CN109009142A - Running posture determination method, system, intelligent wearable device and storage medium - Google Patents
Running posture determination method, system, intelligent wearable device and storage medium Download PDFInfo
- Publication number
- CN109009142A CN109009142A CN201810736737.8A CN201810736737A CN109009142A CN 109009142 A CN109009142 A CN 109009142A CN 201810736737 A CN201810736737 A CN 201810736737A CN 109009142 A CN109009142 A CN 109009142A
- Authority
- CN
- China
- Prior art keywords
- signal
- running posture
- swing angle
- gyroscope
- holding state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1124—Determining motor skills
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
This application discloses a kind of running posture determination methods, obtain accelerometer signal and gyroscope signal the method includes receiving the ankle movements data of six axle sensors detection, and by ankle movements data progress separating treatment；Wherein, six axle sensors are set to ankles bit；Judge whether the corresponding foot of six axle sensors is in holding state according to accelerometer signal；If being in holding state, the swing angle of ankles bit is determined according to gyroscope signal, and judge swing angle whether within a preset range；If it is not, then determining running posture mistake.This method can accurately judge whether the posture of ankle during running is correct, and user is helped to maintain correct running posture during running.Disclosed herein as well is a kind of running posture decision-making system, a kind of computer readable storage medium and a kind of intelligent wearable devices, have the above beneficial effect.
Description
Technical field
The present invention relates to intelligent wearable device technical field, in particular to a kind of running posture determination method, system, one kind
Computer readable storage medium and a kind of intelligent wearable device.
Background technique
Today's society, work rhythm is too fast, and more and more people bear huge operating pressure and possess irregular life
It is living, make more people and adjust by moving the constitution of oneself, state of keeping fit.In items movement, more persons are selected
It takes exercise by running body, correct running posture enhances human body constitution, delaying human body caducity.But if running posture not just
Really, it will lead to problems such as knee be damaged, sprain, it is therefore desirable to wrong running posture bring be avoided to damage.
In the prior art, the correction of running posture mainly is carried out by having the sports running shoes of correction running style function, it should
Sports running shoes are internally integrated multiple sensors, are contacted to earth range and motion frequency, will be acquired by foot when monitoring human body running
To data by wireless blue tooth communication be sent to mobile phone terminal, thus correct mistake running posture.But during running
If the posture of foot is incorrect equally to bring damage to human body, and there are the sports running shoes of correction running style function in the prior art
Detection contact to earth range and motion frequency is merely able to correct the motion state of foot and leg, can not judge ankle posture
It is whether correct.
Therefore, how accurately to judge whether the posture of ankle during running is correct, helps user during running
Correct running posture is maintained to be a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
The purpose of the application be to provide a kind of running posture determination method, system, a kind of computer readable storage medium and
A kind of intelligent wearable device can accurately judge whether the posture of ankle during running is correct, and user is helped to run
Correct running posture is maintained in journey.
In order to solve the above technical problems, the application provides a kind of running posture determination method, this method comprises:
The ankle movements data of six axle sensors detection are received, and ankle movements data progress separating treatment is accelerated
Degree meter signal and gyroscope signal；Wherein, six axle sensors are set to ankles bit；
Judge whether the corresponding foot of six axle sensors is in holding state according to accelerometer signal；
If being in holding state, the swing angle of ankles bit is determined according to gyroscope signal, and judge swing angle
Whether within a preset range；
If it is not, then determining running posture mistake.
Optionally, the swing angle for determining ankles bit according to gyroscope signal includes:
Analog/digital conversion is carried out to gyroscope signal and obtains the first digital signal and using Kalman filter to the first number
Signal is filtered to obtain the swing angle of ankles bit.
Optionally, the first digital signal is obtained to gyroscope signal progress analog/digital conversion and utilizes Kalman filter pair
The swing angle that first digital signal is filtered to obtain ankles bit includes:
First digital signal is obtained to gyroscope signal progress analog/digital conversion and the first digital signal is filtered
Processing obtains angular speed actual measured value
According to compensation formula angular velocity actual measured valueIt carries out migration and obtains angular speed true measurement W, and
Swing angle is calculated according to angular speed true measurement W；Wherein, compensation formula isFor six axle sensors
Gyroscope cross-coupling effect parameter, b be gyroscope offset.
Optionally, according to accelerometer signal judge the corresponding foot of six axle sensors whether in holding state include:
Analog/digital conversion is carried out to accelerometer signal and obtains the second digital signal and using Kalman filter to the second number
Word signal is filtered to obtain the acceleration information of ankles bit；
Judge whether component of the acceleration information on gravity direction is equal to acceleration of gravity；
If so, the corresponding foot of six axle sensors is in holding state.
