
刘静
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B19/00—Hoop exercising apparatus
    • A63B19/02—Freely-movable rolling hoops, e.g. gyrowheels or spheres or cylinders, carrying the user inside
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0625—Emitting sound, noise or music
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/17—Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A63B2220/34—Angular speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Gyroscopes (AREA)

Abstract

The invention discloses a hula hoop and a counting method thereof, wherein a signal processor, an information broadcaster, a gyroscope for acquiring rotation angular velocity values and at least two sets of acceleration sensors for acquiring acceleration values of the hula hoop are fixed on the hula hoop, and the acceleration sensors are uniformly arranged on the hula hoop by taking the circle center of the hula hoop as the center; the signal processor is respectively connected with the information broadcasting device, the gyroscope and the acceleration sensor, calculates the number of turns of the hula hoop according to the collected acceleration value and the collected rotation angular velocity value, and sends the calculated number of turns to the information broadcasting device. The invention can accurately calculate the number of turns of the hula hoop, thereby being beneficial to scientific body building of people.

Description

Hula hoop and counting method thereof
Technical Field
The invention relates to the technical field of fitness exercise devices, in particular to a hula hoop and a counting method thereof, which are used for accurately calculating the number of turns of the hula hoop.
Background
Along with the improvement of living standard of people, people attach more importance to the physical health of the people, prefer to carry out some exercises beneficial to the physical health, and also prefer to buy some fitness equipment with an exercise quantification function, monitor the exercise condition of the people in real time and share the exercise result of the people with good friends. The hula hoop is a fitness equipment with simple structure and easy learning, and the hula hoop can provide body coordination and flexibility. The existing hula hoop has various shapes and multiple functions, such as a hard hula hoop, a soft hula hoop, a foam hula hoop, a spliceable hula hoop, a massage hula hoop and the like, but the specification, the size and the weight of the hula hoop are not strictly standard, and when the hula hoop is adopted for body building, if reasonable planning is not carried out, the hula hoop is blindly used, excessive movement is caused, and then muscles of the abdomen, the back or viscera of a human body, such as the kidney, the spleen and the like, are injured. Therefore, the amount of exercise can be reasonably controlled by calculating the number of turns of the hula hoop, and scientific fitness is facilitated.
When the hula hoop is used, the rotation form is complex, and firstly, a human body can periodically swing when rotating; secondly, the hula hoop is tightly attached to the human body when rotating, and the hula hoop and the human body are in rolling relation. It is generally considered that the hula hoop is returned to the previous position by one turn, for example, the hula hoop is turned one turn farthest away from the front of the human body twice. However, due to the difference between the diameters of the human body and the hula hoop, when the hula hoop rotates for one circle, a certain point on the hula hoop does not return to the original position after the hula hoop rotates for one circle, so that the circle counted by the rotating hula hoop is not the circle of the hula hoop rotating around the center of the circle. In addition, the hula hoop rotates at a higher speed. For these reasons, the number of rotations of the hula hoop is difficult to calculate accurately.
In order to effectively calculate the number of turns of the hula hoop, a commonly used scheme is to install a sensor (such as an acceleration sensor, a gyroscope sensor, a geomagnetic sensor and the like) on the hula hoop, but the sensor is simply installed, and when the hula hoop rotates for one turn, the value detected by the sensor does not reach one turn, so that the rotating hula hoop cannot be accurately counted. Even if the proportional coefficient is adopted for compensation and correction, the correction coefficient cannot adapt to all exercisers due to different waistlines of human bodies, and the counting number of turns is inaccurate.
In addition, the publication No. CN103223238A adopts the external detection device of the hula hoop, and the counter increases the count value once when the hula hoop is nearest to the external detection device every time, so that the count value is consistent with the number of the rotating hula hoop, but the device is complex, and needs another person to hold the external detection device to be close to the rotating hula hoop to operate, so that the device is complex in operation, and is not beneficial to popularization.
Further, a document with a publication number of CN203425445U also discloses a multifunctional counting hula hoop, wherein a circle number collector capable of sliding along the inner space of the hula hoop is arranged in the hula hoop, and the circle number collector is connected with a body-building terminal for displaying data; the turn number collector comprises a three-dimensional electronic compass for counting, the three-dimensional electronic compass is connected with a single-chip microcomputer MCU processing module for data processing, and the single-chip microcomputer MCU processing module is connected with a first 2.4G wireless module for communicating with the fitness terminal; the body-building terminal is including being used for measuring the triaxial acceleration sensor of step number, and triaxial acceleration sensor is connected with singlechip MCU control circuit, is connected with on the singlechip MCU control circuit to be used for with the second 2.4G wireless module of number of turns collector communication usefulness and the OLED display module who is used for the display data. The principle of the patent document is that the circle number collector is arranged inside the hula hoop, the inner space of the hula hoop is through, the circle number collector can freely slide inside the hula hoop when the hula hoop moves, the object can generate centrifugal phenomenon when doing circular motion, when people use the hula hoop, the circle number collector can be always at one end far away from a human body due to the centrifugal phenomenon, therefore, the number of motion circles of the circle number collector can be consistent with the number of motion circles of the hula hoop in actual motion, the number of actual motion circles can be accurately obtained by counting the number of motion circles of the circle number collector, and therefore the counting function is achieved. However, during actual rotation, the hula hoop rotates a circle different from the circle of rotation of the circle number collector inside the hula hoop, and the proportion coefficient of the number of rotation circles of the hula hoop and the circle number collector needs to be adopted for correction, and different athletes have different body types, so that the correction coefficient cannot be used universally. In addition, the friction coefficient in each hula hoop is different, and the speed of the rotating hula hoop of each player is also different. Therefore, the number of real hula hoop rotations of the athlete can not be accurately obtained by counting the number of movement turns of the turn number collector.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides the hula hoop and the counting method thereof.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a hula hoop, which is characterized in that: a signal processor, an information broadcasting device, a gyroscope for acquiring rotation angular velocity values and at least two sets of acceleration sensors for acquiring acceleration values of the hula hoop are fixed on the hula hoop, and the acceleration sensors are uniformly arranged on the hula hoop by taking the circle center of the hula hoop as the center; the signal processor is respectively connected with the information broadcasting device, the gyroscope and the acceleration sensor, calculates the number of turns of the hula hoop according to the collected acceleration value and the collected rotation angular velocity value, and sends the calculated number of turns to the information broadcasting device.
