CN112755435B - Rope skipping coordination evaluation method and device - Google Patents

Rope skipping coordination evaluation method and device Download PDF

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CN112755435B
CN112755435B CN202011540663.4A CN202011540663A CN112755435B CN 112755435 B CN112755435 B CN 112755435B CN 202011540663 A CN202011540663 A CN 202011540663A CN 112755435 B CN112755435 B CN 112755435B
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俞朝杰
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Zhejiang Haoxiguan Technology Co ltd
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    • A—HUMAN NECESSITIES
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Abstract

The invention relates to a rope skipping coordination evaluation method and device based on cooperation of a six-axis gyroscope and a Hall sensor, wherein the method is used for fitting sinusoidal curves of X, Z directions of a rope skipping detected circle through numerical calculation; calculating the phase difference of sine curves of the rope skipping detected ring in the X direction and the Z direction; judging the harmony score of the rope skipping detected ring through the phase difference; calculate all skipping rope and surveyed the harmony score mean value of circle, promptly for last whole harmony score, install a six-axis gyroscope additional on the rope skipping handle of current adoption hall chip technique, six-axis gyroscope data of handle when being used for detecting the rope skipping to judge the harmony through the phase difference of X and Z direction, judge the mode simple, and is with low costs, be convenient for the user to know the harmony of the health when self motion, do benefit to the user and improve self rope skipping speed, and standardize the rope skipping action of oneself, reduce the possibility of motion damage.

Description

Rope skipping coordination evaluation method and device
Technical Field
The invention relates to the field of rope skipping coordination calculation, in particular to a rope skipping coordination evaluation method and device.
Background
With the continuous improvement of living standard of people, people pay more and more attention to the physical health condition of the people, so more and more people select to improve the physical quality of the people through body-building exercise. Skipping ropes are simple, good for both young and old, aerobic exercises with many benefits, and require very simple equipment, and are therefore widely used.
The existing skipping rope handle has a single function, only supports a counting function, and cannot reflect the coordination of the body of a user when skipping a rope. When skipping, the harmony of health and its important, on the one hand, to professional player, the body is uncoordinated probably leads to, and rope skipping speed reduces, is unfavorable for the rope skipping to compete fast, reduces the rope skipping score, and on the other hand, the health is uncoordinated, probably leads to for wrong rope skipping posture, and wrong posture causes the motion damage easily, therefore how to feed back user's harmony when skipping rope is at present urgent need to be solved.
Disclosure of Invention
The invention aims to provide a rope skipping coordination evaluation method and device.
In order to solve the technical problem, the invention provides a rope skipping coordination evaluation method based on cooperation of a six-axis gyroscope and a Hall sensor. The method comprises the following steps:
acquiring Hall sensor signal data and six-axis gyroscope data in rope skipping action operation through a gyroscope and a Hall sensor;
screening out the six-axis gyroscope data of the rope skipping detected ring according to the Hall sensor signals;
fitting X, Z sine curves of the tested rope skipping circle in two directions through numerical calculation;
calculating the phase difference of sine curves of the rope skipping detected ring in the X direction and the Z direction;
judging the harmony score of the rope skipping detected ring through the phase difference;
and calculating the average value of the harmony scores of all the tested rings of the skipping ropes, namely the final overall harmony score.
Further, the method for fitting the sine curve of the rope skipping detected circle in the X direction through numerical calculation comprises the following steps:
acquiring n data samples of six-axis gyroscope data in the X direction, and setting the mean value of the n data samples to zero;
let the fitted curve in the X direction be f (X) ax*sin(bxx+cx)；
Calculating n data samples of six-axis gyroscope data in X direction, and calculating parameter ax、bx、cxThereby obtaining a formula of a fitted curve in the X direction.
