TWI407364B - Motion monitoring system - Google Patents

Abstract

The invention discloses a motion monitoring system, which is capable of monitoring a motion of a moving object. The motion monitoring system comprises at least one G-sensor, at least one gyroscope, a microprocessor and a display apparatus. An acceleration value and an angular velocity value are measured by the acceleration detector and the gyroscope respectively. A motion curve of the moving object is separated into a plurality of sections and is compared with a plurality of corresponding sections of a standard motion according to a characteristic speed value, location value, angular speed value or rotating angle value by the microprocessor after reading and calculating the acceleration value and the angular velocity value are read and calculated. The data of an error point are output to the display apparatus to note user the point of the moving object need to be corrected if a deviation of the motion is found at some instant. Thus the deviation of the moving object can be judged by the present invention instead of the human eyes, and the comparison is no need to by helped by adjusting the play speed of a video record.

Description

Motion monitoring comparison system

The invention relates to a motion monitoring comparison system, which can automatically detect an error between an action of a moving body to be tested and a standard action, and issue a warning monitoring comparison system.

In any field, the correct action is an important appeal, whether it is sports players, models, machine operations, etc., incorrect actions may affect the performance of the players, the posture of the model, the machine made Finished products, etc. However, in the prior art, whether the motion of the moving body is correct or not is mostly a visual comparison between the human eye or the video, as a criterion for judging. Such a practice will mostly cause errors due to human factors. For example, when the direct judgment is made by the human eye, the judgment of each person's vision on speed may be different, and the difference in speed between continuous motions cannot be accurately compared, so it is not easy to directly It is judged by the naked eye whether the motion of the moving body is correct; although the speed of the video can be adjusted by the assistance of the video for comparison, such a method is time consuming and troublesome.

At present, it is usually corrected after a fixed time (such as one year interval), but the correction time of the new machine and the old machine will never be the same, so that the fixed time correction method for the new machine It may be too fast to make corrections, and it may be too late for the old machine to make corrections.

Therefore, based on the above reasons, the inventor of the present invention believes that if a monitoring system capable of automatically detecting the movement of the moving body is developed to assist in improving the human body, the machine or other actions and postures having specific requirements, Improve the industry's lack of existing technology, and then enhance the industry The implementation of the use.

In view of the above shortcomings of the prior art, the present invention designs a motion monitoring comparison system for structural innovation in order to overcome the difficulties of the prior art.

In order to achieve the above object, the technical means adopted by the present invention is to design a motion monitoring comparison system, which comprises: an acceleration sensor, which is a device that can be installed on a certain part of the moving body for measuring the part. Acceleration value during operation; a gyroscope, which is a device that can be mounted on a certain part of the moving body to measure the angular velocity value of the part during the movement; a storage unit for storing the program and the acceleration sensing Information from the gyroscope and other related data; a microprocessor that reads the acceleration values measured by the accelerometer and the gyroscope every fixed time (eg, 0.5 seconds) The angular velocity value, continuous reading, and the acceleration value read by the microprocessor to the acceleration sensor, and the angular velocity value read by the gyroscope are processed as follows: (1) Acceleration sensing The acceleration value read by the device is integrated to obtain the velocity value at that time, or the displacement value at that time is obtained by the second integral, and then stored in the storage unit, and the velocity is 0 or the velocity is at the extreme value (maximum value or minimum value). The value or the displacement is the dividing point at the extreme value (maximum value or minimum value), and the speed or displacement value of all inputs is divided into a plurality of segments, and then divided into a segment that is pre-stored and divided into the same number. The correct speed or displacement value comparison, if there is a difference, then send a different warning message. When doing all input speed or displacement values, all speed values and all displacement values can be split at the same interval, that is, all speed values are split at speed 0. At the same time, all the displacement values are also divided; it is also possible to do the respective divisions, that is, only the division of all the velocity values is performed at the speed of 0, and if the displacement values are not at the extreme values, all the displacement values are not at this point. (2) Differentiate and integrate the angular velocity values read by the gyroscope to obtain the angular acceleration value and the rotation angle of the moving body, respectively, and store them in the storage unit, and the angular velocity is 0 or the angular velocity is at the extreme value. (maximum or minimum) or the rotation angle is the dividing point at the extreme value (maximum or minimum), dividing all the input angular velocity or rotation angle values into multiple segments, and then pre-storing and segmenting The correct angular velocity or rotation angle value of the same number of segments is compared, and if there is a difference, a different warning message is sent. When all the input angular velocity or rotation angle values are divided, all angular velocity values and all rotation angle values can be divided into the same interval, that is, when all angular velocity values are divided at an angular velocity of 0, all rotation angles are also performed. Separation of values; it is also possible to do the division separately, that is, to divide all angular velocity values only when the angular velocity is 0. If the rotation angle value is not at the extreme value, all rotation angle values are not divided at this point; For the database, which is stored in the storage unit, is a speed value, a displacement amount value, an angular velocity value or a rotation angle which are pre-stored and correctly divided into a plurality of segments, and is used for the speed and displacement of the moving body to be tested. The angular velocity value or the rotation angle is compared; in a display device, the microprocessor outputs the position with the error to the display device to inform the user.