Optionally, further includes:
Judge that foot is continuously in whether time of holding state is greater than preset value；
If so, determining that running frequency is too low and user is prompted to improve running frequency.
Optionally, after determining running posture mistake, further includes:
It generates prompt user and corrects the prompt information of the running posture, and the prompt information is transmitted to user terminal.
Present invention also provides a kind of running posture decision-making system, which includes:
Data processing module, for receive six axle sensors detection ankle movements data, and by ankle movements data into
Row separating treatment obtains accelerometer signal and gyroscope signal；Wherein, six axle sensors are set to ankles bit；
Foot condition judgment module, for judging whether the corresponding foot of six axle sensors is according to accelerometer signal
Holding state；
Ankle angle-determining module, for determining ankles bit according to gyroscope signal when foot is in holding state
Swing angle, and judge swing angle whether within a preset range；
Evaluation module, for when swing angle not within a preset range when, determine running posture mistake.
Present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, computer program
The step of above-mentioned running posture determination method executes is realized when execution.
Present invention also provides a kind of intelligent wearable device, which includes:
Six axle sensors of ankles bit are set to, for obtaining the ankle movements data of ankles bit；
The filter circuit being connect with six axle sensors, for being accelerometer signal and gyro by ankle movements data separating
Instrument signal；
The processor being connect with filter circuit, for judging that the corresponding foot of six axle sensors is according to accelerometer signal
It is no to be in holding state；If being in holding state, the swing angle of ankles bit is determined according to gyroscope signal, and judge to put
Within a preset range whether dynamic angle；If it is not, then determining running posture mistake.
Optionally, processor includes:
The A/D sample circuit being connect with filter circuit, for respectively to accelerometer signal and gyroscope signal carry out mould/
Number is converted to the first digital signal and the second digital signal；
The Kalman filter being connect with A/D sampling module, for respectively to the first digital signal and the second digital signal
It is filtered to obtain the swing angle of ankles bit and gravity direction acceleration value；
The processing circuit being connect with Kalman filter, for judging six axle sensors pair according to gravity direction acceleration value
Whether the foot answered is in holding state；If being in holding state, judge swing angle whether within a preset range；If it is not,
Then determine running posture mistake.
The present invention provides a kind of running posture determination methods, the ankle movements number including receiving the detection of six axle sensors
According to, and ankle movements data progress separating treatment is obtained into accelerometer signal and gyroscope signal；Wherein, six axle sensors are set
It is placed in ankles bit；Judge whether the corresponding foot of six axle sensors is in holding state according to accelerometer signal；If being in
Whether holding state, then determine the swing angle of ankles bit according to gyroscope signal, and judge swing angle in preset range
It is interior；If it is not, then determining running posture mistake.
Road-work mainly passes through foot and completes entire running posture, support leg when double-legged rotation support during running
Ankle swing angle cross conference damage human health.Based on this, the present invention by ankles bit be arranged six axle sensors,
Accelerometer signal and gyroscope signal can be obtained by six axle sensors.It can determine at foot according to accelerometer signal
At the time of holding state, and then the swing angle for detecting support leg ankle during running is obtained by gyroscope signal,
If swing angle is excessive to illustrate that the incorrect prompt user of running posture corrects running posture.This programme can accurately judge to run
Whether the posture of ankle is correct in the process, and user is helped to maintain correct running posture during running.The application is gone back simultaneously
A kind of running posture decision-making system, a kind of computer readable storage medium and a kind of intelligent wearable device are provided, is had above-mentioned
Beneficial effect, details are not described herein.
Detailed description of the invention
In ord to more clearly illustrate embodiments of the present application, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, the drawings in the following description are only some examples of the present application, for ordinary skill people
For member, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of running posture determination method provided by the embodiment of the present application；
Fig. 2 is a kind of flow chart of velocity adjustment provided by the embodiment of the present application；
Fig. 3 is the flow chart of another kind running posture determination method provided by the embodiment of the present application；
Fig. 4 is a kind of structural schematic diagram of running posture decision-making system provided by the embodiment of the present application；
Fig. 5 is a kind of intelligent wearable device structural schematic diagram provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Below referring to Figure 1, Fig. 1 is a kind of flow chart of running posture determination method provided by the embodiment of the present application.
Specific steps may include:
S101: the ankle movements data of six axle sensors detection are received, and ankle movements data progress separating treatment is obtained
To accelerometer signal and gyroscope signal；
Wherein, six axle sensors are set to ankles bit, and six axle sensors can directly be contacted with ankles bit, can also be with
With ankles bit mediate contact, the relative position of six axle sensors and ankles bit is remained unchanged in use in a word, i.e.,
The motion state moment of six axle sensors and ankles bit is consistent, and the ankle movements data of six axle sensors detection can be true
The motion state of real reflection ankles bit.The present embodiment does not limit the quantity of six axle sensors, can only in left foot ankle or
Six axle sensors are set on right crus of diaphragm ankle, six axle sensors can also be all set on the ankle of both feet, only only at one
The motion state that six axle sensors are merely capable of one foot of detection is set on the ankle of foot, and is respectively provided with six on the ankle of both feet
Axle sensor can more comprehensively evaluate the running posture of user.Six axle sensors are called six axis movement sensors.
