TW201620446A - Movement-orbit sensing system and movement-orbit collecting method by using the same - Google Patents

Abstract

A movement-orbit sensing system is provided for collecting movement-orbits of a plurality of sensing points of an object under detection, which comprises a plurality of sensors, a host, and an electrical device. The plurality of sensors are used for outputting a plurality of corresponding sensed signals and multi-dimensional coordinate values. The host comprises units for generating multi-dimensional coordinate signals and sensed values, and a movement-orbit architecture unit is used for architecting the movement-orbit of each sensing point according to the multi-dimensional coordinate signals and sensed values. The electrical device comprises a comparison unit and a determination unit. The comparison unit is used for comparing the movement-orbit of the object under detection with a standard movement-orbit information, thereby obtaining an offset value. The determination unit is used for determining whether the offset value is greater than a preset value. If the offset value is greater than the preset value, the movement-orbit of at least one of the sensing points is determined error.

Description

Motion track sensing system and motion trajectory collecting method thereof

The present invention relates to a motion trajectory sensing system and a trajectory collecting method thereof, and more particularly to a motion trajectory sensing system for collecting various physical quantities of a test object during motion and a method for collecting the motion trajectory thereof.

With the combination of technology and sports, a variety of sports aids have been developed. The user can collect various data during the movement by using the motion assisting device. For example, the specific signal collecting unit collects all coordinate values of a certain part during the movement to obtain the walking path of the part during the movement.

One of the existing exercise assisting devices must be placed in an open space, and a plurality of cameras are provided in a plurality of different fixed point frames in the space. By moving the cameras at different fixed points, the movement state of each angle of the athlete at each time point is captured. After obtaining the desired image, the computer analyzes the coordinate position of a specific part of the athlete at each time point, and then analyzes the path of the part. Obviously, such a sports assisting device is complicated in structure and is susceptible to space and location limitations in use.

Furthermore, for certain movements, such as focusing on the angle of rotation of the limb or the movement of the applied force at a particular location, only the path of the movement is obtained, for the user. In other words, its reference value is not large.

In view of this, it is necessary to provide a motion trajectory sensing system that is simple in structure and is not limited in space and place in use. In addition, the motion trajectory sensing system can be used not only to acquire the travel path of the user during the exercise, but also to acquire various physical quantities during the exercise, such as the angle of rotation and the force.

An object of the present invention is to provide a motion trajectory sensing system that is simple in structure and can be used to acquire a motion trajectory of a test object including a path of travel, a rotation angle, and a force. And, by synthesizing the standard motion trajectory information in advance in the motion trajectory sensing system of the present invention, it is analyzed whether the current motion trajectory is correct.

To achieve the above objective, the present invention provides a motion trajectory sensing system for collecting motion trajectories of a plurality of sensing points of a sample to be tested, comprising: a plurality of sensors for respectively sensing a plurality of sensing Pointing and outputting a corresponding plurality of sensing signals and a plurality of multi-dimensional coordinate values; the host is connected to the plurality of sensors and includes: a detecting unit, configured to receive a plurality of multi-dimensional coordinate values of the plurality of sensors, and corresponding Generating a multi-dimensional coordinate signal; the analyzing unit is configured to receive the plurality of sensing signals, and digitize the plurality of sensing signals to generate a plurality of sensing values; and the motion track construction unit, according to each sensing of the object to be tested Pointing corresponding multi-dimensional coordinate signals and sensing values to construct a motion track of each sensing point; and an electronic device connected to the host, comprising: a standard database storing at least one standard motion track information; a comparison unit, For comparing the motion trajectory of each sensing point of the object to be tested with the standard motion trajectory information of the standard database, obtaining the error value; and determining the unit and determining Error values of the acquired unit is If the error value is greater than the preset value, the determining unit determines that the motion track of the at least one sensing point is incorrect and sends an error signal.

In a preferred embodiment of the present invention, the host further includes a positioning unit, configured to acquire absolute position information of the host and an initial relative coordinate value between each sensor and the host, and the detecting unit is configured according to each The initial relative coordinate value of the sensor and the plurality of multidimensional coordinate values correspondingly generate a multidimensional coordinate signal.

In a preferred embodiment of the present invention, the plurality of sensors comprise a gyro sensor and an acceleration sensor, and the sensing signal includes a rotation angle signal and an acceleration signal.

In a preferred embodiment of the present invention, the electronic device further includes: a model construction unit, configured to construct a sample of the object to be tested according to the multi-dimensional coordinate signal corresponding to each sensing point of the object to be tested, wherein the object to be tested The model includes quality information corresponding to each sensing point; and a calculating unit calculates the power of the sensing point according to the quality information and the acceleration signal of each sensing point.