Furthermore, in the method of acquiring n data samples of the six-axis gyroscope data in the X direction and setting the mean value of the n data samples to zero, the n data samples are v, and v is ═ v1,v2,v3,…,vn](ii) a After zero setting
Figure BDA0002854777440000021
Further, the method for calculating the parameters a, b and c by calculating n data samples of the six-axis gyroscope data in the X direction includes:
parameter(s)
Figure BDA0002854777440000022
Where t represents the time of the turn,
Figure BDA0002854777440000023
wherein n is the time taken by the loop, and f represents the sampling frequency of n data samples;
calculating vnewArea enclosed by curve y-0
Figure BDA0002854777440000024
By means of the calculation of the properties of the sinusoid,
Figure BDA0002854777440000025
computing
Figure BDA0002854777440000028
Corresponding to
Figure BDA0002854777440000026
And from all w1～wnThe maximum value of the two is recorded as wjThe sinusoidal property is calculated, through the sinusoidal property,
Figure BDA0002854777440000027
further, the method for fitting the Z-direction sine curve of the rope skipping detected circle through numerical calculation comprises the following steps:
acquiring n data samples of six-axis gyroscope data in the Z direction, and setting the mean value of the n data samples to zero;
let the fitting curve in the Z direction be f (Z) ═ az*sin(bzx+cz)；
Calculating n data samples of six-axis gyroscope data in Z direction, and calculating parameter az、bz、czThereby obtaining a formula of a fitted curve in the Z direction.
Further, a method for calculating the phase difference of the sine curves of the rope skipping detected circle in the X direction and the Z direction comprises the following steps:
obtaining phase values c in the X and Z directionsXAnd cZAnd a common period b ═ b in both directionsx＝bz；
Error between phases
Figure BDA0002854777440000031
Further, the method for judging the coordination score of the rope skipping detected ring through the phase difference comprises the following steps:
substituting the phase difference into a preset judgment interval to obtain a harmony score.
Further, the preset determination interval is:
1-5 points evaluation interval: [0, p ]1) 5 min; [ p ]1,p2) 4, 4 minutes; [ p ]2,p3) And 3 min; [ p ]3,p4) And 2 min; [ p ]4,2π]1 is, wherein p1,p2,p3,p4An artificially set end value.
The invention also provides a rope skipping coordination evaluation device based on cooperation of the six-axis gyroscope and the Hall sensor, which is characterized by comprising the following steps of:
the data processing module is suitable for screening out the six-axis gyroscope data of the rope skipping detected ring according to the Hall sensor signal;
the sine curve calculation module is suitable for fitting the X, Z sine curves of the rope skipping detected circle in two directions through numerical calculation;
the phase difference calculation module is suitable for calculating the phase difference of sine curves of the rope skipping detected ring in the X direction and the Z direction;
the judgment module is suitable for judging the coordination score of the rope skipping detected ring through the phase difference;
and the overall harmony score calculating module is suitable for calculating the harmony score average value of all the rope skipping detected rings, namely the final overall harmony score.
The invention also provides a computer readable storage medium, wherein one or more instructions are stored in the computer readable storage medium, and when the one or more instructions are executed by a processor, the rope skipping coordination evaluation method based on the cooperation of the six-axis gyroscope and the Hall sensor is realized.
The rope skipping coordination evaluation method and device based on the cooperation of the six-axis gyroscope and the Hall sensor have the advantages that the method and device are used for evaluating rope skipping coordination, wherein sine curves in X, Z two directions of a rope skipping detected circle are fitted through numerical calculation; calculating the phase difference of sine curves of the rope skipping detected ring in the X direction and the Z direction; judging the harmony score of the rope skipping detected ring through the phase difference; calculate all skipping rope and surveyed the harmony score mean value of circle, promptly for last whole harmony score, install a six-axis gyroscope additional on the rope skipping handle of current adoption hall chip technique, six-axis gyroscope data of handle when being used for detecting the rope skipping to judge the harmony through the phase difference of X and Z direction, judge the mode simple, and is with low costs, be convenient for the user to know the harmony of the health when self motion, do benefit to the user and improve self rope skipping speed, and standardize the rope skipping action of oneself, reduce the possibility of motion damage.