Six axle sensors may include accelerometer and coiling property, therefore can will be used to describe ankle fortune by separating treatment
The ankle movements data separating of dynamic situation obtains accelerometer signal and gyroscope signal.Accelerometer signal is that induction is three-dimensional empty
Between three directions axial direction on acceleration condition signal, according to acceleration signal can determine ankle acceleration of motion,
The direction of motion and movement rate.Gyroscope signal is to describe the ankles bit angular speed situation of change comprehensive in solid space
Signal, can determine the rotational angular velocity during the motion of ankle according to gyroscope signal, and then obtain ankles bit
Rotational angle.
It should be noted that ankles bit is arranged in six axle sensors in the present embodiment, six axle sensors are defaulted
Motion state with ankles bit is completely the same, therefore obtained accelerometer signal and gyroscope signal is all for table
Show the signal of the motion state of ankles bit.
S102: judge whether the corresponding foot of six axle sensors is in holding state according to accelerometer signal；If so,
Into S103；If it is not, then terminating process；
Wherein, the purpose of this step is to judge that the corresponding foot of six axle sensors (is arranged according to accelerometer signal
The corresponding foot of the ankle of six axle sensors) it is to be in vacant state in holding state.According to accelerometer signal
The acceleration that can determine ankles bit, when the foot of ankles bit is in holding state, the acceleration of ankles bit is in weight
Component on power direction (vertical direction) is acceleration of gravity；When the foot of ankles bit is in vacant state (non-supported state)
When, component of the acceleration of ankles bit on gravity direction (vertical direction) is more than or less than acceleration of gravity.It therefore can
To determine the acceleration of ankles bit according to accelerometer signal, then judge whether the acceleration of ankles bit meets foot supports
When ankles bit acceleration requirement, to analyze whether the corresponding foot of six axle sensors is in holding state.
Specifically, judge foot whether be in holding state process it is as follows:
When six axle sensors are not in plan-position with ankles bit movement, add according to accelerometer signal is available
Velocity original value ax=0, ay=0, az=g；ax、ay、azRespectively ankles bit adding on three X-axis, Y-axis and Z axis directions
Velocity component, since six axle sensors are not in plan-position therefore work of six axle sensors by gravity with ankles bit movement
With can only detect acceleration in vertical direction (Z-direction) --- gravity acceleration g, other directions do not have acceleration.Work as foot
When ankle position is kept in motion, the component of acceleration in three X-axis, Y-axis and Z axis directions can be changed, at this time root
According to the true measurement of the available acceleration of accelerometer signalIf the true measurement of acceleration exists
The component of vertical direction is equal to acceleration initial value in the component of vertical directionWhen, that is, illustrate that six axle sensors are corresponding
Foot be in holding state.
Since the swing angle of the ankle of support leg during running is the evaluation running whether correct standard of posture, because
This first judges whether the corresponding foot of six axle sensors is in the swing that holding state analyzes ankles bit again in the present embodiment
Angle.If the corresponding foot of six axle sensors is not in holding state, then determining that swing angle obtains further according to gyroscope signal
The swing angle taken does not have reference value.
S103: the swing angle of ankles bit is determined according to gyroscope signal；
Wherein, this step is built upon S102 it is determined that the corresponding foot of six axle sensors is in the basis of holding state
On, according to the discussion of front it is known that the swing angle of the present embodiment ankles bit to be determined is that ankles bit is corresponding
Foot is in swing angle when holding state, thus this step default referring herein to gyroscope signal and S102 in acceleration
Meter signal is two signals that six axle sensors are measured in synchronization.
Specifically, the swing angle process for calculating ankles bit is as follows:
According to the available angular speed actual measured value of gyroscope signalWherein Point
Not Wei ankles bit angular speed on three X-axis, Y-axis and Z axis directions component.It should be noted that angle speed on three directions
The actual measured value of degreeBe do not account for the preliminary measured value of gyroscope drift amount can not be true
Reflect the rotational angle of ankles bit.The level with identical frequency can be made to add by cross-coupling effect in gyroscope
Speed and normal acceleration act on the pendulum of gyroscope simultaneously, therefore also need to consider to hand over when calculating angular speed true measurement
Pitch coupling effect parameter Kij.When being greater than the sensitivity of gyroscope when the angular speed of earth rotation, locality longitude and latitude pair can be ignored
The influence of gyroscope can carry out offset compensation with angular velocity actual measured value and obtain angular speed true measurement Wx、Wy、Wz,
Wherein It finally can be according to the true of angular speed
Survey the swing angle of the available ankles bit of magnitude.
