CN110732113A - hula hoops and counting method thereof - Google Patents

hula hoops and counting method thereof Download PDF

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Publication number
CN110732113A
CN110732113A CN201911015869.2A CN201911015869A CN110732113A CN 110732113 A CN110732113 A CN 110732113A CN 201911015869 A CN201911015869 A CN 201911015869A CN 110732113 A CN110732113 A CN 110732113A
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acceleration
hula hoop
coordinate system
gyroscope
signal processor
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CN110732113B (en
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方弦
方绍飞
刘静
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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
    • A63B19/00—Hoop exercising apparatus
    • A63B19/02—Freely-movable rolling hoops, e.g. gyrowheels or spheres or cylinders, carrying the user inside
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • 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
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0625—Emitting sound, noise or music
    • 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
    • A63B2220/17—Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed
    • 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
    • A63B2220/30—Speed
    • A63B2220/34—Angular speed
    • 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
    • A63B2220/40—Acceleration
    • 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
    • A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Gyroscopes (AREA)

Abstract

The invention discloses hula hoops and a counting method thereof, wherein a signal processor, an information broadcaster, a gyroscope for acquiring rotation angular velocity values and at least two sets of acceleration sensors for acquiring acceleration values of the hula hoops are fixed on the hula hoops, the acceleration sensors are uniformly arranged on the hula hoops by taking the circle centers of the hula hoops as the center, the signal processor is respectively connected with the information broadcaster, the gyroscope and the acceleration sensors, the signal processor calculates the number of rotation turns of the hula hoops according to the acquired acceleration values and the rotation angular velocity values, and sends the calculated number of rotation turns to the information broadcaster.

Description

hula hoops and counting method thereof
Technical Field
The invention relates to the technical field of fitness exercise devices, in particular to hula hoops and a counting method thereof, which are used for accurately calculating the number of turns of the hula hoops.
Background
The hula hoop is fitness equipment which is simple in structure and easy to learn, and the hula hoop can provide coordination and flexibility of the body.
When the hula hoop is used, the rotation form of the hula hoop is complex, firstly, a human body can periodically swing when the hula hoop rotates, secondly, the hula hoop is tightly attached to the human body when the hula hoop rotates, the hula hoop and the hula hoop are in rolling relation, generally, the position of the hula hoop recovered to the upper times is rings, for example, the position of the hula hoop which is farthest from the right front of the human body twice is rings, but due to the difference between the diameters of the human body and the hula hoop, when the hula hoop rotates to the rings, a certain specific point on the hula hoop can not return to the original position after the hula hoop rotates rings, so that which counts by the rotating hula hoop is not rings which rotate around the circle center of the hula hoop.
In order to effectively calculate the number of turns of the hula hoop, sensors (such as an acceleration sensor, a gyroscope sensor, a geomagnetic sensor and the like) are installed on the hula hoop, but the sensors are installed simply, and the value detected by the sensors does not reach turns when the hula hoop rotates at turns, so that the rotating hula hoop cannot be accurately counted.
In addition, the publication No. CN103223238A adopts the external detection device of the hula hoop, and the counter is increased by times and the number of the rotated hula hoop is when the hula hoop is nearest to the external detection device every time, however, the device is complicated, and the hula hoop can be counted only by holding the external detection device to be close to the rotated hula hoop by another person, so that the device is complicated in operation and is not beneficial to pushing .
The scheme is that a theory of the patent document is that the circle number collector is arranged inside the hula hoop, the inner space of the hula hoop is communicated with an OLED display module for displaying data, the three-axis acceleration sensor is connected with a single-chip microcomputer MCU control circuit, the single-chip microcomputer MCU control circuit is connected with a second 2.4G wireless module for communicating with the circle number collector and an OLED display module for displaying data, the circle number collector is arranged inside the hula hoop, the inner space of the hula hoop runs through, the circle number collector can freely slide inside the hula hoop when the hula hoop moves, a centrifugal phenomenon can be generated when an object does a centrifugal movement, people use the collector, the number collector can obtain the actual number of the counted circles when the athlete does not rotate, the actual number of the calculated number of the hula hoop is not equal to the actual number of the calculated number of the hula hoop, the athlete can always obtain the actual number of the calculated number of the hula hoop through the actual number collector, the actual number of the calculated number of the hula hoop is not equal to the number calculated by adopting the actual number of the calculated number of the hula hoop, the actual number calculated number of the hula hoop, the hula hoop when the hula hoop is 3525, the athlete rotates, the actual number calculated number of the hula hoop, the hula hoop is not equal to the actual number calculated by adopting the actual number calculated by the actual number collector, the actual number calculated by adopting the actual number calculated by the actual number collector, the actual number calculated by the actual number collector, the actual number calculated by.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides hula hoops and a counting method thereof.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
hula hoop is characterized in that a signal processor, an information broadcaster, a gyroscope for collecting rotation angular velocity values and at least two sets of acceleration sensors for collecting acceleration values of the hula hoop are fixed on the hula hoop, the acceleration sensors are uniformly arranged on the hula hoop by taking the circle center of the hula hoop as the center, the signal processor is respectively connected with the information broadcaster, the gyroscope and the acceleration sensors, the signal processor calculates the number of rotation turns of the hula hoop according to the collected acceleration values and the collected rotation angular velocity values, and sends the calculated number of rotation turns to the information broadcaster.
The signal processor is connected with the signal processor, and the signal processor performs error correction on the number of turns of the hula hoop through the geomagnetic information collected by the magnetometer.