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The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a flowchart of a rope skipping coordination evaluation method based on cooperation of a six-axis gyroscope and a hall sensor according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram of a rope skipping coordination evaluating device based on cooperation of a six-axis gyroscope and a hall sensor according to an embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
As shown in fig. 1, this embodiment 1 provides a rope skipping coordination evaluation method based on the cooperation of a six-axis gyroscope and a hall sensor. Install a six-axis gyroscope additional on current rope skipping handle that adopts hall chip technique for the six-axis gyroscope data of handle when detecting the rope skipping to come to judge the harmony through the phase difference of X and Z direction, judge that the mode is simple, with low costs, the user of being convenient for knows the harmony of the health when self motion, do benefit to the user and improve the rope skipping speed of self, and standardize the rope skipping action of oneself, reduce the possibility of motion damage.
Specifically, the method comprises:
s110: and acquiring Hall sensor signal data and six-axis gyroscope data in rope skipping action operation through the gyroscope and the Hall sensor.
Specifically, the gyroscope and the hall sensor are disposed within the handle for detecting hall sensor signals and six-axis gyroscope data.
S120: and screening out the six-axis gyroscope data of the rope skipping detected ring according to the Hall sensor signals.
Specifically, data of the corresponding six-axis gyroscope is judged by a Hall sensor signal when the rotating head of the handle rotates for one circle.
S130: the sinusoids in the X, Z two directions of the tested circle of the rope skipping are fitted through numerical calculation.
Specifically, the method comprises the following steps:
s131: the method for fitting the sine curve of the rope skipping detected circle in the X direction through numerical calculation comprises the following steps:
n data samples of six-axis gyroscope data in the X direction are acquired and the mean of the n data samples is set to zero, i.e., n data samples are v, v ═ v1,v2,v3,…,vn](ii) a After zero setting
Figure BDA0002854777440000051
Let the fitted curve in the X direction be f (X) ax*sin(bxx+cx)；
Calculating n data samples of six-axis gyroscope data in X direction, and calculating parameter ax、bx、cxThereby obtaining a formula of a fitted curve in the X direction.
Parameter(s)
Figure BDA0002854777440000052
Where t represents the time of the turn,
Figure BDA0002854777440000053
wherein n is the time taken by the loop, and f represents the sampling frequency of n data samples;
calculating vnewArea enclosed by curve y-0
Figure BDA0002854777440000054
By means of the calculation of the properties of the sinusoid,
Figure BDA0002854777440000055
computing
Figure BDA0002854777440000065
Corresponding to
Figure BDA0002854777440000061
And from all w1～wnThe maximum value of the two is recorded as wjThe sinusoidal property is calculated, through the sinusoidal property,
Figure BDA0002854777440000062
s132: the method for fitting the Z-direction sine curve of the rope skipping detected circle through numerical calculation comprises the following steps:
acquiring n data samples of six-axis gyroscope data in the Z direction, and setting the mean value of the n data samples to zero;
let the fitting curve in the Z direction be f (Z) ═ az*sin(bzx+cz)；
Calculating n data samples of six-axis gyroscope data in Z direction, and calculating parameter az、bz、czThereby obtaining a formula of a fitted curve in the Z direction. Parameter az、bz、czThe calculation method of (2) is the same as the parameter calculation method in step S131, and the description thereof is not repeated here.
S140: and calculating the phase difference of the sine curves of the rope skipping detected ring in the X direction and the Z direction.
Specifically, phase values c in the X and Z directions are obtainedXAnd cZAnd a common period b ═ b in both directionsx＝bz；
Error between phases
Figure BDA0002854777440000063
S150: and judging the rope skipping movement coordination through the phase difference.
Specifically, the phase difference is substituted into a preset determination section to obtain a harmony score. The preset judgment interval is as follows: 1-5 points evaluation interval: [0, p ]1) 5 min; [ p ]1,p2) 4, 4 minutes; [ p ]2,p3) And 3 min; [ p ]3,p4) And 2 min; [ p ]4,2π]1 is, wherein p1,p2,p3,p4An artificially set end value. And specific numerical values are labeled through related expert experience.
S160: and calculating the average value of the harmony scores of all the tested rings of the skipping ropes, namely the final overall harmony score.
