CN108114405A - Treadmill Adaptable System based on 3D depth cameras and flexible force sensitive sensor - Google Patents
Treadmill Adaptable System based on 3D depth cameras and flexible force sensitive sensor Download PDFInfo
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- CN108114405A CN108114405A CN201711384448.8A CN201711384448A CN108114405A CN 108114405 A CN108114405 A CN 108114405A CN 201711384448 A CN201711384448 A CN 201711384448A CN 108114405 A CN108114405 A CN 108114405A
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- 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
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or 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
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/803—Motion sensors
-
- 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
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
-
- 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
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a kind of treadmill Adaptable Systems based on 3D depth cameras and flexible force sensitive sensor, including treadmill body, treadmill body is included by a motor-driven treadbelt, and treadbelt lower section is equipped with flexible force sensitive sensor, and a 3D depth cameras are equipped at treadmill body；Flexible force sensitive sensor is used to gather the plantar nervous arch information of user and be uploaded at a host computer, and 3D depth cameras are used to gather the running attitude information of user and be uploaded at host computer；Host computer can according to current subjective acceleration and deceleration intention with present speed and acceleration information to the rotating speed of motor is adjusted by a motor drive module.The present invention preferably can carry out automatic adjusument to the speed of treadbelt.
Description
Technical field
The present invention relates to treadmill technical fields, and in particular to one kind is based on 3D depth cameras and flexible force sensitive sensor
Treadmill Adaptable System.
Background technology
Treadmill is the equipment of gymnasium and family's higher gears, it can drive treadbelt to make one with difference by motor
Speed passively run or walk about.Run and walk due to passively being formed, from action shape, almost with commonly on the ground
It runs or walks the same, but from exerting oneself from human body, run on treadmill, walk and eliminate a leg extension than commonly running, walking.
Exactly this point makes each people for walking race on treadmill feel very free and relaxed, can make one than more races of commonly running
1/3 or so distance, energy expenditure are also more than commonly walking, running.Further, since the electron assistant equipment work(on treadmill
Can be very more, different running environment can be experienced, such as level land is run, upward slope is run, hills is run, speed agility run, and then can be according to exercise
Purpose is independently selected.
Although treadmill has the advantages that above-mentioned, carried out due to the use of person on treadmill with race,
That is, user needs to be run according to the speed or acceleration of treadmill, and the speed of existing treadmill
Degree or acceleration are all artificially set, will stable operation once setting.This is allowed for, and user is in running process
In can not independently carry out acceleration or deceleration, otherwise easily fall down.
The content of the invention
It is adaptive that present disclosure is to provide a kind of treadmill based on 3D depth cameras and flexible force sensitive sensor
System can overcome certain or some defects of the prior art, can be according to real-time deep of the runner during running
Image information realizes the automatic adjusument to treadmill speed.
Treadmill Adaptable System according to the present invention based on 3D depth cameras and flexible force sensitive sensor, including
Treadmill body, treadmill body are included by a motor-driven treadbelt；Flexible force sensitive sensor is equipped with below treadbelt, is run
A 3D depth cameras are equipped at machine body；Flexible force sensitive sensor is used to gather the plantar nervous arch information of user and lead to
It crosses communication interface the information collected is uploaded at a host computer, 3D depth cameras are used to gather the running posture of user
Information is simultaneously uploaded at host computer；When the cadence of runner that host computer is obtained according to flexible force sensitive sensor, step-length, support,
When soaring, rear riding force；By machine learning, plantar nervous arch information and the speed and acceleration information of user can be established
Model, and then according at flexible force sensitive sensor gather the current plantar nervous arch acquisition of information user of user work as
Preceding speed and acceleration information；The depth image that host computer can also be gathered according to 3D depth cameras identifies the pass of runner
The mould between the subjective acceleration and deceleration intention of running attitude information and user by machine learning, is established in section classification and human body center
Type, so according at 3D depth cameras gather user currently running attitude information and at prediction user current subjectivity
Acceleration and deceleration are intended to；Host computer can also be electric to passing through one with present speed and acceleration information according to current subjective acceleration and deceleration intention
The rotating speed of motor is adjusted in machine drive module.
Preferably, plantar nervous arch information includes cadence, step-length, supporting time, duration of passage and rear riding force.