In a preferred embodiment of the present invention, the host, the plurality of sensors, and the electronic device each include a communication unit for transmitting data, wherein the communication unit includes a Bluetooth unit.

Another object of the present invention is to provide a motion trajectory collecting method, which is suitable for a motion trajectory sensing system, which is used for collecting motion trajectories of a plurality of sensing points of a test object, and the method comprises the following steps: using a plurality of sensing The device respectively senses a plurality of sensing points, and outputs a corresponding plurality of sensing signals and a plurality of multi-dimensional coordinate values; and the detecting unit receives the plurality of multi-dimensional coordinate values of the plurality of sensors, and generates a multi-dimensional coordinate signal correspondingly; Receiving, by the analyzing unit, a plurality of sensing signals, and digitizing the plurality of sensing signals to generate a plurality of sensing values; The motion trajectory construction unit constructs a motion trajectory of each sensing point according to the corresponding multi-dimensional coordinate signal and the sensing value of each sensing point of the object to be tested; and each sensing point of the object to be tested is performed by using the comparison unit The motion trajectory is compared with the standard motion trajectory information of the standard database, and the error value is obtained; and the judgment unit is used to determine whether the error value obtained by the comparison unit is greater than a preset value, and if the error value is greater than the preset value, the judgment unit Determining the motion track of at least one of the sensing points is incorrect and issuing an error signal.

In a preferred embodiment of the present invention, before the plurality of sensing points are respectively sensed by using the plurality of sensors, and the corresponding plurality of sensing signals and the plurality of multi-dimensional coordinate values are output, the following steps are further included: Placing a plurality of sensors and a host connected to the plurality of sensors in a specific position; and using the positioning unit to obtain absolute position information of the host and initial relative coordinate values between each sensor and the host, and detecting The unit generates a multi-dimensional coordinate signal corresponding to each sensor's initial relative coordinate value and a plurality of multi-dimensional coordinate values.

In a preferred embodiment of the present invention, the method further comprises: constructing a test object model by using a multidimensional coordinate signal corresponding to each sensing point of the reference model according to the reference model, wherein the sample to be tested includes The quality information corresponding to each sensing point; and the calculating unit calculates the power of the sensing point according to the quality information and the acceleration signal of each sensing point.

The present invention records a plurality of sensing signals (such as position, velocity, acceleration, and force information) and multidimensional coordinate values of a plurality of sensing points of a plurality of sensing points of the object to be tested, and calculates each of the plurality of sensing points. The motion trajectory of the point is sensed, and the object to be tested model is constructed according to the reference model and the motion trajectory of each sensing point. At the same time, the present invention compares the object model of the object to be tested with the standard motion trajectory information by a comparison unit, and can clearly determine whether the motion trajectory of the object to be tested is correct, thereby improving the action of the object to be tested. For better exercise results.

100‧‧‧Test object

110‧‧‧Sense points

200‧‧‧ sensor

210‧‧‧First communication unit

300‧‧‧Host

310‧‧‧Detection unit

320‧‧‧Analysis unit

330‧‧‧ Motion Track Construction Unit

340‧‧‧ Positioning unit

350‧‧‧Second communication unit

400‧‧‧Electronic devices

410‧‧‧Standard database

420‧‧‧ comparison unit

430‧‧‧judging unit

440‧‧‧Model Construction Unit

450‧‧‧Computation unit

460‧‧‧3rd communication unit

S110~S160‧‧‧Steps

Figure 1 shows a schematic diagram of a motion trajectory sensing system in accordance with a preferred embodiment of the present invention.

Figure 2 shows a flow chart of a method of motion trajectory collection in accordance with a preferred embodiment of the present invention.

The above and other objects, features and advantages of the present invention will become more <RTIgt;

Referring to FIG. 1, a motion trajectory sensing system according to a preferred embodiment of the present invention includes a plurality of sensors 200, a host 300, and an electronic device 400. The plurality of sensors 200 are respectively disposed on the plurality of sensing points 110 of the object to be tested 100 for sensing the actions of the plurality of sensing points 110 respectively, and each of the sensors 200 is configured with the first communication unit 210. The action of each sensing point 110 sensed by the sensor 200 is outputted by the first communication unit 210 into a corresponding plurality of sensing signals and a plurality of multi-dimensional coordinate values, wherein the so-called multi-dimensional coordinate signals include the sensor 200 All information on the XYZ coordinates in the stereo space and the angle of rotation with time. The object to be tested 100 can be a human, an animal, or a variety of sophisticated electronic devices, such as robots or robotic arms. In an application, the sensor 200 can be disposed on the plurality of sensing points 110 by using various methods such as adhesive, wearable, or embedded, and the host 300 can be configured in the wearable manner by the object to be tested 100. on.