The signal processor is connected with the signal processor, and the signal processor performs error correction on the number of turns of the hula hoop through the geomagnetic information collected by the magnetometer.
The acceleration sensor, the magnetometer, the signal processor and the gyroscope are all installed on the circuit board and are all connected with the signal processor through the circuit board.
And a power supply module for supplying power to the signal processor, the information broadcaster and the acceleration sensor is fixed on the hula hoop.
The hula hoop is fixed with a signal transmission module used for being electrically connected with the signal processor, and the signal processor sends the calculated number of turns of rotation to the mobile terminal through the signal transmission module.
And the hula hoop is provided with a key switch connected with the signal processor.
The magnetometer, the signal processor, the power supply module, the signal transmission module and the acceleration sensor are all fixed in the hula hoop through screws or buckles, and the information broadcaster and the key switch are fixed on the outer surface of the hula hoop or embedded in the hula hoop.
The information broadcaster is the display screen that is used for showing the number of turns and/or is used for reporting the speaker of the number of turns.
A hula hoop counting method is characterized in that:
(1) the hula hoop is provided with a signal processor, a gyroscope for acquiring a rotation angular velocity value and at least two sets of acceleration sensors which are uniformly arranged on the hula hoop and used for acquiring an acceleration value; setting the gyroscope and the acceleration sensor to be in a self coordinate system respectively based on self positions, wherein the self coordinate system rotates along with the hula hoop;
(2) setting the hula hoop to stand, and taking the self coordinate system of the gyroscope as a reference space coordinate system; then setting the accumulated rotation angle of the self coordinate system of the gyroscope relative to the reference space coordinate system to be zero, and setting the value of each set of acceleration sensor after the acceleration value based on the self coordinate system is projected to the reference space coordinate system as the initial acceleration;
under the above conditions, the counting method comprises the following steps:
s1: controlling the acceleration sensors and the gyroscope to continuously acquire the acceleration values in a periodic manner by the signal processor to obtain the acceleration values of each set of acceleration sensors in the coordinate system of the acceleration sensor and the rotation angular velocity values of the gyroscope in the coordinate system of the gyroscope;
s2: the signal processor calculates the rotation angle of the gyroscope in each period according to the rotation angular velocity value, and then adds the rotation angle in each period with the accumulated rotation angle obtained in the previous period respectively to obtain the accumulated rotation angle of the gyroscope in the period relative to the reference space coordinate system when the gyroscope is in a standing state;
s3: projecting the acceleration values of the acceleration sensors obtained in the step S1 to the self coordinate system of the gyroscope by a signal processor based on the acceleration values in the self coordinate system according to the position relation between the acceleration sensors and the gyroscope in the set conditions; converting the acceleration value of each set of acceleration sensor projected in the self coordinate system of the gyroscope into the acceleration value in the reference space coordinate system according to the accumulated rotating angle obtained in the step S2; then, respectively subtracting the initial acceleration of each set of acceleration sensor from the acceleration value of each set of acceleration sensor in the reference space coordinate system; then, the vector sum of the acceleration values of the acceleration sensors in the reference space coordinate system is calculated, and finally the vector sum is divided by the number of the acceleration sensors to obtain the acceleration of the circle center of the hula hoop in the reference space coordinate system in each period;
s4: according to the result of the step S3, calculating the acceleration amplitude of the circle center of the hula hoop in each period by the signal processor, and calculating three acceleration pointing angles of the acceleration vector;
s5: comparing the acceleration amplitude of the circle center of the hula hoop in each period with a set threshold value in sequence, if the acceleration amplitude in a certain period is greater than or equal to the set threshold value, judging that the hula hoop is in a rotating state, and continuously storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop from the period to obtain a series of acceleration amplitude data and acceleration pointing angle data;
s6: and judging the acceleration pointing angle data stored in the step S5, if the acceleration pointing angle in at least one direction in the series of acceleration pointing angle data changes 360 degrees in an increasing or decreasing mode, judging that the hula hoop rotates for one circle, and adding 1 to the count of the rotating circle by the signal processor and broadcasting.
In step S2, the rotation angle of the gyroscope in each cycle based on the self coordinate system is obtained by multiplying the rotation angular velocity value in the cycle by the cycle.
In the step S4, the three acceleration pointing angles are in a rectangular coordinate system, and satisfy the right-hand rule, the thumb of the right hand is in the same direction as the coordinate axis, the acceleration vector is projected on a plane perpendicular to the coordinate axis, the projection and the three-axis forward direction form an included angle in which the first plane points along the four fingers of the right hand, and the included angle is defined as the acceleration pointing angle of the axis, and the angle value is 0 to 360 °.
