CN103933722A - Bodybuilding dumbbell exercise detection device and method - Google Patents
Bodybuilding dumbbell exercise detection device and method Download PDFInfo
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- CN103933722A CN103933722A CN201410072246.XA CN201410072246A CN103933722A CN 103933722 A CN103933722 A CN 103933722A CN 201410072246 A CN201410072246 A CN 201410072246A CN 103933722 A CN103933722 A CN 103933722A
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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
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/06—User-manipulated weights
- A63B21/072—Dumb-bells, bar-bells or the like, e.g. weight discs having an integral peripheral handle
- A63B21/0726—Dumb bells, i.e. with a central bar to be held by a single hand, and with weights at the ends
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/065—Visualisation of specific exercise parameters
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/40—Acceleration
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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
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/75—Measuring physiological parameters of the user calorie expenditure
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a bodybuilding dumbbell exercise detection device and method. A detection circuit of the detection device comprises a microcontroller module, an inertial sensor module, a battery supply management module and a radio frequency communication module, wherein the inertial sensor module, the battery supply management module and the radio frequency communication module are electrically connected with the microcontroller module, the microcontroller module is used for processing data by means of the bodybuilding dumbbell exercise and position detection algorithm and sending processing results and sensor data to a mobile phone or a tablet computer, and visual bodybuilding action assessment and prompts are provided for a user. According to the detection device and method, the position relationship between a bodybuilding dumbbell and the user can be accurately detected, and calorie consumption assessment and dumbbell bodybuilding action standard assessment of bodybuilding dumbbell exercise are achieved. The invention further provides the bodybuilding dumbbell exercise detection method at the same time, the current angle and speed information of the dumbbell are worked out by performing complementary filtering on information obtained through measurement of an inertial sensor, and the position of the dumbbell is worked out by means of the standard of specific dumbbell bodybuilding action and geometric exercise restraint of human joints.
Description
Technical field
The present invention relates to a kind of dumb-bell motion detection apparatus and dumb-bell method for testing motion.
Background technology
Individual, in dumbbell exercise process, owing to lacking guidance and supervision, often has and tempers fault, exercise process and lack result that the plan of planning of science activities, exercise cannot effectively carry out, take exercise and the problem such as cannot assess.Due to these problems that individual takes exercise, make individual dumbbell train on be difficult to be protected.
Want to improve dumbbell train on, generally need to by learn a large amount of training knowledge, participate in dumbbell take exercise course, engage the methods such as professional personal coach.These methods are for common person taking exercise, or need to expend too many energy or need to expend a large amount of money, and acquisition process exists more restriction.At present in this field, still not by specific technological means, carry out the common dumbbell person taking exercise of guidance and supervision and promote hardware unit and the method for train on.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind ofly can effectively measure dumbbell user's use attitude, the dumb-bell motion detection apparatus of angle, for this reason, the present invention by the following technical solutions:
Described device comprises testing circuit, inertial sensor module 2, battery power management module 5 and radio-frequency communication module 4 that described testing circuit comprises micro controller module 3 and is electrically connected with described micro controller module 3, described inertial sensor module 2 comprises three axis angular rate sensors that are respectively used to detect the 3-axis acceleration sensor of X-axis, Y-axis, Z axis 3-axis acceleration and X-axis, Y-axis, Z axis three axis angular rates, and described battery power management module 5 is used to micro controller module 3, inertial sensor module 2, radio-frequency communication module 4 that working power is provided.
By above technical scheme, the present invention is by 3-axis acceleration sensor and three axis angular rate sensor complementary filters in inertial sensor module, determine the two-dimentional inclination angle of current dumbbell, and the measured value at this inclination angle is under dumbbell accelerated motion state, still has very high accuracy.
For further technique effect, the present invention can also adopt following technical scheme:
Described testing circuit also comprises magnetic field sensor module 20, and described magnetic field sensor module 20 comprises the three axle magnetoresistive transducers that detect X-axis, Y-axis, Z axis three-axle magnetic field intensity.
By above technical scheme, the present invention, by three axle magnetoresistive transducers in device, utilizes local magnetic field of the earth, determines the current azimuth of dumbbell, and this azimuth is not affected by acceleration of motion, has solved the problem of measuring the current attitude of dumbbell, angle.
Another technical problem solved by the invention is to provide a kind ofly can effectively measure dumbbell user's use attitude, the dumb-bell method for testing motion of angle, for this reason, the present invention by the following technical solutions:
Described method comprises the steps:
First, described dumb-bell motion detection apparatus and dumb-bell to be measured are connected;
Secondly, measure by following steps:
1) measure and resolve dumbbell angle, that is, the indexing relation between measuring transducer coordinate and earth coordinates, obtains inclination angle and the azimuth of dumbbell;
2) dumbbell exercise detects, and judges whether dumbbell is kept in motion;
3) dumbbell initial angle calibration, solves dumbbell and places the angular surveying mistake causing with the angle randomness of user's handling dumbbell;
4) dumbbell exercise is calculated, and calculates dumbbell exercise parameter.
By above technical scheme, the method is arranged on the device of aforesaid dumb-bell motion detection on dumb-bell, when device is followed dumbbell exercise, according to the constraint of dumb-bell motion flow and human body joint motion, the goniometer that can calculate according to this device calculates dumb-bell and user's position relationship, has solved the problem of dumb-bell motion and position probing.