As shown in FIG. 1, the host 300 includes a detecting unit 310, an analyzing unit 320, and a transport unit. The trajectory construction unit 330, the positioning unit 340, and the second communication unit 350. The detecting unit 310 is configured to receive a plurality of multi-dimensional coordinate values output by the sensor 200, thereby generating a multi-dimensional coordinate signal accordingly. More specifically, before the motion track sensing system of the present invention is started, the plurality of sensors 200 and the host 300 are first placed at a specific position, and then the host 300 is activated, and the positioning unit of the host 300 is used. 340 obtains the current numerical absolute position information of the host, for example, absolute coordinates and height information. In this particular location, the relative distance between each sensor 200 and the host 300 is known, so the positioning unit 340 can acquire, besides the initial relative coordinate value between each sensor 200 and the host 300, The initial absolute coordinate value of each sensor 200 may also be obtained according to the initial relative coordinate value between the absolute position information of the host 300 and the sensor. Then, the plurality of sensors 200 are activated and the sensors 200 are disposed on the respective sensing points 110 of the object to be tested 100 to collect the multi-dimensional coordinate values. The detecting unit 310 of the host 300 generates the multi-dimensional coordinate signal correspondingly according to the initial relative coordinate value of each sensor 200 and the plurality of collected multi-dimensional coordinate values. It should be noted that the positioning unit 340 of the present invention may be an indoor positioning system such that the motion trajectory sensing system of the present invention is not limited in use due to the fixed point of movement of the object 100 to be tested.

On the other hand, the sensing signal output by each sensor 200 is further analyzed by the analyzing unit 320 of the host 300. More specifically, the sensor 200 of the present invention includes a gyro sensor and an acceleration sensor, so that the corresponding output sensing signals include a rotation angle signal and an acceleration signal. Further, in order to activate the sensor 200, the gyro sensor can be activated to collect multi-dimensional coordinate values at each time point, after which the acceleration sensor is activated. Next, the analyzing unit 320 quantizes the received sensing signals to generate a plurality of sensing values.

After the corresponding multi-dimensional coordinate signal and the sensing value are generated, the motion trajectory construction unit 330 uses the corresponding multi-dimensional coordinate signal and sensing according to each sensing point 110 of the object to be tested 100. Numerically, the motion trajectory of each sensing point 110 is constructed.

As shown in FIG. 1, the electronic device 400 includes a standard database 410, a comparison unit 420, a determination unit 430, a model construction unit 440, a calculation unit 450, and a third communication unit 460. The standard database 410 is used to provide standard motion trajectory information, wherein the standard motion trajectory information includes the standard physical quantity corresponding to each sensing point 110 in the motion currently being performed by the object 100. Then, the comparison 420 compares the motion trajectory of each sensing point 110 of the object to be tested 100 with the standard motion trajectory information of the standard database to obtain the motion trajectory of each sensing point 110 of the object to be tested 100. The error value between the information with the standard motion trajectory. Furthermore, the determining unit 430 determines whether the error value acquired by the comparing unit 420 is greater than a preset value, wherein the preset value may be a specific numerical range or value previously input by the user. If the error value after the comparison is greater than the preset value, the determining unit 430 determines that the current motion track of the at least one sensing point 110 is incorrect and issues an error signal. The user can immediately correct the current motion trajectory of the sensing point 110 by an error signal sent, such as the angle of rotation or the distance of movement.

In the application, the sensor 200, the host 300, and the electronic device 300 are wirelessly connected to each other, and the first communication unit 210, the second communication unit 350, and the third communication unit 460 are respectively used to transmit data. The first communication unit 210, the second communication unit 350, and the third communication unit 460 perform data transmission, such as Bluetooth, by means of low power consumption.

In addition, the model construction unit 440 of the electronic device 400 can construct a sample to be tested according to a multi-dimensional coordinate signal corresponding to each sensing point 110 of the object to be tested 100 according to a pre-established reference model. It should be noted that the reference model described above may be previously input by the user with a physical quantity (eg, mass) associated with each sensing point 110 of the object to be tested 100 and a related physical quantity (eg, length) between any two sensing points 110. Or formed, or the user inputs in advance the object 100 to be tested Basic information (eg species, gender, nationality, age, etc.), followed by a reference model of the biological standard model established in accordance with international standards. Therefore, the obtained model of the object to be tested includes quality information corresponding to each sensing point. The computing unit 450 of the electronic device 400 calculates the power of the sensing point 100 according to the quality information and the acceleration signal of each sensing point 100. That is to say, the comparison unit 420 of the electronic device 400 can further compare the current position, angle and acceleration of the sensing point 110 of the object to be tested 100 with the force currently applied by the sensing point 110. The determining unit 430 determines whether the error value of the power of the sensing point 110 is greater than a preset value.