In the step S5, when the acceleration amplitude is greater than or equal to the set threshold first and then smaller than the set threshold, it is determined that the hula hoop stops rotating, the signal processor does not store the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop any more, and removes the previously stored acceleration amplitude and acceleration pointing angle; and when the current value is larger than or equal to the set threshold value again, judging that the hula hoop starts to rotate again, continuing executing according to the step S5, and storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop again.
In step S5, after counting one turn of the hula hoop, the remaining data is removed except that the acceleration amplitude data and the acceleration pointing angle data of the center of the hula hoop in the period are retained and used as the initial data.
In the counting method, a magnetometer for measuring geomagnetic information is arranged on a hula hoop, the magnetometer is set to be in a self coordinate system, and the direction of the self coordinate system of the magnetometer is consistent with the direction of the self coordinate system of a gyroscope; when the hula hoop is in a standing state, setting information obtained by projecting the magnetometer to a reference space coordinate system based on the geomagnetic information of the coordinate system of the magnetometer as initial geomagnetic information; and each periodic signal processor corrects the calculation error of the accumulated rotation angle of the gyroscope in the period according to the acquired geomagnetic information based on the coordinate system of the periodic signal processor and the initial geomagnetic information.
The invention has the advantages that:
1. according to the invention, the rotation angular velocity value of the hula hoop can be acquired through the gyroscope arranged on the hula hoop, the acceleration value of the hula hoop can be acquired through the acceleration sensor, and the position of the acceleration sensor can be known as the acceleration sensor is uniformly distributed on the hula hoop. On the basis, the signal processor, the gyroscope and the acceleration sensor can be used for acquiring data, so that the acceleration amplitude of the circle center of the hula hoop and three acceleration pointing angles of the acceleration vector in each period can be calculated when the hula hoop rotates, and the number of rotation turns of the hula hoop can be accurately judged according to the acceleration amplitude and the three acceleration pointing angles. And signal processor can also send the judgement result to the information report ware and report, has greatly made things convenient for people to know the motion condition, helps people's scientific body-building.
2. According to the invention, the magnetometer for measuring the geomagnetic information is fixed on the hula hoop, and the magnetometer can measure the geomagnetic information and cannot change along with the rotation of the hula hoop, so that the error in the calculation process can be corrected according to the magnetometer, the error correction can be carried out on the rotation number of the hula hoop, and the purpose of further improving the counting precision can be achieved.
3. According to the invention, the signal transmission module electrically connected with the signal processor is fixed on the hula hoop, and the calculated number of rotation turns can be conveniently sent to the mobile terminal for observation and the like through the signal transmission module.
4. According to the hula hoop, the key switch connected with the signal processor is arranged on the hula hoop, and the signal processor can be conveniently and rapidly opened and closed through the key switch, so that the hula hoop is more convenient to use.
7. According to the invention, the magnetometer, the signal processor, the power supply module, the signal transmission module and the acceleration sensor are all fixed in the hula hoop through screws or buckles, and the information broadcaster and the key switch are fixed on the outer surface of the hula hoop or embedded in the hula hoop. The structure is beneficial to protecting the magnetometer, the signal processor, the power supply module, the signal transmission module and the like, and is also beneficial to clearly broadcasting the motion result for people.
8. The information broadcasting device is a display screen used for displaying the number of rotation turns and/or a loudspeaker used for broadcasting the number of rotation turns, the broadcasting mode of the number of rotation turns is more diversified, and the information broadcasting device is suitable for different people.
9. The invention adopts a specific counting method, and can effectively and accurately calculate the number of turns of the hula hoop. Its advantage is the principle of measuring the number of turns of hula hoop. Specifically, a plurality of acceleration sensors are uniformly arranged on a hula hoop body, and the measurement value of the acceleration sensors comprises three parts: vertical downward gravity acceleration, acceleration of the hula hoop rotating around the human body and pointing to the center of the hula hoop, and acceleration of the hula hoop rotating around the center of the hula hoop and pointing to the center of the hula hoop. The hula hoop is provided with a plurality of paths of acceleration sensors which are uniformly distributed, the sum of the acceleration vectors of the part is zero, and the influence of the part can be eliminated through summation during calculation; the gravity acceleration can be accurately deducted during calculation by accurately calculating the accumulated rotation angle of the coordinate system of the acceleration sensor through the gyroscope and combining the gravity acceleration measured at the beginning, so that the influence of the gravity acceleration can be eliminated; the finally obtained acceleration of the circle center of the hula hoop and the acceleration of the circle center of the hula hoop always point to a human body, when the hula hoop rotates for one circle, the rotation number of the hula hoop can be accurately measured just by rotating for one circle in the direction of the acceleration of the circle center of the hula hoop.
10. The invention respectively arranges the gyroscope and the acceleration sensor in a self coordinate system based on self positions, and projects or transforms all measurement results into a reference space coordinate system.
11. The invention sets the value of each set of acceleration sensor projected to the reference space coordinate system based on the acceleration value of the coordinate system of the acceleration sensor when the hula hoop is in a standing state as the initial acceleration, has the advantages of accurately measuring the gravity acceleration of the local position and being beneficial to accurately deducting the gravity acceleration component when the hula hoop rotates.
12. In the whole counting method, the accumulated rotation angle is calculated according to the rotation angular velocity value, so that the method has the advantages of being beneficial to determining the rotation parameters of the coordinate system of the gyroscope and providing parameters for converting the measured values of all the acceleration sensors to the reference space coordinate system.