Brief description of the drawings
Fig. 1 is the frame principle figure of a kind of dumb-bell motion detection apparatus of the embodiment of the present invention 1;
Fig. 2 is the control flow chart of a kind of dumb-bell motion detection apparatus of the embodiment of the present invention 2;
Fig. 3 is the frame principle figure of a kind of dumb-bell motion detection apparatus of the embodiment of the present invention 2;
Fig. 4 is the use principle figure of a kind of dumb-bell motion detection apparatus of the embodiment of the present invention 3;
Fig. 5 is the use principle figure of a kind of dumb-bell motion detection apparatus of the embodiment of the present invention 4;
Fig. 6 is the use schematic diagram of a kind of dumb-bell method for testing motion of the embodiment of the present invention 5;
Fig. 7 is the step 2 of a kind of dumb-bell method for testing motion of the present invention) flow chart;
Fig. 8 is sub-step e, step f and the step 4) flow chart of the step 3) of a kind of dumb-bell method for testing motion of the embodiment of the present invention 6.
Detailed description of the invention
The present invention is a kind of dumb-bell motion detection apparatus, described device comprises testing circuit, the inertial sensor module 2 that described testing circuit comprises micro controller module 3 and is electrically connected with described micro controller module 3, battery power management module 5 and radio-frequency communication module 4, described inertial sensor module 2 comprises and is respectively used to detect X-axis, Y-axis, the 3-axis acceleration sensor of Z axis 3-axis acceleration and X-axis, Y-axis, three axis angular rate sensors of Z axis three axis angular rates, described battery power management module 5 is used to micro controller module 3, inertial sensor module 2, radio-frequency communication module 4 provides working power.
The micro controller module of device provided by the present invention can be with data storage function, also can connect smart mobile phone or panel computer carries out history data store and processing by bluetooth.
Described testing circuit also comprises magnetic field sensor module 20, and described magnetic field sensor module comprises the three axle magnetoresistive transducers that detect X-axis, Y-axis, Z axis three-axle magnetic field intensity.
Described radio-frequency communication module 4 is bluetooth 4.0 radio-frequency communication modules, and it is the SOC(system on a chip) process chip of cc2541 or nRF51822 that described micro controller module 3 and radio-frequency communication module 4 adopt model.
It is the six axle MEMS sensor chips of MPU-6050 that described inertial sensor module 2 adopts model, also can adopt ADXL345 three-axis acceleration transducer chip and the three axis angular rate sensor chips such as L3G4200, ITG-3200 to coordinate and realize.
It is the three axle magnetoresistive transducer chips of HMC5883L that described magnetic field sensor module 20 adopts model.
Dumb-bell motion detection apparatus of the present invention comprises the housing 1 of cuboid, the X-axis of described inertial sensor module 2, Y-axis, Z axis three axles align with the dark direction of length and width of housing 1, described magnetic field sensor module 20 comprises the three axle magnetoresistive transducers for detection of X-axis, Y-axis, Z axis three-axle magnetic field intensity, and X-axis, Y-axis, Z axis three axles of described magnetic field sensor module 20 align with the dark direction of length and width of housing 1 simultaneously.
The present invention also comprises human-computer interaction module 6, described battery power management module is used to micro controller module 3, inertial sensor module 2, magnetic field sensor module 20, human-computer interaction module 6, radio-frequency communication module 4 that working power is provided, when using when rechargeable battery, battery power management module 5 also can utilize external power source to charge for battery.
Described human-computer interaction module 6 further comprises OLED display unit, push-button unit and LED display unit, and described push-button unit comprises the first button of the displaying contents for selecting OLED display unit and the second button for resetting means.
Embodiment 1
The present invention is a kind of device 7 of dumb-bell motion detection, comprises shell 1, in shell 1, is fixed with testing circuit, when use, by magnet or magic band, this device 7 and dumb-bell is connected.
Of the present invention being connected, refers to this checkout gear and dumb-bell to be fixedly linked, and can adopt the mode of bandage magnet this checkout gear to be fixed on to the surface of dumb-bell, also can be directly arranged in dumb-bell.
With reference to Fig. 1.In the present embodiment, the inertial sensor module 2 that described testing circuit comprises micro controller module 3 and is electrically connected with described micro controller module 3, battery power management module 5 and radio-frequency communication module 4, described inertial sensor module 2 comprises and is respectively used to detect X-axis, Y-axis, the 3-axis acceleration sensor of Z axis 3-axis acceleration and X-axis, Y-axis, three axis angular rate sensors (micro-mechanical inertia sensor chip) of Z axis three axis angular rates, described battery power management module 5 is used to micro controller module 3, inertial sensor module 2, radio-frequency communication module 4 provides working power.
Embodiment 2
With reference to figure 3, the present invention on the basis of embodiment 1 in order to detect the azimuth of dumbbell, a magnetic field sensor module 20 is further set on circuit, the present embodiment comprises housing 1, in described housing 1, be provided with testing circuit, the inertial sensor module 2 that described testing circuit comprises micro controller module 3 and is electrically connected with described micro controller module 3, magnetic field sensor module 20, battery power management module 5, human-computer interaction module 6 and bluetooth 4.0 radio-frequency communication modules 4, described inertial sensor module 2 comprises and is respectively used to detect X-axis, Y-axis, the 3-axis acceleration sensor of Z axis 3-axis acceleration and X-axis, Y-axis, three axis angular rate sensors of Z axis three axis angular rates, the simultaneously X-axis of described inertial sensor module 2, Y-axis, Z axis three axles align with the dark direction of length and width of device case 1, and described magnetic field sensor module 20 comprises for detection of X-axis, Y-axis, three axle magnetoresistive transducers of Z axis three-axle magnetic field intensity, the simultaneously X-axis of described magnetic field sensor module 20, Y-axis, Z axis three axles align with the dark direction of length and width of device case 1, and described battery power management module 5 is used to micro controller module 3, inertial sensor module 2, magnetic field sensor module 20, human-computer interaction module 6, bluetooth 4.0 radio-frequency communication modules 4 provide working power, and when using when rechargeable battery, battery power management module 5 also can utilize external power source to charge for battery.