Preferably, 3D depth cameras can shoot the whole body of user, by emitting laser speckle, gather
The structure light of the deformation returned, calculating has three dimensions depth information, generates the depth image of object.
Preferably, the depth image that host computer is collected according to 3D depth cameras, race is isolated using Threshold segmentation
Step person's image and background image, and human body central point is calculated, body, arm are carried out using random forest classification to runner's image
With the joint orientation of lower limb, by machine learning, runner's human body central point, body, arm and joint of lower extremity position letter are established
Model between breath and user's acceleration and deceleration action, and gained acceleration and deceleration are intended to send order to motor drive module.
The present invention compared with prior art the advantages of be：
(1) adaptive treadmill is the primary selection of current indoor road-work, and runner can be made real on a treadmill
Existing speed agility run, but this function is all can not achieve on currently a popular treadmill and traditional treadmill, all it is logical
Crossing button or remote control equipment makes treadmill slow down or accelerate, this causes runner takes exercise expected effect is not achieved.This
Treadmill adaptive speed regulation system in invention no matter runner is acceleration or deceleration, is adopted in real time by 3D depth cameras
Collect the deep image information of runner, the data of depth reason image at host computer analysis, as the position of human body central point, body,
Model between arm and joint of lower extremity location information and user's acceleration and deceleration action, can dynamic regulation running belt of running machine in real time
Speed to adapt to the speed of runner.
(2) information of the invention by 3D depth camera real-time image acquisitions, camera acquisition video information is simple, and
Analyze the posture that runner moves in video, extract motion feature, establish acceleration and human body central point, body, arm and under
The relational model of limb joint position information calculates the acceleration of motion of runner and is run by motor drive module to adjust in real time
The speed of step machine treadbelt realizes the control of treadmill speed adaptive.
(3) flexible array pressure sensor installed on the treadmill in the present invention, can gather sportsman in speed agility run
During comprehensive data, such as cadence, step-length, rear riding force, distance, when supporting, the when of soaring plantar nervous arch information ginseng
Number can be good at analyzing the level of runner, be conducive to improve the training effect of runner.
Description of the drawings
Fig. 1 is that a kind of treadmill based on 3D depth cameras and flexible force sensitive sensor in embodiment 1 is adaptively
The schematic diagram of system；In figure, 110 be treadmill body, and 111 be treadbelt, and 112 be motor, and 120 be 3D depth cameras, and 130 be upper
Position machine；
Fig. 2 is that a kind of treadmill based on 3D depth cameras and flexible force sensitive sensor in embodiment 1 is adaptively
The system block diagram of system.
Specific embodiment
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.It should be understood that
, embodiment be only the present invention is explained and and it is non-limiting.
Embodiment 1
With reference to shown in Fig. 1 and 2, a kind of race based on 3D depth cameras and flexible force sensitive sensor is present embodiments provided
Step machine Adaptable System, including treadmill body 110, treadmill body 110 includes the treadbelt driven by a motor 112
111；112 lower section of treadbelt is equipped with flexible force sensitive sensor, and a 3D depth cameras 120 are equipped at treadmill body 110；Flexible force
Dependent sensor is used to gather the plantar nervous arch information of user and be uploaded at a host computer 130,3D depth cameras 120
For gathering the running attitude information of user and being uploaded at host computer 130；Host computer 130 can establish plantar nervous arch
The model of the speed and acceleration information of information and user, so it is current according to the user gathered at flexible force sensitive sensor
The present speed and acceleration information of plantar nervous arch acquisition of information user；Host computer 130 can also establish running posture
Model between the subjective acceleration and deceleration intention of information and user, and then worked as according to the user gathered at 3D depth cameras 120
Preceding running attitude information and at prediction the current subjective acceleration and deceleration of user be intended to；Host computer 130 can also be according to current subjectivity
Acceleration and deceleration intention is with present speed and acceleration information to the rotating speed of motor 112 is adjusted by a motor drive module.
In the present embodiment, plantar nervous arch information includes cadence, step-length, supporting time, duration of passage and rear riding force.3D
Depth camera 120 can shoot the whole body of user.The race that host computer 130 is gathered according to 3D depth cameras 120
It walks attitude information and joint orientation is carried out to user, and then establish the mould between user joint posture and user's acceleration and deceleration action
Type.
The video camera of acquisition runner's video is mounted on the place that can take the whole body of runner, can foundation
The height of runner, Body Mass Index are adjusted position.
The present embodiment is related to a kind of treadmill Adaptable System based on 3D depth cameras and flexible force sensitive sensor, bag
3D depth cameras acquisition module, flexible force sensitive sensor are included, host computer analysis and control, motor drive module etc., motor drives
Dynamic model block connects motor, and driving motor rotates, and motor drives running belt of running machine to rotate.In the present invention, pass through 3D depth cameras
Acquisition module is obtained runner's data such as depth image of running posture during running, and is built using machine learning in real time
Model between standing position state and runner's subjectivity acceleration and deceleration is predicted；Runner is obtained in real time by flexible force sensitive sensor to exist
Plantar nervous arch information during running, to analyze runner's real-time speed and acceleration.According to the plus-minus of prediction gained
Fast wish, and according to the quick module of power calculate speed to motor drive module send control command, regulation motor rotating speed, Jin Ershi
The speed adaptive of existing treadmill.
The machine learning is that runner is respectively in 3 velocity amplitudes (3km/h, 6km/h, 10km/h) set
Alternately run 3 minutes, while according to 3D depth cameras gather friction speed under human body acceleration and deceleration when depth information figure
Picture, analysis draw the parameters such as human body central point, body, arm and joint of lower extremity location information, are analyzed by host computer, according to people
Body central point a1, body a2, arm a3 and joint of lower extremity a4 positions, according to formula A=w1*a1+w2*a2+w3*a3+w4*a4,
Runner calculates weight parameter w1, w2, w3 and w4 that runner's acceleration and deceleration is suitble to be intended to after training, obtains suitable
The weight parameter of conjunction；During actually running, foundation measures human body central point, body, arm and joint of lower extremity location information,
Acceleration and deceleration intention is calculated in real time, and speed sends control command to motor module 112 according to obtained by flexible force sensitive sensor,
Adjust the velocity of rotation of motor.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (4)
1. a kind of treadmill Adaptable System based on 3D depth cameras and flexible force sensitive sensor, it is characterised in that：Including
Treadmill body (110), treadmill body (110) include the treadbelt (112) driven by a motor (112)；Under treadbelt (111)
Side is equipped with flexible force sensitive sensor, and a 3D depth cameras (120) are equipped at treadmill body (110)；Flexible force sensitive sensor
For gathering the plantar nervous arch information of user and being uploaded at a host computer (130), 3D depth cameras (120) are used for
It gathers the running attitude information of user and is uploaded at host computer (130)；Host computer (130) can establish plantar nervous arch
The model of the speed and acceleration information of information and user, so it is current according to the user gathered at flexible force sensitive sensor
The present speed and acceleration information of plantar nervous arch acquisition of information user；Host computer (130) can also establish running appearance
Model between the subjective acceleration and deceleration intention of state information and user, and then according to the use gathered at 3D depth cameras (120)
Person currently running attitude information and at prediction the current subjective acceleration and deceleration of user be intended to；Host computer (130) can also according to work as
Preceding subjectivity acceleration and deceleration intention and present speed and acceleration information to by a motor drive module to the rotating speed of motor (112) into
Row is adjusted.
2. a kind of treadmill based on 3D depth cameras and flexible force sensitive sensor according to claim 1 is adaptively
System, it is characterised in that：Plantar nervous arch information includes cadence, step-length, supporting time, duration of passage and rear riding force.
3. a kind of treadmill based on 3D depth cameras and flexible force sensitive sensor according to claim 1 is adaptively
System, it is characterised in that：3D depth cameras (120) can shoot the whole body of user, by emitting laser speckle, adopt
Collect the structure light of the deformation returned, calculating has three dimensions depth information, generates the depth image of object.
4. a kind of treadmill based on 3D depth cameras and flexible force sensitive sensor according to claim 1 is adaptively
System, it is characterised in that：The depth image that host computer (130) is collected according to 3D depth cameras (120), using Threshold segmentation point
Runner's image and background image are separated out, and calculates human body central point, body is carried out using random forest classification to runner's image
The joint orientation of body, arm and lower limb by machine learning, establishes runner's human body central point, body, arm and joint of lower extremity
Model between location information and user's acceleration and deceleration action, and gained acceleration and deceleration are intended to send order to motor drive module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711384448.8A CN108114405B (en) | 2017-12-20 | 2017-12-20 | Treadmill self-adaptation system based on 3D degree of depth camera and flexible force sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711384448.8A CN108114405B (en) | 2017-12-20 | 2017-12-20 | Treadmill self-adaptation system based on 3D degree of depth camera and flexible force sensor |
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| Publication Number | Publication Date |
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| CN108114405A true CN108114405A (en) | 2018-06-05 |
| CN108114405B CN108114405B (en) | 2020-03-17 |
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| CN201711384448.8A Active CN108114405B (en) | 2017-12-20 | 2017-12-20 | Treadmill self-adaptation system based on 3D degree of depth camera and flexible force sensor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108969980A (en) * | 2018-06-28 | 2018-12-11 | 广州视源电子科技股份有限公司 | Treadmill and step counting method, device and storage medium thereof |
| CN108992843A (en) * | 2018-07-31 | 2018-12-14 | 锐嘉科集团有限公司 | Sports equipment and control method based on 3D video camera |
| CN109350445A (en) * | 2018-08-31 | 2019-02-19 | 盎锐（上海）信息科技有限公司 | Device and data output method are resumed training with guiding function |
| WO2020053711A1 (en) * | 2018-09-13 | 2020-03-19 | Tecnobody S.R.L. | Integrated method and system for the dynamic control of the speed of a treadmill |
| CN111437575A (en) * | 2019-01-16 | 2020-07-24 | 北京邦天信息技术有限公司 | Control method and device of intelligent treadmill |
| CN113641103A (en) * | 2021-08-13 | 2021-11-12 | 广东工业大学 | Adaptive robot treadmill control method and system |
| US20220143467A1 (en) * | 2020-11-12 | 2022-05-12 | Lantern Holdings, LLC | Automatic control of a single or multi-directional treadmill |
| US11577177B2 (en) | 2021-03-19 | 2023-02-14 | Infiniset, Inc. | Motorized rotatable treadmill and system for creating the illusion of movement |
| WO2023027046A1 (en) * | 2021-08-26 | 2023-03-02 | 株式会社CaTe | Program, information processing device, and information processing method |
-
2017
- 2017-12-20 CN CN201711384448.8A patent/CN108114405B/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108969980A (en) * | 2018-06-28 | 2018-12-11 | 广州视源电子科技股份有限公司 | Treadmill and step counting method, device and storage medium thereof |
| CN108969980B (en) * | 2018-06-28 | 2020-06-26 | 广州视源电子科技股份有限公司 | Treadmill and step counting method, device and storage medium thereof |
| CN108992843B (en) * | 2018-07-31 | 2021-05-28 | 锐嘉科集团有限公司 | Sports equipment based on 3D camera and control method |
| CN108992843A (en) * | 2018-07-31 | 2018-12-14 | 锐嘉科集团有限公司 | Sports equipment and control method based on 3D video camera |
| CN109350445A (en) * | 2018-08-31 | 2019-02-19 | 盎锐（上海）信息科技有限公司 | Device and data output method are resumed training with guiding function |
| WO2020053711A1 (en) * | 2018-09-13 | 2020-03-19 | Tecnobody S.R.L. | Integrated method and system for the dynamic control of the speed of a treadmill |
| CN111437575A (en) * | 2019-01-16 | 2020-07-24 | 北京邦天信息技术有限公司 | Control method and device of intelligent treadmill |
| US20220143467A1 (en) * | 2020-11-12 | 2022-05-12 | Lantern Holdings, LLC | Automatic control of a single or multi-directional treadmill |
| US11577177B2 (en) | 2021-03-19 | 2023-02-14 | Infiniset, Inc. | Motorized rotatable treadmill and system for creating the illusion of movement |
| CN113641103A (en) * | 2021-08-13 | 2021-11-12 | 广东工业大学 | Adaptive robot treadmill control method and system |
| CN113641103B (en) * | 2021-08-13 | 2023-04-25 | 广东工业大学 | Running machine control method and system of self-adaptive robot |
| WO2023027046A1 (en) * | 2021-08-26 | 2023-03-02 | 株式会社CaTe | Program, information processing device, and information processing method |
| JPWO2023027046A1 (en) * | 2021-08-26 | 2023-03-02 | ||
| JP7411945B2 (en) | 2021-08-26 | 2024-01-12 | 株式会社CaTe | Program, information processing device, and information processing method |
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| CN108114405B (en) | 2020-03-17 |
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