Specifically, the number of turns of all measured turns is set to be m, and finally the overall harmony score is obtained
Figure BDA0002854777440000064
Wherein S isiAnd (4) representing the score of the tested circle of the ith skipping rope.
Example 2
Referring to fig. 2, an embodiment of the present invention further provides a rope skipping coordination evaluation apparatus based on cooperation of a six-axis gyroscope and a hall sensor, including: the device comprises a data acquisition module, a data processing module, a sinusoidal curve calculation module, a phase difference calculation module, a judgment module and an overall harmony score calculation module.
The data acquisition module is suitable for acquiring Hall sensor signal data and six-axis gyroscope data in rope skipping action operation through the gyroscope and the Hall sensor; specifically, the gyroscope and the hall sensor are disposed within the handle for detecting hall sensor signals and six-axis gyroscope data.
The data processing module is suitable for screening out the six-axis gyroscope data of the rope skipping detected ring according to the Hall sensor signal; specifically, data of the corresponding six-axis gyroscope is judged by a Hall sensor signal when the rotating head of the handle rotates for one circle.
The sine curve calculation module is suitable for fitting the X, Z sine curves of the rope skipping detected circle in two directions through numerical calculation;
specifically, the method comprises the following steps:
s131: the method for fitting the sine curve of the rope skipping detected circle in the X direction through numerical calculation comprises the following steps:
n data samples of six-axis gyroscope data in the X direction are acquired and the mean of the n data samples is set to zero, i.e., n data samples are v, v ═ v1,v2,v3,…,vn](ii) a After zero setting
Figure BDA0002854777440000071
Let the fitted curve in the X direction be f (X) ax*sin(bxx+cx)；
Calculating n data samples of six-axis gyroscope data in X direction, and calculating parameter ax、bx、cxThereby obtaining a formula of a fitted curve in the X direction.
Parameter(s)
Figure BDA0002854777440000072
Where t represents the time of the turn,
Figure BDA0002854777440000073
wherein n is the time taken by the loop, and f represents the sampling frequency of n data samples;
calculating vnewArea enclosed by curve y-0
Figure BDA0002854777440000074
By means of the calculation of the properties of the sinusoid,
Figure BDA0002854777440000075
computing
Figure BDA0002854777440000078
Corresponding to
Figure BDA0002854777440000076
And from all w1～wnThe maximum value of the two is recorded as wjThe sinusoidal property is calculated, through the sinusoidal property,
Figure BDA0002854777440000077
s132: the method for fitting the Z-direction sine curve of the rope skipping detected circle through numerical calculation comprises the following steps:
acquiring n data samples of six-axis gyroscope data in the Z direction, and setting the mean value of the n data samples to zero;
let the fitting curve in the Z direction be f (Z) ═ az*sin(bzx+cz)；
Calculating n data samples of six-axis gyroscope data in Z direction, and calculating parameter az、bz、czThereby obtaining a formula of a fitted curve in the Z direction. Parameter az、bz、czThe calculation method of (2) is the same as the parameter calculation method in step S131, and the description thereof is not repeated here.
And the phase difference calculation module is suitable for calculating the phase difference of the sine curves of the rope skipping detected ring in the X direction and the Z direction. Specifically, phase values c in the X and Z directions are obtainedXAnd cZAnd a common period b ═ b in both directionsx＝bz；
Error between phases
Figure BDA0002854777440000081
And the judging module is suitable for judging the coordination score of the rope skipping detected ring through the phase difference.
Specifically, the phase difference is substituted into a preset determination section to obtain a harmony score. The preset judgment interval is as follows: 1 to 5 pointsAnd (3) judging the interval: [0, p ]1) 5 min; [ p ]1,p2) 4, 4 minutes; [ p ]2,p3) And 3 min; [ p ]3,p4) And 2 min; [ p ]4,2π]1 is, wherein p1,p2,p3,p4An artificially set end value. And specific numerical values are labeled through related expert experience.
And the overall harmony score calculating module is suitable for calculating the harmony score average value of all the rope skipping detected rings, namely the final overall harmony score.