Wherein, KijIn i, j can take x, the arbitrary value in y, z respectively, and x represents horizontal axis, and y represents the longitudinal axis, and z represents height
Degree, if choosing i=x, j=y, just explanation is now in x/y plane, KijFor gyroscope x/y plane cross-coupling effect parameter, according to
It is secondary to analogize.
S104: judge swing angle whether within a preset range；If so, terminating process；If it is not, then entering S105；
Wherein, this step is built upon on the basis of the swing angle for the ankles bit for having determined support leg, judges foot
Whether user is in correctly running posture when ankle position is in the swing angle.According to kinematics analysis, the mankind are optimal
Running posture be support leg ankles bit and buttocks it is on the same line, naturally it is also possible to a range appropriate is set
Ankles bit as support leg correctly rotates angle.Preferred embodiment a kind of, can first set support leg
The rotation angle of ankles bit when ankles bit is in correct running posture, such as 80 °~100 ° (when rotating angle is 90 °
Ankles bit and buttocks are on the same line), the swing angle is judged after the swing angle that S103 obtains ankles bit
Whether in the range of 80 °~100 °；If so, illustrating that running posture is correct；If it is not, then illustrating running posture mistake.
S105: determine running posture mistake.
Wherein, on the basis of determining running posture mistake, user can also be prompted by way of generating prompt information
Correct running posture, will be prompted to information by wireless blue tooth communication be sent to mobile phone terminal carry out show or voice broadcast, to entangle
The running posture of lookup error.Certainly, implementation method as one preferred, can also be according between swing angle and preset range
Departure determine the degree of user's running posture mistake, prompt user according to corresponding prompt information is generated in various degree
Preferably correction running posture.
Road-work mainly passes through foot and completes entire running posture, support leg when double-legged rotation support during running
Ankle swing angle cross conference damage human health.Based on this, the present embodiment is sensed by the way that six axis are arranged in ankles bit
Device passes through six axle sensor degree of can speed up meter signals and gyroscope signal.It can determine at foot according to accelerometer signal
At the time of holding state, and then the swing angle for detecting support leg ankle during running is obtained by gyroscope signal,
If swing angle is excessive to illustrate that running posture is incorrect.Whether just the present embodiment can judge the posture of ankle during running
Really, user is helped to maintain correct running posture during running.
Fig. 2 is referred to below, and Fig. 2 is a kind of flow chart of velocity adjustment provided by the embodiment of the present application；This reality
Applying example can be used as increased operation after an embodiment S102, and user can be reminded to accelerate running frequency.
Specific steps may include:
S201: judge that foot is continuously in whether time of holding state is greater than preset value；If so, into S202；If
It is no, then terminate process；
During the mankind's running foot be continuously in holding state time it is related to running frequency, therefore can root
The step number of user in the target time period is determined according to whether the time for being continuously in holding state is greater than some preset value.Example
Such as, the best velocity of normal human subject is 70-90 steps of step/min, detects human body landing by the accelerometer of six axle sensors
When azThe time t of=g then illustrates that user's running frequency is too low when human foot lands time t > 1s.
S202: determine that running frequency is too low and user is prompted to improve running frequency.
It is essentially identical with S105 in a upper embodiment, it can prompt to use by way of generating prompt information in this step
Running frequency is improved at family, and prompt information can be sent to mobile phone terminal by wireless blue tooth communication and carry out display or voice broadcast.When
So, implementation method as one preferred, the time span that holding state can also be continuously according to foot determine that user runs
Synchronizing frequency is lower than the degree of standard value, prompts user preferably to correct race according to corresponding prompt information is generated in various degree
Posture is walked, running frequency is improved.
Fig. 3 is referred to below, and Fig. 3 is the process of another kind running posture determination method provided by the embodiment of the present application
Figure；The present embodiment is combined to obtain on the basis of two embodiments in front, can run in the present embodiment to user
The swing angle of ankle detect and then judges whether running posture is correct during step, additionally it is possible to according to adding for ankles bit
Velocity information situation of change judges whether running frequency is excessively slow.The present embodiment can be from ankle swing angle and running frequency two
Angle evaluates the running posture of user, is a kind of more preferably embodiment of the embodiment based on Fig. 1 and Fig. 2.
Specific steps may include:
S301: the ankle movements data of six axle sensors detection are received；
Wherein it is possible to carry out basic setup to six axle sensors in advance, measured including setting sample frequency and setting
Range.Sample frequency is the number of the discrete signal per second extracted from six axle sensors, and the present embodiment can select adopting for 100Hz
Sample frequency；It is that six axle sensors select accelerometer Acc and gyroscope Gyro that range, which is arranged, and this patent selects six axle sensors, surveys
Amount range selects -6g-6g (g is acceleration of gravity) to measure.
