CN105879305B - A kind of treadmill adaptive speed regulation system based on video - Google Patents
A kind of treadmill adaptive speed regulation system based on video Download PDFInfo
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- CN105879305B CN105879305B CN201610229061.4A CN201610229061A CN105879305B CN 105879305 B CN105879305 B CN 105879305B CN 201610229061 A CN201610229061 A CN 201610229061A CN 105879305 B CN105879305 B CN 105879305B
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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
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
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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
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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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
-
- 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
- A63B2071/0675—Input for modifying training controls during workout
- A63B2071/0677—Input by image recognition, e.g. video signals
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Image Processing (AREA)
Abstract
The present invention relates to a kind of treadmill adaptive speed regulation system based on video, including camera video acquisition module, host computer analysis and control module, motor drive module etc., motor drive module connects motor, and motor rotates, and motor driven running belt of running machine rotates.In invention herein, pass through the adjustable camera video acquisition module in position, runner is obtained in real time during running, the parameters such as the position of runner's human body central point, relative displacement Δ S, time period of motion t, body trunk angle delta θ, acceleration is calculated by the relational model of the acceleration and time period of motion t, the position of human body central point, relative displacement Δ S, body trunk angle of inclination Δ θ established, and control command is sent to motor drive module according to acceleration, regulation motor rotating speed, and then realize the speed adaptive of treadmill.
Description
Technical field
The present invention relates to computer vision, pattern-recognition and body-building equipment technical field, designs a kind of race based on video
Step machine adaptive speed regulation system, to the walking of sporter, run video image and carry out Treatment Analysis and feature extraction, obtain Moving Objects
Motion feature, running machine motor rotating speed is controlled by the mathematical modeling of foundation, realizes the speed adaptive control of treadmill.
Background technology
With the development in epoch, the living standard of people improves constantly, health perception also constantly enhancing therewith.Walk,
Run as a kind of healthy aerobic metabolism body-building, paid much attention to by domestic and international sporting world and medical field.This motion
There is remarkable result in terms of cardio-pulmonary function, increase muscle and bone strength is improved, be nowadays widely used to motion exercise, doctor
Treat the fields such as rehabilitation.Change and outdoor running due to modern life rhythm is by the natural objective factor such as environment, weather, place
Limitation, people select treadmill to be used for replacing and the outdoor free running environment of simulation, so as to reach body-building purpose, this body-building
Mode gains great popularity.Meanwhile in medical treatment ＆ health field, by allowing instruction that patient repeated on a treadmill, particular task
Practice,
The cerebral cortex in restructuring is set to learn by deep experience and store correct motor pattern, to reach rehabilitation
Purpose.The method of weight-losing (Body Weight Supported Training, BWST) is exactly around this principle, to turn into
One of important method of rehabilitation is carried out for the sufferer of lower limb or spinal injury.Because treadmill is commonly positioned at interior,
The environment open compared to outdoor, has more preferable safety and convenience.
Treadmill can be divided into mechanical treadmill and electrodynamic type treadmill again.The transmission system of mechanical treadmill is by one
Conveyer belt set, both ends respectively have a fixing axle that conveyer belt is tensed, and have an axle to be connected with roller bearing, an Adjustable switch and one
Individual fixed mount is formed, and mainly drives to run by the frictional force of runner's pin and treadmill belt；Treadmill is to rely on
Motor driven treadmill belt is run, and controls motor rotary speed to realize the velocity variations adjusted when running by frequency converter.And machinery is run
Step machine drives treadbelt to run by human body, seems to consume more energy to the eye, but due to running during
In order that treadbelt can operate and intentional torsion caused backward backward, its concentrations is in several crucial stress such as ligament, joint
Position, this torsion are easier to make force part tendon tissue produce confirmed fatigue, put down so as to break the part of this portion of tissue
Weigh, damage its health.Although the latter overcomes this shortcoming, but the speed governing of traditional electrodynamic type treadmill is still and passes through button
Completed Deng man-machine interaction, the free degree of sporter is extremely limited.Therefore, the motion feature of human body on a treadmill is studied
And the rule of velocity variations, motor speed is adjusted according to this rule, to reach speed adaptive this purpose of treadmill,
The application that treadmill was experienced, expanded in running for improving body builder is significant.