A camera that can be added to camera photography to restore the wrong posture.

In the actual operation, the acceleration sensor or the gyroscope can be mounted on some parts of the object to be tested, and the microprocessor will read the acceleration value of the part at a fixed time (for example, 0.5 seconds). And the angular velocity value, and then calculate the velocity value, the displacement magnitude, the angular velocity value, or the rotation angle of the portion. The movement of the moving body starts from the beginning of the movement to the end of the movement, at a speed of 0 or a speed at the extreme value. (maximum or minimum) at or at the extreme value (maximum or minimum) as the split point; or at an angular velocity of 0 or angular velocity at the extreme (maximum or minimum) or at the extreme (at the extreme) The maximum value or the minimum value is used as the dividing point, and all the motion actions are divided into several segments, and each segment is separately compared. After the segmentation is completed one by one, if the deviation of the action is found, the information about the error is further transmitted to the display device to inform the user that the correction should be made, and the design can be reliably replaced by the human eye. The error of the action, and no need to view through the video, can be seen in the gain of the present invention.

(10) ‧‧‧Acceleration sensor

(20)‧‧‧Gyro

(30)‧‧‧Microprocessor

(40) ‧‧‧ storage unit

(50)‧‧‧Display devices

(60)‧‧‧ camera

(70) ‧ ‧ database

Figure 1 is a schematic view showing the configuration of the present invention.

The inventors of the present invention will be described in detail with reference to the accompanying drawings, and the drawings The use of the present invention and the accompanying drawings are not necessarily the true proportions and precise configurations of the present invention. Therefore, the scope of the present invention should not be limited to the scope of the present invention.

As shown in FIG. 1 , the motion monitoring comparison system of the present invention may include at least one acceleration sensor (10), at least one gyroscope (20), and a storage unit (in a preferred embodiment). 40), a database (70), a microprocessor (30), a display device (50), and a camera (60), wherein the acceleration sensor or the gyroscope can also be used alternatively.

The aforementioned acceleration sensor (10) and gyroscope (20) are mounted on a moving part of a moving body to check whether the action of the part is correct.

The foregoing storage unit (40) is configured to store programs and data, and is electrically connected to the microprocessor (30).

The foregoing database (70) is disposed in the storage unit (40), and is a speed value, a displacement value, an angular velocity value or a rotation angle value that is pre-stored with a correct action and divided into a plurality of segments, and is used for the moving body to be tested. The speed value, displacement value, angular velocity value or rotation angle value is compared.

The aforementioned microprocessor (30) reads the acceleration value and the angular velocity value measured by the acceleration sensor (10) and the gyroscope (20) every fixed time, and then corrects it after the operation processing. The action is built into the database (70), or the speed value, the displacement value, the angular velocity value or the rotation angle value of the action to be tested is compared with the speed value, the displacement value, the angular velocity value or the rotation angle value in the database (70).

The aforementioned display device (50) is electrically connected to the microprocessor (30) to present the result of the motion of the moving body to the correct result, and present the image to the user.

The aforementioned camera (60) can record a subject to be used as a means of auxiliary monitoring.