Master data compensation can also be carried out to six axle sensors in advance, improve the accuracy of data acquisition, it can also be right
Six axle sensors carry out the threshold value of system and the time of detection determines, to improve Data Detection setting.
S302: ankle movements data progress separating treatment is obtained into accelerometer signal and gyroscope signal, and to acceleration
Degree meter signal and gyroscope signal carry out noise reduction process.
Wherein, filter circuit has the function of to isolate the unlike signal of gyroscope and accelerometer, can pass through filtered electrical
Ankle movements data progress separating treatment is obtained accelerometer signal and gyroscope signal by road, and to accelerometer signal and top
Spiral shell instrument signal is filtered noise processed, obtains accurate motion information.
S303: the second digital signal is obtained to accelerometer signal progress analog/digital conversion and utilizes Kalman filter pair
Second digital signal is filtered to obtain the acceleration information of ankles bit；
This specific step is exactly that acceleration signal is carried out A/D data sampling, converts analog signals into digital signal.
S304: judge whether component of the acceleration information on gravity direction is equal to acceleration of gravity；If so, into
S305 and S309；If it is not, then terminating process；
S305: the first digital signal is obtained to gyroscope signal progress analog/digital conversion and utilizes Kalman filter
First digital signal is filtered to obtain angular speed actual measured value
S306: according to compensation formula to the angular speed actual measured valueProgress migration obtains angular speed and really surveys
Magnitude W, and the swing angle is calculated according to the angular speed true measurement W；
Wherein, swing angle calculation formula isKijFor the cross-coupling effect parameter of gyroscope, b is top
The offset of spiral shell instrument.KijIn i, j can take x, the arbitrary value in y, z respectively, and x represents horizontal axis, and y represents the longitudinal axis, and z represents height
Degree, if choosing i=x, j=y, just explanation is now in x/y plane, KijFor gyroscope x/y plane cross-coupling effect parameter, according to
It is secondary to analogize.
S307: judge swing angle whether within a preset range；If so, terminating process；If it is not, then entering S308；
S308: determining running posture mistake, terminates process.
S309: judge that foot is continuously in whether time of holding state is greater than preset value；If so, into S310；If
It is no, then terminate process；
S310: determine that running frequency is too low and user is prompted to improve running frequency, terminate process.
Fig. 4 is referred to, Fig. 4 is a kind of structural schematic diagram of running posture decision-making system provided by the embodiment of the present application；
The system may include:
Data processing module 100, for receiving the ankle movements data of six axle sensors detection, and by ankle movements data
It carries out separating treatment and obtains accelerometer signal and gyroscope signal；Wherein, six axle sensors are set to ankles bit；
Foot condition judgment module 200, for whether judging the corresponding foot of six axle sensors according to accelerometer signal
In holding state；
Ankle angle-determining module 300, for determining ankle part according to gyroscope signal when foot is in holding state
The swing angle of position, and judge swing angle whether within a preset range；
Evaluation module 400, for when swing angle not within a preset range when, determine running posture mistake.
Further, ankle angle-determining module 300 includes:
Angle calculation unit, for obtaining the first digital signal to gyroscope signal progress analog/digital conversion and utilizing karr
Graceful filter is filtered the first digital signal to obtain the swing angle of ankles bit；
Judging unit, for judging swing angle whether within a preset range；
Further, angle calculation unit includes:
Angular speed computation subunit obtains the first digital signal simultaneously for carrying out analog/digital conversion to the gyroscope signal
First digital signal is filtered to obtain angular speed actual measured value
Angle calculation subelement is used for according to compensation formula to the angular speed actual measured valueMigration is carried out to obtain
The swing angle is calculated to angular speed true measurement W, and according to the angular speed true measurement W；Wherein, the compensation
Formula isKijFor the cross-coupling effect parameter of the gyroscope of six axle sensors, b is the inclined of the gyroscope
Shifting amount.
Foot condition judgment module 200 includes:
Acceleration calculation unit, for obtaining the second digital signal to accelerometer signal progress analog/digital conversion and utilizing
Kalman filter is filtered the second digital signal to obtain the acceleration information of ankles bit；
Acceleration judging unit accelerates for judging whether component of the acceleration information on gravity direction is equal to gravity
Degree；If so, the corresponding foot of six axle sensors is in holding state.
Further, the system further include:
Judge that foot is continuously in whether time of holding state is greater than preset value；
If so, determining that running frequency is too low and user is prompted to improve running frequency.