The acceleration sensor, the magnetometer, the signal processor and the gyroscope are all installed on the circuit board and are all connected with the signal processor through the circuit board.
And a power supply module for supplying power to the signal processor, the information broadcaster and the acceleration sensor is fixed on the hula hoop.
The hula hoop is fixed with a signal transmission module used for being electrically connected with the signal processor, and the signal processor sends the calculated number of turns of rotation to the mobile terminal through the signal transmission module.
And the hula hoop is provided with a key switch connected with the signal processor.
The magnetometer, the signal processor, the power supply module, the signal transmission module and the acceleration sensor are all fixed in the hula hoop through screws or buckles, and the information broadcaster and the key switch are fixed on the outer surface of the hula hoop or embedded in the hula hoop.
The information broadcaster is the display screen that is used for showing the number of turns and/or is used for reporting the speaker of the number of turns.
A hula hoop counting method, which is characterized in that:
(1) the hula hoop is provided with a signal processor, a gyroscope for acquiring rotation angular velocity values and at least two sets of acceleration sensors which are uniformly arranged on the hula hoop and used for acquiring acceleration values, wherein the gyroscope and the acceleration sensors are respectively positioned in self coordinate systems based on self positions, and the self coordinate systems rotate along with the hula hoop;
(2) setting the hula hoop to stand, and taking the self coordinate system of the gyroscope as a reference space coordinate system; then setting the accumulated rotation angle of the self coordinate system of the gyroscope relative to the reference space coordinate system to be zero, and setting the value of each set of acceleration sensor after the acceleration value based on the self coordinate system is projected to the reference space coordinate system as the initial acceleration;
under the above conditions, the counting method comprises the following steps:
s1: controlling the acceleration sensors and the gyroscope to continuously acquire the acceleration values in a periodic manner by the signal processor to obtain the acceleration values of each set of acceleration sensors in the coordinate system of the acceleration sensor and the rotation angular velocity values of the gyroscope in the coordinate system of the gyroscope;
s2, the signal processor calculates the rotation angle of the gyroscope in each period according to the rotation angle speed value, and then adds the rotation angle in each period with the accumulated rotation angle obtained in the last period to obtain the accumulated rotation angle of the gyroscope in the period relative to the standard space coordinate system when standing;
s3: projecting the acceleration values of the acceleration sensors obtained in the step S1 to the self coordinate system of the gyroscope by a signal processor based on the acceleration values in the self coordinate system according to the position relation between the acceleration sensors and the gyroscope in the set conditions; converting the acceleration value of each set of acceleration sensor projected in the self coordinate system of the gyroscope into the acceleration value in the reference space coordinate system according to the accumulated rotating angle obtained in the step S2; then, respectively subtracting the initial acceleration of each set of acceleration sensor from the acceleration value of each set of acceleration sensor in the reference space coordinate system; then, the vector sum of the acceleration values of the acceleration sensors in the reference space coordinate system is calculated, and finally the vector sum is divided by the number of the acceleration sensors to obtain the acceleration of the circle center of the hula hoop in the reference space coordinate system in each period;
s4: according to the result of the step S3, calculating the acceleration amplitude of the circle center of the hula hoop in each period by the signal processor, and calculating three acceleration pointing angles of the acceleration vector;
s5, comparing the acceleration amplitude of the circle center of the hula hoop in each period with a set threshold value in sequence, if the acceleration amplitude in a period is larger than or equal to the set threshold value, judging that the hula hoop is in a rotating state, and continuously storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop from the period to obtain series of acceleration amplitude data and acceleration pointing angle data;
and S6, judging the acceleration pointing angle data stored in the step S5, if the acceleration pointing angles in at least directions in the series of acceleration pointing angle data change 360 degrees in an increasing or decreasing mode, judging that the hula hoop rotates for circles, and adding 1 to the rotating circle count by the signal processor and broadcasting.
In step S2, the rotation angle of the gyroscope in each cycle based on the self coordinate system is obtained by multiplying the rotation angular velocity value in the cycle by the cycle.
In the step S4, the three acceleration pointing angles are determined by the right hand in the rectangular coordinate system, the thumb of the right hand is in the same direction as the coordinate axis, the acceleration vectors are projected on the plane perpendicular to the coordinate axis, the projection and the three-axis forward direction form an included angle of the th plane pointing along the four fingers of the right hand, and the included angle is defined as the acceleration pointing angle of the axis, and the angle value is 0 to 360 °.
In the step S5, when the acceleration amplitude is greater than or equal to the set threshold first and then smaller than the set threshold, it is determined that the hula hoop stops rotating, the signal processor does not store the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop any more, and removes the previously stored acceleration amplitude and acceleration pointing angle; and when the current value is larger than or equal to the set threshold value again, judging that the hula hoop starts to rotate again, continuing executing according to the step S5, and storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop again.
In step S5, after counting hula hoop hoop is completed, the remaining data is removed except that the acceleration amplitude data and the acceleration pointing angle data of the hula hoop center of the cycle are retained and used as the initial data.
According to the counting method, magnetometers used for measuring geomagnetic information are arranged on a hula hoop, the magnetometers are set to be in self coordinate systems, the orientation of the self coordinate system of the magnetometers is equal to the orientation of the self coordinate system of a gyroscope , information obtained after the magnetometers project the geomagnetic information based on the self coordinate system to a reference space coordinate system is set as initial geomagnetic information when the hula hoop is in a standing state, and a signal processor in each period corrects the calculation error of the accumulated rotation angle of the gyroscope in the period according to the collected geomagnetic information based on the self coordinate system and the initial geomagnetic information.
