KR102074043B1 - Apparatus and method for compensating sensor error using joint sensor - Google Patents

Abstract

The present invention relates to a sensor error correction device using a joint sensor, a correction method and a training system to which such an error correction device is applied. More specifically, the sensor error correction apparatus, the first support portion provided on one side of the first inertial sensor unit for measuring in real time the first measurement value of the angle of the first support; A second inertial sensor unit having one end at a second support part connected to the other end of the first support part through a joint part to measure a second measurement value which is an angle of the second support part in real time; A joint sensor mounted on the joint part to measure in real time a third measurement value which is a joint angle between the first support part and the second support part; And a correction unit configured to correct at least one of the first inertial sensor unit and the second inertial sensor unit based on the third measured value measured by the joint sensor. It relates to an error compensator.

Description

Apparatus and method for compensating sensor error using joint sensor}

The present invention relates to a sensor error correction device using a joint sensor, a correction method and a training system to which such an error correction device is applied.

The Inertial Navigation System (INS) is a system that can determine the position, velocity and attitude of an aircraft or moving object with respect to the reference navigation coordinate system without external assistance by using the inertial physical quantity measured by two basic sensors such as a gyro and an accelerometer. The accuracy and error of the system will be affected by many factors.

At this time, the causes of the error can be largely divided into a hardware aspect and a software aspect.

First of all, in terms of hardware, its own sensor error such as bias or misalignment error of the inertial measurement device acts as a main factor.In addition, noise or A / D converter included in the measurement of the sensor signal Quantization error, and misalignment when mounting an inertial measurement unit on a moving object.

 Next, in terms of software, numerical calculation errors are mainly classified into initial alignment error, self-calculation error, and integration error. These error factors are accumulated over time when hardware error factors are not properly removed. This will greatly increase the error of the performance. Therefore, it is important to try to reduce the error numerically in software, but it is important to reduce and eliminate the hardware error as much as possible first of all. In particular, it is necessary to eliminate the sensor error generated by the inertial measurement device.

 In particular, a gimbal type inertial navigation system (Gimballed) is equipped with an inertial sensor such as a gyro and an accelerometer on a stabilized platform and uses the inertial measurements such as angular velocity and acceleration from the inertial sensor to find the current position, attitude, and speed. Unlike the INS), the strapdown INS, which is mounted directly on the body of the aircraft and replaces the mechanical device through the coordinate transformation from the fuselage coordinate system to the inertial coordinate system, is subject to aircraft motion, thus inertial measurement. The device must consider the inertial measurement error for the gyro effect before it is applied to the inertial navigation system.

In order to eliminate the error of the inertial measurement device itself, error correction test is performed to establish an appropriate error model for the gyro and accelerometer through the error modeling process, and to estimate the error coefficients constituting the error model. .

In this case, in order to perform the error correction test, a device capable of generating three axes of rotational motion and three axes of linear motion is required. Of course, for this purpose, a 3-axis motion table that has three degrees of freedom and can provide a constant angular velocity and precise posture for each axis is used for the error correction test of the inertial measurement device.

In addition, recently, an acceleration sensor, an angular velocity sensor, etc. are attached to a human body and present in a system for detecting movement and motion in real time by measuring the moving distance and angle of an angle of an arm or a leg in real time.

However, angular velocity sensors such as gyro sensors are practically large in error and drift also occurs over time, making it difficult to obtain reliable information. Therefore, there is a problem of calibrating the angle value measured in real time.

Therefore, a technology that can calibrate other angular velocity sensors, acceleration sensors, etc. based on the values measured by the joint sensors was required.

Japanese Patent Application Laid-Open No. 2013-75041 Japanese Patent Laid-Open No. 2015-217126 Japanese Patent No. 2550822 Republic of Korea Patent No. 1745864

Therefore, the present invention has been made to solve the above conventional problems, according to an embodiment of the present invention, is attached to the joint of the body based on the value measured in the joint sensor that can measure the joint angle in real time To this end, an object of the present invention is to provide an error correction method and apparatus capable of correcting an error such as an angular velocity sensor or an acceleration sensor attached to a body.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those skilled in the art from the following description. It can be understood.