Further, data processing module 100 includes:
Data receipt unit, for receiving the ankle movements data of six axle sensors detection
Data separating unit, for ankle movements data progress separating treatment to be obtained accelerometer signal and gyroscope letter
Number, and noise reduction process is carried out to accelerometer signal and gyroscope signal.
Further, the system further include:
Cue module corrects the prompt information of the running posture for generating prompt user, and by the prompt information
It is transmitted to user terminal.
Since the embodiment of components of system as directed is corresponded to each other with the embodiment of method part, the embodiment of components of system as directed is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Present invention also provides a kind of computer readable storage mediums, have computer program thereon, the computer program
It is performed and step provided by above-described embodiment may be implemented.The storage medium may include: USB flash disk, mobile hard disk, read-only deposit
Reservoir (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or
The various media that can store program code such as CD.
Fig. 5 is referred to, Fig. 5 is a kind of intelligent wearable device structural schematic diagram provided by the embodiments of the present application.The application is also
A kind of intelligent wearable device is provided, may include six axle sensors for being set to ankles bit, for obtaining ankles bit
Ankle movements data；The filter circuit being connect with six axle sensors, for being accelerometer signal by ankle movements data separating
And gyroscope signal；The processor being connect with filter circuit, for judging that six axle sensors are corresponding according to accelerometer signal
Whether foot is in holding state；If being in holding state, the swing angle of ankles bit is determined according to gyroscope signal, and
Judge swing angle whether within a preset range；If it is not, then determining running posture mistake.
Optionally, processor includes:
The A/D sample circuit being connect with filter circuit, for respectively to accelerometer signal and gyroscope signal carry out mould/
Number is converted to the first digital signal and the second digital signal；
The Kalman filter being connect with A/D sampling module, for respectively to the first digital signal and the second digital signal
It is filtered to obtain the swing angle of ankles bit and gravity direction acceleration value；
The processing circuit being connect with Kalman filter, for judging six axle sensors pair according to gravity direction acceleration value
Whether the foot answered is in holding state；If being in holding state, judge swing angle whether within a preset range；If it is not,
Then determine running posture mistake.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.It should be pointed out that for those skilled in the art, under the premise of not departing from the application principle, also
Can to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the protection scope of the claim of this application
It is interior.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.Under the situation not limited more, the element limited by sentence "including a ..." is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of running posture determination method characterized by comprising
The ankle movements data of six axle sensors detection are received, and ankle movements data progress separating treatment is accelerated
Degree meter signal and gyroscope signal；Wherein, six axle sensor is set to ankles bit；
Judge whether the corresponding foot of six axle sensor is in holding state according to the accelerometer signal；
If being in the holding state, the swing angle of the ankles bit is determined according to the gyroscope signal, and judge
Within a preset range whether the swing angle；
If it is not, then determining running posture mistake.
2. running posture determination method according to claim 1, which is characterized in that according to gyroscope signal determination
The swing angle of ankles bit includes:
First digital signal is obtained to gyroscope signal progress analog/digital conversion and first digital signal is filtered
Processing obtains the swing angle of the ankles bit.
3. running posture determination method according to claim 2, which is characterized in that carry out analog/digital to the gyroscope signal
It is converted to the first digital signal and first digital signal is filtered to obtain the angle of oscillation of the ankles bit
Degree includes:
First digital signal is obtained to gyroscope signal progress analog/digital conversion and first digital signal is filtered
Processing obtains angular speed actual measured value
According to compensation formula to the angular speed actual measured valueIt carries out migration and obtains angular speed true measurement W, and
The swing angle is calculated according to the angular speed true measurement W；Wherein, the compensation formula isKijFor
The cross-coupling effect parameter of the gyroscope of six axle sensor, b are the offset of the gyroscope.
4. running posture determination method according to claim 1, which is characterized in that judge institute according to the accelerometer signal
State the corresponding foot of six axle sensors whether in holding state include:
Second digital signal is obtained to accelerometer signal progress analog/digital conversion and second digital signal is filtered
Wave handles to obtain the acceleration information of the ankles bit；
Judge whether component of the acceleration information on gravity direction is equal to acceleration of gravity；
If so, the corresponding foot of six axle sensor is in the holding state.
5. running posture determination method according to claim 1, which is characterized in that further include:
Judge that the foot is continuously in the duration of the holding state and whether is greater than preset value；
If so, determining that running frequency is too low.
6. running posture determination method according to claim 1, which is characterized in that after determining running posture mistake, also
Include:
It generates prompt user and corrects the prompt information of the running posture, and the prompt information is transmitted to user terminal.