The invention has the advantages that:
1. according to the invention, the rotation angular velocity value of the hula hoop can be acquired through the gyroscope arranged on the hula hoop, the acceleration value of the hula hoop can be acquired through the acceleration sensor, and the position of the acceleration sensor can be known as the acceleration sensor is uniformly distributed on the hula hoop. On the basis, the signal processor, the gyroscope and the acceleration sensor can be used for acquiring data, so that the acceleration amplitude of the circle center of the hula hoop and three acceleration pointing angles of the acceleration vector in each period can be calculated when the hula hoop rotates, and the number of rotation turns of the hula hoop can be accurately judged according to the acceleration amplitude and the three acceleration pointing angles. And signal processor can also send the judgement result to the information report ware and report, has greatly made things convenient for people to know the motion condition, helps people's scientific body-building.
2. According to the invention, the magnetometer for measuring the geomagnetic information is fixed on the hula hoop, and the magnetometer can measure the geomagnetic information and cannot change along with the rotation of the hula hoop, so that the error in the calculation process can be corrected according to the magnetometer, the error correction can be carried out on the rotation number of the hula hoop, and the purpose of improving the counting precision in step can be achieved.
3. According to the invention, the signal transmission module electrically connected with the signal processor is fixed on the hula hoop, and the calculated number of rotation turns can be conveniently sent to the mobile terminal for observation and the like through the signal transmission module.
4. According to the hula hoop, the key switch connected with the signal processor is arranged on the hula hoop, and the signal processor can be conveniently and rapidly opened and closed through the key switch, so that the hula hoop is more convenient to use.
7. According to the invention, the magnetometer, the signal processor, the power supply module, the signal transmission module and the acceleration sensor are all fixed in the hula hoop through screws or buckles, and the information broadcaster and the key switch are fixed on the outer surface of the hula hoop or embedded in the hula hoop. The structure is beneficial to protecting the magnetometer, the signal processor, the power supply module, the signal transmission module and the like, and is also beneficial to clearly broadcasting the motion result for people.
8. The information broadcasting device is a display screen used for displaying the number of rotation turns and/or a loudspeaker used for broadcasting the number of rotation turns, the broadcasting mode of the number of rotation turns is more diversified, and the information broadcasting device is suitable for different people.
9. The invention adopts a specific counting method, can effectively and accurately calculate the number of rotations of the hula hoop, and has the advantages that the number of rotations of the hula hoop can be accurately measured by the principle that a plurality of acceleration sensors are uniformly arranged on the hula hoop body, the measured values comprise three parts, namely vertical downward gravity acceleration, hula hoop center acceleration which points to a human body when rotating around the human body and acceleration which points to the center of the hula hoop when rotating around the center of the hula hoop, a plurality of paths of acceleration sensors which are uniformly distributed are arranged on the hula hoop, the sum of the acceleration vectors of the acceleration sensors is zero, the influence of the acceleration vectors of the acceleration sensors can be eliminated by summation during calculation, the accumulated rotation angle of the acceleration sensors per se is accurately calculated by a gyroscope, the gravity acceleration measured during initial calculation can be accurately deducted to eliminate the influence of the acceleration vectors of the center of the hula hoop, the hula hoop center acceleration always points to the human body, and the rotation number of the hula hoop can be accurately measured when the hula hoop rotates .
10. The invention respectively arranges the gyroscope and the acceleration sensor in self coordinate systems based on self positions, and projects or transforms all measurement results into a reference space coordinate system, the invention has the advantages that the acceleration sensor and the gyroscope are measured based on the self coordinate systems, the test data is convenient to read, but the rotation of the hula hoop is judged based on the space of the human body, and the rotation of the hula hoop is judged to the reference space coordinate system of the space where the hula hoop is positioned by projection and transformation, thus being beneficial to judging the hula hoop circular heart acceleration rotation hoop pointing to the human body.
11. The invention sets the value of each set of acceleration sensor projected to the reference space coordinate system based on the acceleration value of the coordinate system of the acceleration sensor when the hula hoop is in a standing state as the initial acceleration, has the advantages of accurately measuring the gravity acceleration of the local position and being beneficial to accurately deducting the gravity acceleration component when the hula hoop rotates.
12. In the whole counting method, the accumulated rotation angle is calculated according to the rotation angular velocity value, so that the method has the advantages of being beneficial to determining the rotation parameters of the coordinate system of the gyroscope and providing parameters for converting the measured values of all the acceleration sensors to the reference space coordinate system.
13. The invention judges the number of the rotation turns of the hula hoop by the acceleration amplitude of the circle center of the hula hoop and the three acceleration pointing angles of the acceleration vector, and has the advantages of not only confirming whether the hula hoop rotates or not and reducing misjudgment, but also accurately judging the rotation angle of the circle center of the hula hoop relative to a human body and further determining the number of the rotation turns of the hula hoop.
14. The invention is not only suitable for counting the hula hoop rotating around the human body horizontally, but also suitable for counting the hula hoop which forms an angle of with the horizontal plane, even suitable for counting around the vertical direction of the arm.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a functional block diagram of the present invention;
FIG. 3 is a schematic view of an initial position of the hula hoop before rotation in accordance with the present invention;
FIG. 4 is a schematic view of the hula hoop rotated to degrees according to the present invention;
labeled as: 1. the hula hoop comprises a hula hoop body, 2 a signal processor, 3 an acceleration sensor, 4 a gyroscope, 5 a magnetometer, 6 a display screen, 7 a loudspeaker, 8a power supply module, 9 a key switch, 10 a circuit board, 11 and a signal transmission module.