13. The invention judges the number of the rotation turns of the hula hoop by the acceleration amplitude of the circle center of the hula hoop and the three acceleration pointing angles of the acceleration vector, and has the advantages of not only confirming whether the hula hoop rotates or not and reducing misjudgment, but also accurately judging the rotation angle of the circle center of the hula hoop relative to a human body and further determining the number of the rotation turns of the hula hoop.
14. The invention is not only suitable for counting the hula hoop rotating around the human body horizontally, but also suitable for counting the hula hoop which has a certain oblique angle with the horizontal plane, even suitable for counting the hula hoop around the vertical direction of the arm.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a functional block diagram of the present invention;
FIG. 3 is a schematic view of an initial position of the hula hoop before rotation in accordance with the present invention;
FIG. 4 is a schematic view of the hula hoop rotated to a certain angle according to the present invention;
labeled as: 1. the hula hoop comprises a hula hoop body, 2 a signal processor, 3 an acceleration sensor, 4 a gyroscope, 5 a magnetometer, 6 a display screen, 7 a loudspeaker, 8a power supply module, 9 a key switch, 10 a circuit board, 11 and a signal transmission module.
Detailed Description
Example 1
The embodiment provides a hula hoop 1, as shown in fig. 1 and 2, a signal processor 2, an information broadcasting device, a power supply module 8, a gyroscope 4 for acquiring a rotation angular velocity value, and at least two sets of acceleration sensors 3 for acquiring acceleration values of the hula hoop 1 are fixed on the hula hoop 1, and the acceleration sensors 3 are uniformly arranged on the hula hoop 1 by taking the center of a circle of the hula hoop 1 as the center; the signal processor 2 is respectively connected with the information broadcaster, the gyroscope 4 and the acceleration sensor 3, the signal processor 2 calculates the number of turns of the hula hoop 1 according to the collected acceleration value and the collected rotation angular velocity value, and sends the calculated number of turns of the hula hoop to the information broadcaster for broadcasting, and the information broadcaster is a display screen 6 for displaying the number of turns of the hula hoop and/or a loudspeaker 7 for broadcasting the number of turns of the hula hoop; power module 8 is used for supplying power for signal processor 2, information broadcast ware and acceleration sensor 3. Furthermore, a magnetometer 5 for measuring geomagnetic information is fixed on the hula hoop 1, the magnetometer 5 is connected with the signal processor 2, and the signal processor 2 performs error correction on the number of turns of the hula hoop 1 through the geomagnetic information collected by the magnetometer 5.
In this embodiment, the acceleration sensor 3, the magnetometer 5, the signal processor 2 and the gyroscope 4 are all mounted on the circuit board 10, and the acceleration sensor 3, the magnetometer 5 and the gyroscope 4 are all connected with the signal processor 2 through the circuit board 10. For the convenience of accurate counting, it is preferable that the magnetometer 5 and the gyroscope 4 and one set of the acceleration sensors 3 share one circuit board 10, that is, the magnetometer 5 and the gyroscope 4 and one set of the acceleration sensors 3 are mounted on the same circuit board 10.
In this embodiment, a signal transmission module 11 electrically connected to the signal processor 2 is fixed on the hula hoop 1, and the signal processor 2 sends the calculated number of turns of rotation to a mobile terminal such as a tablet computer or a mobile phone through the signal transmission module 11.
In this embodiment, the hula hoop 1 is provided with a key switch 9 for connecting with the signal processor 2, and when the key switch 9 is pressed, the signal processor 2 controls the gyroscope 4, the magnetometer 5 and the acceleration sensor 3 to start to collect data, and when the key switch 9 is pressed again, the signal processor 2 controls the gyroscope 4, the magnetometer 5 and the acceleration sensor 3 to stop collecting data.
In this embodiment, the magnetometer 5, the signal processor 2, the power supply module 8, the signal transmission module 11, and the acceleration sensor 3 are preferably fixed in the hula hoop 1 by screws or buckles, and the information broadcasting device and the key switch 9 are preferably fixed on the outer surface of the hula hoop 1 or embedded in the hula hoop 1.
In this embodiment, the signal processor 2 may adopt a model STM32F103, manufactured by ST corporation; magnetometer 5 can be obtained by model HMC5883, manufactured by HONEYWEY; the acceleration sensor 3 and the gyroscope 4 can adopt a model MPU-6050 manufactured by TDK company, the MPU-6050 can integrate the acceleration sensor 3 and the gyroscope 4, and the power supply module 8 mainly comprises a 3.7V lithium ion battery which can adopt a model NSC1340 manufactured by Beauty company; the charging management chip can adopt model TP4056, Nanjing Tuomi corporation of manufacturer; the voltage stabilizing chip can adopt a model LT1963, manufactured by ADI company; the signal transmission module 11 can adopt a Bluetooth module HC-05.
Example 2
The embodiment provides a counting method of a hula hoop 1, which comprises the following steps:
(1) the hula hoop 1 is provided with a signal processor 2, a gyroscope 4 for acquiring a rotation angular velocity value and at least two sets of acceleration sensors 3 which are uniformly arranged on the hula hoop 1 and used for acquiring an acceleration value; the gyroscope 4 and the acceleration sensor 3 are set to be in a self coordinate system respectively based on self positions, and the self coordinate system rotates along with the rotation of the hula hoop 1.
(2) Setting the hula hoop 1 to stand, and taking the self coordinate system of the gyroscope 4 as a reference space coordinate system; then, the cumulative rotational angle of the coordinate system of the gyroscope 4 with respect to the reference space coordinate system is set to zero, and the value obtained by projecting the acceleration value of each set of acceleration sensors 3 based on the coordinate system is set as the initial acceleration.