Specifically, the number of turns of all measured turns is set to be m, and finally the overall harmony score is obtained
Figure BDA0002854777440000082
Wherein S isiAnd (4) representing the score of the tested circle of the ith skipping rope.
Example 3
The embodiment of the invention also provides a computer-readable storage medium, wherein one or more instructions are stored in the computer-readable storage medium, and when the one or more instructions are executed by a processor, the rope skipping coordination evaluation method based on the cooperation of the six-axis gyroscope and the Hall sensor is as described above.
In the embodiment, the method distinguishes the six-axis gyroscope data of the rope skipping of the ring to be detected according to the Hall sensor signal; x, Z sine curves in two directions when the rope skipping is fitted are calculated through numerical values; calculating the phase difference of the sine curves in the X direction and the Z direction; and judging the rope skipping movement coordination through the phase difference.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In summary, the invention provides a rope skipping coordination evaluation method and device based on cooperation of a six-axis gyroscope and a hall sensor, wherein the method is used for fitting sinusoids of X, Z two directions of a rope skipping detected circle through numerical calculation; calculating the phase difference of sine curves of the rope skipping detected ring in the X direction and the Z direction; judging the harmony score of the rope skipping detected ring through the phase difference; calculate all skipping rope and surveyed the harmony score mean value of circle, promptly for last whole harmony score, install a six-axis gyroscope additional on the rope skipping handle of current adoption hall chip technique, six-axis gyroscope data of handle when being used for detecting the rope skipping to judge the harmony through the phase difference of X and Z direction, judge the mode simple, and is with low costs, be convenient for the user to know the harmony of the health when self motion, do benefit to the user and improve self rope skipping speed, and standardize the rope skipping action of oneself, reduce the possibility of motion damage.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (9)

1. A rope skipping coordination evaluation method based on cooperation of a six-axis gyroscope and a Hall sensor is characterized by comprising the following steps:
acquiring Hall sensor signal data and six-axis gyroscope data in rope skipping action operation through a gyroscope and a Hall sensor;
screening out the six-axis gyroscope data of the rope skipping detected ring according to the Hall sensor signals;
fitting X, Z sine curves of the tested rope skipping circle in two directions through numerical calculation;
calculating the phase difference of sine curves of the rope skipping detected ring in the X direction and the Z direction;
judging the coordination score of the rope skipping detected ring through the phase difference, and substituting the phase difference into a preset judgment interval to obtain the coordination score of the rope skipping detected ring;
and calculating the average value of the harmony scores of all the tested rings of the skipping ropes, namely the final overall harmony score.
2. The rope skipping coordination evaluation method based on cooperation of the six-axis gyroscope and the Hall sensor according to claim 1, wherein the method for fitting the sine curve of the tested circle of the rope skipping in the X direction through numerical calculation comprises the following steps:
acquiring n data samples of six-axis gyroscope data in the X direction, and setting the mean value of the n data samples to zero;
let the fitted curve in the X direction be f (X) ax*sin(bxx+cx)；
Calculating a parameter a according to n data samples of six-axis gyroscope data in the X directionx、bx、cxThereby obtaining a formula of a fitted curve in the X direction.
3. The rope skipping coordination assessment method based on six-axis gyroscope and Hall sensor cooperation according to claim 2, wherein n data samples of six-axis gyroscope data in the X direction are obtained, and in the method of setting the mean value of the n data samples to zero, the n data samples are v, v ═ v [ [ v ═ v [ ]1,v2,v3,…,vn](ii) a After zero setting
Figure FDA0003204140990000011
4. The rope skipping coordination evaluation method based on cooperation of six-axis gyroscope and Hall sensor according to claim 3, wherein the parameter a is calculated according to n data samples of the six-axis gyroscope data in X directionx、bx、cxThe method comprises the following steps:
parameter(s)
Figure FDA0003204140990000021
Where t represents the time of the turn,
Figure FDA0003204140990000022
wherein n is the time taken by the loop, and f represents the sampling frequency of n data samples;
calculating vnewArea enclosed by curve y-0
Figure FDA0003204140990000023
By means of the calculation of the properties of the sinusoid,
Figure FDA0003204140990000024
computing
Figure FDA0003204140990000028
Corresponding to
Figure FDA0003204140990000025
And from all w1～wnThe maximum value of the two is recorded as wjThe sinusoidal property is calculated, through the sinusoidal property,
Figure FDA0003204140990000026
5. the rope skipping coordination evaluation method based on cooperation of the six-axis gyroscope and the Hall sensor according to claim 2, wherein the method for fitting the Z-direction sine curve of the rope skipping circle to be tested through numerical calculation comprises the following steps:
acquiring n data samples of six-axis gyroscope data in the Z direction, and setting the mean value of the n data samples to zero;
let the fitting curve in the Z direction be f (Z) ═ az*sin(bzx+cz)；
Calculating n data samples of six-axis gyroscope data in Z direction, and calculating parameter az、bz、czThereby obtaining a formula of a fitted curve in the Z direction.