The magnetic field intensity of the measured X-axis obtaining of magnetic field sensor module 20, Y-axis, Z-direction, can reflect the magnetic field intensity of dumb-bell environment of living in, and the magnetic-field component changing in each sensitive axes causing due to dumbbell attitude changes.It should be noted that, most dumb-bells are made up of the magnetic material such as iron, steel, magnetic field intensity on some measurement axle may exceed the measurement range of magnetic field sensor, cause measuring error, in concrete application: the magnetoresistive transducer that selected range is larger, as preferred HMC5883L, can effectively avoid measured value to exceed the detection mistake that range causes.Consider quiescent dissipation, the measurement output of magnetic field sensor module 20 transfers to micro controller module 3 through iic bus.Those skilled in the art should be known, and technical characterictic and the course of work that each module has in embodiment 1 are equally applicable to the present embodiment, therefore do not repeat herein.
Wherein, in order to detect the attitude angle of dumbbell, device need to be connected by housing and dumb-bell, now, the 3-axis acceleration of the measured X-axis obtaining of inertial sensor module 2, Y-axis, Z-direction, three axis angular rates of X-axis, Y-axis, Z-direction, can react the correspondence of dumb-bell and move.It should be noted that, in some special exercise dumbbell actions, acceleration on some measurement axle may exceed the measurement range of acceleration transducer, cause measuring error, in concrete application: select the acceleration transducer of selecting with multrirange, as preferred MPU-6050, can effectively avoid measured value to exceed the detection mistake that range causes.Consider quiescent dissipation, the measurement output of inertial sensor module 2 transfers to micro controller module 3 through iic bus.
Voltage stabilizing when battery power management module 5 completes battery discharge and battery charging are controlled, the discharge voltage of battery is relevant with battery electric quantity, and unstable, battery discharge voltage is higher than internal system operating voltage, battery power management module by the voltage stabilizing of battery discharge voltage step-down to a certain specific voltage value of internal system operating voltage 2.0 ~ 3.0V.Consider low-power consumption requirement of the present invention, select switch-type voltage-dropping voltage-stablizer, in concrete application example, this voltage-releasing voltage stabilizer can adopt switch-type voltage-dropping voltage stabilizing chip LM3670 or TPS62730 to realize.In the time adopting rechargeable battery, battery charging is controlled and need to be carried out step-down and current limliting to the 5V output voltage of external charger, in the time that cell voltage is too low, adopt constant-current charge, in the time that battery is about to be full of, adopt constant-voltage charge, and provide the signal of battery charging state to export, in concrete application example, battery charging can adopt single battery charging chip SE9017, SE9016 or LTC4054 to realize, and charged state can be shown by red, green dual-colored LED.
Described human-computer interaction module 6 further comprises display unit and push-button unit, and described push-button unit comprises the first button for controlling display unit and the second button for resetting means.
Human-computer interaction module 6 is mainly realized display unit mode of operation, is shown the function of exercise data, resetting means.The groundwork pattern of apparatus of the present invention is: 1, sleep pattern, 2, bluetooth discoverable mode, 3, bluetooth connection mode, 4, exercise mode; The main exercise data of apparatus of the present invention is: 1, exercise dumbbell has moved number of times, 2, exercise dumbbell consumes calory count, 3, exercise dumbbell action scoring; Wherein installing mode of operation needs to show in real time, and exercise data only needs to show in user's exercise process and when exercise completes, after finishing with exercise in exercise process, exercise data is by OLED screen display, displaying contents is 1, exercise dumbbell has moved number of times, 2, exercise dumbbell consumes calory count, and 3, exercise dumbbell action scoring.
Micro controller module 3 mainly completes following work for the treatment of: the output signal that 1, receives inertial sensor module 2,2, receive the output signal of magnetic field sensor module 20,3, detect key-press status, 4, detect cell voltage and charging and discharging state, 5, controlling LED and OLED shows, 6, control bluetooth 4.0 radio-frequency communication modules 4 and work, set Bluetooth transmission parameter, transmission content, receiving bluetooth.7, the dumb-bell motion proposing according to the present invention and the detection method of position, calculate the attitude angle of dumbbell and dumbbell and user's position relationship.In concrete application example, micro controller module 3 can be realized or nRF51822 on-chip system chip realizes by cc2541, such chip is radio frequency on-chip system chip, and its inside has single-chip microcomputer kernel and 2.4GHz RF transceiver, and can move bluetooth 4.0 low-power consumption protocol stacks.
With reference to Fig. 2. the present invention mainly has following operation mode, controls and dispatches by micro controller module: 1, power-up initializing mode, 2, sleep mode, 3, bluetooth can be found mode, 4, bluetooth connects mode, and 5, temper mode, 6, tempered mode.