Under the above conditions, the counting method comprises the following steps:
s1: the signal processor 2 controls the acceleration sensors 3 and the gyroscopes 4 to continuously acquire the acceleration values of the acceleration sensors 3 in the coordinate system of the acceleration sensors and the rotation angular velocity values of the gyroscopes 4 in the coordinate system of the gyroscope.
S2: and the signal processor 2 calculates the rotation angle of the self coordinate system of the gyroscope 4 in each period according to the rotation angular velocity value, and then adds the rotation angle in each period with the accumulated rotation angle obtained in the previous period respectively to obtain the accumulated rotation angle of the self coordinate system of the gyroscope 4 in the period relative to the reference space coordinate system in the standing state.
In this step, the rotation angle of the gyroscope 4 in each period based on its own coordinate system is obtained by multiplying the rotation angular velocity value in the period by the period.
In this step, the cumulative rotation angle refers to the sum of the rotation angle of the period and the rotation angles of all previous periods, for example, the cumulative rotation angle of the second period is the sum of the rotation angle of the first period and the rotation angle of the second period, the cumulative rotation angle of the third period is the sum of the cumulative rotation angle of the second period and the rotation angle of the third period, and so on.
S3: according to the position relation between each set of acceleration sensor 3 and the gyroscope 4 in the set conditions, the signal processor 2 firstly projects each set of acceleration sensor 3 obtained in the step S1 to the self coordinate system of the gyroscope 4 based on the acceleration value in the self coordinate system; then, according to the accumulated rotation angle obtained in the step S2, converting the acceleration value of each set of acceleration sensor 3 projected in the coordinate system of the gyroscope 4 into the acceleration value in the reference space coordinate system; then, respectively subtracting the initial acceleration of each set of acceleration sensor 3 from the acceleration value of each set of acceleration sensor 3 in the reference space coordinate system; and then, the vector sum of the acceleration values of the acceleration sensors 3 in the reference space coordinate system is calculated, and finally the vector sum is divided by the number of the acceleration sensors 3 to obtain the acceleration of the circle center of the hula hoop 1 in the reference space coordinate system in each period.
S4: according to the result of step S3, the signal processor 2 calculates the acceleration amplitude at the center of the circle of the hula hoop 1 in each cycle, and calculates three acceleration pointing angles of the acceleration vector.
In this step, the three acceleration pointing angles refer to an acceleration pointing angle of a right hand in a rectangular coordinate system, which satisfies the right hand rule, the thumb of the right hand is in the same direction as the coordinate axis, the acceleration vector is projected on a plane perpendicular to the coordinate axis, the projection and the three-axis forward direction form an included angle of a first plane pointing along the four fingers of the right hand, and the included angle is defined as the acceleration pointing angle of the axis, and the angle value is 0-360 °.
S5: comparing the acceleration amplitude of the circle center of the hula hoop 1 in each period with a set threshold value in sequence, if the acceleration amplitude in a certain period is larger than or equal to the set threshold value, judging that the hula hoop 1 is in a rotating state, and continuously storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop 1 from the period to obtain a series of acceleration amplitude data and acceleration pointing angle data.
In the step, when the acceleration amplitude is larger than or equal to a set threshold value first and then is smaller than the set threshold value, the hula hoop 1 is judged to stop rotating, the signal processor 2 does not store the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop 1 any more, and the acceleration amplitude and the acceleration pointing angle which are stored before are eliminated; and when the current value is larger than or equal to the set threshold value again, judging that the hula hoop 1 starts to rotate again, continuing to execute the step S5, and storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop 1 again.
In this step, after counting of one circle of the hula hoop 1 is completed, the remaining data is removed except that the acceleration amplitude data and the acceleration pointing angle data of the circle center of the hula hoop 1 in the period are retained and used as the initial data.
S6: and judging the acceleration pointing angle data stored in the step S5, if the acceleration pointing angle in at least one direction in the series of acceleration pointing angle data changes 360 degrees in an increasing or decreasing mode, judging that the hula hoop 1 rotates for one circle, and the signal processor 2 counts the number of the rotating hoop by 1 and broadcasts the number through the information broadcaster.
In the embodiment, in the counting method, a magnetometer 5 for measuring geomagnetic information is installed on a hula hoop 1, the magnetometer 5 is set to be in a self coordinate system, and the direction of the self coordinate system of the magnetometer 5 is consistent with the direction of the self coordinate system of the gyroscope 4; when the hula hoop 1 is in a standing state, setting information obtained by projecting the geomagnetic information of the magnetometer 5 based on the coordinate system of the magnetometer to the reference space coordinate system as initial geomagnetic information; each periodic signal processor 2 corrects a calculation error of the accumulated rotation angle of the gyroscope 4 for the period based on the initial geomagnetic information and the geomagnetic information collected based on its own coordinate system.
In the counting method of this embodiment, a power supply module 8 for supplying power to the signal processor 2, the information broadcaster, and the acceleration sensor 3 is fixed on the hula hoop 1, and a key switch 9 for connecting with the signal processor 2 is disposed on the hula hoop 1. The hula hoop 1 is fixedly provided with a signal transmission module 11 electrically connected with the signal processor 2, and the signal processor 2 can send the calculated number of turns of rotation to the mobile terminal through the signal transmission module 11. The magnetometer 5, the signal processor 2, the power supply module 8, the signal transmission module 11 and the acceleration sensor 3 are all fixed in the hula hoop 1 through screws or buckles, and the information broadcaster and the key switch 9 are fixed on the outer surface of the hula hoop 1 or embedded on the hula hoop 1. The information broadcaster is for showing the display screen 6 that rotates the number of turns and/or be used for broadcasting the speaker 7 that rotates the number of turns.