6. The rope skipping coordination evaluation method based on the cooperation of the six-axis gyroscope and the Hall sensor according to claim 5, characterized in that the phase difference of the sine curves of the tested circle of the rope skipping in the X and Z directions is calculated by:
obtaining phase values c in the X and Z directionsXAnd cZAnd a common period b ═ b in both directionsx＝bz；
Error between phases
Figure FDA0003204140990000027
7. The rope skipping coordination evaluation method based on cooperation of the six-axis gyroscope and the Hall sensor according to claim 1, wherein the preset judgment interval is as follows:
1-5 points evaluation interval: [0, p ]1) 5 min; [ p ]1,p2) 4, 4 minutes; [ p ]2,p3) And 3 min; [ p ]3,p4) And 2 min; [ p ]4,2π]1 is, wherein p1,p2,p3,p4An artificially set end value.
8. A rope skipping coordination evaluation device based on cooperation of a six-axis gyroscope and a Hall sensor is characterized by comprising:
the data acquisition module is suitable for acquiring Hall sensor signal data and six-axis gyroscope data in rope skipping action operation through the gyroscope and the Hall sensor;
the data processing module is suitable for screening out the six-axis gyroscope data of the rope skipping detected ring according to the Hall sensor signal;
the sine curve calculation module is suitable for fitting the X, Z sine curves of the rope skipping detected circle in two directions through numerical calculation;
the phase difference calculation module is suitable for calculating the phase difference of sine curves of the rope skipping detected ring in the X direction and the Z direction;
the judgment module is suitable for judging the coordination score of the rope skipping detected ring through the phase difference and substituting the phase difference into a preset judgment interval so as to obtain the coordination score of the rope skipping detected ring;
and the overall harmony score calculating module is suitable for calculating the harmony score average value of all the rope skipping detected rings, namely the final overall harmony score.
9. A computer readable storage medium having one or more instructions stored therein, wherein the one or more instructions, when executed by a processor, implement the rope skipping coordination assessment method based on the cooperation of a six-axis gyroscope and a hall sensor according to any one of claims 1-7.
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US5533947A (en) * 1994-10-31 1996-07-09 Tomlinson; Roger R. Musical beat jump-rope
WO2002007826A1 (en) * 2000-07-22 2002-01-31 Min Keon Dong Jump rope having function of calory and fat exhaustion amount measurement
CN103801048A (en) * 2014-02-17 2014-05-21 深圳市悠朵云科技有限公司 Intelligent skipping rope and control method
CN108721826A (en) * 2018-06-01 2018-11-02 深圳市沃特沃德股份有限公司 Intelligence rope skipping, rope skipping method of counting and device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5533947A (en) * 1994-10-31 1996-07-09 Tomlinson; Roger R. Musical beat jump-rope
WO2002007826A1 (en) * 2000-07-22 2002-01-31 Min Keon Dong Jump rope having function of calory and fat exhaustion amount measurement
CN103801048A (en) * 2014-02-17 2014-05-21 深圳市悠朵云科技有限公司 Intelligent skipping rope and control method
CN108721826A (en) * 2018-06-01 2018-11-02 深圳市沃特沃德股份有限公司 Intelligence rope skipping, rope skipping method of counting and device

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