CN106650591A - Work-break exercise scoring system - Google Patents

Abstract

The invention discloses a work-break exercise scoring system, and relates to the field of sports fitness. The work-break exercise scoring system comprises a target creating module, an acquisition module, a track calculation module and a scoring module, and is characterized in that the target creating module is used for creating a plurality of key frames, each key frame comprises coordinates of a target position of the human hand in a work-break exercise, and a target movement track of the hand is built based on the coordinates of the target position; the acquisition module is used for acquiring three-dimensional acceleration, which is detected by acceleration sensors, of the user hand when moving according to the target movement track; the track calculation module is used for calculating coordinates of an actual position of the user hand according to the three-dimensional acceleration detected by the acceleration sensors; and the scoring module is used for calculating a matching error between the coordinates of the actual position and the target movement track and a perfect degree score of the user hand movement, and scoring the user according to the perfect degree score of the user hand movement. The work-break exercise scoring system can enable the user to know whether a posture of the work-break exercise is standard or not, and has the characteristics of abilities of being intelligent, visual, convenient in use and wide in application range.

Description

A kind of work-break exercises points-scoring system

Technical field

The present invention relates to physical fitness field, and in particular to a kind of work-break exercises points-scoring system.

Background technology

The time that clerk is averagely seated daily is up to 9.3 hours, and the time than sleeping is also long, and sitting can cause Asia Healthy symptom, for example, the present situation such as backache, neck pain, protrusion of lumber intervertebral disc, fatiguability, chronic disease and physical efficiency deficiency.Office Personnel can do work-break exercises to be adjusted in the time of having a rest, and work-break exercises is micromotion, and not limited by place, slow due to it Solution fatigue, the attention for adjusting mood and the advantage taken exercises and being increasingly subject to people, work-break exercises both when unload the load of body, The physique kept fit, efficient work.Traditional way is that clerk imitates picture or the work-break exercises in video is lived It is dynamic, but posture whether standard cannot be known, if posture is nonstandard, do not reach good movement effects.

The content of the invention

For defect present in prior art, it is an object of the invention to provide a kind of work-break exercises points-scoring system, can User is scored according to the matching error between the actual motion track of user's hand and target trajectory, makes user The posture of solution work-break exercises whether standard.

To reach object above, the present invention is adopted the technical scheme that：

A kind of work-break exercises points-scoring system, based on the smart machine for being worn on hand, the smart machine is provided with multiple acceleration Degree sensor, the system includes：

Target creation module, for creating multiple key frames, each described key frame includes human hands in work-break exercises A target location coordinate, based on the target location coordinate build hand target trajectory；

Acquisition module, moves for gathering user's hand that acceleration transducer is detected according to the target trajectory When three-dimensional acceleration；

Trajectory computation module, the three-dimensional acceleration for being detected according to acceleration transducer calculates the reality of user's hand Position coordinates；

Grading module, for calculate the matching error between the actual position coordinate and the target trajectory and The degree of perfection score of user's hand exercise, and user is scored according to the degree of perfection score of user's hand exercise.

On the basis of above-mentioned technical proposal, the sum of the key frame is storing name successively in 4,4 key frames Between grasp in human hands position coordinates d₁,d₂,d₃And d₄。

On the basis of above-mentioned technical proposal, the target creation module is based on the target location coordinate, by shellfish plug Your curve method builds the target trajectory of hand.

On the basis of above-mentioned technical proposal, the target creation module is based on the target location coordinate, by shellfish plug Your curve method builds the target trajectory of hand to be included：

For the position coordinates d of human hands in 4 key frames₁,d₂,d₃,d₄, Bezier is defined according to Bezier Trigonometric polynomial curve section is used as the target trajectory:

Wherein, p (t) be the target trajectory, n=1,2,3,4, t is angle,

From above formula, 0≤x_n(t)≤1, and trigonometric polynomial curve section has geometric invariance, i.e., in translation and rotation It is indeformable under turning, then

On the basis of above-mentioned technical proposal, the trajectory computation module according to the three-dimensional acceleration for detecting, by card Kalman Filtering method calculates the actual position coordinate of user's hand.