Example 3
On the basis of embodiment 2, this embodiment describes a specific counting method according to the practical application process with reference to fig. 3-4, and the specific process is as follows:
(1) setting four sets of acceleration sensors to be respectively located at A, B, C and D points in fig. 3, setting a gyroscope and a magnetometer to be located at A points, respectively setting the gyroscope, the magnetometer and the four sets of acceleration sensors to be located in a self coordinate system (x, y, z) based on self positions, respectively, enabling the self coordinate system to rotate along with the hula hoop, and enabling the self coordinate systems (x, y, z) of the gyroscope and the four sets of acceleration sensors to point the same when the acceleration sensors are installed, as shown in fig. 3, because the gyroscope, the magnetometer and one set of acceleration sensors are all located at A points, the gyroscope, the magnetometer and the acceleration sensors are the same in self coordinate system.
(2) Setting a hula hoop to stand, wherein an intersection point M1 of the hula hoop and a human body is set, and a self coordinate system (X, Y, Z) of a gyroscope is taken as a reference space coordinate system (X, Y, Z), and translation is carried out for convenience of viewing in the figure 3; then, the cumulative rotation angle (psi) of the gyroscope's own coordinate system relative to the reference space coordinate system (X, Y, Z) is setX,ΨY,ΨZ) At this time, the acceleration value ((a) based on the coordinate system (x, y, z) of each acceleration sensor is set to zeroAx0,aAy0,aAz0)、(aBx0,aBy0,aBz0)、(aCx0,aCy0,aCz0)、(aDx0,aDy0,aDz0) The value projected on the reference space coordinate system is set as the initial acceleration ((g)AX,gAY,aAZ)、(gBX,gBY,gBZ)、(gCX,gCY,gCZ)、(gDx,gDy,gDz) The value is the acceleration of gravity; basing the magnetometer sensor on its own coordinate system (x, y, z) magnetic field values (b)Ax0,bAy0,bAz0) The value projected on the reference space coordinate system is set as the initial magnetic field value (B)AX,BAY,BAZ) The value is geomagnetic information.
In this step, the self coordinate systems of the acceleration sensor, the magnetometer and the gyroscope point to the same direction when the hula hoop is in a standing state, so that the calculation formula is as follows:
Figure BDA0002245680040000091
under the above conditions, the counting method comprises the following steps:
s1: the acceleration sensors and the gyroscope are controlled by the signal processor to continuously acquire the acceleration values in the coordinate system of each set of acceleration sensors according to the period t ((a)Ax,aAy,aAz)、(aBx,aBy,aBz)、(aCx,aCy,aCz)、(aDx,aDy,aDz) Angular velocity value (omega) of gyroscope in its own coordinate systemx,ωy,ωz) And magnetic field value (b)Ax,bAy,bAz)。
S2: the signal processor calculates the rotation angle (psi) of the self coordinate system in each period of the gyroscope according to the rotation angular velocity valuex,ψy,ψz). Then adding the rotation angle in each period with the accumulated rotation angle obtained in the previous period to obtain the accumulated rotation angle (psi) of the gyroscope coordinate system relative to the reference space coordinate system in standing in the periodX(t),ΨY(t),ΨZ(t)) When rotated to the position shown in FIG. 4, the hula hoop meets the human body at M2.
In this step, the gyroscope is based on the rotation angle of the self-coordinate system in each periodFrom the values of the angular velocity of the turns in the period multiplied by the period, i.e. #x＝ωx*t、ψy＝ωy*t、ψz＝ωz*t。
In this step, the cumulative rotation angle refers to the sum of the rotation angle of the period and the rotation angles of all previous periods, for example, the cumulative rotation angle of the second period is the sum of the rotation angle of the first period and the rotation angle of the second period, the cumulative rotation angle of the third period is the sum of the cumulative rotation angle of the second period and the rotation angle of the third period, and so on, i.e., ΨX(i)＝ψx+ΨX(i-1),ΨY(i)＝ψy+ΨY(i-1),ΨZ(i)＝ψz+ΨZ(i-1)Wherein (i) denotes the present cycle and (i-1) denotes the previous cycle.
S3: projecting each set of acceleration sensors obtained in step S1 into the self coordinate system of the gyroscope according to the position relation among each set of acceleration sensors, magnetometer and gyroscope in the set condition by the signal processor based on the acceleration value and magnetometer in the self coordinate system, and counting as ((a)Ax',aAy',aAz')、(aBx',aBy',aBz')、(aCx',aCy',aCz')、(aDx',aDy',aDz')，(bAx',bAy',bAz')); and converting the acceleration value projected by each set of acceleration sensors in the coordinate system of the gyroscope itself into an acceleration value in a reference space coordinate system according to the accumulated rotation angle obtained in the step S2 ((a)AX,aAY,aAZ)、(aBX,aBY,aBZ)、(aCX,aCY,aCZ)、(aDX,aDY,aDZ) And converting the magnetic field value projected by the magnetometer in the gyroscope's own coordinate system into a magnetic field value in the reference space coordinate system (b)AX,bAY,bAZ) (ii) a Then, respectively subtracting the initial acceleration of each set of acceleration sensor from the acceleration value of each set of acceleration sensor in the reference space coordinate system; then the acceleration values of each set of acceleration sensor in the reference space coordinate system are summed, and finally divided by the sumThe number of the speed sensors is used for obtaining the acceleration (a) of the circle center of the hula hoop in a reference space coordinate system in each periodHZ,aHY,aHZ) (ii) a By the value of the magnetic field (b)AX,bAY,bAZ) With the initial magnetic field value (B)AX,BAY,BAZ) The relationship correction accumulates the rotation angle error.