First of all, the present invention needs to establish a database of correct actions (70) for comparing the actions of the moving body to be tested in the future. First introduce the process of building a database (70):

Step 1: Add one or several acceleration sensors (10) and one or several gyroscopes (20) to some parts of the correct moving body, and at a fixed time (such as 0.5 seconds), micro processing The device (30) reads the acceleration value and the angular velocity value measured by the acceleration sensor (10) and the gyroscope (20), and the microprocessor (30) stores the acceleration value and the angular velocity value in the storage unit (40). ), until the end of the movement.

Step 2: The microprocessor (30) obtains the velocity value and the displacement amount corresponding to each acceleration value by using the integral value and the second integral of the acceleration value collected in step 1; the microprocessor (30) takes the step 1 The angular velocity values collected are obtained by using differentiation and integration to obtain the angular acceleration value and the rotation angle corresponding to each angular velocity value.

Step 3: The movement value, the speed value and the displacement amount obtained in steps 1 and 2 are used to move the moving body Dividing into multiple segments, the segmentation criterion is: at the velocity value of 0 or the velocity value at the extreme value (maximum value or minimum value) or the position at the extreme value (maximum value or minimum value) as the segmentation point; The angular acceleration value, the angular velocity value and the rotation angle obtained by 1, 2 are used to divide the motion of the moving body into a plurality of segments, and the dividing criterion is: an angular velocity value of 0 or an angular velocity value at an extreme value (maximum value or minimum value) The displacement or displacement is the division point at the extreme value (maximum or minimum).

Step 4: The result of step 3 is built into a database (70). The content of the database (70) is: the motion of the moving body is divided into a plurality of segments, and each segment has a fixed time ( For example, 0.5 seconds), all acceleration values, velocity values and displacement and angular acceleration values, angular velocity values and rotation angles, that is, a series of acceleration values, velocity values and displacement amounts and angular acceleration values, angular velocities in each segment. Value and rotation angle.

After the database (70) is built, it is necessary to compare the motion of the moving body. First, the same amount of acceleration should be installed on the same moving part of the moving body as the database (70). The sensor (10) and the gyroscope (20) perform the same action as the moving body when constructing the database (70), and the detection process is as follows:

Step 1: Every other fixed time (same as when building the database (70)), the microprocessor (30) reads the acceleration values measured by the acceleration sensor (10) and the gyroscope (20). The angular velocity value is then stored by the microprocessor (30) in the storage unit (40) until the end of the operation.

Step 2: The microprocessor (30) obtains the acceleration value and the displacement amount corresponding to each acceleration value by using the integral value and the second integral of the acceleration value collected in step 1; and the microprocessor (30) takes step 1 The angular velocity values collected are obtained by using differentiation and integration to obtain an angular acceleration value and a rotation angle corresponding to each angular velocity value.

(ie step 2 of the same database (70) program)

Step 3: The motion value, the velocity value and the displacement amount obtained in steps 1 and 2 are used to divide the motion of the moving body into a plurality of segments, and the segmentation criterion is: the velocity value is 0 or the velocity value is at the extreme value (maximum The value or the minimum value is the dividing point at the extreme value (maximum value or minimum value); the angular acceleration value obtained by steps 1 and 2, the angular velocity value and the rotation angle are used to divide the motion of the moving body into multiple For the segment, the segmentation criterion is: the angular velocity value is 0 or the angular velocity value is at the extreme value (maximum value or minimum value) or the displacement is at the extreme value (maximum value or minimum value) as the segmentation point.

(ie step 3 of the same database (70) program)

Step 4: Compare the result of step 3 with the content of the database (70), find the acceleration value, the velocity value and the displacement amount and the angular acceleration value, the angular velocity value and the rotation angle whose error exceeds the allowable range, and then click this point. The information is output to the display device (50), and at the beginning of the action, the camera (60) can be photographed to restore the wrong posture and serve as an auxiliary monitoring comparison.

Looking at the above, it can be seen that the present invention has achieved the desired effect under the prior art, and is not familiar to those skilled in the art. Furthermore, the invention has not been disclosed before the application, and its progressiveness and practicability have been met with the patent application requirements, and the patent application has been filed according to law, and you are requested to approve the invention patent application to encourage the invention. Feeling the virtues.