With reference to figure 2, when the present embodiment uses, when after device 7 powerup/reset, device 7 enters the power-up initializing mode of above-mentioned mode, the main sensor that initializes, bluetooth protocol repertory etc., after initialization finishes, device enters the sleep mode of above-mentioned mode, in sleep mode, system was every some seconds time, detect primary acceleration, if the variation of acceleration has exceeded the threshold value of setting, think that motion has occurred device, device exits sleep mode and enters bluetooth and can find mode so, device is in the time that bluetooth can be found mode, micro controller module 3 is controlled bluetooth 4.0 radio-frequency communication modules 4 and is launched broadcast frame, work as smart mobile phone, the mobile terminal devices such as panel computer connect after this device 7 by bluetooth, device enters bluetooth connection status, if smart mobile phone, after the intelligent terminals such as panel computer start to take exercise by this device of Bluetooth operation 7, this device enters exercise mode, in the time tempering mode, micro controller module 3 configures inertial sensor module 2 and magnetic field sensor module 20, make it enter 20Hz high speed acquisition pattern, increase sample frequency and can increase power consumption, but also can improve precision and the bandwidth of dumb-bell attitude angle and position probing, taking exercise under mode, micro controller module 3 is according to the measured value of inertial sensor module 2 and magnetic field sensor module 20, calculate in real time dumb-bell attitude angle and position, and by bluetooth 4.0 radio-frequency communication modules 4, measurement result and calculation result are sent to smart mobile phone or panel computer in real time, the intelligent terminal such as smart mobile phone or panel computer is according to above-mentioned data, calculate exercise number of times, consume calory count, motion scoring, return to micro controller module 3 by bluetooth 4.0 radio-frequency communication modules 4 again, micro controller module 3 is according to return data, and the first key-press status detecting, control OLED circulation and show above-mentioned exercise data, bluetooth connects after disconnection, device enters sleep mode.
Bluetooth 4.0 radio-frequency communication modules 4 are responsible for bluetooth connection, bluetooth output transfer function.In concrete application example, bluetooth 4.0 radio-frequency communication modules 4 can be realized by cc2541 or nRF51822 on-chip system chip, such chip is radio frequency on-chip system chip, and its inside has single-chip microcomputer kernel and 2.4GHz RF transceiver, and can move bluetooth 4.0 low-power consumption protocol stacks.
The dumb-bell motion detection apparatus that embodiment 1 and embodiment 2 illustrate, it in use can be used as the independent circuit board group arranging and is contained in other system, also can be used alone.Therefore, embodiment 3 uses separately assembling should be used as an explanation it, and those skilled in the art it should be understood that, this embodiment does not form the restriction of its application mode.
Embodiment 3
The present embodiment comprises shell 1, and the checkout gear 7 as described in embodiment 1 or embodiment 2 is fixed on shell 1 inside, relative with handle for dumbbell 8 fixing by magic band at an end face of shell 1.As shown in Figure 4, after the present embodiment and dumb-bell are connected, install inner inertial sensor 2 and magnetic field sensor module 20 and can follow dumb-bell motion, measure acceleration, angular speed, changes of magnetic field that dumbbell exercise produces, and move and method for detecting position via the dumb-bell of the present invention's proposition, calculate attitude angle and dumbbell and the customer location relation of dumbbell.
Embodiment 4
A kind of dumb-bell motion detection apparatus 7 as described in embodiment 1 or embodiment 2, only comprises circuit, is installed on dumb-bell 9 inside.Shown in figure 5, the present embodiment is the structural representation of the concrete application example of one, the present embodiment is installed on dumb-bell inside, its inertial sensor module and magnetic field sensor module can be followed dumb-bell motion, measure acceleration, angular speed, changes of magnetic field that dumbbell exercise produces, and move and method for detecting position via the dumb-bell of the present invention's proposition, calculate attitude angle and dumbbell and the customer location relation of dumbbell.
The present invention also provides following dumb-bell method for testing motion.Described method comprises the steps:
First, described dumb-bell motion detection apparatus and dumb-bell to be measured are connected;
Secondly, measure by following steps:
1) measure and resolve dumbbell angle, that is, the indexing relation between measuring transducer coordinate and earth coordinates, obtains inclination angle and the azimuth of dumbbell;
2) dumbbell exercise detects, and judges whether dumbbell is kept in motion;
3) dumbbell initial angle calibration, solves dumbbell and places the angular surveying mistake causing with the angle randomness of user's handling dumbbell;
4) dumbbell exercise is calculated, and calculates dumbbell exercise parameter.
Described step 1) comprises two step: a, sensor data acquisition, that is: micro controller module 3 sends sensing data reading order to inertial sensor module 2 and/or magnetic field sensor module 20, in the time that inertial sensor module 2 and/or magnetic field sensor module 20 receive this data read command, can return to the sensor measurement of respective channel, b, dumbbell angle is resolved, that is: the X-axis being connected with dumb-bell obtaining based on step a sensor data acquisition, Y-axis, the measured acceleration obtaining of Z axis 3-axis acceleration sensor and three axis angular rate sensors, angular velocity data, utilize earth gravitational field as vertical reference, calculate dumbbell inclination angle with respect to the horizontal plane, and/or, the X-axis being connected with dumbbell obtaining based on step a sensor data acquisition, Y-axis, the magnetic field data arriving that Z axis three axle magnetoresistive transducers are measured, utilize magnetic field of the earth as north orientation reference, calculate to the sensing of dumbbell in horizontal plane, it is deflection.
In order to ensure the calculation accuracy of step b, step a sensor data acquisition need to reach certain sample frequency, consider motion that user uses dumbbell dynamically and nyquist sampling law, the frequency of the 3-axis acceleration sensor of step a and three axis angular rate sensor data acquisitions is more than 5Hz.
Described step 2) comprise two step: c, store historical sensor image data, that is, store the historical measurement data of N acceleration transducer and angular-rate sensor; D, type of sports judgement, utilize the acceleration transducer of step c storage and the historical measurement data of angular-rate sensor that is, calculate expectation and the variance of nearest N acceleration, angular velocity measurement data.
The integer that in described step c, N is 3 ~ 15.
In described steps d, in the time that acceleration, angular speed variance are greater than б 1, think that dumbbell moves, when acceleration, angular speed variance are less than in б 1 and are greater than б 2, and when angular speed is expected to be less than E1, think that dumbbell is hand-held by user, but static, when acceleration, angular speed variance are less than б 2, and angular speed is expected while being less than E2, to think that dumbbell is positioned on fixed object static, wherein, б 1, б 2, E1, E2 are in conjunction with the acceleration of selecting, angular-rate sensor measurement, output noise performance, and dumbbell quality, comprehensively determine.
Specifically, step 2) dumbbell exercise detects is in order to judge whether dumbbell is kept in motion, and dumbbell exercise state is divided into 3 classes: 1, dumbbell exercise, 2, dumbbell picked up by user, the hand-held dumbbell that makes of user is static, and 3, dumbbell is positioned on fixed object static.In order to distinguish above-mentioned 3 type games states, the present invention utilizes step 1) the sub-step a sensor of measuring and resolve dumbbell angle gathers 3 axle acceleration sensors and the three axis angular rate sensor measurement data of gained, with reference to figure 7, order is carried out following 2 sub-steps and is judged the static type of dumbbell: c, stores historical sensor image data, d, type of sports judgement.Step 2) dumbbell exercise detect sub-step c in, micro controller module, or by smart mobile phone and the panel computer of bluetooth 4.0 these devices of connection, store the historical measurement data of N acceleration transducer and angular-rate sensor, in order to take into account step 2) accuracy of the sub-step 2 type of sports judgements that detect of dumbbell exercise, with step 2) dumbbell exercise detect real-time, therefore N should get 3 ~ 15 integer, step 2) the sub-step d that detects of dumbbell exercise utilizes the sensor historical data of sub-step c storage, calculate nearest N acceleration, the expectation of angular velocity measurement data and variance, with reference to figure 7, work as acceleration, when angular speed variance is greater than б 1, think that dumbbell moves, work as acceleration, angular speed variance is less than in б 1 and is greater than б 2, and when angular speed is expected to be less than E1, think that dumbbell is hand-held by user, but static, work as acceleration, angular speed variance is less than б 2, and when angular speed is expected to be less than E2, think that dumbbell is positioned on fixed object static, wherein, б 1, б 2, E1, E2 needs in conjunction with the acceleration of selecting, angular-rate sensor is measured, output noise performance, and dumbbell quality, comprehensively determine by experiment.
Described step 3) comprises two step: e, action sampling, and recording user carries out resolving by step 1) dumbbell inclination angle and/or the azimuth that dumbbell angle obtains in K dumbbell exercise process, f, calculate initial angle calibration value, , in K dumbbell exercise motion process dumbbell inclination angle and/or azimuth of step e storage, determine maximal angle value and the minimum angles value of each action, and obtain K time action maximum angle mean value and minimum angles mean value, calculate the centre position angle mean value of user action, and and the centre position angle of corresponding standard operation subtract each other, obtain initial angle calibration value, and in motion detection in the future, inclination angle and/or the azimuth revising step 1) and resolve the dumbbell that dumbbell angle obtains with this initial angle calibration value.
If step 2) dumbbell exercise detects output dumbbell and is positioned on fixed object staticly, re-starts the calibration of step 3) dumbbell initial angle while once taking exercise upper.
Step 1 is resolved inclination angle and the azimuth that dumbbell angle obtains, be actually the indexing relation between measuring transducer coordinate and earth coordinates, and for same exercise dumbbell action, the angle arriving that step 1 is resolved, can be because the angle difference of user's handling dumbbell, and the difference of generation highly significant, the calibration of step 3 dumbbell initial angle is to place in order to solve dumbbell the angular surveying mistake causing with the angle randomness of user's handling dumbbell, in Fig. 8, comprise two sub-steps: e, action sampling, f, calculate initial angle calibration value, in step 3) in the sub-step e action sampling of dumbbell initial angle calibration, require user as far as possible standard carry out continuous K enforcement dumbbell exercise motion, with the module of data storage function, for example, micro controller module, or connect corresponding smart mobile phone and panel computer by bluetooth 4.0, will carry out resolving by step 1) dumbbell inclination angle and/or the azimuth that dumbbell angle obtains in K dumbbell exercise process by recording user, the sub-step f of step 3) dumbbell initial calibration calculates initial angle calibration value process, from K dumbbell exercise motion process dumbbell inclination angle and/or azimuth of step e storage, determine maximal angle value and the minimum angles value of each action, and obtain K time action maximum angle mean value and minimum angles mean value, calculate the centre position angle mean value of user action, and and the centre position angle of corresponding standard operation subtract each other, obtain initial angle calibration value, and in motion detection in the future, inclination angle and/or the azimuth revising step 1) and resolve the dumbbell that dumbbell angle obtains with this initial angle calibration value, if step 2) dumbbell exercise detect output dumbbell be positioned on fixed object static, can think so while exercise next time, the angle of user's handling dumbbell can change, now, need to re-start the calibration of step 3 dumbbell initial angle.
Step 4) is: through the processing of step 1, step 2, step 3, can obtain the dumbbell angle of corresponding certain specific exercise action.Further, the above-mentioned dumbbell change in location calculating is counted and timing, can be obtained exercise dumbbell and move the cycle and the duration that carry out, specifically,
Step 4) is calculated dumbbell exercise parameter and is divided into: g, calculating dumbbell angle; H, dumbbell exercise motion counting; I, calculating dumbbell exercise calorie consume; J, assessment dumbbell exercise motion quality, four sub-steps.Calculate dumbbell exercise parameter sub-step g in step 4 and calculate in dumbbell angle, the dumbbell inclination angle that utilizes dumbbell initial value angle modification step 1 that step 3 obtains to obtain, can obtain the dumbbell angle of corresponding certain specific exercise action.Calculate in dumbbell exercise parameter sub-step h dumbbell exercise motion counting in step 4, choose two angles that in this exercise motion process, dumbbell must pass through, for example dumbbell exercise is to the angle that approaches expection lowest point, with the angle of dumbbell exercise to approaching expection lowest point, suppose that these two angles are for " judgement angle, dumbbell high position " and " dumbbell lower position judges angle ", if and only if, and dumbbell is gone through " dumbbell lower position judges angle " and " judgement angle, dumbbell high position " successively, can think that dumbbell taken exercise once, dumbbell exercise motion is completed to counting and add one.Calculating dumbbell exercise parameter sub-step i in step 4 calculates in the consumption of dumbbell exercise calorie, people's upper arm is approximately to oscillating rod device, can be by predefined upperarm length L1, lower brachium L2 and dumbbell angle, calculate the current height with respect to user's shoulder of the current position of dumbbell and dumbbell; Further, the dumbbell position calculating by above-mentioned steps and height, in conjunction with the dumbbell quality pre-entering, can obtain the energy that exercise dumbbell consumes.Calculate in dumbbell exercise parameter sub-step j assessment dumbbell exercise motion quality in step 4, the time interval to twice process " judgement angle, dumbbell high position " (or " dumbbell lower position judge angle ") of dumbbell angle is carried out timing, can obtain exercise dumbbell moves the time cycle of carrying out, in the time that the exercise dumbbell action cycle, variation was greater than setting threshold, can think that " power exhausts " occurs user in exercise process, take exercise to the power degree of exhausting and can obtain good train on, dumbbell angle is risen at " dumbbell lower position judges angle " " judgement angle, dumbbell high position ", the process that further drops to " dumbbell lower position judges angle " is carried out timing, can obtain exercise dumbbell motion word and move lasting duration, in the time that exercise dumbbell action duration is less than the threshold value of setting, think that when user carries out exercise dumbbell, action is comparatively loose, strength lacks to be controlled, train on is poor, integrating step 4 is calculated dumbbell exercise parameter sub-step i and is calculated the dumbbell that calculates in the consumption of the dumbbell exercise calorie height maximum with respect to user's shoulder, in the time that dumbbell is less than the thresholding of setting with respect to the height maximum of user's shoulder, think that user moves while carrying out exercise dumbbell not up to standard, above-mentioned when not enough when detecting that action that user carries out dumbbell exercise has, can corresponding prompting and suggestion be proposed to user.
Embodiment 5
In the present embodiment, the dumb-bell method for testing motion that the present invention proposes, is to utilize the aforementioned attitude angle obtaining in this example, in conjunction with the action norm of specific exercise dumbbell motion, with human body joint motion constraint, solves the method for dumb-bell and user's relative position.To lie on the back, flying bird is moved as example, with reference to figure 6, according to method step 1 to step 3, first carry out dumbbell angle calibration system, after calibration correction, in the time the dumbbell of apparatus of the present invention be installed be positioned at lower position 14, inclination angle in the X sensitive axes 11 that device detects is α 1=0 degree, in the time the dumbbell of apparatus of the present invention be installed be positioned at high position 10, inclination angle in the X sensitive axes 11 that device detects is α 2=90 degree, in the time the dumbbell of apparatus of the present invention be installed be positioned at centre position 12, according to method step 4, inclination alpha 3 in the X sensitive axes that can detect according to device, the user's brachium L pre-entering, brachium COEFFICIENT K with the flying bird action of lying on the back, calculating the residing position height H13 of dumbbell is: H=KLsin (α 3).According to detecting dumbbell experience high position 10 and times N, the time T of lower position 14 and the dumbbell quality m pre-depositing that apparatus of the present invention are installed, can evaluate the user energy W=KLNmg that flying bird motion consumes that lies on the back, the lie on the back power of flying bird motion of user, i.e. user's strength assessment P=W/T.
Embodiment 6
In the present embodiment, the dumb-bell method for testing motion that the present invention proposes, is to utilize the aforementioned attitude angle obtaining in this example, in conjunction with the action norm of specific exercise dumbbell motion, with human body joint motion constraint, solves the method for dumb-bell and user's relative position.Using curved movement as example, with reference to figure 8, according to method step 1 to step 3, in the situation that not carrying out dumbbell angle calibration system, prompting user as far as possible standard carry out (M>=1) dumbbell curl action exercise M time, and record M dumbbell curl move in the inclination angle of the dumbbell that obtains of step 1.From M dumbbell exercise motion process dumbbell inclination angle of above-mentioned storage, determine maximal angle value and the minimum angles value of each action, and obtain maximum angle mean value and the minimum angles mean value of M action, with reference to figure 8, maximum angle mean value is 6 degree, and minimum angles mean value is-115 degree.Further, utilize maximum angle mean value and minimum angles mean value, calculate the centre position angle mean value of user action, and subtract each other with the centre position angle that the corresponding curved movement of standard is done, obtain initial angle calibration value, and in motion detection in the future, revise the inclination angle of the dumbbell that step 1 obtains with this initial angle calibration value, for example, action shown in corresponding diagram 8, standard angle is scope :-80 degree are to 45 degree, the centre position angle of standard operation is so: (45 degree-80 degree)/2=-17.5 degree, and the centre position angle mean value of user action is: (6 degree-115 degree)/2=-54.5 degree, so, initial angle calibration value=-17.5 degree-(54.5 degree)=37 degree.Further, utilize the initial angle calibration value arriving of above-mentioned calculating, revise the aforementioned attitude angle obtaining, obtain angle corresponding in user's exercise process, with reference to figure 8, inclination angle=dumbbell after dumbbell angle calibration system is not calibrated inclination angle+initial angle calibration value, and maximum angle mean value is made in the curved movement of user after calibration and minimum angles mean value is respectively :-78 degree and 43 degree.Further obtaining on the basis of the dumbbell angle after calibration, in conjunction with the underarm length L 2 pre-entering, as shown in Figure 8, can obtain dumbbell lifting height H=L2*sin (when inferior the maximal angle value)-L2*sin (when inferior minimum angles value) when time dumbbell exercise, obtain lifting height H, in conjunction with the dumbbell quality m pre-entering, can calculate the energy W=Hmg that tempers consumption when time dumbbell.Further, do for curved movement, having set " dumbbell lower position judges angle " angle is :-70 degree, and " dumbbell high position judges angle " angle is: 20 degree, so, only have when the inclination angle after dumbbell angle calibration system, after being less than-70 degree, through certain change procedure, after being finally greater than 20 degree, just think that user has carried out dumbbell curl action successively, tempers counting by dumbbell and adds one.When dumbbell angle is from being less than " dumbbell lower position judges angle " angle, be increased to while being greater than " dumbbell lower position judges angle " angle, start dumbbell exercise motion cycle timing and the duration timing of dumbbell exercise motion, go through when dumbbell angle and be greater than " judgement angle, dumbbell high position " angle, and through a change procedure, again while being less than " dumbbell lower position judges angle " angle, stop the duration timing of dumbbell exercise motion, take exercise the duration present timing value as dumbbell last time; On this basis, when dumbbell angle is from being less than " dumbbell lower position judges angle " angle, be increased to while being greater than " dumbbell lower position judges angle " angle, stop the cycle timing of dumbbell exercise motion, using present timing value as dumbbell exercise period last time, and restart the cycle timing of dumbbell exercise motion and the duration timing of dumbbell exercise motion; In the time that the exercise dumbbell action cycle, variation was greater than setting threshold, can think that " power exhausts " occurs user in exercise process, take exercise to the power degree of exhausting and can obtain good train on, if in number of times is tempered in setting, do not detect that " power exhausts " occurs user, can point out user suitably to increase dumbbell quality, improve exercise intensity; In the time that exercise dumbbell action duration is less than the threshold value of setting, think that when user carries out exercise dumbbell, action is comparatively loose, strength lacks to be controlled, and train on is poor, can point out user to improve exercise motion quality.
Compared with prior art, device and method provided by the present invention has following beneficial effect:
(1), for dumb-bell, can detect reliably the attitude angle of dumbbell.
(2) for dumb-bell, can utilize the above-mentioned dumbbell attitude angle recording, dumb-bell motion flow and human body joint motion constraint, calculate dumb-bell and user's position relationship.
(3) for dumb-bell, can utilize the above-mentioned attitude angle recording, counting user uses dumbbell to carry out frequency of training and the time of specific body-building action training, can utilize the above-mentioned dumb-bell recording and user's position relationship and the quality of dumbbell, calculate user and carry out the calory count that exercise dumbbell motion consumes.
(4) because the present invention is provided with radio-frequency communication module, therefore can be interconnected with smart mobile phone, Intelligent flat computer, above-mentioned measurement data, statistics are further processed, for user's body-building quality and effect provide assessment, and further consumer-oriented body-building action and fitness program.
(5) adopt low-power chip configuration and the testing process for low-power consumption, can realize long-time standby.
(6) have the Man Machine Interface of the use of being simple and easy to, user can get information about the running status of device.
In sum, the invention discloses a kind of dumb-bell motion detection apparatus and a kind of dumb-bell method for testing motion.Its testing circuit comprises micro controller module, and the inertial sensor module being electrically connected with described micro controller module, magnetic field sensor module, battery power management module, with Bluetooth RF communication module, inertial sensor module comprises respectively in order to the 3-axis acceleration sensor of sense acceleration with in order to detect the tri-axis angular rate sensor of angular speed, magnetic field sensor module comprises the three axle magnetoresistive transducers in order to checkout gear environmental magnetic field of living in, the detection data of inertial sensor module and magnetic field sensor module are through serial line interface input micro controller module, micro controller module utilizes dumb-bell motion and detection algorithm, data are processed, and result and sensing data are sent to mobile phone or panel computer by bluetooth 4.0 radio-frequency communication modules, provide the action of body-building intuitively assessment and prompting to user.After the present invention is installed on dumb-bell, can accurately detect dumb-bell and user's position relationship, thereby solve the problem that calorie consumption is assessed, exercise dumbbell action criteria is assessed of dumb-bell body-building.The present invention provides a kind of method of dumb-bell motion detection simultaneously, utilize that 3-axis acceleration information that 3-axis acceleration sensor measures and three axis angular rate sensors measure to angular velocity information carry out complementary filter and calculate the current angle of dumbbell, velocity information, utilize the specification of the movable information of above-mentioned acquisition, the action of specific exercise dumbbell, how much kinematic constraints of human synovial, calculate the position of dumbbell.
Above-mentioned detailed description of the invention is used for the present invention that explains, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, any amendment and change that the present invention is made, all fall into protection scope of the present invention.
Claims (13)
1. a dumb-bell motion detection apparatus, it is characterized in that described device comprises testing circuit, the inertial sensor module (2) that described testing circuit comprises micro controller module (3) and is electrically connected with described micro controller module (3), battery power management module (5) and radio-frequency communication module (4), described inertial sensor module (2) comprises and is respectively used to detect X-axis, Y-axis, the 3-axis acceleration sensor of Z axis 3-axis acceleration and X-axis, Y-axis, three axis angular rate sensors of Z axis three axis angular rates, described battery power management module (5) is used to micro controller module (3), inertial sensor module (2), radio-frequency communication module (4) provides working power.
2. a kind of dumb-bell motion detection apparatus as claimed in claim 1, it is characterized in that described testing circuit also comprises magnetic field sensor module (20), described magnetic field sensor module (20) comprises the three axle magnetoresistive transducers that detect X-axis, Y-axis, Z axis three-axle magnetic field intensity.
3. a kind of dumb-bell motion detection apparatus as claimed in claim 1, it is characterized in that described radio-frequency communication module (4) is bluetooth 4.0 radio-frequency communication modules, it is the SOC(system on a chip) process chip of cc2541 or nRF51822 that described micro controller module (3) and radio-frequency communication module (4) adopt model.
4. a kind of dumb-bell motion detection apparatus as claimed in claim 1, is characterized in that described inertial sensor module (2) adopts the six axle MEMS sensor chips that model is MPU-6050.
5. a kind of dumb-bell motion detection apparatus as claimed in claim 1, is characterized in that described magnetic field sensor module (20) adopts the three axle magnetoresistive transducer chips that model is HMC5883L.
6. a dumb-bell method for testing motion that uses dumb-bell motion detection apparatus as claimed in claim 1, is characterized in that described method comprises the steps:
First, described dumb-bell motion detection apparatus and dumb-bell to be measured are connected;
Secondly, measure by following steps:
Measure and resolve dumbbell angle, that is, the indexing relation between measuring transducer coordinate and earth coordinates, obtains inclination angle and the azimuth of dumbbell;
Dumbbell exercise detects, and judges whether dumbbell is kept in motion;
The calibration of dumbbell initial angle, solves dumbbell and places the angular surveying mistake causing with the angle randomness of user's handling dumbbell;
Dumbbell exercise is calculated, and calculates dumbbell exercise parameter.
7. a kind of dumb-bell method for testing motion as claimed in claim 6, it is characterized in that described step 1) comprises two step: a, sensor data acquisition, that is: micro controller module (3) sends sensing data reading order to inertial sensor module (2) and/or magnetic field sensor module (20), in the time that inertial sensor module (2) and/or magnetic field sensor module (20) receive this data read command, can return to the sensor measurement of response channel, b, dumbbell angle is resolved, that is: the X-axis being connected with dumb-bell obtaining based on step a sensor data acquisition, Y-axis, the measured acceleration obtaining of Z axis 3-axis acceleration sensor and three axis angular rate sensors, angular velocity data, utilize earth gravitational field as vertical reference, calculate dumbbell inclination angle with respect to the horizontal plane, and/or, the X-axis being connected with dumbbell obtaining based on step a sensor data acquisition, Y-axis, the magnetic field data arriving that Z axis three axle magnetoresistive transducers are measured, utilize magnetic field of the earth as north orientation reference, calculate to the sensing of dumbbell in horizontal plane, it is deflection.
8. a kind of dumb-bell method for testing motion as claimed in claim 7, is characterized in that the calculation accuracy in order to ensure step b, and the frequency of the 3-axis acceleration sensor of step a and three axis angular rate sensor data acquisitions is more than 5Hz.
9. a kind of dumb-bell method for testing motion as claimed in claim 6, it is characterized in that described step 2) comprise two step: c, store historical sensor image data,, the historical measurement data of N acceleration transducer of micro controller module storage and angular-rate sensor; D, type of sports judgement, utilize the acceleration transducer of step c storage and the historical measurement data of angular-rate sensor that is, calculate expectation and the variance of nearest N acceleration, angular velocity measurement data.
10. a kind of dumb-bell method for testing motion as claimed in claim 9, is characterized in that the integer that in described step c, N is 3 ~ 15.
11. a kind of dumb-bell method for testing motion as claimed in claim 6, it is characterized in that described step 3) comprises two step: e, action sampling, recording user carries out resolving by step 1) dumbbell inclination angle and/or the azimuth that dumbbell angle obtains in K dumbbell exercise process, f, calculate initial angle calibration value, , in K dumbbell exercise motion process dumbbell inclination angle and/or azimuth of step e storage, determine maximal angle value and the minimum angles value of each action, and obtain K time action maximum angle mean value and minimum angles mean value, calculate the centre position angle mean value of user action, and and the centre position angle of corresponding standard operation subtract each other, obtain initial angle calibration value, and in motion detection in the future, inclination angle and/or the azimuth revising step 1) and resolve the dumbbell that dumbbell angle obtains with this initial angle calibration value.
12. a kind of dumb-bell method for testing motion as claimed in claim 12, is characterized in that in step 2) dumbbell exercise detects output dumbbell and is positioned over when static on fixed object, re-starts the calibration of step 3) dumbbell initial angle.
13. a kind of dumb-bell method for testing motion as claimed in claim 6, is characterized in that step 4) comprises four step: g, calculates dumbbell angle; H, dumbbell exercise motion counting; I, calculating dumbbell exercise calorie consume; J, assessment dumbbell exercise motion quality.
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| PCT/CN2015/073150 WO2015127879A1 (en) | 2014-02-28 | 2015-02-16 | Bodybuilding dumbbell exercise detection device and method |
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| CN103933722B (en) | 2016-04-27 |
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