7. a kind of running posture decision-making system characterized by comprising
Data processing module, for receive six axle sensors detection ankle movements data, and by the ankle movements data into
Row separating treatment obtains accelerometer signal and gyroscope signal；Wherein, six axle sensor is set to ankles bit；
Foot condition judgment module, for whether judging the corresponding foot of six axle sensor according to the accelerometer signal
In holding state；
Ankle angle-determining module, for being determined according to the gyroscope signal when the foot is in the holding state
The swing angle of the ankles bit, and judge the swing angle whether within a preset range；
Evaluation module, for determining running posture mistake when the swing angle is not in the preset range.
8. a kind of intelligent wearable device characterized by comprising
Six axle sensors of ankles bit are set to, for obtaining the ankle movements data of the ankles bit；
The filter circuit being connect with six axle sensor, for by the ankle movements data separating be accelerometer signal and
Gyroscope signal；
The processor being connect with the filter circuit, for judging that six axle sensor is corresponding according to the accelerometer signal
Foot whether be in holding state；If being in the holding state, the ankle part is determined according to the gyroscope signal
The swing angle of position, and judge the swing angle whether within a preset range；If it is not, then determining running posture mistake.
9. intelligent wearable device according to claim 8, which is characterized in that the processor includes:
The A/D sample circuit being connect with the filter circuit, for believing respectively the accelerometer signal and the gyroscope
Number carry out analog/digital conversion obtain the first digital signal and the second digital signal；
The Kalman filter being connect with the A/D sampling module, for respectively to first digital signal and described second
Digital signal is filtered to obtain the swing angle of the ankles bit and gravity direction acceleration value；
The processing circuit being connect with the Kalman filter, for judging six axis according to the gravity direction acceleration value
Whether the corresponding foot of sensor is in holding state；If be in the holding state, judge the swing angle whether
In preset range；If it is not, then determining running posture mistake.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes such as running posture judgement side as claimed in any one of claims 1 to 6 when the computer program is executed by processor
The step of method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810736737.8A CN109009142B (en) | 2018-07-06 | 2018-07-06 | Running posture judgment method and system, intelligent wearable device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810736737.8A CN109009142B (en) | 2018-07-06 | 2018-07-06 | Running posture judgment method and system, intelligent wearable device and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109009142A true CN109009142A (en) | 2018-12-18 |
| CN109009142B CN109009142B (en) | 2021-04-20 |
Family
ID=64641333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810736737.8A Active CN109009142B (en) | 2018-07-06 | 2018-07-06 | Running posture judgment method and system, intelligent wearable device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109009142B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110694252A (en) * | 2019-10-09 | 2020-01-17 | 成都乐动信息技术有限公司 | Running posture detection method based on six-axis sensor |
| WO2021197067A1 (en) * | 2020-03-31 | 2021-10-07 | 荣耀终端有限公司 | Running posture detection method and wearable device |
| CN114004247A (en) * | 2020-07-14 | 2022-02-01 | 荣耀终端有限公司 | Riding detection method, electronic device and computer readable storage medium |
| CN115188063A (en) * | 2021-04-06 | 2022-10-14 | 广州视源电子科技股份有限公司 | Running posture analysis method and device based on running machine, running machine and storage medium |
| CN117357873A (en) * | 2023-12-07 | 2024-01-09 | 浙江强脑科技有限公司 | Running mode control method and device, intelligent leg prosthesis, terminal and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006075945A (en) * | 2004-09-09 | 2006-03-23 | Ritsumeikan | Posture control method for articulated robot |
| WO2010121353A1 (en) * | 2009-04-20 | 2010-10-28 | Université de Montréal | Device for measuring spasticity in muscles |
| WO2013069002A1 (en) * | 2011-11-11 | 2013-05-16 | National University Of Ireland, Galway | A system for the management and prevention of venous pooling |
| CN103519822A (en) * | 2013-10-15 | 2014-01-22 | 顾捷 | Three-dimensional gait analysis meter |
| CN103596626A (en) * | 2012-02-29 | 2014-02-19 | 美津浓株式会社 | Running form diagnostic system and method for scoring running form |
| CN104157107A (en) * | 2014-07-24 | 2014-11-19 | 燕山大学 | Human body posture correction device based on Kinect sensor |
| CN104905794A (en) * | 2015-05-12 | 2015-09-16 | 上海大学 | Pedestrian stride frequency calculating system and method |
| CN105451827A (en) * | 2013-06-13 | 2016-03-30 | 生化游戏有限公司 | Rehabilitative posture and gesture recognition |