The embodiments described above are merely illustrative of the technical spirit and the features of the present invention, and the objects of the present invention can be understood by those skilled in the art, and the scope of the present invention cannot be limited thereto. That is, the equivalent variations or modifications made by the spirit of the present invention should still be included in the scope of the present invention.

(10) ‧‧‧Acceleration sensor

(20)‧‧‧Gyro

(30)‧‧‧Microprocessor

(40) ‧‧‧ storage unit

(50)‧‧‧Display devices

(60)‧‧‧ camera

(70) ‧ ‧ database

Claims (5)

A motion monitoring comparison system for a moving body includes: at least one acceleration sensor, which is a device that can be installed on a certain part of the moving body, and is used for measuring an acceleration value of the part during the movement; at least one A gyroscope, which is a device that can be mounted on a certain part of a moving body, for measuring an angular velocity value of the part during operation; a storage unit for storing programs and data; a database for storing the data In the storage unit, and storing a correct value and dividing into a plurality of segments of the velocity value, the displacement value, the angular velocity value or the rotation angle value for using the velocity value, the displacement value, the angular velocity value or the rotation of the moving body to be tested The angle value is compared; a microprocessor is electrically connected to the acceleration sensor, the gyroscope and the storage unit, and the acceleration sensor and the gyroscope are read every fixed time The measured acceleration value and angular velocity value are processed into the database after the operation, or the velocity value, displacement value, angular velocity value or rotation angle value of the motion object to be tested is positive with the database. Comparing the speed value, the displacement value, the angular velocity value or the rotation angle value of the action; and a display device electrically connected to the microprocessor, so that the microprocessor compares the action to be tested of the moving body with the correct action Outputting the errored position to the display device; wherein the microprocessor reads the acceleration value measured by the acceleration sensor every fixed time, and obtains the velocity value of the time by one integration, or After the second integral, the displacement value of the time is obtained, and then stored in the storage unit, and the velocity or the velocity is at the extreme value or the displacement is at the extreme value to divide the point, and all the input speed or displacement values are divided into Multiple sections. The motion monitoring comparison system described in claim 1, wherein the microprocessor reads the angular velocity value measured by the gyroscope every fixed time, and performs differential and integral processing. And respectively obtain the angular acceleration value and the rotation angle of the moving body at this time, and then store it in the storage unit, and make the dividing point at the angular velocity value of 0 or the angular velocity at the extreme value or the rotation angle at the extreme value, The input angular velocity or rotation angle value is divided into a plurality of segments. The action monitoring comparison system according to claim 1, wherein the microprocessor can simultaneously add a camera photography as an auxiliary monitoring comparison when reading the data of the moving body to be tested. A motion monitoring comparison system for a moving body includes: at least one acceleration sensor, which is a device that can be installed on a certain part of the moving body, for measuring an acceleration value of the part during the movement; a unit for storing programs and data; a database stored in the storage unit, which is a speed value and a displacement value that are pre-stored in a correct action and divided into a plurality of segments for use with the moving body to be tested The speed value and the displacement value are compared; a microprocessor is electrically connected to the acceleration sensor and the storage unit, and the acceleration value measured by the acceleration sensor is read every fixed time. After processing, the correct action is built into the database, or the speed value and the displacement value of the action to be tested are compared with the speed value and the displacement value in the database; a display device is electrically connected to the micro The processor outputs, to the display device, the position at which the microprocessor compares the action to be tested of the moving body with the correct action; wherein the microprocessor reads the acceleration sensing every fixed time Measured by the device Acceleration value, the speed value of the fixed time is obtained by one integration, or the displacement value of the fixed time is obtained by the second integral, and then stored in the storage unit, and the speed is 0 or the speed is at the extreme value or the displacement is at the pole. The value is the split point, which splits all input speed or displacement values into multiple segments. The action monitoring comparison system described in claim 4, wherein the microprocessor can simultaneously add a camera photography as an auxiliary monitoring comparison when reading the data of the moving body to be tested. use.