Detailed Description
Example 1
The embodiment provides hula hoop 1, as shown in fig. 1 and 2, a signal processor 2, an information broadcaster, a power supply module 8, a gyroscope 4 for acquiring rotation angular velocity values, and at least two sets of acceleration sensors 3 for acquiring acceleration values of the hula hoop 1 are fixed on the hula hoop 1, the acceleration sensors 3 are uniformly arranged on the hula hoop 1 with the center of a circle of the hula hoop 1 as the center, the signal processor 2 is respectively connected with the information broadcaster, the gyroscope 4 and the acceleration sensors 3, the signal processor 2 calculates the number of rotation turns of the hula hoop 1 according to the acquired acceleration values and the rotation angular velocity values, and sends the calculated number of rotation turns of the magnetometer to the information broadcaster for broadcasting, the information broadcaster is a display screen 6 for displaying the number of rotation turns and/or a loudspeaker 7 for broadcasting the number of rotation turns, the power supply module 8 is used for supplying power to the signal processor 2, the information broadcaster and the acceleration sensors 3, the number of rotation turns is , 5 for measuring geomagnetic information is fixed on the hula hoop 1, and the geomagnetic information processor 2 is connected with the signal processor 2 for correcting geomagnetic error of the rotation turns.
In the present embodiment, the acceleration sensor 3, the magnetometer 5, the signal processor 2 and the gyroscope 4 are all mounted on the circuit board 10, and the acceleration sensor 3, the magnetometer 5 and the gyroscope 4 are all connected with the signal processor 2 through the circuit board 10, wherein, for convenience of accurate counting, it is preferable that the magnetometer 5 and the gyroscope 4 share circuit boards 10 with sets of acceleration sensors 3, that is, the magnetometer 5 and the gyroscope 4 and sets of acceleration sensors 3 are mounted on the same circuit boards 10.
In this embodiment, a signal transmission module 11 electrically connected to the signal processor 2 is fixed on the hula hoop 1, and the signal processor 2 sends the calculated number of turns of rotation to a mobile terminal such as a tablet computer or a mobile phone through the signal transmission module 11.
In this embodiment, the hula hoop 1 is provided with a key switch 9 for connecting with the signal processor 2, and when the key switch 9 is pressed, the signal processor 2 controls the gyroscope 4, the magnetometer 5 and the acceleration sensor 3 to start to collect data, and when the key switch 9 is pressed again, the signal processor 2 controls the gyroscope 4, the magnetometer 5 and the acceleration sensor 3 to stop collecting data.
In this embodiment, the magnetometer 5, the signal processor 2, the power supply module 8, the signal transmission module 11, and the acceleration sensor 3 are preferably fixed in the hula hoop 1 by screws or buckles, and the information broadcasting device and the key switch 9 are preferably fixed on the outer surface of the hula hoop 1 or embedded in the hula hoop 1.
In this embodiment, the signal processor 2 may adopt a model STM32F103, manufactured by ST corporation; magnetometer 5 can be obtained by model HMC5883, manufactured by HONEYWEY; the acceleration sensor 3 and the gyroscope 4 can adopt a model MPU-6050 manufactured by TDK company, the MPU-6050 can integrate the acceleration sensor 3 and the gyroscope 4, and the power supply module 8 mainly comprises a 3.7V lithium ion battery which can adopt a model NSC1340 manufactured by Beauty company; the charging management chip can adopt model TP4056, Nanjing Tuomi corporation of manufacturer; the voltage stabilizing chip can adopt a model LT1963, manufactured by ADI company; the signal transmission module 11 can adopt a Bluetooth module HC-05.
Example 2
The embodiment provides a counting method of hula hoops 1, which comprises the following steps:
(1) the signal processor 2, the gyroscope 4 used for acquiring the rotation angular velocity value and at least two sets of acceleration sensors 3 which are uniformly arranged on the hula hoop 1 and used for acquiring the acceleration value are arranged on the hula hoop 1, the gyroscope 4 and the acceleration sensors 3 are respectively set to be in self coordinate systems based on the self positions, and the self coordinate systems rotate along with the rotation of the hula hoop 1.
(2) Setting the hula hoop 1 to stand, and taking the self coordinate system of the gyroscope 4 as a reference space coordinate system; then, the cumulative rotational angle of the coordinate system of the gyroscope 4 with respect to the reference space coordinate system is set to zero, and the value obtained by projecting the acceleration value of each set of acceleration sensors 3 based on the coordinate system is set as the initial acceleration.
Under the above conditions, the counting method comprises the following steps:
s1: the signal processor 2 controls the acceleration sensors 3 and the gyroscopes 4 to continuously acquire the acceleration values of the acceleration sensors 3 in the coordinate system of the acceleration sensors and the rotation angular velocity values of the gyroscopes 4 in the coordinate system of the gyroscope.
And S2, the signal processor 2 calculates the rotation angle of the self coordinate system of the gyroscope 4 in each period according to the rotation angular velocity value, and then adds the rotation angle in each period with the accumulated rotation angle obtained in the last periods respectively to obtain the accumulated rotation angle of the self coordinate system of the gyroscope 4 relative to the standard space coordinate system in the standing time in the period.