According to a first aspect of the present invention, there is provided a sensor error correcting apparatus, comprising: a first inertial sensor unit provided at one side of a first support part to measure in real time a first measurement value which is an angle of the first support part; A second inertial sensor unit having one end at a second support part connected to the other end of the first support part through a joint part to measure a second measurement value which is an angle of the second support part in real time; A joint sensor mounted on the joint part to measure in real time a third measurement value which is a joint angle between the first support part and the second support part; And a correction unit configured to correct at least one of the first inertial sensor unit and the second inertial sensor unit based on the third measurement value measured by the joint sensor. It can be achieved as a correction device.

The corrector may include a joint angle calculated based on a first measured value measured by the first inertial sensor unit and a second measured value measured by the second inertial sensor unit, and the first measured value compared to the third measured value. At least one of the inertial sensor unit and the second inertial sensor unit may be corrected.

The first inertial sensor unit and the second inertial sensor unit may include at least one of an angular velocity sensor and an acceleration sensor.

The angular velocity sensor, the acceleration sensor, and the joint sensor may be configured as a three-axis sensor.

In addition, the database stores the first standard angle data preset for the angle of the first support, the second standard angle data preset for the angle of the second support, and the standard joint angle data preset for the joint angle. It may be characterized by including.

The first support is the upper arm of the human body, the second support is the lower arm of the human body, the joint part is an elbow, or the first support is the upper leg of the human body, and the second support is the lower leg of the human body. The joint may be a knee.

According to a second object of the present invention, in the sensor error correction method, a first inertial sensor unit is mounted on one side of the first support unit, and one end thereof is connected to the other end of the first support unit and the second support unit side is connected to one side of the second support unit. Mounting a pipe sensor and mounting a joint sensor on the joint; The first inertial sensor unit measures in real time a first measurement value, which is the angle of the first support unit, and the second inertial sensor unit measures a second measured value, which is an angle of the second support unit, in real time, and the joint sensor Measuring, in real time, a third measurement value, which is a joint angle between the first support and the second support; And a joint angle calculated based on a first measured value measured by the first inertial sensor unit and a second measured value measured by the second inertial sensor unit, and comparing the first measured value with the third measured value. Compensating at least one of the inertial sensor unit and the second inertial sensor unit can be achieved as a sensor error correction method using a joint sensor, characterized in that it comprises a.

The correcting may include correcting a first inertial sensor unit while comparing the first standard angle data stored in a database with the first measurement value while changing an angle of the first support unit based on one end of the first support unit. step; Correcting the joint sensor while comparing the first measurement part or the second support part with standard joint angle data stored in a database and the third measurement value while varying the joint angle with respect to the joint part; And calibrating the second inertial sensor unit based on the first measured value measured by the corrected first inertial sensor unit and the third measured value measured by the corrected joint sensor. .

The correcting may include correcting a second inertial sensor unit while comparing the second measurement value with the second standard angle data stored in a database while changing an angle of the second support unit based on the joint unit; Correcting the joint sensor while comparing the third measurement value with standard joint angle data stored in a database while varying the joint angle with respect to the first support part or the second support part; And correcting the first inertial sensor unit based on the second measured value measured by the corrected second inertial sensor unit and the third measured value measured by the corrected joint sensor. .

A third object of the present invention is a training system, comprising: a sensor error correction apparatus using a joint sensor according to the first object mentioned above; A receiving unit receiving measurement data measured by the first inertial sensor unit, the second inertial sensor unit, and the joint sensor of the error correction device; A motion recognition unit configured to calculate exercise information data according to the joint angle and the exercise amount based on the measurement data received by the receiving unit; And it can be achieved as a training system applied a sensor error correction device using a joint sensor, characterized in that it comprises a motion analysis unit for analyzing the movement motion, posture based on the exercise information data.

According to the sensor error correction device, a correction method using a joint sensor according to an embodiment of the present invention, attached to the body based on the value measured in the joint sensor that is attached to the joint of the body to measure the joint angle in real time Has the effect of correcting the error of the angular velocity sensor, the acceleration sensor.

On the other hand, the effects that can be obtained in the present invention is not limited to the above-mentioned effects, other effects that are not mentioned will be clearly understood by those skilled in the art from the following description. Could be.