Prior art has Publication No. CN102319503B patent of invention " a kind of based on flexible array pressure sensor
Treadmill adaptive speed regulation system ", this method installs flexible array pressure sensor on a treadmill, by gathering plantar pressure
Signal obtains motion feature, and constructions cost is high, and equipment volume is big, and governing system relies on specific treadmill, generally should be not easy to
With.Wherein close prior art also have Publication No. CN102961847B patent of invention " a kind of treadmill speed follower from
Adaptive control method and device ", this method need runner to dress a set of force measuring device with, are fed back by dynamometry signal
Runner adjusts the speed of treadmill relative to the movement tendency of treadmill accordingly, but the measuring apparatus with being worn on,
The freedom of runner has been fettered to a certain extent, influences movement effects, and motion process produces interference to the precision of signal acquisition.
The content of the invention
The technology of the present invention solves problem：Overcome the deficiencies in the prior art, there is provided a kind of treadmill based on video is adaptive
Governing system is answered, the adaptive tune to treadmill speed is realized according to real-time video information of the runner during running
Section.
The technical scheme is that：A kind of treadmill adaptive speed regulation system based on video, including：
The video camera of video is gathered, obtains the information of video image of the runner during running, video image in real time
Information include position, relative displacement Δ S, time period of motion t and the body trunk angle of inclination Δ θ of human body central point；
Host computer analysis module, the real-time video information that video camera detects runner is sent to by USB interface
Position machine, host computer analysis module carry out the processing and analysis to video information, draw position, the relative displacement Δ of human body central point
S, time period of motion t and body trunk angle of inclination Δ θ；
Upper computer control module, video information is drawn according to host computer analysis module, by machine learning, establishes acceleration
Position, relative displacement Δ S, time period of motion t and body trunk inclination angle in time period of motion t with human body central point
Degree Δ θ relational model calculates acceleration, and sends control command to motor drive module according to gained acceleration；
Motor drive module, it receives the control command of upper computer control module transmission, the velocity of rotation of controlled motor, entered
And realize the speed of dynamic regulation running belt of running machine.
The video camera of described collection runner's video is arranged on the place that can photograph the whole body of runner, Ke Yiyi
Position is adjusted according to indexs such as the height of runner, body weight.
Speed is calculated in described relational modelIts acceleration a=V 'pt+kp(2 Δ S),
V′pIt is the speed before current runner does not accelerate, Δ S is the difference of the displacement of central point in image, i.e. relative displacement, t is fortune
Dynamic cycle time, kpFor correction factor, between scope is 0~1.
Speed V is calculated in the relational model by body trunk angle of inclination Δ θc(t)=Vt(t)+kpΔ θ, its
Acceleration a=kpΔθt+Vt(t) t, wherein kpFor correction factor, between scope is 0~1, Δ θ is the trunk of two continuous frames picture
The difference at inclination angle.
The present invention has advantageous effect in that compared with prior art：
(1) speed adaptive treadmill is the important need run in current people room so that runner can run
Speed agility run is realized on machine, but this function can not be all realized on currently a popular treadmill and traditional treadmill,
All it is treadmill is slowed down or is accelerated by button or remote control equipment, this causes runner takes exercise not reach expected effect.
Treadmill adaptive speed regulation system in the present invention so that runner practises speed agility run and is possibly realized on a treadmill.No matter run
Step person is acceleration or deceleration, gathers the video image of runner in real time by video camera, and host computer analyzes the number of video image
According to, position, relative displacement Δ S, time period of motion t and body trunk angle of inclination Δ θ informations parameter such as human body central point,
Can dynamic regulation running belt of running machine in real time speed to adapt to the speed of runner.
(2) gather the information of video in real time by video camera, plantar pressure is gathered compared to flexible array pressure sensor
Characteristic signal, the present invention need not install substantial amounts of pressure sensor on a treadmill, reduce cost, reduce treadmill itself
Volume and weight, camera acquisition video information is simple, and by pattern-recognition and image processing method, analyzes and run in video
The posture of step person's motion, and extracts motion feature, establish acceleration with time period of motion t and human body center position, phase
To displacement S and body trunk angle of inclination Δ θ relational model, the acceleration of motion of runner is calculated in real time and passes through motor
Drive module adjusts the speed of running belt of running machine, realizes that treadmill speed adaptive controls.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the theory diagram of the present invention；
Fig. 3 is the workflow diagram of the present invention.