In this step, the rotation angle of the gyroscope 4 in each period based on its own coordinate system is obtained by multiplying the rotation angular velocity value in the period by the period.
In this step, the cumulative rotation angle refers to the sum of the rotation angle of the period and the rotation angles of all previous periods, for example, the cumulative rotation angle of the second period is the sum of the rotation angle of the th period and the rotation angle of the second period, the cumulative rotation angle of the third period is the sum of the cumulative rotation angle of the second period and the rotation angle of the third period, and so on.
S3: according to the position relation between each set of acceleration sensor 3 and the gyroscope 4 in the set conditions, the signal processor 2 firstly projects each set of acceleration sensor 3 obtained in the step S1 to the self coordinate system of the gyroscope 4 based on the acceleration value in the self coordinate system; then, according to the accumulated rotation angle obtained in the step S2, converting the acceleration value of each set of acceleration sensor 3 projected in the coordinate system of the gyroscope 4 into the acceleration value in the reference space coordinate system; then, respectively subtracting the initial acceleration of each set of acceleration sensor 3 from the acceleration value of each set of acceleration sensor 3 in the reference space coordinate system; and then, the vector sum of the acceleration values of the acceleration sensors 3 in the reference space coordinate system is calculated, and finally the vector sum is divided by the number of the acceleration sensors 3 to obtain the acceleration of the circle center of the hula hoop 1 in the reference space coordinate system in each period.
S4: according to the result of step S3, the signal processor 2 calculates the acceleration amplitude at the center of the circle of the hula hoop 1 in each cycle, and calculates three acceleration pointing angles of the acceleration vector.
In this step, the three acceleration pointing angles refer to an acceleration pointing angle of a right hand in a rectangular coordinate system, which satisfies the right hand rule, the thumb of the right hand is in the same direction as the coordinate axis, the acceleration vector is projected on a plane perpendicular to the coordinate axis, an th plane is formed by the projection and the three-axis forward direction and points along the four fingers of the right hand, and the acceleration pointing angle is defined as the acceleration pointing angle of the axis, and the angle value is 0-360 °.
And S5, comparing the acceleration amplitude of the circle center of the hula hoop 1 in each period with a set threshold value in sequence, judging that the hula hoop 1 is in a rotating state if the acceleration amplitude in a period is larger than or equal to the set threshold value, and continuously storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop 1 from the period to obtain series of acceleration amplitude data and acceleration pointing angle data.
In the step, when the acceleration amplitude is larger than or equal to a set threshold value first and then is smaller than the set threshold value, the hula hoop 1 is judged to stop rotating, the signal processor 2 does not store the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop 1 any more, and the acceleration amplitude and the acceleration pointing angle which are stored before are eliminated; and when the current value is larger than or equal to the set threshold value again, judging that the hula hoop 1 starts to rotate again, continuing to execute the step S5, and storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop 1 again.
In this step, after the hula hoop 1 hoop count is completed, the remaining data are removed except that the acceleration amplitude data and the acceleration pointing angle data of the circle center of the hula hoop 1 in this period are retained and used as the initial data.
And S6, judging the acceleration pointing angle data stored in the step S5, if the acceleration pointing angles in at least directions in the series of acceleration pointing angle data change 360 degrees in an increasing or decreasing mode, judging that the hula hoop 1 rotates circles, and the signal processor 2 counts the number of the rotating hoops and adds 1 to the number of the rotating hoops and broadcasts the number of the rotating hoops through the information broadcaster.
In the counting method, the magnetometer 5 for measuring the geomagnetic information is installed on the hula hoop 1, the magnetometer 5 is set to be in self coordinate systems, the orientation of the self coordinate system of the magnetometer 5 is set to be from the orientation of the self coordinate system of the gyroscope 4, when the hula hoop 1 is in a standing state, information obtained by projecting the geomagnetic information of the magnetometer 5 based on the self coordinate system to a reference space coordinate system is set as initial geomagnetic information, and each period signal processor 2 corrects the calculation error of the accumulated rotation angle of the gyroscope 4 in the period according to the collected geomagnetic information based on the self coordinate system and the initial geomagnetic information.
In the counting method of this embodiment, a power supply module 8 for supplying power to the signal processor 2, the information broadcaster, and the acceleration sensor 3 is fixed on the hula hoop 1, and a key switch 9 for connecting with the signal processor 2 is disposed on the hula hoop 1. The hula hoop 1 is fixedly provided with a signal transmission module 11 electrically connected with the signal processor 2, and the signal processor 2 can send the calculated number of turns of rotation to the mobile terminal through the signal transmission module 11. The magnetometer 5, the signal processor 2, the power supply module 8, the signal transmission module 11 and the acceleration sensor 3 are all fixed in the hula hoop 1 through screws or buckles, and the information broadcaster and the key switch 9 are fixed on the outer surface of the hula hoop 1 or embedded on the hula hoop 1. The information broadcaster is for showing the display screen 6 that rotates the number of turns and/or be used for broadcasting the speaker 7 that rotates the number of turns.
Example 3
On the basis of embodiment 2, this embodiment describes a specific counting method according to the practical application process with reference to fig. 3-4, and the specific process is as follows:
(1) the number of the acceleration sensors is set to be four, the four acceleration sensors are respectively located at A, B, C and D points in fig. 3, the gyroscope and the magnetometer are located at A point, the gyroscope, the magnetometer and the four acceleration sensors are respectively located in self coordinate systems (x, y, z) based on self positions, the self coordinate systems rotate along with the hula hoop, and the self coordinate systems (x, y, z) of the gyroscope and the four acceleration sensors are pointed to the same direction when the acceleration sensors are installed, as shown in fig. 3, the gyroscope, the magnetometer and the acceleration sensors are located at A point, so that the gyroscope, the magnetometer and the acceleration sensors are the same in self coordinate systems.