The following drawings, which are attached to this specification, illustrate one preferred embodiment of the present invention, and together with the detailed description thereof, serve to further understand the technical idea of the present invention. It should not be construed as limited.
1 is a block diagram of a sensor error correction apparatus according to an embodiment of the present invention,
2 is a view schematically showing a relationship between a first measured value and a second measured value and a third measured value according to an embodiment of the present invention;
3 is a plan view of a joint sensor according to an embodiment of the present invention;
4 is a plan view of a sensor unit and an FPCB connection unit according to an embodiment of the present invention;
5A is a cross-sectional view of a plurality of U-shaped sensor portions patterned on a flexible substrate according to an embodiment of the present invention;
5B is a plan view of a plurality of U-shaped sensor parts patterned on a flexible substrate according to an embodiment of the present invention;
Figure 6a is a cross-sectional view of the FPCB attached to the end of the sensor unit in Figure 5a,
Figure 6b is a plan view of the state in which the FPCB attached to the end of the sensor unit in Figure 5b,
7A is a cross-sectional view of a communication board connected to a connector in FIG. 6A;
7B is a cross-sectional view of a communication board connected to a connector in FIG. 6B;
8 is a plan view of a multi-axis joint sensor according to another embodiment of the present invention;
Figure 9a is an arm in a state attached to the first gyro sensor on the upper arm, the second gyro sensor on the lower arm, the joint sensor on the elbow, according to an embodiment of the present invention,
9B shows a leg in which a joint sensor is installed on a knee of a first gyro sensor and a second gyro sensor on a leg;
10 is a flowchart of a sensor error correction method using a joint sensor according to an embodiment of the present invention.
11 is a block diagram of a training system to which the sensor error correction apparatus according to an embodiment of the present invention is applied,
12 is a flowchart illustrating a method for providing training information using a training system to which a sensor error correction device is applied according to an embodiment of the present invention;
13 illustrates an example of utilizing a training system according to an embodiment of the present invention.

The above objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments associated with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosure may be made thorough and complete, and to fully convey the spirit of the invention to those skilled in the art.

In the present specification, when a component is mentioned as being on another component, it means that it may be formed directly on the other component or a third component may be interposed therebetween. In addition, in the drawings, the thickness of the components are exaggerated for the effective description of the technical content.

Embodiments described herein will be described with reference to cross-sectional and / or plan views, which are ideal exemplary views of the present invention. In the drawings, the thicknesses of films and regions are exaggerated for effective explanation of technical content. Therefore, the shape of the exemplary diagram may be modified by manufacturing techniques and / or tolerances. Accordingly, the embodiments of the present invention are not limited to the specific forms shown, but also include changes in forms generated by the manufacturing process. For example, the region shown at right angles may be round or have a predetermined curvature. Thus, the regions illustrated in the figures have properties, and the shape of the regions illustrated in the figures is intended to illustrate a particular form of region of the device and not to limit the scope of the invention. Although terms such as first and second are used to describe various components in various embodiments of the present specification, these components should not be limited by such terms. These terms are only used to distinguish one component from another. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, the words 'comprises' and / or 'comprising' do not exclude the presence or addition of one or more other components.

In describing the specific embodiments below, various specific details are set forth in order to explain the invention more specifically and to help understand. However, one of ordinary skill in the art can understand that the present invention can be used without these various specific details. In some cases, it is mentioned in advance that parts of the invention which are commonly known in the description of the invention and which are not highly related to the invention are not described in order to prevent confusion in explaining the invention without cause.

The present invention relates to an apparatus for correcting errors between sensors. More specifically, the present invention relates to an apparatus and method for calibrating an angular velocity sensor and an acceleration sensor such as a gyro sensor using the joint sensor 30.

1 is a block diagram of a sensor error correction apparatus 1 according to an embodiment of the present invention. Sensor error correction device 1 according to an embodiment of the present invention, as shown in Figure 1, the first inertial sensor unit 10, the second inertial sensor unit 20, the correction unit 40, the joint sensor ( 30) and the like.

The correction device 1 is the first support portion 2 and the second support portion 3 which can be rotated with respect to the joint portion 4, and the first inertial sensor portion 10 is located on one side of the first support portion 2. It is provided to be configured to measure in real time the first measurement value that is the angle of the first support (2).