Embodiment
As shown in figure 1, the video camera 1 of collection video, which is fixed on, can photograph the whole body in the treadbelt 4 of treadmill 6 of runner 5
Place, can be adjusted according to indexs such as the height of runner, body weight.
As shown in Fig. 2 have in PC 2 in master system control module, real-time reception by camera acquisition to regard
Frequency information, including the position of human body central point, relative displacement Δ S, time period of motion t and body trunk angle of inclination Δ θ.
Described machine learning is that runner runs in 3 velocity amplitudes (3km/h, 6km/h, 10km/h) set respectively
Walk 3 minutes, the position of the human body central point under simultaneous camera collection friction speed, relative displacement Δ S, the time period of motion
The parameter such as t and body trunk angle of inclination Δ θ, is analyzed by host computer, according to the position of human body central point, relative displacement Δ S,
Time period of motion t, according to formula a=V'Pt+kp(2 Δ S) calculates suitable runner's acceleration a and correction factor kp, run
Step person obtains suitable correction factor after training；During actually running, according to the position for measuring human body central point
Put, relative displacement Δ S, time period of motion t, acceleration is calculated, and sent out to motor drive module 3 according to gained acceleration
Control command is sent, adjusts the velocity of rotation of motor.
As shown in figure 3, the workflow of the present invention is：Host computer 2 obtains the video sequence of camera acquisition by USB modes
Row 1, by the analysis to image procossing and moving image feature, draw position, the relative displacement of runner's human body central point
Δ S, time period of motion t and body trunk angle of inclination Δ θ parameter information, the size of acceleration is calculated, so it is adaptive
The speed of treadmill should be controlled.If acceleration is less than 0, the value according to present speed and acceleration sends a command to controller,
Notify decelerating through motor to the speed adapted to；If acceleration is 0, keep present speed constant；If acceleration is more than 0, according to
Controller is sent a command to according to the value of present speed and acceleration, notice motor accelerates to corresponding speed.
Above-mentioned relation model is acceleration a=V'Pt+kp(2 Δ S), wherein V 'pFor the current speed of runner, t is motion
Cycle time, Δ S be human body central point relative displacement, kpFor correction factor, between span is 0~1.Pass through engineering
Practise, calculate the correction factor for being adapted to individual, so as to realize that runner calculates accurate acceleration magnitude when changing speed, hair
Motor drive module 3 is delivered to, the speed for changing motor deacclimatizes the speed of runner.Motor drive module 3, it receives host computer
2 control commands sent, the velocity of rotation of controlled motor, and then realize the speed of dynamic regulation running belt of running machine.
The present invention includes camera acquisition module 1, host computer analysis and control module 2, motor drive module 3 etc..Foundation
Runner 5 during running camera acquisition to video sequence and obtain adaptive tune of the information realization to treadmill speed
Section.By machine learning, the feature that individual is run is captured, obtains correction factor, establishes the acceleration relational model for being adapted to individual.
Non-elaborated part of the present invention belongs to techniques well known.
The present invention, but it will be understood by those skilled in the art that this hair are described in detail above by specific embodiment
It is bright to be not limited to embodiment described above, within the spirit and principles of the invention, any field done, equivalent substitution
Deng should be included in the scope of the protection.
Claims (4)
- A kind of 1. treadmill adaptive speed regulation system based on video, it is characterised in that including：Camera video acquisition module, on Position machine analysis and control module, motor drive module and treadbelt, wherein：Camera video acquisition module, the information of video image of the runner during running, the video figure are obtained in real time The information of picture includes position, relative displacement △ S, time period of motion t and the body trunk angle of inclination △ θ of human body central point；Host computer is analyzed and control module, and analysis collects the information in video image, the runner's obtained according to video camera Position, relative displacement △ S, time period of motion t and the body trunk angle of inclination △ θ of human body central point；By machine learning, Establish position of the acceleration with human body central point in time period of motion t, relative displacement △ S, body trunk angle of inclination △ θ Relational model calculate acceleration, and control command is sent to motor drive module according to gained acceleration；Motor drive module, receive host computer analysis and control module send control command, the velocity of rotation of controlled motor, from And realize the speed of dynamic regulation running belt of running machine.