(2) Setting a hula hoop to stand, wherein an intersection point M1 of the hula hoop and a human body is set, and a self coordinate system (X, Y, Z) of a gyroscope is taken as a reference space coordinate system (X, Y, Z), and translation is carried out for convenience of viewing in the figure 3; then, the cumulative rotation angle (psi) of the gyroscope's own coordinate system relative to the reference space coordinate system (X, Y, Z) is setX,ΨY,ΨZ) At this time, the acceleration value ((a) based on the coordinate system (x, y, z) of each acceleration sensor is set to zeroAx0,aAy0,aAz0)、(aBx0,aBy0,aBz0)、(aCx0,aCy0,aCz0)、(aDx0,aDy0,aDz0) The value projected on the reference space coordinate system is set as the initial acceleration ((g)AX,gAY,aAZ)、(gBX,gBY,gBZ)、(gCX,gCY,gCZ)、(gDx,gDy,gDz) The value is the acceleration of gravity; basing the magnetometer sensor on its own coordinate system (x, y, z) magnetic field values (b)Ax0,bAy0,bAz0) The value projected on the reference space coordinate system is set as the initial magnetic field value (B)AX,BAY,BAZ) The value is geomagnetic information.
In this step, the self coordinate systems of the acceleration sensor, the magnetometer and the gyroscope point to the same direction when the hula hoop is in a standing state, so that the calculation formula is as follows:
under the above conditions, the counting method comprises the following steps:
s1: acceleration sensor controlled by signal processorAnd continuously acquiring by the gyroscope according to the period t to obtain the acceleration value ((a) of each set of acceleration sensor in the self coordinate systemAx,aAy,aAz)、(aBx,aBy,aBz)、(aCx,aCy,aCz)、(aDx,aDy,aDz) Angular velocity value (omega) of gyroscope in its own coordinate systemx,ωy,ωz) And magnetic field value (b)Ax,bAy,bAz)。
S2: the signal processor calculates the rotation angle (psi) of the self coordinate system in each period of the gyroscope according to the rotation angular velocity valuex,ψy,ψz) Then adding the rotation angle in each period with the accumulated rotation angle obtained in the last periods to obtain the accumulated rotation angle (psi) of the gyroscope self coordinate system in the period relative to the reference space coordinate system in the standing stateX(t),ΨY(t),ΨZ(t)) When rotated to the position shown in FIG. 4, the hula hoop meets the human body at M2.
In this step, the rotation angle of the gyroscope in each period based on the self coordinate system is obtained by multiplying the rotation angle velocity value in the period by the period, namely psix＝ωx*t、ψy＝ωy*t、ψz＝ωz*t。
In this step, the cumulative rotation angle refers to the sum of the rotation angle of the period and the rotation angles of all previous periods, for example, the cumulative rotation angle of the second period is the sum of the rotation angle of the th period and the rotation angle of the second period, the cumulative rotation angle of the third period is the sum of the cumulative rotation angle of the second period and the rotation angle of the third period, and so on, i.e., ΨX(i)＝ψx+ΨX(i-1),ΨY(i)＝ψy+ΨY(i-1),ΨZ(i)＝ψz+ΨZ(i-1)Where (i) refers to the present cycle and (i-1) refers to the upper cycle.
S3: according to the position relationship among the acceleration sensors, the magnetometers and the gyroscopes in the set conditions, the signal processor firstly bases the acceleration values and the magnetometers of the acceleration sensors obtained in the step S1 on the self coordinate systemProjected into the gyroscope's own coordinate system, the meter is ((a)Ax',aAy',aAz')、(aBx',aBy',aBz')、(aCx',aCy',aCz')、(aDx',aDy',aDz')，(bAx',bAy',bAz')); and converting the acceleration value projected by each set of acceleration sensors in the coordinate system of the gyroscope itself into an acceleration value in a reference space coordinate system according to the accumulated rotation angle obtained in the step S2 ((a)AX,aAY,aAZ)、(aBX,aBY,aBZ)、(aCX,aCY,aCZ)、(aDX,aDY,aDZ) And converting the magnetic field value projected by the magnetometer in the gyroscope's own coordinate system into a magnetic field value in the reference space coordinate system (b)AX,bAY,bAZ) (ii) a Then, respectively subtracting the initial acceleration of each set of acceleration sensor from the acceleration value of each set of acceleration sensor in the reference space coordinate system; then, the acceleration values of all sets of acceleration sensors in the reference space coordinate system are subjected to vector summation, and finally the vector summation is divided by the number of the acceleration sensors to obtain the acceleration (a) of the circle center of the hula hoop in the reference space coordinate system in each periodHZ,aHY,aHZ) (ii) a By the value of the magnetic field (b)AX,bAY,bAZ) With the initial magnetic field value (B)AX,BAY,BAZ) The relationship correction accumulates the rotation angle error.