In this step, each set of acceleration sensor projects to the self coordinate system of the gyroscope based on the acceleration value in the self coordinate system, and the acceleration sensor and the self coordinate system of the gyroscope point to the same direction according to the step (1), so the calculation formula is as follows:
Figure BDA0002245680040000101
in this step, the magnetometer projects the magnetic field value in the coordinate system of the magnetometer to the coordinate system of the gyroscope, and the calculation is performed according to the same orientation of the magnetometer and the coordinate system of the gyroscope in the step (1), so that the calculation formula is as follows:
Figure BDA0002245680040000102
in this step, the magnetic field value projected by the gyroscope in the coordinate system of the gyroscope itself is converted into the acceleration value in the reference space coordinate system, and the calculation formula is as follows:
Figure BDA0002245680040000103
where | Ψ | is a coordinate rotation matrix of the form:
Figure BDA0002245680040000104
because the geomagnetic information does not change along with the coordinate system in the reference space, the result of the magnetic field value measured each time after coordinate transformation is the same as the initial magnetic field value, namely:
Figure BDA0002245680040000111
if the absolute values are not equal, the accumulated rotation angle of the system is considered to be inaccurate, | Ψ | is solved through the following formula for correcting the coordinate rotation matrix, the coordinate rotation matrix is corrected to calculate the subsequent acceleration value transformation, and the formula for solving | Ψ | is as follows:
Figure BDA0002245680040000112
in this step, the acceleration values projected by each set of acceleration sensors in the coordinate system of the gyroscope are converted into the acceleration values in the reference space coordinate system, and the calculation formula is as follows:
Figure BDA0002245680040000113
in the step, the initial acceleration of each set of acceleration sensor is subtracted from the acceleration value of each set of acceleration sensor in the reference space coordinate system; and then, solving the vector sum of the acceleration values of the acceleration sensors in the reference space coordinate system, and finally dividing the vector sum by the number of the acceleration sensors to obtain the acceleration of the circle center of the hula hoop in the reference space coordinate system in each period, wherein the calculation formula is as follows:
Figure BDA0002245680040000114
s4: according to the result of the step S3, calculating the acceleration amplitude | a | of the circle center of the hula hoop in each period by the signal processorH(t)And calculating three acceleration direction angles (phi) of the acceleration vectorHX(t),ΦHY(t),ΦHZ(t))。
In this step, the three acceleration pointing angles refer to an acceleration pointing angle of a right hand, which is defined as an angle between a right hand thumb and a coordinate axis, the acceleration vector is projected on a plane perpendicular to the axis, a first plane is formed by the projection and the three axes in the forward direction, and the angle is 0-360 degrees along the direction of four fingers of the right hand.
In this step, the calculation formulas of the acceleration amplitude and the three acceleration pointing angles are respectively:
Figure BDA0002245680040000115
Figure BDA0002245680040000121
Figure BDA0002245680040000122
Figure BDA0002245680040000123
s5: comparing the acceleration amplitude of the circle center of the hula hoop in each period with a set threshold value in sequence, if the acceleration amplitude in a certain period is larger than or equal to the set threshold value, judging that the hula hoop is in a rotating state, and continuously storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop from the period to obtain a series of acceleration amplitude data (| a | z | a | fH(1)，|a|H(2)，…，|a|H(N)) And acceleration pointing angle data ((phi))HX(1),ΦHY(1),ΦHZ(1)),(ΦHX(2),ΦHY(2),ΦHZ(2)),…,(ΦHX(N),ΦHY(N),ΦHZ(N)) N) is the number of data.
In the step, when the acceleration amplitude is larger than or equal to a set threshold value first and then is smaller than the set threshold value, the hula hoop is judged to stop rotating, the signal processor does not store the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop any more, and the acceleration amplitude and the acceleration pointing angle which are stored before are eliminated; and when the current value is larger than or equal to the set threshold value again, judging that the hula hoop starts to rotate again, continuing to execute the step S5, clearing the previous data, and storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop again.
In this step, after counting one circle of the hula hoop, the remaining data are removed except that the acceleration amplitude data and the acceleration pointing angle data of the circle center of the hula hoop in the period are reserved as initial data.
S6: judging the acceleration pointing angle data stored in step S5, and if the acceleration pointing angle in at least one direction in the series of acceleration pointing angle data is ((phi)HX(N)And/or phiHY(N)And/or phiHZ(N)) Change 360 degrees in an increasing or decreasing mode, judge that the hula hoop rotates for one circle, count and add 1 by the signal processor and broadcast by the information broadcaster.