- 2. the treadmill adaptive speed regulation system according to claim 1 based on video, it is characterised in that：The collection is run The video camera of step person's video is arranged on the place that can photograph the whole body of runner, height, body weight that can be according to runner Index is adjusted position.
- 3. the treadmill adaptive speed regulation system according to claim 1 based on video, it is characterised in that：Described relation Speed is calculated in modelIts acceleration a=V 'pt+kp(2 △ S), wherein V 'pIt is current runner Speed before not accelerating, △ S are the difference of the displacement of image center, i.e. relative displacement, t is the time period of motion, kpTo repair Positive coefficient, between scope is 0~1.
- 4. the treadmill adaptive speed regulation system according to claim 1 based on video, it is characterised in that：The body body Dry angle of inclination △ θ relational model calculates acceleration a=kp△θt+Vt(t) t, wherein Vc(t)=Vt(t)+kp△ θ, kpFor Correction factor, scope are that 0~1, t is the run duration cycle, and △ θ are the difference at the trunk inclination angle of two continuous frames picture, Vt(t) It is the speed of current treadmill.
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| CN201610229061.4A CN105879305B (en) | 2016-04-12 | 2016-04-12 | A kind of treadmill adaptive speed regulation system based on video |
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| CN201610229061.4A CN105879305B (en) | 2016-04-12 | 2016-04-12 | A kind of treadmill adaptive speed regulation system based on video |
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| CN105879305B true CN105879305B (en) | 2018-02-02 |
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| US10722775B2 (en) * | 2016-09-27 | 2020-07-28 | Adidas Ag | Robotic training systems and methods |
| CN108256433B (en) * | 2017-12-22 | 2020-12-25 | 银河水滴科技（北京）有限公司 | Motion attitude assessment method and system |
| CN108187300A (en) * | 2017-12-25 | 2018-06-22 | 北京海杭通讯科技有限公司 | Intelligent running machine based on Gait Recognition and high in the clouds data analysis |
| KR102001966B1 (en) * | 2018-02-27 | 2019-10-01 | 인하대학교 산학협력단 | A treadmill controlled by sound and image and control method of the treadmill |
| CN108853898B (en) * | 2018-06-26 | 2020-05-26 | 王桂兰 | Hemiplegia rehabilitation training device for neurology department |
| CN109091805A (en) * | 2018-09-07 | 2018-12-28 | 刘志鹏 | A kind of treadmill |
| CN109621301B (en) * | 2018-12-28 | 2020-11-03 | 田任弘 | Multi-functional sports trainer |
| CN111437575B (en) * | 2019-01-16 | 2021-08-31 | 北京邦天信息技术有限公司 | Control method and device of intelligent treadmill |
| CN110124276A (en) * | 2019-05-29 | 2019-08-16 | 北京七鑫易维信息技术有限公司 | A kind of omnidirectional's treadmill based on video monitoring |
| CN111265817A (en) * | 2020-03-19 | 2020-06-12 | 广东省智能制造研究所 | Intelligent treadmill system |
| JP7322831B2 (en) * | 2020-07-28 | 2023-08-08 | トヨタ自動車株式会社 | TRAINING SYSTEM, TRAINING PLAN GENERATION METHOD AND PROGRAM |
| JP2024511755A (en) | 2021-03-19 | 2024-03-15 | インフィニセット，インコーポレイテッド | Electric rotary treadmill and system for creating the illusion of movement |
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| CN102319503A (en) * | 2011-10-18 | 2012-01-18 | 中国科学院合肥物质科学研究院 | Self-adaptive speed regulation system of running device based on flexible array pressure transducer |
| CN102961847A (en) * | 2012-11-27 | 2013-03-13 | 上海大学 | Speed following self-adaptive control method and device for treadmill |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2015108701A1 (en) * | 2014-01-14 | 2015-07-23 | Zsolutionz, LLC | Fuzzy logic-based evaluation and feedback of exercise performance |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102319503A (en) * | 2011-10-18 | 2012-01-18 | 中国科学院合肥物质科学研究院 | Self-adaptive speed regulation system of running device based on flexible array pressure transducer |
| CN102961847A (en) * | 2012-11-27 | 2013-03-13 | 上海大学 | Speed following self-adaptive control method and device for treadmill |
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