In this step, each set of acceleration sensor projects to the self coordinate system of the gyroscope based on the acceleration value in the self coordinate system, and the acceleration sensor and the self coordinate system of the gyroscope point to the same direction according to the step (1), so the calculation formula is as follows:
in this step, the magnetometer projects the magnetic field value in the coordinate system of the magnetometer to the coordinate system of the gyroscope, and the calculation is performed according to the same orientation of the magnetometer and the coordinate system of the gyroscope in the step (1), so that the calculation formula is as follows:
Figure BDA0002245680040000102
in this step, the magnetic field value projected by the gyroscope in the coordinate system of the gyroscope itself is converted into the acceleration value in the reference space coordinate system, and the calculation formula is as follows:
Figure BDA0002245680040000103
where | Ψ | is a coordinate rotation matrix of the form:
Figure BDA0002245680040000104
because the geomagnetic information does not change along with the coordinate system in the reference space, the result of the magnetic field value measured each time after coordinate transformation is the same as the initial magnetic field value, namely:
if the absolute values are not equal, the accumulated rotation angle of the system is considered to be inaccurate, | Ψ | is solved through the following formula for correcting the coordinate rotation matrix, the coordinate rotation matrix is corrected to calculate the subsequent acceleration value transformation, and the formula for solving | Ψ | is as follows:
Figure BDA0002245680040000112
in this step, the acceleration values projected by each set of acceleration sensors in the coordinate system of the gyroscope are converted into the acceleration values in the reference space coordinate system, and the calculation formula is as follows:
Figure BDA0002245680040000113
in the step, the initial acceleration of each set of acceleration sensor is subtracted from the acceleration value of each set of acceleration sensor in the reference space coordinate system; and then, solving the vector sum of the acceleration values of the acceleration sensors in the reference space coordinate system, and finally dividing the vector sum by the number of the acceleration sensors to obtain the acceleration of the circle center of the hula hoop in the reference space coordinate system in each period, wherein the calculation formula is as follows:
s4: according to the result of the step S3, calculating the acceleration amplitude | a | of the circle center of the hula hoop in each period by the signal processorH(t)And calculating three acceleration direction angles (phi) of the acceleration vectorHX(t),ΦHY(t),ΦHZ(t))。
In this step, the three acceleration pointing angles refer to an acceleration pointing angle of a right hand in a rectangular coordinate system, which satisfies the right-hand rule, the thumb of the right hand is in the same direction as the coordinate axis, the acceleration vector is projected on a plane perpendicular to the axis, an th plane is formed by the projection and the three-axis forward direction and is pointed along the four fingers of the right hand, the acceleration pointing angle is defined as the acceleration pointing angle of the axis, and the angle value is 0-360 °.
In this step, the calculation formulas of the acceleration amplitude and the three acceleration pointing angles are respectively:
Figure BDA0002245680040000121
Figure BDA0002245680040000123
s5, comparing the acceleration amplitude of the circle center of the hula hoop in each period with a set threshold value in sequence, and if the acceleration amplitude in a certain period is more than or equal to the set threshold valueAnd the value is used for judging that the hula hoop is in a rotating state, continuously storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop from the period to obtain series of acceleration amplitude data (| a |H(1)，|a|H(2)，…，|a|H(N)) And acceleration pointing angle data ((phi))HX(1),ΦHY(1),ΦHZ(1)),(ΦHX(2),ΦHY(2),ΦHZ(2)),…,(ΦHX(N),ΦHY(N),ΦHZ(N)) N) is the number of data.
In the step, when the acceleration amplitude is larger than or equal to a set threshold value first and then is smaller than the set threshold value, the hula hoop is judged to stop rotating, the signal processor does not store the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop any more, and the acceleration amplitude and the acceleration pointing angle which are stored before are eliminated; and when the current value is larger than or equal to the set threshold value again, judging that the hula hoop starts to rotate again, continuing to execute the step S5, clearing the previous data, and storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop again.
In this step, after the hula hoop is counted, the remaining data are removed except that the acceleration amplitude data and the acceleration pointing angle data of the circle center of the hula hoop in the period are reserved as the initial data.
S6, judging the acceleration pointing angle data stored in the step S5, if the acceleration pointing angle data of at least directions in the series of acceleration pointing angle data ((phi)HX(N)And/or phiHY(N)And/or phiHZ(N)) Change 360 degrees in an increasing or decreasing mode, the hula hoop is judged to rotate circles, and the signal processor counts and increases 1 and broadcasts through the information broadcaster.

Claims (10)

  1. The hula hoop is characterized in that a signal processor, an information broadcaster, a gyroscope used for collecting rotation angular velocity values and at least two sets of acceleration sensors used for collecting acceleration values of the hula hoop are fixed on the hula hoop, the acceleration sensors are uniformly arranged on the hula hoop by taking the circle center of the hula hoop as the center, the signal processor is respectively connected with the information broadcaster, the gyroscope and the acceleration sensors, the signal processor calculates the number of rotation turns of the hula hoop according to the collected acceleration values and the collected rotation angular velocity values, and sends the calculated number of rotation turns to the information broadcaster.
  2. 2. The hula hoops are according to claim 1, wherein a magnetometer for measuring geomagnetic information is fixed on the hula hoop, the magnetometer is connected with a signal processor, and the signal processor performs error correction on the number of turns of the hula hoop through the geomagnetic information collected by the magnetometer.
  3. 3. The hula hoop of claim 2, wherein the acceleration sensor, the magnetometer, the signal processor and the gyroscope are all mounted on a circuit board, and the acceleration sensor, the magnetometer and the gyroscope are all connected with the signal processor through the circuit board.
  4. 4. The species of hula hoop of any of claims 1-3, wherein the hula hoop is fixed with a signal transmission module electrically connected with a signal processor, and the signal processor transmits the calculated number of rotations to the mobile terminal through the signal transmission module.
  5. 5. The hula hoops of claim 4, wherein the magnetometer, the signal processor, the power supply module, the signal transmission module and the acceleration sensor are all fixed in the hula hoop by screws or buckles, and the information announcer and the key switches are fixed on the outer surface of the hula hoop or embedded in the hula hoop.
  6. 6, kinds of hula hoop's counting method, its characterized in that:
    (1) the hula hoop is provided with a signal processor, a gyroscope for acquiring rotation angular velocity values and at least two sets of acceleration sensors which are uniformly arranged on the hula hoop and used for acquiring acceleration values, wherein the gyroscope and the acceleration sensors are respectively positioned in self coordinate systems based on self positions, and the self coordinate systems rotate along with the hula hoop;
    (2) setting the hula hoop to stand, and taking the self coordinate system of the gyroscope as a reference space coordinate system; then setting the accumulated rotation angle of the self coordinate system of the gyroscope relative to the reference space coordinate system to be zero, and setting the value of each set of acceleration sensor after the acceleration value based on the self coordinate system is projected to the reference space coordinate system as the initial acceleration;
    under the above conditions, the counting method comprises the following steps:
    s1: controlling the acceleration sensors and the gyroscope to continuously acquire the acceleration values in a periodic manner by the signal processor to obtain the acceleration values of each set of acceleration sensors in the coordinate system of the acceleration sensor and the rotation angular velocity values of the gyroscope in the coordinate system of the gyroscope;
    s2, the signal processor calculates the rotation angle of the gyroscope in each period according to the rotation angle speed value, and then adds the rotation angle in each period with the accumulated rotation angle obtained in the last period to obtain the accumulated rotation angle of the gyroscope in the period relative to the standard space coordinate system when standing;
    s3: projecting the acceleration values of the acceleration sensors obtained in the step S1 to the self coordinate system of the gyroscope by a signal processor based on the acceleration values in the self coordinate system according to the position relation between the acceleration sensors and the gyroscope in the set conditions; converting the acceleration value of each set of acceleration sensor projected in the self coordinate system of the gyroscope into the acceleration value in the reference space coordinate system according to the accumulated rotating angle obtained in the step S2; then, respectively subtracting the initial acceleration of each set of acceleration sensor from the acceleration value of each set of acceleration sensor in the reference space coordinate system; then, the vector sum of the acceleration values of the acceleration sensors in the reference space coordinate system is calculated, and finally the vector sum is divided by the number of the acceleration sensors to obtain the acceleration of the circle center of the hula hoop in the reference space coordinate system in each period;
    s4: according to the result of the step S3, calculating the acceleration amplitude of the circle center of the hula hoop in each period by the signal processor, and calculating three acceleration pointing angles of the acceleration vector;
    s5, comparing the acceleration amplitude of the circle center of the hula hoop in each period with a set threshold value in sequence, if the acceleration amplitude in a period is larger than or equal to the set threshold value, judging that the hula hoop is in a rotating state, and continuously storing the acceleration amplitude and the acceleration pointing angle of the circle center of the hula hoop from the period to obtain series of acceleration amplitude data and acceleration pointing angle data;
    and S6, judging the acceleration pointing angle data stored in the step S5, if the acceleration pointing angles in at least directions in the series of acceleration pointing angle data change 360 degrees in an increasing or decreasing mode, judging that the hula hoop rotates for circles, and adding 1 to the rotating circle count by the signal processor and broadcasting.
  7. 7. The method for counting hula hoops according to claim 6, wherein in step S4, the three acceleration pointing angles are defined as an acceleration pointing angle of the shaft, which is 0-360 °, in a rectangular coordinate system, satisfying the right-hand rule, the thumb of the right hand is oriented in the same direction as the coordinate axes, the acceleration vectors are projected on a plane perpendicular to the coordinate axes, the projection and the three-axis forward direction form an included angle of th plane along the four fingers of the right hand.
  8. 8. The method for counting hula hoops according to claim 6, wherein in step S5, when the acceleration amplitude is greater than or equal to the set threshold value first and then smaller than the set threshold value, it is determined that the hula hoop stops rotating, the signal processor does not store the acceleration amplitude and the acceleration pointing angle of the center of the hula hoop any more, and clears the acceleration amplitude and the acceleration pointing angle stored before, and when the acceleration amplitude is greater than or equal to the set threshold value again, it is determined that the hula hoop starts rotating again, the execution is continued according to step S5, and the acceleration amplitude and the acceleration pointing angle of the center of the hula hoop are stored again.
  9. 9. The method for counting hula hoops according to any one of claims 6-8 and , wherein in the step S5, after the hula hoop hoop is counted, the data are cleared except that the acceleration amplitude data and the acceleration pointing angle data of the hula hoop center of the period are retained and used as the initial data.
  10. 10. The method for counting hula hoops according to claim 6, wherein a magnetometer for measuring geomagnetic information is installed on the hula hoop, the magnetometer is set to be in own coordinate systems, the direction of the own coordinate system of the magnetometer is consistent with the direction of the own coordinate system of the gyroscope, information obtained by projecting the geomagnetic information based on the own coordinate system to a reference space coordinate system is set as initial geomagnetic information when the hula hoop is in a static state, and each period signal processor corrects the calculation error of the accumulated rotation angle of the gyroscope in the period according to the collected geomagnetic information based on the own coordinate system and the initial geomagnetic information.
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