On the other hand, the electronic device 400 can be connected to the cloud service platform to perform transmission of the motion track information related to the object to be tested 100, thereby obtaining a plurality of information services. Moreover, by being connected with the cloud service platform, the model construction unit 440 of the electronic device 400 can obtain related reference model information more in line with the current species when constructing the reference model.

Referring to Figure 2, there is shown a flow chart of a method of motion trajectory collection in accordance with a preferred embodiment of the present invention. Please refer to Figure 1 for the motion track sensing system applied in this method, and will not repeat them.

First, step S110 is performed to respectively sense the actions of the plurality of sensing points by using a plurality of sensors, and output a corresponding plurality of sensing signals and a plurality of multi-dimensional coordinate values.

Then, in step S120, the detecting unit receives a plurality of multi-dimensional coordinate values of the plurality of sensors, and generates a multi-dimensional coordinate signal accordingly. More specifically, the step of acquiring the multi-dimensional coordinate signal may include: placing a plurality of sensors and a host connected to the plurality of sensors in a specific position, and then using the positioning unit to obtain absolute position information of the host and each sense The initial relative coordinate value between the detector and the host, and the detection unit is based on each sensor The initial relative coordinate value and the plurality of multidimensional coordinate values correspondingly generate a multidimensional coordinate signal.

Next, step S130 is executed to receive a plurality of sensing signals by using the analyzing unit, and digitizing the plurality of sensing signals to generate a plurality of sensing values.

Next, in step S140, the motion trajectory construction unit constructs a motion trajectory of each sensing point according to the corresponding multi-dimensional coordinate signal and the sensing value of each sensing point of the object to be tested. It should be noted that, as described above, the sensor of the motion trajectory sensing system of the present invention includes a gyro sensor and an acceleration sensor for collecting the rotation angle signal and the acceleration signal. Therefore, after generating the multi-dimensional coordinate signal and the sensing value associated with each sensing point of the object to be tested, the method may further include the step of: using the model construction unit to correspond to the multi-dimensional corresponding to each sensing point of the object to be tested according to the reference model. The coordinate signal is used to construct a test object model, wherein the test object model includes quality information corresponding to each sense point. And, the calculating unit calculates the power of the sensing point according to the quality information and the acceleration signal of each sensing point.

Next, in step S150, the comparison unit compares the motion trajectory of each sensing point of the object to be tested with the standard motion trajectory information of the standard database to obtain an error value. It should be noted that, as described above, the present invention can obtain the quality information of each sensing point by the model construction unit and the calculation unit, thereby obtaining the corresponding force. Therefore, in addition to the current position, angle and acceleration of the sensing point of the object to be measured, the comparison unit further compares the force currently applied by the sensing point.

Then, in step S160, the determining unit determines whether the error value acquired by the comparing unit is greater than a preset value. If the error value is greater than the preset value, determining that the current motion track of the at least one sensing point is incorrect and issuing an error signal. The user can correct the current motion trajectory of the sensing point according to the error signal sent, such as the angle of rotation or the distance of movement.

While the invention has been described above in terms of the preferred embodiments, the invention is not intended to limit the invention, and the invention may be practiced without departing from the spirit and scope of the invention. The scope of protection of the present invention is therefore defined by the scope of the appended claims.

100‧‧‧Test object

110‧‧‧Sense points

200‧‧‧ sensor

210‧‧‧First communication unit

300‧‧‧Host

310‧‧‧Detection unit

320‧‧‧Analysis unit

330‧‧‧ Motion Track Construction Unit

340‧‧‧ Positioning unit

350‧‧‧Second communication unit

400‧‧‧Electronic devices

410‧‧‧Standard database

420‧‧‧ comparison unit

430‧‧‧judging unit

440‧‧‧Model Construction Unit

450‧‧‧Computation unit

460‧‧‧3rd communication unit

Claims (10)

A motion trajectory sensing system for collecting motion trajectories of a plurality of sensing points of a sample to be tested, comprising: a plurality of sensors for respectively sensing the sensing points and outputting corresponding plurality of a sensing signal and a plurality of multi-dimensional coordinate values; a host, connected to the plurality of sensors, comprising: a detecting unit, configured to receive the plurality of multi-dimensional coordinate values of the plurality of sensors, and generate a corresponding one a multi-dimensional coordinate signal; an analyzing unit, configured to receive the plurality of sensing signals, and digitize the plurality of sensing signals to generate a plurality of sensing values; and a motion track construction unit, according to the object to be tested Each of the sensing points corresponding to the multi-dimensional coordinate signal and the sensing value constructs the motion track of each of the sensing points; and an electronic device connected to the host, comprising: a standard database, Storing at least one standard motion track information; a comparison unit, configured to compare the motion track of each of the sensing points of the object to be tested with the standard motion track information of the standard database to obtain a And a determining unit, determining whether the error value obtained by the comparing unit is greater than a preset value, and if the error value is greater than the preset value, determining, by the determining unit, the motion of the at least one sensing point An error signal is issued due to a wrong track. The motion track sensing system of claim 1, wherein the host further comprises a positioning unit, configured to acquire absolute position information of the host and an initial between each of the sensors and the host Relative coordinate value, and the detecting unit is based on each of the sensors The initial relative coordinate value and the plurality of multidimensional coordinate values respectively generate the multidimensional coordinate signal. The motion trajectory sensing system of claim 1, wherein the plurality of sensors comprise a gyro sensor and an acceleration sensor, and the sensing signal comprises a rotation angle signal and an acceleration. Signal. The motion trajectory sensing system of claim 3, wherein the electronic device further comprises: a model construction unit, the multi-dimensional coordinate signal corresponding to each of the sensing points of the object to be tested according to a reference model Constructing a test object model, wherein the test object model includes one quality information corresponding to each of the sensing points; and a calculating unit, calculating the quality information and the acceleration signal according to each of the sensing points The power of the sensing point. The motion trajectory sensing system of claim 1, wherein the host, the plurality of sensors, and the electronic device respectively comprise a communication unit for transmitting data, and the communication unit includes a Bluetooth unit. A motion trajectory collecting method is applicable to a motion trajectory sensing system for collecting motion trajectories of a plurality of sensing points of a sample to be tested, which comprises the following steps: using a plurality of sensors respectively Sensing the plurality of sensing points, and outputting a corresponding plurality of sensing signals and a plurality of multi-dimensional coordinate values; receiving, by a detecting unit, the plurality of multi-dimensional coordinate values of the plurality of sensors, and correspondingly generating a plurality of a coordinate signal; receiving, by the analyzing unit, the plurality of sensing signals, and the plurality of sensing signals Numering to generate a plurality of sensing values; constructing each of the sensing points by using a motion trajectory construction unit according to the multi-dimensional coordinate signal and the sensing value corresponding to each sensing point of the object to be tested The motion trajectory; comparing the motion trajectory of each of the sensing points of the object to be tested with a standard motion trajectory information of a standard database by using a comparison unit to obtain an error value; and using a determining unit Determining whether the error value obtained by the comparison unit is greater than a preset value. If the error value is greater than the preset value, the determining unit determines that the motion track of at least one of the sensing points is incorrect and sends an error signal. The method for collecting motion trajectories according to claim 6 is characterized in that before the plurality of sensing points are respectively sensed by using a plurality of sensors, and the corresponding plurality of sensing signals and the plurality of multi-dimensional coordinate values are output, further The method includes the steps of: placing the plurality of sensors and one of the hosts connected to the plurality of sensors in a specific position; and acquiring, by using a positioning unit, absolute position information of the host and each of the sensors and the sensor An initial relative coordinate value between the hosts, and the detecting unit generates the multi-dimensional coordinate signal according to the initial relative coordinate value of each of the sensors and the plurality of multi-dimensional coordinate values. The motion trajectory collection method of claim 6, wherein the plurality of sensors comprise a gyro sensor and an acceleration sensor, and the sensing signal comprises a rotation angle signal and an acceleration signal. . The method for collecting motion trajectory according to claim 8 further includes the following steps: using a model construction unit according to a reference model and each of the sensing points of the object to be tested Corresponding to the multi-dimensional coordinate signal to construct a sample of the object to be tested, wherein the object model includes one quality information corresponding to each of the sensing points; and the quality information according to each sensing point by using a calculating unit The force of the sensing point is calculated with the acceleration signal. The method for collecting motion trajectories according to claim 6, wherein the host, the plurality of sensors, and the electronic device respectively comprise a communication unit for transmitting data, and the communication unit comprises a Bluetooth unit. .