On the basis of above-mentioned technical proposal, the three-dimensional of user's hand exercise at the acceleration transducer detection s moment Acceleration is a of inertial coordinate X, Y and Z axis_sx、a_syAnd a_sz, s=1,2 ..., m, m are positive integer；

The trajectory computation module calculates user's hand according to the three-dimensional acceleration for detecting by kalman filter method Actual position coordinate include：

Non-linear process and measurement equation of user's hand at the s moment is respectively：

X_s=f (X_s-1,U_s-1)+μ_s-1,

Z_s=h (X_s)+ν_s,

Wherein, X_s=[Q_sx Q_sy Q_sz V_sx V_sy V_sz]^TBe under inertial coodinate system user's hand the s moment state to Amount, [Q_sx Q_sy Q_sz]^TFor the three-dimensional position vector of user's hand, [V_sx V_sy V_sz]^TFor the three-dimensional velocity vector of user's hand, X_s-1Be under inertial coodinate system user's hand the s-1 moment state vector, U_s-1=[a_(s-1)x a_(s-1)y a_(s-1)z]^TIt is user The three-dimensional acceleration vector at hand s-1 moment, f (X_s-1,U_s-1) it is X_s-1And U_s-1Function, Z_sIt is user's hand at the s moment The observation vector of position, h (X_s) it is X_sFunction, μ_s-1And ν_sRespectively s-1 etching process excitation noise and the s moment is observed and making an uproar Sound, it is assumed that procedure activation noise and observation noise are separate, and it is zero-mean white noise vector.

On the basis of above-mentioned technical proposal, institute's scoring module is used to calculate the actual position coordinate respectively in X, Y And on Z axis with the matching error between the target trajectory, by the calculated target trajectory with described Used as X, Y and Z axis degree of perfection score of user's hand, the average of X, Y and Z axis degree of perfection score is user to difference with error Degree of perfection score P of hand exercise_w, and user is scored according to the degree of perfection score of user's hand exercise.

On the basis of above-mentioned technical proposal, between the actual position coordinate and the target trajectory mistake is matched Difference ε_rBasis formula：

Wherein, Q (s) represents the three-dimensional position vector of user's hand, Q (s)=[Q_sx Q_sy Q_sz]^T, s=1,2 ..., m, m For positive integer, Q_sx, Q_syAnd Q_szRespectively s moment user hands are moved in X, Y and the actual position coordinate of Z axis from the target M point is chosen in track, P (s) represents s-th point of three-dimensional position vector, P (s)=[P_sx P_sy P_sz]^T, P_sx, P_syAnd P_szPoint Not Wei on the target trajectory s-th point in X, Y and the coordinate of Z axis.

On the basis of above-mentioned technical proposal, degree of perfection score P_wComputing formula is：

Wherein, ε_rx, ε_ryAnd ε_rzIn X, Y and Z axis between respectively described actual position coordinate and the target trajectory Matching error.

On the basis of above-mentioned technical proposal, the smart machine is Intelligent bracelet or smart mobile phone.

The beneficial effects of the present invention is：

1st, the present invention according to the matching error between the actual position coordinate and target trajectory of user's hand to user Scored, make user understand the posture of work-break exercises whether standard.

2nd, it is of the invention to realize in Intelligent bracelet or cell-phone customer terminal, with intelligent, directly perceived, the easy to use and scope of application Wide the characteristics of.

3rd, the present invention according to the matching error between the actual position coordinate and target trajectory of user's hand to user Scored, increased the interest of work-break exercises and recreational.

Description of the drawings

Fig. 1 is embodiment of the present invention work-break exercises points-scoring system schematic diagram.

In figure：1- target creation modules, 2- acquisition modules, 3- trajectory computation modules, 4- grading modules.

Specific embodiment

The present invention is described in further detail below in conjunction with drawings and Examples.

As shown in figure 1, the present invention provides a kind of work-break exercises points-scoring system, based on the smart machine for being worn on hand, intelligence Equipment is provided with multiple acceleration transducers, including target creation module 1, acquisition module 2, trajectory computation module 3 and grading module 4。

Wherein, target creation module 1, acquisition module 2, trajectory computation module 3 and grading module 4 connect two-by-two, are located at In application in smart machine.

Smart machine is Intelligent bracelet or smart mobile phone, is accelerated by three axles in Intelligent bracelet or smart mobile phone Degree sensor catches human hands acceleration of motion.Smart machine can be based on Android or ios, therefore, the present invention's is suitable for It is in extensive range.

Target creation module 1, for creating multiple key frames, each key frame includes of human hands in work-break exercises Individual target location coordinate, based on target location coordinate the target trajectory of hand is built.

The sum of key frame is the position coordinates d for depositing human hands in work-break exercises in 4,4 key frames successively₁,d₂,d₃ And d₄。

Target creation module 1 is based on target location coordinate, and by Bezier method the target motion rail of hand is built Mark.

Target creation module 1 is based on target location coordinate, and by Bezier method the target motion rail of hand is built Mark includes：

For the position coordinates d of human hands in 4 key frames₁,d₂,d₃,d₄, Bezier is defined according to Bezier Trigonometric polynomial curve section is used as target trajectory:

Wherein, p (t) be target trajectory, n=1,2,3,4, t is angle,

From above formula, 0≤x_n(t)≤1, and trigonometric polynomial curve section has geometric invariance, i.e., in translation and rotation It is indeformable under turning, then

Acquisition module 2, when moving according to target trajectory for gathering user's hand that acceleration transducer is detected Three-dimensional acceleration.

Because the hardware of different intelligent equipment is different, the present invention is passed for different types of acceleration in different intelligent equipment Sensor, can be micro-adjusted, for example, the time in counting interval, it is ensured that the accuracy of acceleration transducer measurement, so that this It is bright suitable for different smart machines.

Trajectory computation module 3, the three-dimensional acceleration for being detected according to acceleration transducer calculates the reality of user's hand Border position coordinates.

Trajectory computation module 3 calculates user's hand according to the three-dimensional acceleration for detecting by kalman filter method Actual position coordinate.

The three-dimensional acceleration of user's hand exercise at acceleration transducer detection s moment is inertial coordinate X, Y and Z axis a_sx、a_syAnd a_sz, s=1,2 ..., m, m are positive integer；

Trajectory computation module 3 calculates user's hand according to the three-dimensional acceleration for detecting by kalman filter method Actual position coordinate includes：

Non-linear process and measurement equation of user's hand at the s moment is respectively：

X_s=f (X_s-1,U_s-1)+μ_s-1,

Z_s=h (X_s)+ν_s,

Wherein, X_s=[Q_sx Q_sy Q_sz V_sx V_sy V_sz]^TBe under inertial coodinate system user's hand the s moment state to Amount, [Q_sx Q_sy Q_sz]^TFor the three-dimensional position vector of user's hand, [V_sx V_sy V_sz]^TFor the three-dimensional velocity vector of user's hand, X_s-1Be under inertial coodinate system user's hand the s-1 moment state vector, U_s-1=[a_(s-1)x a_(s-1)y a_(s-1)z]^TIt is user The three-dimensional acceleration vector at hand s-1 moment, f (X_s-1,U_s-1) it is X_s-1And U_s-1Function, Z_sIt is user's hand at the s moment The observation vector of position, h (X_s) it is X_sFunction, μ_s-1And ν_sRespectively s-1 etching process excitation noise and the s moment is observed and making an uproar Sound, it is assumed that procedure activation noise and observation noise are separate, and it is zero-mean white noise vector.

Grading module 4, for calculating the matching error between actual position coordinate and target trajectory and user's hand The degree of perfection score of portion's motion, and user is scored according to the degree of perfection score of user's hand exercise.

Grading module 4 is used to calculate actual position coordinate matching between target trajectory on X, Y and Z axis respectively Error, calculated target trajectory is obtained with the difference of matching error as X, Y and Z axis degree of perfection of user's hand Point, the average of X, Y and Z axis degree of perfection score is degree of perfection score P of user's hand exercise_w, and according to user's hand exercise Degree of perfection score user is scored.

Matching error ε between actual position coordinate and target trajectory_rBasis formula：

Wherein, Q (s) represents the three-dimensional position vector of user's hand, Q (s)=[Q_sx Q_sy Q_sz]^T, s=1,2 ..., m, m For positive integer, Q_sx, Q_syAnd Q_szRespectively s moment user hands in X, Y and the actual position coordinate of Z axis, from target trajectory M point of middle selection, P (s) represents s-th point of three-dimensional position vector, P (s)=[P_sx P_sy P_sz]^T, P_sx, P_syAnd P_szRespectively On target trajectory s-th point in X, Y and the coordinate of Z axis.

Degree of perfection score P_wComputing formula is：

Wherein, ε_rx, ε_ryAnd ε_rzMistake is matched respectively between actual position coordinate and target trajectory in X, Y and Z axis Difference.

Smart machine is Intelligent bracelet or smart mobile phone.

After being scored, the scoring that smart mobile phone or bracelet can be with voice broadcasts to user.

The present invention enters according to the matching error between the actual position coordinate and target trajectory of user's hand to user Row scoring, makes user understand the posture of work-break exercises whether standard.

The present invention realizes in Intelligent bracelet or cell-phone customer terminal, with it is intelligent, directly perceived and easy to use the characteristics of.

The present invention enters according to the matching error between the actual position coordinate and target trajectory of user's hand to user Row scoring, increased the interest of work-break exercises and recreational.

The present invention is not limited to above-mentioned embodiment, for those skilled in the art, without departing from On the premise of the principle of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention Within the scope of.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.

Claims (10)

1. a kind of work-break exercises points-scoring system, based on the smart machine for being worn on hand, the smart machine is provided with multiple acceleration Sensor, it is characterised in that the system includes：

Target creation module, for creating multiple key frames, each described key frame includes of human hands in work-break exercises Individual target location coordinate, based on the target location coordinate target trajectory of hand is built；

Acquisition module, for gathering when user's hand that acceleration transducer is detected is moved according to the target trajectory Three-dimensional acceleration；

Trajectory computation module, the three-dimensional acceleration for being detected according to acceleration transducer calculates the physical location of user's hand Coordinate；

Grading module, for calculating matching error and user between the actual position coordinate and the target trajectory The degree of perfection score of hand exercise, and user is scored according to the degree of perfection score of user's hand exercise.

2. work-break exercises points-scoring system as claimed in claim 1, it is characterised in that：The sum of the key frame is described in 4,4 Deposit the position coordinates d of human hands in work-break exercises in key frame successively₁,d₂,d₃And d₄。

3. work-break exercises points-scoring system as claimed in claim 2, it is characterised in that：The target creation module is based on the target Position coordinates, by Bezier method the target trajectory of hand is built.

4. work-break exercises points-scoring system as claimed in claim 3, it is characterised in that：The target creation module is based on the target Position coordinates, the target trajectory for building hand by Bezier method includes：

For the position coordinates d of human hands in 4 key frames₁,d₂,d₃,d₄, Bezier triangle is defined according to Bezier many Item formula curved section is used as the target trajectory:

$p\left(t\right)=\underset{n=1}{\overset{4}{\Σ}}{x}_n\left(t\right)d_n,$

Wherein, p (t) be the target trajectory, n=1,2,3,4, t is angle,

$\left\{\begin{array}{c}{x}_1\left(t\right)=\frac{1}{2^n+2}{(1-\sin t)}^n\\ x_2\left(t\right)=\frac{1}{2^n+2}{(1-\cos t)}^n\\ x_3\left(t\right)=\frac{1}{2^n+2}{(1+\sin t)}^n\\ x_4\left(t\right)=\frac{1}{2^n+2}{(1-\cos t)}^n\end{array}\right.,$

From above formula, 0≤x_n(t)≤1, and trigonometric polynomial curve section has geometric invariance, i.e., under translation and rotation not Deformation, then

$\left\{\begin{array}{c}p\left(0\right)=d_1\\ p\left(\frac{\mathrm{\π}}{2}\right)=d_4\\ p^{,}\left(0\right)=d_1^{,}\\ p^{,}\left(\frac{\mathrm{\π}}{2}\right)=d_4^{,}\end{array}\right..$

5. work-break exercises points-scoring system as claimed in claim 1, it is characterised in that：The trajectory computation module is according to detecting Three-dimensional acceleration, by kalman filter method the actual position coordinate of user's hand is calculated.

6. work-break exercises points-scoring system as claimed in claim 5, it is characterised in that：The acceleration transducer detection s moment The three-dimensional acceleration of user's hand exercise is a of inertial coordinate X, Y and Z axis_sx、a_syAnd a_sz, s=1,2 ..., m, m are positive integer；

The trajectory computation module calculates the reality of user's hand according to the three-dimensional acceleration for detecting by kalman filter method Border position coordinates includes：

Non-linear process and measurement equation of user's hand at the s moment is respectively：

X_s=f (X_s-1,U_s-1)+μ_s-1,

Z_s=h (X_s)+ν_s,

Wherein, X_s=[Q_sx Q_sy Q_sz V_sx V_sy V_sz]^TBe under inertial coodinate system user's hand the s moment state vector, [Q_sx Q_sy Q_sz]^TFor the three-dimensional position vector of user's hand, [V_sx V_sy V_sz]^TFor the three-dimensional velocity vector of user's hand, X_s-1It is used Under property coordinate system user's hand the s-1 moment state vector, U_s-1=[a_(s-1)x a_(s-1)y a_(s-1)z]^TIt is user hand s-1 The three-dimensional acceleration vector at moment, f (X_s-1,U_s-1) it is X_s-1And U_s-1Function, Z_sIt is sight of user's hand in the position at s moment Direction finding amount, h (X_s) it is X_sFunction, μ_s-1And ν_sRespectively s-1 etching process excitation noise and s moment observation noises, it is assumed that mistake Journey excitation noise and observation noise are separate, and are zero-mean white noise vector.

7. work-break exercises points-scoring system as claimed in claim 1, it is characterised in that：Institute's scoring module is used to calculate described respectively Actual position coordinate on X, Y and Z axis with the matching error between the target trajectory, by the calculated target Used as X, Y and Z axis degree of perfection score of user's hand, X, Y and Z axis degree of perfection are obtained the difference of movement locus and the matching error The average divided is degree of perfection score P of user's hand exercise_w, and according to the degree of perfection score of user's hand exercise to Scored at family.

8. work-break exercises points-scoring system as claimed in claim 1, it is characterised in that：The actual position coordinate is transported with the target Matching error ε between dynamic rail mark_rBasis formula：

${\mathrm{\ϵ}}_r=\sqrt{\underset{s=1}{\overset{m}{\Σ}}\left(P\right(s)-Q(s\left)\right)/m},$

Wherein, Q (s) represents the three-dimensional position vector of user's hand, Q (s)=[Q_sx Q_sy Q_sz]^T, s=1,2 ..., m, m are just whole Number, Q_sx, Q_syAnd Q_szRespectively s moment user hands in X, Y and the actual position coordinate of Z axis, from the target trajectory M point is chosen, P (s) represents s-th point of three-dimensional position vector, P (s)=[P_sx P_sy P_sz]^T, P_sx, P_syAnd P_szRespectively institute State on target trajectory at s-th point in X, Y and the coordinate of Z axis.

9. work-break exercises points-scoring system as claimed in claim 8, it is characterised in that：Degree of perfection score P_wComputing formula is：

$P_w=\frac{\underset{s=1}{\overset{m}{\Σ}}\left|P_{sx}-{\mathrm{\ϵ}}_{rx}\right|+\underset{s=1}{\overset{m}{\Σ}}\left|P_{sy}-{\mathrm{\ϵ}}_{ry}\right|+\underset{s=1}{\overset{m}{\Σ}}\left|P_{sz}-{\mathrm{\ϵ}}_{rz}\right|}{3},$

Wherein, ε_rx, ε_ryAnd ε_rzIn X, Y and Z axis between respectively described actual position coordinate and the target trajectory Matching error.

10. work-break exercises points-scoring system as claimed in claim 1, it is characterised in that：The smart machine be Intelligent bracelet or Smart mobile phone.