| EP3178381A1 (en) * | 2015-12-08 | 2017-06-14 | Amplitude | Evaluation device for evaluating morphological parameters of a lower limb |
| CN106902496A (en) * | 2017-03-17 | 2017-06-30 | 卢曼斯 | Correcting system and method are monitored in a kind of human motion |
-
2018
- 2018-07-06 CN CN201810736737.8A patent/CN109009142B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006075945A (en) * | 2004-09-09 | 2006-03-23 | Ritsumeikan | Posture control method for articulated robot |
| WO2010121353A1 (en) * | 2009-04-20 | 2010-10-28 | Université de Montréal | Device for measuring spasticity in muscles |
| WO2013069002A1 (en) * | 2011-11-11 | 2013-05-16 | National University Of Ireland, Galway | A system for the management and prevention of venous pooling |
| CN103596626A (en) * | 2012-02-29 | 2014-02-19 | 美津浓株式会社 | Running form diagnostic system and method for scoring running form |
| CN105451827A (en) * | 2013-06-13 | 2016-03-30 | 生化游戏有限公司 | Rehabilitative posture and gesture recognition |
| CN103519822A (en) * | 2013-10-15 | 2014-01-22 | 顾捷 | Three-dimensional gait analysis meter |
| CN104157107A (en) * | 2014-07-24 | 2014-11-19 | 燕山大学 | Human body posture correction device based on Kinect sensor |
| CN104905794A (en) * | 2015-05-12 | 2015-09-16 | 上海大学 | Pedestrian stride frequency calculating system and method |
| EP3178381A1 (en) * | 2015-12-08 | 2017-06-14 | Amplitude | Evaluation device for evaluating morphological parameters of a lower limb |
| CN106902496A (en) * | 2017-03-17 | 2017-06-30 | 卢曼斯 | Correcting system and method are monitored in a kind of human motion |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110694252A (en) * | 2019-10-09 | 2020-01-17 | 成都乐动信息技术有限公司 | Running posture detection method based on six-axis sensor |
| WO2021197067A1 (en) * | 2020-03-31 | 2021-10-07 | 荣耀终端有限公司 | Running posture detection method and wearable device |
| CN114004247A (en) * | 2020-07-14 | 2022-02-01 | 荣耀终端有限公司 | Riding detection method, electronic device and computer readable storage medium |
| CN114004247B (en) * | 2020-07-14 | 2022-11-01 | 荣耀终端有限公司 | Riding detection method, electronic device and computer readable storage medium |
| CN115188063A (en) * | 2021-04-06 | 2022-10-14 | 广州视源电子科技股份有限公司 | Running posture analysis method and device based on running machine, running machine and storage medium |
| CN117357873A (en) * | 2023-12-07 | 2024-01-09 | 浙江强脑科技有限公司 | Running mode control method and device, intelligent leg prosthesis, terminal and storage medium |
| CN117357873B (en) * | 2023-12-07 | 2024-04-09 | 浙江强脑科技有限公司 | Running mode control method and device, intelligent leg prosthesis, terminal and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109009142B (en) | 2021-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109009142A (en) | Running posture determination method, system, intelligent wearable device and storage medium | |
| US9470705B2 (en) | Method and system for determining the walking or running speed of a person | |
| US10687752B2 (en) | Detecting unmeasurable loads using heart rate and work rate | |
| EP2451351B1 (en) | Fall prevention | |
| CN107580268B (en) | A kind of head pose detection method, device and earphone | |
| CN106908060A (en) | A kind of high accuracy indoor orientation method based on MEMS inertial sensor | |
| US20210093918A1 (en) | Detecting the end of hiking activities on a wearable device | |
| US10289902B2 (en) | Data analysis device, data analysis method and storage medium | |
| CN104091053B (en) | Method and apparatus for automatic detection behavior pattern | |
| CN105311813A (en) | Exercise analysis system, exercise analysis apparatus, and exercise analysis method | |
| CN101969848A (en) | An activity monitoring system insensitive to accelerations induced by external motion factors | |
| US20160220186A9 (en) | Detachable Wireless Motion System for Human Kinematic Analysis | |
| US9706962B1 (en) | Apparatus and method for teaching and algorithms for identifying qualifying movements | |
| Lee et al. | Wearable sensors in sport: a practical guide to usage and implementation | |
| CN104523278A (en) | Multi-sensor based sports monitoring system | |
| CN104266648A (en) | Indoor location system based on Android platform MARG sensor | |
| US20160271449A1 (en) | Method, Apparatus and Mobile Phone for Calculating Amount of Exercise | |
| US20180344217A1 (en) | Fitness tracking for constrained-arm usage | |
| WO2017032161A1 (en) | Physical posture monitoring method and apparatus | |
| CN109141348A (en) | Electronic equipment, Height Test method and recording medium | |
| CN107174812A (en) | A kind of method, intelligent terminal and the system of exercise attitudes correction | |
| CN111242079A (en) | Gait detection fusion method, device, equipment and readable storage medium | |
| TWI442348B (en) | Personalized gait analysis method of physiological sensor | |
| US20220095957A1 (en) | Estimating Caloric Expenditure Based on Center of Mass Motion and Heart Rate | |
| JP6445232B2 (en) | Motion analysis apparatus and motion analysis method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |