CN108371806A - Gymnastic training device and its training method - Google Patents
Gymnastic training device and its training method Download PDFInfo
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- CN108371806A CN108371806A CN201810249437.7A CN201810249437A CN108371806A CN 108371806 A CN108371806 A CN 108371806A CN 201810249437 A CN201810249437 A CN 201810249437A CN 108371806 A CN108371806 A CN 108371806A
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Classifications
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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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
-
- 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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
-
- 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
- A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
- A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
-
- 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
- A63B2230/20—Measuring physiological parameters of the user blood composition characteristics
-
- 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
- A63B2230/30—Measuring physiological parameters of the user blood pressure
-
- 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
- A63B2230/40—Measuring physiological parameters of the user respiratory characteristics
- A63B2230/42—Measuring physiological parameters of the user respiratory characteristics rate
-
- 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
- A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
Abstract
The present invention relates to a kind of gymnastic training device and its training methods.Gymnastic training device includes the movement measuring device for measuring user movement state（1）, measure user's physiological status physiological measurements module（2）And it is wirelessly connected the movement measuring device（1）With physiological measurements module（2）Server（3）The present invention obtains real-time user's various movement postures in gymnastics, and the physiological parameter of user, significantly improve the rich and accuracy of measurement, significantly improve the accuracy of user movement data, processing unit obtains the movement posture of optimization and corresponding physiological data by big data training, automatically forms gymnastic state, movement posture or even the set pattern of particularly suitable individual subscriber, and formation is targetedly instructed to significantly improve training effect.
Description
Technical field
The invention belongs to Sports training apparatus field, more particularly to a kind of gymnastic training device and its training method.
Background technology
Gymnastics is the strength of an integrated motion person, the sports events of flexibility, balance and limbs stretching, great
Beautiful and ornamental value.Professional or semi-professional gymnastic player needs to carry out stringent professional training, currently, being directed to these factors
Special training be it is original, it is mostly subjective in the case where lacking authentic data and supporting by coach to carry out, it is existing
Technology can not make in gymnastic, motion state is changed and the various movement postures that are made of motion change it is accurate
Property measures, and cannot achieve and is measured to the physiological parameter of user, can not automatically form the fortune of particularly suitable individual subscriber
Dynamic state, movement posture or even set pattern, can not targetedly be instructed to improve training effect.
A kind of gymnastic equipment with monitoring device disclosed in patent document 1, including equipment main body and monitoring device, institute
It includes agent structure and the stressed member that is in direct contact with sportsman's hand in agent structure to state equipment main body, the monitoring dress
Set pressure sensor, counter, warning device, WiFi module, the power supply being connect including central processing unit and with central processing unit
Module, memory and display screen, while further including the host computer or mobile terminal being wirelessly connected with WiFi module, the pressure passes
Sensor and counter are respectively arranged at the interconnecting piece of agent structure and stressed member, the WiFi module, memory and power module
It is set to inside agent structure, the warning device and display screen are set on the outside of main body rack agent structure.The patent is being transported
When mobilization is trained, the strength variation of sportsman is detected, forms strength change curve, but the patent does not solve to exist to user
The accuracy for the various movement postures that motion state changes and is made of motion change during gymnastics measures, there are no
Method realization measures the physiological parameter of user, can not automatically form motion state, the movement appearance of particularly suitable individual subscriber
Gesture or even set pattern can not be instructed targetedly to improve training effect.
Data monitoring system includes M video camera (1), N in sportsman in rhythmic gymnastics training disclosed in patent document 2
A patch type pressure sensor (2), Z range sensor (3), control circuit (4), image processing circuit (5), host computer
(6) and display (7), a surface for being suspended on training place in M video camera (1), remaining video camera (1) are laid
Set the surrounding in training place；N number of patch type pressure sensor (2) is embedded in the lower section of mat in array fashion；Z distance
Sensor (3) is evenly distributed with and the boundary in training place is arranged；The signal output end of M video camera (1) respectively with control circuit (4)
M camera signal input terminal connection；The signal output end of N number of patch type pressure sensor (2) is electric with control respectively
N number of pressure signal input end on road (4) connects；The distance signal output end of Z range sensor (3) respectively with control circuit
(4) Z distance signal input terminal connection；The picture signal output of image processing circuit (5) or input terminal and control circuit (4)
Picture signal input or output end connection；The host computer signal output end of control circuit (4) is upper with host computer (6)
Machine signal input part connects；The display signal output end of host computer (6) connects with the display signal input part of display (7)
It connects；M is the positive integer more than or equal to 5；N is the positive integer more than or equal to 10；Z is the positive integer more than or equal to 4.This is specially
Profit carries out movement by multiple cameras the shooting of Multi-angle omnibearing, it is ensured that the whole postures moved inside are in
Existing, so that coach makes specific aim adjustment to posture, but the patent does not solve to user motion state during gymnastics
The accuracy of variation and the various movement postures being made of motion change measures, and it is even more impossible to realize the physiology to user
Parameter measures, and can not automatically form motion state, movement posture or even the set pattern of particularly suitable individual subscriber, can not carry out
It targetedly instructs to improve training effect.
Patent document 3 discloses a kind of intelligent training system for gymnastic training：
Intelligent training terminal and remote server；
The intelligent training terminal includes：
Image acquisition units, for acquiring the training image information of gymnast in the training process, and by the instruction
Practice image information and is sent to the remote server；
The remote server sends gymnastics standard operation image and drill program to the intelligent training terminal.This is specially
Profit can make gymnast and fan remotely receive specialized guidance, be trained, but the patent does not solve to exist to user
The accuracy for the various movement postures that motion state changes and is made of motion change during gymnastics measures, there are no
Method realization measures the physiological parameter of user, can not automatically form motion state, the movement appearance of particularly suitable individual subscriber
Gesture or even set pattern can not be instructed targetedly to improve training effect.
Change therefore, it is necessary to provide one kind and can measure user's motion state during gymnastics in real time and by transporting
The various movement postures of dynamic variation composition, and the physiological parameter of user is measured, automatically form the fortune of particularly suitable individual subscriber
Dynamic state, movement posture or even set pattern, formed targetedly instruct gymnastic training device to significantly improve training effect and
Its training method.
Existing technical literature
Patent document
Patent document 1：Chinese patent discloses No. CN205164089U
Patent document 2：Chinese patent discloses No. CN202751402U
Patent document 3：Chinese patent discloses No. CN105457254A
Invention content
The inventors of the present invention have made intensive studies in order to achieve the above objectives, specifically, the present invention provides a kind of body
Training device is grasped, gymnastic training device includes for measuring the movement measuring device of user movement state, measuring user's physiology shape
The physiological measurements module of state and the server for being wirelessly connected the movement measuring device and physiological measurements module.
The movement measuring device includes：
Inertia measuring module, inertia measuring module include Inertial Measurement Unit and the survey for measuring user's space attitude data
The center-of-gravity sensor of user's gravity center shift is measured, the Inertial Measurement Unit includes the acceleration transducer for measuring D translation vector
With measure Three dimensional rotation vector gyroscope,
Optical measurement module, the optical measurement module include for shooting user to obtain based on three-dimensional space position
Multiple shooting units of image data,
Data Fusion of Sensor computing module, by the user's space attitude data at each moment during user's gymnastics and
Fusing image data based on three-dimensional space position optimizes to obtain the user movement data based on three-dimensional space position,
Physiological measurements module includes the microphone diaphragms sensor for measuring the vibration of user's muscle respectively, the heart rate for measuring heart rate
Sensor, the blood pressure sensor for measuring blood pressure, the frequency sensor for measuring respiratory rate and the infrared blood oxygen for measuring blood oxygen concentration
Concentration sensor,
Server includes data acquisition device and processing unit, wherein
Data acquisition device, acquire that movement measuring device during user's gymnastics measures based on three-dimensional space position
The physiological data that user movement data and physiological measurements module measure, the user movement data of three-dimensional space position include that body is each
Partial three-D displacement vector sum gravity center shift data, the physiological data include muscle vibration data, heart rate, the blood of body
Pressure, respiratory rate and blood pressure concentration data；
Processing unit obtains the movement posture of optimization and corresponding physiological data, the processing dress based on big data training
Set including：
Data prediction device comprising FIR low passes noise reduction and FFT butterflies are carried out to user movement data and physiological data
Frequency-domain transform obtains characteristic parameter；
Normalizing module is normalized characteristic parameter and obtains normalization characteristic vector；
Sorter model module, feature based vector classify to the motion state of user, establish multi-motion appearance
The sorter model of gesture；
Particle group optimizing unit, profitization particle cluster algorithm continue to optimize sorter model and obtain optimum classifier model；
Training module, training pattern and test data；
Characteristic parameter importing optimum classifier model is shown obtained movement posture data, the fortune by display interface
Dynamic gesture data includes the physiological data of the optimization changed with motor message.
In the gymnastic training device, Data Data pretreatment unit includes screening user movement based on predetermined condition
The screening washer of data, the predetermined condition are that user movement data are in precalculated position range, the data prediction device pair
Physiological data under the user movement data to conform to a predetermined condition, and corresponding time carries out FIR low passes noise reduction and FFT butterfly frequencies
Domain converts to obtain characteristic parameter.
In the gymnastic training device, the physiological measurements module, which is equipped with, calculates time-based physiological status curve
Computing unit.
In the gymnastic training device, sorter model module includes PCA computing units, the PCA computing units
Characteristic value and the feature vector that the covariance matrix of sample is calculated based on normalization characteristic vector are complete in distinguishing as each Wesy
The contribution rate of portion's data is carried out rearranging pattern vector according to contribution rate size, be selected main at ingredient, wherein covariance formula
It is as followsCn×n=(ci,j,ci,j=cov (Dimi,Dimj)), wherein xi,yiTwo dimensions
The stochastic variable of degree,For the average of variable of two dimensions, cov (x, y) indicates the association side of two stochastic variables of X and Y
Difference, Cn×nIndicate that the covariance of n dimension datas, Dim indicate that array dimension, n indicate that the array sample dimension, i are n sample dimension
In i-th.
In the gymnastic training device, shooting unit includes depth camera, and described image data include cromogram
As data and depth image data, the Data Fusion of Sensor computing module includes wheat quart computing unit.
In the gymnastic training device, the server is cloud server, and cloud server includes processor, hard
Disk, memory, bus and the wireless telecom equipment for being interacted with unified format with movement measuring device and physiological measurements module, institute
It states wireless telecom equipment and includes at least wireless LAN communication equipment and/or mobile communication network device, wireless LAN communication
Equipment includes bluetooth, ZigBee and/or Wi-Fi module, the mobile communication network device include 2G wireless communication chips, 3G without
Line communication chip and/or 4G wireless communication chips.
In the gymnastic training device, the server includes alarm set, when the muscle vibration of measurement, heart rate,
In blood pressure, respiratory rate and/or blood oxygen concentration it is any one or more accordingly have exceeded preset muscle vibration section, heart rate interval,
When blood pressure section, respiratory rate section and/or blood oxygen concentration section, the alarm set sends out warning, the alarm set packet
Include vibrator, buzzer and/or LED light.
In the gymnastic training device, processing unit include digital signal processor, application-specific integrated circuit ASIC or
On-site programmable gate array FPGA, processing unit include memory, and the memory may include one or more read-only storages
Device ROM, random access memory ram, flash memory or Electrical Erasable programmable read only memory EEPROM.
In the gymnastic training device, the inertia measuring module is attached to user via flexible attachment, described
Flexible attachment is to be attached to the flexible pouch or bandage of user.
According to another aspect of the present invention, a kind of training method of the gymnastic training device includes the following steps：
User starts gymnastic, and Inertial Measurement Unit measures the three-D displacement vector and center-of-gravity sensor of user respectively
Measure user's gravity center shift；Optical measurement module shoot user to obtain the image data based on three-dimensional space position,
Data Fusion of Sensor computing module is by the user's space attitude data and base at each moment during user's gymnastics
Optimize to obtain the user movement data based on three-dimensional space position in the fusing image data of three-dimensional space position,
Microphone diaphragms sensor measures the muscle vibration of body respectively, heart rate sensor measures heart rate, blood pressure sensor
Measure blood pressure, frequency sensor measures respiratory rate and infrared blood oxygen concentration sensor measurement blood oxygen concentration；
Data acquisition device acquires the user movement data that movement measuring device measures under different gymnastics states and physiology is surveyed
Measure user's physiological data that module measures；
Data prediction device carries out FIR low passes noise reduction to user movement data and physiological data and FFT butterfly frequency domains become
Get characteristic parameter in return；
Characteristic parameter, which is normalized, in normalizing module obtains normalization characteristic vector；
Sorter model module feature based vector classifies to the motion state of user, establishes multi-motion posture
Sorter model；
Particle group optimizing unit profit particle cluster algorithm continues to optimize sorter model and obtains optimum classifier model；
Training module training pattern and test data；
Processing unit obtains the movement posture of optimization and corresponding physiological data by big data training；
Display interface shows obtained movement posture data.
The technique effect of the present invention is as follows：
The gymnastic training device of the present invention is by measuring the movement measuring device of user movement state and measuring user's physiology
The physiological measurements module of state to obtain the three-D displacement vector sum based on the body at each moment during user's gymnastics in real time
Gravity center shift data, muscle vibration data, heart rate, blood pressure, respiratory rate and blood pressure concentration data obtain real-time user and exist
The physiological parameter of various movement postures and user in gymnastics significantly improve the rich and accuracy of measurement, optical measurement
Module photograph user is to obtain the image data based on three-dimensional space position, and Data Fusion of Sensor computing module is by user's gymnastics
The user's space attitude data at each moment and the fusing image data based on three-dimensional space position, which optimize, in the process is based on
The user movement data of three-dimensional space position, significantly improve the accuracy of user movement data, and processing unit passes through big data
Training obtains the movement posture of optimization and corresponding physiological data, automatically forms the gymnastic shape of particularly suitable individual subscriber
State, movement posture or even set pattern, formation are targetedly instructed to significantly improve training effect.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of gymnastic training device of the present invention.
Fig. 2 is step schematic diagram of the present invention using the training method of gymnastic training device.
Symbol description：
1 movement measuring device；
2 physiological measurements modules；
3 servers；
4 inertia measuring modules；
5 Inertial Measurement Units；
6 center-of-gravity sensors；
7 acceleration transducers；
8 gyroscopes；
9 optical measurement modules；
10 shooting units；
11 Data Fusion of Sensor computing modules；
12 microphone diaphragms sensors；
13 heart rate sensors；
14 blood pressure sensors；
15 frequency sensors；
16 infrared blood oxygen concentration sensors；
17 data acquisition devices；
18 processing units
19 data prediction devices；
20 normalizing modules；
21 sorter model modules；
22 particle group optimizing units；
23 training modules；
24 display interfaces.
Specific implementation mode
Specific embodiments of the present invention are more fully described below with reference to accompanying drawings.Although showing the present invention's in attached drawing
Specific embodiment, it being understood, however, that may be realized in various forms the present invention without should be limited by embodiments set forth here
System.It is to be able to be best understood from the present invention on the contrary, providing these embodiments, and can be complete by the scope of the present invention
Be communicated to those skilled in the art.
It should be noted that having used some vocabulary in specification and claim to censure specific components.Ability
Field technique personnel it would be appreciated that, technical staff may call the same component with different nouns.This specification and right
It is required that not in such a way that the difference of noun is used as and distinguishes component, but differentiation is used as with the difference of component functionally
Criterion."comprising" or " comprising " as mentioned in working as in specification in the whole text and claim are an open language, therefore should be solved
It is interpreted into " including but not limited to ".Specification subsequent descriptions be implement the present invention better embodiment, so it is described description be with
For the purpose of the rule of specification, it is not limited to the scope of the present invention.Protection scope of the present invention is when regarding appended right
It is required that subject to institute's defender.
For ease of the understanding to the embodiment of the present invention, done further by taking several specific embodiments as an example below in conjunction with attached drawing
Explanation, and each attached drawing does not constitute the restriction to the embodiment of the present invention.
Specifically, the gymnastic training device of the present invention, gymnastic training device include for measuring user's fortune as shown in Figure 1
The movement measuring device 1 of dynamic state, the physiological measurements module 2 for measuring user's physiological status and the wireless connection motion measurement
Device 1 and the server of physiological measurements module 23.
The movement measuring device 1 includes：
Inertia measuring module 4, inertia measuring module 4 include measure user's space attitude data Inertial Measurement Unit 5 with
And the center-of-gravity sensor 6 of user's gravity center shift is measured, the Inertial Measurement Unit 5 includes the acceleration for measuring D translation vector
Sensor 7 and the gyroscope 8 for measuring Three dimensional rotation vector,
Optical measurement module 9, the optical measurement module 9 include being based on three-dimensional space position for shooting user to obtain
Image data multiple shooting units 10,
Data Fusion of Sensor computing module 11, by the user's space attitude data at each moment during user's gymnastics
Optimize to obtain the user movement data based on three-dimensional space position with the fusing image data based on three-dimensional space position,
Physiological measurements module 2 includes the microphone diaphragms sensor 12 for measuring the vibration of user's muscle respectively, measures heart rate
Heart rate sensor 13, the blood pressure sensor 14 for measuring blood pressure, the frequency sensor 15 for measuring respiratory rate and measurement blood oxygen concentration
Infrared blood oxygen concentration sensor 16,
Server 3 includes data acquisition device 17 and processing unit 18, wherein
Data acquisition device 17, acquire user's gymnastics during movement measuring device 2 measure based on three-dimensional space meta position
The physiological data that the user movement data and physiological measurements module 2 set measure, the user movement data of three-dimensional space position include
The three-D displacement vector sum gravity center shift data of body parts, the physiological data include muscle vibration data, the heart of body
Rate, blood pressure, respiratory rate and blood pressure concentration data；
Processing unit 18 obtains the movement posture of optimization and corresponding physiological data, the processing based on big data training
Device 18 includes：
Data prediction device 19 comprising FIR low passes noise reduction and FFT butterflies are carried out to user movement data and physiological data
Shape frequency-domain transform obtains characteristic parameter；
Normalizing module 20 is normalized characteristic parameter and obtains normalization characteristic vector；
Sorter model module 21, feature based vector classify to the motion state of user, establish multi-motion
The sorter model of posture；
Particle group optimizing unit 22, profitization particle cluster algorithm continue to optimize sorter model and obtain optimum classifier mould
Type；
Training module 23, training pattern and test data；
Characteristic parameter importing optimum classifier model is shown obtained movement posture data by display interface 24, described
Movement posture data include the physiological data of the optimization changed with motor message.
The gymnastic training device of the present invention is by measuring the movement measuring device of user movement state and measuring user's physiology
The physiological measurements module of state to obtain the three-D displacement vector sum based on the body at each moment during user's gymnastics in real time
Gravity center shift data, muscle vibration data, heart rate, blood pressure, respiratory rate and blood pressure concentration data obtain real-time user and exist
The physiological parameter of various movement postures and user in gymnastics significantly improve the rich and accuracy of measurement, optical measurement
Module photograph user is to obtain the image data based on three-dimensional space position, and Data Fusion of Sensor computing module is by user's gymnastics
The user's space attitude data at each moment and the fusing image data based on three-dimensional space position, which optimize, in the process is based on
The user movement data of three-dimensional space position, significantly improve the accuracy of user movement data, and processing unit passes through big data
Training obtains the movement posture of optimization and corresponding physiological data, automatically forms the gymnastic shape of particularly suitable individual subscriber
State, movement posture or even set pattern, formation are targetedly instructed to significantly improve training effect.
The preferred embodiment of gymnastic training device of the present invention, Data Data pretreatment unit 19 include based on predetermined
The screening washer of conditional filtering user movement data, the predetermined condition is that user movement data are in precalculated position range, described
Data prediction device 19 carries out FIR to the physiological data under the user movement data that conform to a predetermined condition, and corresponding time
Low pass noise reduction and FFT butterfly frequency-domain transforms obtain characteristic parameter.
The preferred embodiment of gymnastic training device of the present invention, when the physiological measurements module 2 is based on equipped with calculating
Between physiological status curve computing unit.
The preferred embodiment of gymnastic training device of the present invention, data prediction device 19 are equipped with FIR and filter noise reduction
FIR low pass filter, use rectangular window function, sample frequency 70kHZ, cutoff frequency 15kHz, filter order 65,
FFT butterfly frequency-domain transforms choose 4096 points progress butterfly FFT frequency-domain transforms and obtain signal spectrum figure.
The preferred embodiment of gymnastic training device of the present invention, normalizing module 21 is by different dimension different dimensions data
Control is under same referential, formula
Wherein：X is characterized parameter set；X is the parameter sample after normalization；xminIt is whole numbers
According to the minimum value of concentration；xmaxIt is the maximum value that total data is concentrated.
The preferred embodiment of gymnastic training device of the present invention, sorter model module 21 include PCA computing units,
The PCA computing units calculate the characteristic value of the covariance matrix of sample based on normalization characteristic vector and feature vector is used as often
It is one-dimensional to carry out rearranging pattern vector according to contribution rate size for distinguishing the contribution rate of total data, select it is main at ingredient,
Wherein covariance formula is as followsCn×n=(ci,j,ci,j=cov (Dimi,Dimj)),
Wherein xi,yiThe stochastic variable of two dimensions,For the average of variable of two dimensions, cov (x, y) indicates X and Y two
The covariance of stochastic variable, Cn×nIndicate that the covariance of n dimension datas, Dim indicate that array dimension, n indicate the array sample dimension, i
For i-th in n sample dimension.In one embodiment, selection index system power striking frequency can be obtained as main at ingredient
Optimization movement posture based on striking frequency, in one embodiment, selection index system power size, at ingredient, can be obtained as main
Optimization movement posture based on amount of force.
The preferred embodiment of gymnastic training device of the present invention, sorter model module 21 pass through Nonlinear Mapping letter
NumberData are mapped to higher dimensional space, establish hyperplane, release optimal classification surface formula and then are asked by Lagrange optimizations
Go out mapping function, optimal kernel function and SVC disaggregated models is obtained by experiment, wherein SVC disaggregated models are as follows：
Optimal kernel function expression formula is as follows：K(x,
xi)=exp (- γ | | x-xi||2), γ ＞ 0, wherein i=1,2 ..., p are the constants that user specifies；ξ is slack variable；P is
To learning data group number, w is weight vectors；B is biasing；ξ is slack variable ξ ＞ 0, indicates the fault-tolerant of data classification
Property；C is penalty factor ＞ 0, divides the degree that sample is punished to mistake to control；α1,α2,…,αpIt is that non-negative Lagrange multiplies
Number, wherein αp＞ 0；Sample (x1,x2,…,xp) be supporting vector to determine decision boundary；Y (x) is class categories.
The preferred embodiment of gymnastic training device of the present invention, particle group optimizing unit 22 simulate flock of birds predation row
To initialize a group random particles, generating spatial position and the speed of first generation population；Particle is constantly iterated, and is sought
Optimal solution, in each iteration, particle can all update two extreme values, and one is particle optimal solution itself, the other is population is whole
Optimal solution, particle optimal solution itself are referred to as individual extreme value, and population total optimization solution is referred to as global extremum, optimizes and revises particle inertia
Weight, when iterations are small, dynamic increases inertia weight, and when iterations increase, dynamic reduces inertia weight, while not
It is disconnected to judge whether that meeting iteration presets extreme value precision or iteration maximum times, if satisfied, then converging to optimal value, that is, optimizes core letter
Number parameter g and penalty factor, and then obtain optimal SVC disaggregated models.In one embodiment, particle rapidity more new formula is such as
Under：V(t+1) id=W(t)×V(t) id+C1×rand()×(pbest(t) id-present(t) id)+C2×rand()×(gbest(t) id-present(t) id)
Wherein, d=1,2,3 ..., n, n are n-dimensional space, and i=1,2,3 ..., m, m is population scale, and t is when evolution generation
Number, V(t) idIt is that the i-th particle d in the t times iteration ties up speed, W(t)It is the t times iteration inertia weight, present(t) idIt is
I particles d in the t times iteration ties up position, pbest(t) idIt is the i-th particle individual extreme value of d dimensions, gbest in the t times iteration(t) idWhen d ties up global extremum to the i-th particle in the t times iteration, rand () is the random number between 0 to 1, C1C2Be study because
The sub- usual C of1=C2=2.Particle position more new formula：present(t+1) id=present(t) id+V(t+1) id, wherein present(t+1) idIt is that the i-th particle d in the t+1 times iteration ties up position.In one embodiment, particle inertia weight is optimized and revised, when
Iterations hour, dynamic increase inertia weight, improve its global optimizing ability, avoid being absorbed in local optimum.Work as iterations
When increase, dynamic reduces inertia weight, improves convergence rate and precision, adjusts overall situation and partial situation's optimizing ability of PSO algorithms.It is used
Property weight more new formula：Wherein, TmaxFor maximum evolutionary generation, WendTo evolve to maximum
Inertia weight value when algebraically.WminFor initial maximum inertia weight value.It is constantly iterated, while judging whether to meet iteration
Default extreme value precision or iteration maximum times, if satisfied, then converging to optimal value.
The preferred embodiment of gymnastic training device of the present invention, shooting unit 10 include depth camera, the figure
As data include color image data and depth image data, the Data Fusion of Sensor computing module 11 includes wheat quart meter
Calculate unit.
The preferred embodiment of gymnastic training device of the present invention, the server 3 are cloud server, cloud service
Device is included processor, hard disk, memory, bus and is used to be interacted with unified format with movement measuring device 1 and physiological measurements module 2
Wireless telecom equipment, the wireless telecom equipment includes at least wireless LAN communication equipment and/or mobile communications network and sets
Standby, wireless LAN communication equipment includes bluetooth, ZigBee and/or Wi-Fi module, and the mobile communication network device includes 2G
Wireless communication chips, 3G wireless communication chips and/or 4G wireless communication chips.
The preferred embodiment of gymnastic training device of the present invention, the server 3 includes alarm set, when measurement
It is any one or more in muscle vibration, heart rate, blood pressure, respiratory rate and/or blood oxygen concentration accordingly to have exceeded preset muscle vibration
When section, heart rate interval, blood pressure section, respiratory rate section and/or blood oxygen concentration section, the alarm set sends out warning,
The alarm set includes vibrator, buzzer and/or LED light.
The preferred embodiment of gymnastic training device of the present invention, processing unit 18 include digital signal processor, specially
With integrated circuit ASIC or on-site programmable gate array FPGA, processing unit 18 includes memory, and the memory may include
One or more read only memory ROMs, random access memory ram, flash memory or Electrical Erasable may be programmed read-only deposit
Reservoir EEPROM.
The preferred embodiment of gymnastic training device of the present invention, the inertia measuring module 4 is via flexible attachment
It is attached to user, the flexible attachment is to be attached to the flexible pouch or bandage of user.In one embodiment, described flexible solid
It is the flexible pouch or bandage for being attached to fist, arm, elbow, waist, leg, knee and instep to determine part.
Fig. 2 is step schematic diagram of the present invention using the training method of gymnastic training device, as shown in Fig. 2, a kind of utilization
The training method of the gymnastic training device includes the following steps：
User starts gymnastic, and Inertial Measurement Unit 5 measures the three-D displacement vector and center of gravity sensing of user respectively
Device 6 measures user's gravity center shift；Optical measurement module 9 shoot user to obtain the image data based on three-dimensional space position,
Data Fusion of Sensor computing module 11 by the user's space attitude data at each moment during user's gymnastics and
Fusing image data based on three-dimensional space position optimizes to obtain the user movement data based on three-dimensional space position,
Microphone diaphragms sensor 12 measures the muscle vibration of body respectively, heart rate sensor 13 measures heart rate, blood pressure passes
Sensor 14 measures blood pressure, frequency sensor 15 measures respiratory rate and infrared blood oxygen concentration sensor 16 measures blood oxygen concentration；
Data acquisition device 17 acquires the user movement data and physiology that movement measuring device 1 measures under different gymnastics states
User's physiological data that measurement module 2 measures；
Data prediction device 19 carries out FIR low passes noise reduction and FFT butterfly frequency domains to user movement data and physiological data
Transformation obtains characteristic parameter；
Characteristic parameter, which is normalized, in normalizing module 20 obtains normalization characteristic vector；
21 feature based vector of sorter model module classifies to the motion state of user, establishes multi-motion posture
Sorter model；
22 profitization particle cluster algorithm of particle group optimizing unit continues to optimize sorter model and obtains optimum classifier model；
23 training pattern of training module and test data；
Processing unit 18 obtains the movement posture of optimization and corresponding physiological data by big data training；
Display interface 24 shows obtained movement posture data.
This method is compared with traditional technology, and gymnastic training device of the invention is by measuring the three-D displacement vector of user
Inertial Measurement Unit 5, the center-of-gravity sensor 6 for measuring user's gravity center shift, shooting user are to obtain based on three-dimensional space position
The optical measurement module 9 of image data, Data Fusion of Sensor computing module 11 is by the use at each moment during user's gymnastics
Family spatial attitude data and the fusing image data based on three-dimensional space position optimize to obtain the user based on three-dimensional space position
Exercise data measures the physiological measurements module 2 of user's physiological status to obtain muscle vibration data, heart rate, blood pressure, breathing in real time
Frequency and blood pressure concentration data obtain real-time user in gymnastics course motion state change and are made of motion change
The physiological parameter of various movement postures and user significantly improve the rich and accuracy of measurement, and processing unit passes through big
Data training obtains the movement posture of optimization and corresponding physiological data, automatically forms the movement shape of particularly suitable individual subscriber
State, movement posture or even set pattern, formation are targetedly instructed to significantly improve training effect, according to specific needs, this method
It is also based on gravity center shift and obtains optimization movement posture, suitable user physiology itself is formed even through the combination of movement posture
The set pattern of condition.For another example the present invention, which is also based on microphone diaphragms sensor 12, measures the muscle vibration of body to adjust
It is horizontal to improve gymnastics for the mode of having an effect of user.
Industrial applicibility
The gymnastic training device and training method of the present invention can manufacture and use in sports equipment field.
Although embodiment of the present invention is described above in association with attached drawing, the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment are only schematical, directiveness, rather than restricted
's.Those skilled in the art are under the enlightenment of this specification and in the range for not departing from the claims in the present invention and being protected
In the case of, a variety of forms can also be made, these belong to the row of protection of the invention.
Claims (10)
1. a kind of gymnastic training device comprising for measuring the movement measuring device (1) of user movement state, measuring user's life
The physiological measurements module (2) of reason state and the service for being wirelessly connected the movement measuring device (1) and physiological measurements module (2)
Device (3), it is characterised in that：
The movement measuring device (1) includes：
Inertia measuring module (4), inertia measuring module (4) include the Inertial Measurement Unit (5) for measuring user's space attitude data
And the center-of-gravity sensor (6) of user's gravity center shift is measured, the Inertial Measurement Unit (5) includes measuring D translation vector
Acceleration transducer (7) and the gyroscope (8) for measuring Three dimensional rotation vector,
Optical measurement module (9), the optical measurement module (9) include being based on three-dimensional space position for shooting user to obtain
Image data multiple shooting units (10),
Data Fusion of Sensor computing module (11), by the user's space attitude data at each moment during user's gymnastics and
Fusing image data based on three-dimensional space position optimizes to obtain the user movement data based on three-dimensional space position,
Physiological measurements module (2) includes the microphone diaphragms sensor (12) for measuring the vibration of user's muscle respectively, measures heart rate
Heart rate sensor (13), the blood pressure sensor (14) for measuring blood pressure, the frequency sensor (15) for measuring respiratory rate and measurement blood
The infrared blood oxygen concentration sensor (16) of oxygen concentration,
Server (3) includes data acquisition device (17) and processing unit (18), wherein
Data acquisition device (17), acquire user's gymnastics during movement measuring device (2) measure based on three-dimensional space meta position
The physiological data that the user movement data and physiological measurements module (2) set measure, the user movement data packet of three-dimensional space position
Include the three-D displacement vector sum gravity center shift data of body parts, the physiological data include body muscle vibration data,
Heart rate, blood pressure, respiratory rate and blood pressure concentration data；
Processing unit (18) obtains the movement posture of optimization and corresponding physiological data, the processing dress based on big data training
Setting (18) includes：
Data prediction device (19) comprising FIR low passes noise reduction and FFT butterflies are carried out to user movement data and physiological data
Frequency-domain transform obtains characteristic parameter；
Normalizing module (20) is normalized characteristic parameter and obtains normalization characteristic vector；
Sorter model module (21), feature based vector classify to the motion state of user, establish multi-motion appearance
The sorter model of gesture；
Particle group optimizing unit (22), profitization particle cluster algorithm continue to optimize sorter model and obtain optimum classifier model；
Training module (23), training pattern and test data；
Characteristic parameter importing optimum classifier model is shown obtained movement posture data, the fortune by display interface (24)
Dynamic gesture data includes the physiological data of the optimization changed with motor message.
2. gymnastic training device according to claim 1, it is characterised in that：Data Data pretreatment unit (19) includes base
The screening washer of user movement data is screened in predetermined condition, the predetermined condition is that user movement data are in precalculated position model
It encloses, the data prediction device (19) is to the physiology number under the user movement data that conform to a predetermined condition, and corresponding time
Characteristic parameter is obtained according to progress FIR low passes noise reduction and FFT butterfly frequency-domain transforms.
3. gymnastic training device according to claim 1, it is characterised in that：The physiological measurements module (2), which is equipped with, to be calculated
The computing unit of time-based physiological status curve.
4. gymnastic training device according to claim 1, it is characterised in that：Sorter model module (21) includes PCA meters
Calculate unit, the PCA computing units based on normalization characteristic vector calculate sample covariance matrix characteristic value and feature to
It measures as each Wesy in the contribution rate for distinguishing total data, carries out rearranging pattern vector according to contribution rate size, select
It is main at ingredient, wherein covariance formula is as followsCn×n=(ci,j,ci,j=cov
(Dimi,Dimj)), wherein xi,yiThe stochastic variable of two dimensions,For the average of variable of two dimensions, cov (x, y)
Indicate the covariance of two stochastic variables of X and Y, Cn×nIndicate that the covariance of n dimension datas, Dim indicate that array dimension, n indicate the number
Group sample dimension, i are i-th in n sample dimension.
5. gymnastic training device according to claim 1, it is characterised in that：Shooting unit (10) includes depth camera,
Described image data include color image data and depth image data, and the Data Fusion of Sensor computing module (11) includes
Wheat quart computing unit.
6. gymnastic training device according to claim 1, it is characterised in that：The server (3) is cloud server, cloud
End server includes processor, hard disk, memory, bus and is used for movement measuring device (1) and physiological measurements module (2) to unite
The wireless telecom equipment of one format interaction, the wireless telecom equipment include at least wireless LAN communication equipment and/or movement
Communication network device, wireless LAN communication equipment include bluetooth, ZigBee and/or Wi-Fi module, the mobile communications network
Equipment includes 2G wireless communication chips, 3G wireless communication chips and/or 4G wireless communication chips.
7. gymnastic training device according to claim 1, it is characterised in that：The server (3) includes alarm set, when
It is any one or more in the muscle vibration of measurement, heart rate, blood pressure, respiratory rate and/or blood oxygen concentration accordingly to have exceeded preset flesh
When meat vibrates section, heart rate interval, blood pressure section, respiratory rate section and/or blood oxygen concentration section, the alarm set is sent out
Warning, the alarm set includes vibrator, buzzer and/or LED light.
8. gymnastic training device according to claim 1, it is characterised in that：Processing unit (18) includes Digital Signal Processing
Device, application-specific integrated circuit ASIC or on-site programmable gate array FPGA, processing unit (18) includes memory, and the memory can
To include that one or more read only memory ROMs, random access memory ram, flash memory or Electrical Erasable are programmable
Read-only memory EEPROM.
9. gymnastic training device according to claim 1, it is characterised in that：The inertia measuring module (4) is via flexibility
Fixing piece is attached to user, and the flexible attachment is to be attached to the flexible pouch or bandage of user.
10. a kind of training method using the gymnastic training device according to any one of claim 1-9 comprising following
Step：
User starts gymnastic, and Inertial Measurement Unit (5) measures the three-D displacement vector and center-of-gravity sensor of user respectively
(6) user's gravity center shift is measured；Optical measurement module (9) shoot user to obtain the image data based on three-dimensional space position,
Data Fusion of Sensor computing module (11) is by the user's space attitude data and base at each moment during user's gymnastics
Optimize to obtain the user movement data based on three-dimensional space position in the fusing image data of three-dimensional space position,
Microphone diaphragms sensor (12) measures the muscle vibration of body respectively, heart rate sensor (13) measures heart rate, blood pressure passes
Sensor (14) measures blood pressure, frequency sensor (15) measures respiratory rate and infrared blood oxygen concentration sensor (16) measurement blood oxygen is dense
Degree；
Data acquisition device (17) acquires the user movement data and physiology that movement measuring device (1) measures under different gymnastics states
User's physiological data that measurement module (2) measures；
Data prediction device (19) carries out FIR low passes noise reduction to user movement data and physiological data and FFT butterfly frequency domains become
Get characteristic parameter in return；
Characteristic parameter, which is normalized, in normalizing module (20) obtains normalization characteristic vector；
Sorter model module (21) feature based vector classifies to the motion state of user, establishes multi-motion posture
Sorter model；
Particle group optimizing unit (22) profitization particle cluster algorithm continues to optimize sorter model and obtains optimum classifier model；
Training module (23) training pattern and test data；
Processing unit (18) obtains the movement posture of optimization and corresponding physiological data by big data training；
Display interface (24) shows obtained movement posture data.
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| CN111598134A (en) * | 2020-04-24 | 2020-08-28 | 山东体育学院 | Test analysis method for gymnastics movement data monitoring |
| CN111643877A (en) * | 2020-07-10 | 2020-09-11 | 安阳师范学院 | A device that is used for sports gymnastics leap to assist training |
| CN112843633A (en) * | 2021-01-09 | 2021-05-28 | 吉首大学 | Body training balance ball and control method thereof |
| US11452918B2 (en) * | 2019-03-15 | 2022-09-27 | Toyota Jidosha Kabushiki Kaisha | Balance training system, control method, and program |
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| CN205164089U (en) * | 2015-11-19 | 2016-04-20 | 长沙师范学院 | Take monitoring device's gymnastics sport equipment |
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| US11452918B2 (en) * | 2019-03-15 | 2022-09-27 | Toyota Jidosha Kabushiki Kaisha | Balance training system, control method, and program |
| CN111598134A (en) * | 2020-04-24 | 2020-08-28 | 山东体育学院 | Test analysis method for gymnastics movement data monitoring |
| CN111598134B (en) * | 2020-04-24 | 2022-04-15 | 山东体育学院 | Test analysis method for gymnastics movement data monitoring |
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