In addition, the second inertial sensor part 20 is provided at one side of the second support part 3, one end of which is connected to the other end of the first support part 2 and the joint part 4. And measure in real time a second measurement value that is an angle.

In addition, the joint sensor 30 is mounted on the joint part 4 to measure in real time the third measurement value, which is the joint angle between the first support part 2 and the second support part 3.

The correction unit 40 corrects an error of at least one of the first inertial sensor unit 10 and the second inertial sensor unit 20 based on the third measurement value measured by the joint sensor 30.

The first inertial sensor unit 10 and the second inertial sensor unit 20 according to an embodiment of the present invention may be configured with at least one of an angular velocity sensor, an acceleration sensor, and a gyro sensor.

2 schematically illustrates a relationship between a first measured value, a second measured value, and a third measured value according to an embodiment of the present invention.

Correction unit 40 The joint angle calculated based on the first measured value measured by the first inertial sensor unit 10 and the second measured value measured by the second inertial sensor unit 20, and the third measured value In contrast, the error of at least one of the first inertial sensor unit 10 and the second inertial sensor unit 20 is corrected.

2 is a diagram schematically showing a relationship between a first measured value, a second measured value, and a third measured value according to the present invention. As shown in FIG. 2, the first inertial sensor unit 10 measures the first measurement value θ1 which is an angle of the first support unit 2. In addition, the second inertial sensor unit 20 measures the second measurement θ2 which is the angle of the second support unit 3. The joint sensor 30 measures the joint angle θ3 (the third measured value), which is an angle between the first support 2 and the second support 3.

The joint angle based on the first measured value and the second measured value may be defined by Equation 1 below.

[Equation 1]

Joint Angle = 180-θ1 + θ 2

The first measured value, the second measured value, and the third measured value are defined by Equation 2 below.

[Equation 2]

θ3 = 180 °-θ1 + θ 2

Therefore, when the first inertial sensor unit 10 is to be corrected, the second inertial sensor unit 20 is corrected by a correction method according to the related art, and then, from Equation 2, that is, the joint sensor 30 The first inertial sensor unit 10 may be corrected based on the measured third measured value.

In addition, when correcting the second inertial sensor unit 20, after correcting the first inertial sensor unit 10 by a correction method according to the prior art, from the above equation (2), that is, in the joint sensor 30 The second inertial sensor unit 20 may be corrected based on the measured third measured value.

In addition, the first inertial sensor unit 10, the second inertial sensor unit 20 and the joint sensor 30, the joint sensor 30 may be configured as a three-axis sensor. That is, the first inertial sensor unit 10 measures the angles in the X, Y, and Z directions of the first support unit 2 in real time, and the second inertial sensor unit 20 measures the angles in the X, Y, and Z directions. It may be configured to measure in real time, the joint sensor 30 may also be configured to measure the joint angle in the X, Y, Z direction.

And based on the X-direction joint angle measurement value of the joint sensor 30 can correct the X direction angle of the first inertial sensor unit 10 or the second inertial sensor unit 20, such a joint sensor 30 The Y direction angle of the first inertial sensor unit 10 or the second inertial sensor unit 20 may be corrected based on the Y direction joint angle measurement value of the joint direction sensor. The angle of Z direction of the first inertial sensor unit 10 or the second inertial sensor unit 20 may be corrected.

Hereinafter will be described the configuration of the joint sensor 30 according to an embodiment of the present invention. First, Figure 3 shows a plan view of the joint sensor 30 according to an embodiment of the present invention. And, Figure 4 shows a plan view of the connection between the sensor unit 32 and the FPCB 35 according to an embodiment of the present invention.

Joint sensor 30 according to an embodiment of the present invention is composed of a flexible joint sensor, the flexible substrate 31, the sensor unit 32, the FPCB (35) having an electrode portion 36, the flexible film ( 37) and the like. The sensor unit 32 is provided on the flexible substrate 31 and has elasticity. The sensor unit 32 may be composed of a plurality of sensor units 33, each of the sensor unit 33 has a U-shape. That is, the end portion 34 faces the same one direction and the other side is bent.

In addition, the FPCB 35 has a plurality of electrode parts 36 provided therein, and as shown in FIG. 4, one side of the FPCB 35 is in surface contact with the end portion 34 of the sensor unit 32. The electrode unit 36 provided therein is connected to the end of the sensor unit 32 in the attached state. The flexible film 37 is bonded to surround the sensor unit 32 and the FPCB 35.

As mentioned above, the sensor unit 32 may be composed of a plurality of U-shaped sensor portions 33, and each of the ends of the U-shaped sensor portions 33 may be formed with the electrode portions 36 of the FPCB 35, respectively. Connected, each end 34 of the U-shaped sensor unit 33 is in surface contact with one side of the FPCB (35).

In addition, a connector 38 is provided at the other end of the plurality of electrode parts 36 to enable a detachable connection with the communication board 39.

Therefore, since the FPCB 35 is attached in surface contact with the end portion 34 of the sensor unit 32, the durability against tension can be improved, and since the U-shaped sensor portion 33 is applied, the position of the electrode is desired by the user. It can be arranged in the direction can be connected to the communication board 39 in one direction can be miniaturized.

Hereinafter will be described a manufacturing method of the stretchable joint sensor 30 according to an embodiment of the present invention. First, the flexible substrate 31 having elasticity is prepared, and the sensor unit 33 having the U-shaped pattern is patterned on the flexible substrate 31 to fabricate the sensor unit 32 on the flexible substrate 31. Done. FIG. 5A illustrates a cross-sectional view of a plurality of U-shaped sensor units 33 patterned on the flexible substrate 31 according to an exemplary embodiment of the present invention. 5B illustrates a plan view in which a plurality of U-shaped sensor units 33 are patterned on the flexible substrate 31 according to the exemplary embodiment of the present invention. As shown in FIG. 5B, a plurality of U-shaped sensor portions 33 are patterned on the flexible substrate 31, and all the end portions 34 of the U-shaped sensor portions 33 face one direction. Able to know.

Then, each end of the sensor unit 33 is connected to the electrode unit 36, and the FPCB 35 is attached to the surface contact with the end 34 of the sensor unit 32. FIG. 6A illustrates a cross-sectional view of the FPCB 35 attached to the end portion 34 of the sensor unit 32 in FIG. 5A. 6B is a plan view of the state in which the FPCB 35 is attached to the end portion 34 of the sensor unit 32 in FIG. 5B.

In the FPCB 35, a plurality of electrode parts 36 are formed. The electrode parts 36 are connected to the sensor part 33, and the FPCB 35 intersects with the sensor unit 32 so as to be in surface contact with the FPCB 35. 35 will be attached. 6A and 6B, the other end of the electrode portion 36 of the FPCB 35 may be coupled to the connector 38. The flexible film 37 is attached to surround the FPCB 35 and the sensor unit 32.

Then, the communication board 39 is connected to the connector 38 (S4). FIG. 7A illustrates a cross-sectional view of the communication board 39 connected to the connector 38 in FIG. 6A. In addition, FIG. 7B illustrates a cross-sectional view of the communication board 39 connected to the connector 38 in FIG. 6B.

The manufactured elastic joint sensor 30 is attached to the joints such as elbows, knees, wrists, ankles of the human body and calculates the joint angle by measuring the resistance change value in real time.

8 illustrates a plan view of an elastic multiaxial joint sensor according to another exemplary embodiment of the present invention. As shown in FIG. 8, the sensor unit 32 may include a first thermal sensor unit 33-1 and a second thermal sensor unit 33-2. The first thermal sensor unit 33-1 is for measuring the joint angle in the first direction, and the second thermal sensor unit 33-2 is for measuring the joint angle in the second direction. Therefore, according to another embodiment of the present invention, it is possible to calculate the joint angle with respect to the multi-axis direction.

As shown in FIG. 8, the first thermal sensor unit 33-1 includes a plurality of U-shaped sensor units arranged in a first direction in a longitudinal direction, and the second thermal sensor unit 33-2 is configured as a first column. It may be composed of a plurality of U-shaped sensor unit arranged in a second direction crossing the direction. In addition, each of the end portions 34 of the first thermal sensor unit 33-1 and the second thermal sensor unit 33-2 is in surface contact with the FPCB 35.

In addition, according to an embodiment of the present invention, the first inertial sensor unit 10 mentioned above to measure the position (trace) of the arm end (wrist) portion is a three-axis first gyro sensor, the second inertial sensor unit 20 ) Is composed of a three-axis second gyro sensor and the three-axis first gyro sensor 10 may be applied to the upper arm 2, the three-axis second gyro sensor 20 is attached to the lower arm (3). According to another embodiment, the three-axis first gyro sensor 10 may be attached to the upper leg 2, the three-axis second gyro sensor 20 is attached to the lower leg (3).

9A shows a first gyro sensor 10 on the upper arm 2, a second gyro sensor 20 on the lower arm 3, and a joint sensor 30 on the elbow 4 according to an embodiment of the present invention. It shows the arm of the state. In addition, FIG. 9B illustrates a leg in which the first gyro sensor 10 is mounted on the upper leg 2, the second gyro sensor 20 is mounted on the lower leg 3, and the joint sensor 30 is installed on the knee 4. .

Theoretically, if the values of the gyro sensors 10 and 20 are correct, the position of the wrist can be calculated on the assumption that the arm length is known.

In practice, however, the gyro sensors 10 and 20 have a large error and drift also occurs over time, making it difficult to obtain reliable information. Therefore, a problem arises in that the angle values from the first and second gyro sensors 10 and 20 should be calibrated in real time. There is a way to impose a contsraint on the angle.

In the case of the arm, when the upper arm and the lower arm impose constraints that must meet each other at the elbow portion, the second gyro sensor 20 in the lower arm is referred to above based on the value of the first gyro sensor 10 in the upper arm. If the correction is made through the correction unit 40 to satisfy a constraint, a more accurate wrist position portion can be calculated.

In addition to the actual angle of the elbow as a constraint it is possible to calculate the angle value of the second gyro sensor 20 mounted on the lower arm more accurately. Here, the actual angle of the elbow can be measured through the joint sensor (30). That is, the joint sensor 30 may be attached to the elbow or the knee to more accurately correct the angle value of the second gyro sensor 20.

Hereinafter, a sensor error correction method using the joint sensor 30 according to an exemplary embodiment of the present invention will be described. 10 is a flowchart illustrating a sensor error correction method using the joint sensor 30 according to an exemplary embodiment of the present invention.

First, the first gyro sensor 10 is mounted on one side of the upper arm 2, the second gyro sensor 20 is mounted on one side of the lower arm 3, and the joint sensor 30 is mounted on the elbow 4. (S1).

The first gyro sensor 10 measures the angle of the upper arm 2 in real time, the second gyro sensor 20 measures the angle of the lower arm 3 in real time, and the joint sensor 30 Joint angle is measured in real time (S2). The motion data is analyzed by calculating a wrist position, a trajectory, and the like based on the measured values (S3).

And if the gyro sensor needs to be corrected (S4), the correction unit 40 and the joint angle calculated based on the value measured by the first gyro sensor 10 and the value measured by the second gyro sensor 20, The at least one of the first gyro sensor 10 and the second gyro sensor 20 is corrected in preparation for the value measured by the joint sensor 30. That is, the first gyro sensor 10 or the second gyro sensor 20 is corrected based on the third measurement value which is the joint angle measured by the joint sensor 30 through the relationship of Equation 2 mentioned above.

That is, when the second gyro sensor 20 is to be corrected, first, the first gyro sensor 10 is presented by the conventionally disclosed method (S5). For example, the value measured by the first gyro sensor 10 and the actual angle value, for example, stored in the database 50 while slowly changing the angle of the upper arm 2 relative to the shoulder while the shoulder is fixed. The first gyro sensor 10 is corrected while comparing the standard angle data and the value measured by the first gyro sensor 10.

Then, the second gyro sensor 20 is corrected based on the value measured by the corrected first gyro sensor 10 and the value measured by the joint sensor 30 (S6).

After the correction is completed, if the motion data analysis is still required (S7), the motion data analysis is continued through the values measured by the first gyro sensor 10, the second gyro sensor 20 and the joint sensor 30. .

Hereinafter, the training system 100 applied by the aforementioned error correction apparatus will be described. 11 is a block diagram of a training system to which a sensor error correction apparatus according to an exemplary embodiment of the present invention is applied. 12 is a flowchart illustrating a method for providing training information using a training system to which a sensor error correction apparatus is applied according to an embodiment of the present invention, and FIG. 13 illustrates an example of using a training system according to an embodiment of the present invention. It is.

Training system 100 using the sensor error correction device using the joint sensor 30 according to an embodiment of the present invention is the first inertial sensor unit 10 and the second inertial sensor unit (10) attached to the joint of the body ( 20) and a motion for calculating the motion information data according to the joint angle and the amount of motion based on the reception unit 110 that receives the measurement data measured by the joint sensor 30 and the measurement data received by the reception unit 110. It may be configured to include a recognition unit 120, and a motion analysis unit 130 for analyzing the movement motion, posture based on the exercise information data.

As mentioned above, the joint sensor 30 is attached to a joint of the body, and the first inertial sensor unit 10 and the second inertial sensor unit 20 are connected to the joint 4 by the first support unit 2. ) And the second support 3. The first inertial sensor unit 10 measures the angle and position of the first support unit 2 in real time, and the second inertial sensor unit 20 measures the angle and position of the second support unit 3 in real time. The joint sensor 30 measures the joint angle according to the movement of the joint 4 in real time. And the receiving unit 110 receives the measurement data in real time (S10). As described above, when the first inertial sensor unit 10 and the second inertial sensor unit 20 need to be corrected, the correction is made by the aforementioned method.

And the motion recognition unit 120 calculates the motion information data for the joint angle, joint range, angular velocity based on the measurement data received by the receiving unit through the communication board 39 (S20). That is, the motion recognition unit 120 receives the measured values from the first and second inertial sensor units 10 and 20 including the joint sensors 30 and 10, the acceleration sensor, the angular velocity sensor, and the gyro sensor. It is possible to collect the exercise information about the movement.

In addition, the motion analysis unit 130 analyzes the movement and posture based on the exercise information data generated by the motion recognition unit 120 (S30). The database 50 stores the standard exercise information data of the standard joint angle, the exercise amount, and the exercise posture according to the exercise type into a DB.

Therefore, the motion analysis unit 130 generates training information by comparing and analyzing the standard exercise information data and the measured exercise information data. In addition, the information notification unit 131 guides the training information, which is the comparative analysis data analyzed by the motion analysis unit 130, to the user (S40).

In addition, the receiving unit 110, the motion recognition unit 120, the motion analysis unit 130, the database 50, the correction unit 40, and the information notification unit 131 are provided in the user terminal. Can be done. In addition, the display unit 132 may be configured to display the measured exercise information data, the standard exercise information data, and the comparative analysis data on the screen according to the instruction to the user.

In addition, the above-described apparatus and method may not be limitedly applied to the configuration and method of the above-described embodiments, the embodiments may be a combination of all or part of each embodiment selectively so that various modifications may be made It may be configured.

1: Sensor error correction device using joint sensor
2: first support part
3: second support
4: Joint part, joint
10: first inertial sensor unit
20: second inertial sensor unit
30: joint sensor
31: Flexible board
32: sensor unit
33: U-shaped sensor part
33-1: First thermal sensor unit
33-2: second heat sensor unit
34: Sensor unit end
35: FPCB
36: electrode part
37: Flexible film
38: Connector
39: communication board
40: Complementary Government
50: Database
100: Training system with error correction device
110: receiving unit
120: Motion recognition department
130: Motion Analysis
131: Information Notification
132: display unit

Claims (10)

In the sensor error correction device,
A first inertial sensor unit provided at one side of a first support part to measure in real time a first measurement value which is an angle of the first support part;
A second inertial sensor unit having one end at a second support part connected to the other end of the first support part through a joint part to measure a second measurement value which is an angle of the second support part in real time;
A joint sensor mounted on the joint part to measure in real time a third measurement value which is a joint angle between the first support part and the second support part; And
And a corrector configured to correct at least one of the first inertial sensor unit and the second inertial sensor unit based on a third measured value measured by the joint sensor.
The correction unit,
The first inertial sensor unit compared to the joint angle calculated based on the first measured value measured by the first inertial sensor unit and the second measured value measured by the second inertial sensor unit, and the third measured value. And correct at least one of the second inertial sensor unit,
The correction unit,
The first inertial sensor unit and the second based on the measured value of any one of the first inertial sensor unit and the second inertial sensor unit and the third measured value measured by the joint sensor. Sensor error correction device using a joint sensor, characterized in that for correcting the other of the inertial sensor unit.
delete The method of claim 1,
And the first inertial sensor unit and the second inertial sensor unit comprise at least one of an angular velocity sensor and an acceleration sensor.
The method of claim 3, wherein
The angular velocity sensor, the acceleration sensor and the joint sensor is a sensor error correction device using a joint sensor, characterized in that consisting of a three-axis sensor.
The method of claim 1,
And a database in which the first standard angle data preset for the angle of the first support part, the second standard angle data preset for the angle of the second support part, and the standard joint angle data preset for the joint angle are stored. Sensor error correction device using a joint sensor, characterized in that it comprises.
The method of claim 1,
The first support is the upper arm of the human body, the second support is the lower arm of the human body, and the joint part is an elbow, or
And the first support part is an upper leg of the human body, the second support part is a lower leg of the human body, and the joint part is a knee.
delete In the sensor error correction method,
A first inertial sensor unit is mounted on one side of the first support unit, and a second inertial sensor unit is mounted on one side of the second support unit, one end of which is connected to the other end and the joint unit of the first support unit, and a joint sensor is mounted on the joint unit. Making;
The first inertial sensor unit measures, in real time, a first measured value that is the angle of the first support unit, and the second inertial sensor unit measures a second measured value, which is an angle of the second support unit, in real time, and the joint sensor Measuring, in real time, a third measurement value, which is a joint angle between the first support and the second support; And
The first angle of inertia compared to the third measured value and the joint angle calculated based on the first measurement value measured by the first inertial sensor unit and the second measurement value measured by the second inertial sensor unit. And correcting at least one of a sensor unit and the second inertial sensor unit.
The correcting step
Correcting a first inertial sensor unit while comparing the first measurement value with the first standard angle data stored in a database while changing the angle of the first support unit based on one end of the first support unit;
Correcting the joint sensor while comparing the third measurement value with standard joint angle data stored in a database while varying the joint angle with respect to the first support part or the second support part; And
Correcting the second inertial sensor unit based on the first measured value measured by the corrected first inertial sensor unit and the third measured value measured by the corrected joint sensor; Sensor error correction method used.
In the sensor error correction method,
A first inertial sensor unit is mounted on one side of the first support unit, and a second inertial sensor unit is mounted on one side of the second support unit, one end of which is connected to the other end and the joint unit of the first support unit, and a joint sensor is mounted on the joint unit. Making;
The first inertial sensor unit measures, in real time, a first measured value that is the angle of the first support unit, and the second inertial sensor unit measures a second measured value, which is an angle of the second support unit, in real time, and the joint sensor Measuring, in real time, a third measurement value, which is a joint angle between the first support and the second support; And
The first angle of inertia compared to the third measured value and the joint angle calculated based on the first measurement value measured by the first inertial sensor unit and the second measurement value measured by the second inertial sensor unit. And correcting at least one of a sensor unit and the second inertial sensor unit.
The correcting step
Correcting a second inertial sensor unit while comparing the second measured value with the second standard angle data stored in a database while changing the angle of the second support unit based on the joint unit;
Correcting the joint sensor while comparing the first measurement part or the second support part with standard joint angle data stored in a database and the third measurement value while varying the joint angle with respect to the joint part; And
Correcting the first inertial sensor unit based on the second measured value measured by the corrected second inertial sensor unit and the third measured value measured by the corrected joint sensor; Sensor error correction method used.
In the training system,
Sensor error correction device using a joint sensor according to any one of claims 1, 3 to 6;
A receiving unit receiving measurement data measured by the first inertial sensor unit, the second inertial sensor unit, and the joint sensor of the error correction device;
A motion recognition unit configured to calculate exercise information data according to the joint angle and the exercise amount based on the measurement data received by the receiving unit; And
Training system using a sensor error correction device using a joint sensor, characterized in that it comprises a motion analysis unit for analyzing the movement motion, posture based on the exercise information data.

Images