Claims (8)

1. A signal processor, an information broadcaster, a gyroscope for acquiring rotation angular velocity values and at least two sets of acceleration sensors for acquiring acceleration values of a hula hoop are fixed on the hula hoop, and the acceleration sensors are uniformly arranged on the hula hoop by taking the circle center of the hula hoop as the center; the signal processor is respectively connected with the information broadcasting device, the gyroscope and the acceleration sensor, calculates the number of turns of the hula hoop according to the collected acceleration value and the collected rotation angular velocity value, and sends the calculated number of turns to the information broadcasting device; a magnetometer for measuring geomagnetic information is fixed on the hula hoop and connected with a signal processor, and the signal processor performs error correction on the number of turns of the hula hoop through the geomagnetic information collected by the magnetometer; the method is characterized in that:
(1) the hula hoop is provided with a signal processor, a gyroscope for acquiring a rotation angular velocity value and at least two sets of acceleration sensors which are uniformly arranged on the hula hoop and used for acquiring an acceleration value; setting the gyroscope and the acceleration sensor to be in a self coordinate system respectively based on self positions, wherein the self coordinate system rotates along with the hula hoop;
(2) setting the hula hoop to stand, and taking the self coordinate system of the gyroscope as a reference space coordinate system; then setting the accumulated rotation angle of the self coordinate system of the gyroscope relative to the reference space coordinate system to be zero, and setting the value of each set of acceleration sensor after the acceleration value based on the self coordinate system is projected to the reference space coordinate system as the initial acceleration;
under the above conditions, the counting method comprises the following steps:
s1: controlling the acceleration sensors and the gyroscope to continuously acquire the acceleration values in a periodic manner by the signal processor to obtain the acceleration values of each set of acceleration sensors in the coordinate system of the acceleration sensor and the rotation angular velocity values of the gyroscope in the coordinate system of the gyroscope;
s2: the signal processor calculates the rotation angle of the gyroscope in each period according to the rotation angular velocity value, and then adds the rotation angle in each period with the accumulated rotation angle obtained in the previous period respectively to obtain the accumulated rotation angle of the gyroscope in the period relative to the reference space coordinate system when the gyroscope is in a standing state;
s3: projecting the acceleration values of the acceleration sensors obtained in the step S1 to the self coordinate system of the gyroscope by a signal processor based on the acceleration values in the self coordinate system according to the position relation between the acceleration sensors and the gyroscope in the set conditions; converting the acceleration value of each set of acceleration sensor projected in the self coordinate system of the gyroscope into the acceleration value in the reference space coordinate system according to the accumulated rotating angle obtained in the step S2; then, respectively subtracting the initial acceleration of each set of acceleration sensor from the acceleration value of each set of acceleration sensor in the reference space coordinate system; then, the vector sum of the acceleration values of the acceleration sensors in the reference space coordinate system is calculated, and finally the vector sum is divided by the number of the acceleration sensors to obtain the acceleration of the circle center of the hula hoop in the reference space coordinate system in each period;
s4: according to the result of the step S3, calculating the acceleration amplitude of the circle center of the hula hoop in each period by the signal processor, and calculating three acceleration pointing angles of the acceleration vector;
s5: comparing the acceleration amplitude of the circle center of the hula hoop in each period with a set threshold value in sequence, if the acceleration amplitude in a certain period is greater than or equal to the set threshold value, judging that the hula hoop is in a rotating state, and continuously storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop from the period to obtain a series of acceleration amplitude data and acceleration pointing angle data;
s6: and judging the acceleration pointing angle data stored in the step S5, if the acceleration pointing angle in at least one direction in the series of acceleration pointing angle data changes 360 degrees in an increasing or decreasing mode, judging that the hula hoop rotates for one circle, and adding 1 to the count of the rotating circle by the signal processor and broadcasting.
2. The method of claim 1, wherein the method comprises: in the step S4, the three acceleration pointing angles are in a rectangular coordinate system, and satisfy the right-hand rule, the thumb of the right hand is in the same direction as the coordinate axis, the acceleration vector is projected on a plane perpendicular to the coordinate axis, the projection and the three-axis forward direction form an included angle in which the first plane points along the four fingers of the right hand, and the included angle is defined as the acceleration pointing angle of the axis, and the angle value is 0 to 360 °.
3. The method of claim 1, wherein the method comprises: in the step S5, when the acceleration amplitude is greater than or equal to the set threshold first and then smaller than the set threshold, it is determined that the hula hoop stops rotating, the signal processor does not store the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop any more, and removes the previously stored acceleration amplitude and acceleration pointing angle; and when the current value is larger than or equal to the set threshold value again, judging that the hula hoop starts to rotate again, continuing executing according to the step S5, and storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop again.
4. A method of counting hula hoops according to any one of claims 1-3, wherein: in step S5, after counting one turn of the hula hoop, the remaining data is removed except that the acceleration amplitude data and the acceleration pointing angle data of the center of the hula hoop in the period are retained and used as the initial data.
5. The method of claim 1, wherein the method comprises: in the counting method, a magnetometer for measuring geomagnetic information is arranged on a hula hoop, the magnetometer is set to be in a self coordinate system, and the direction of the self coordinate system of the magnetometer is consistent with the direction of the self coordinate system of a gyroscope; when the hula hoop is in a standing state, setting information obtained by projecting the magnetometer to a reference space coordinate system based on the geomagnetic information of the coordinate system of the magnetometer as initial geomagnetic information; and each periodic signal processor corrects the calculation error of the accumulated rotation angle of the gyroscope in the period according to the acquired geomagnetic information based on the coordinate system of the periodic signal processor and the initial geomagnetic information.
6. The method of claim 1, wherein the method comprises: the acceleration sensor, the magnetometer, the signal processor and the gyroscope are all installed on the circuit board and are all connected with the signal processor through the circuit board.
7. The method of claim 1, wherein the method comprises: the hula hoop is fixed with a signal transmission module used for being electrically connected with the signal processor, and the signal processor sends the calculated number of turns of rotation to the mobile terminal through the signal transmission module.
8. The method of claim 7, wherein: the magnetometer, the signal processor, the power supply module, the signal transmission module and the acceleration sensor are all fixed in the hula hoop through screws or buckles, and the information broadcaster and the key switch are fixed on the outer surface of the hula hoop or embedded in the hula hoop.
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