WO2008075926A1 - Procédé de détermination de la trajectoire de mouvement (d'orientation) d'une personne (d'un sportif) ou de certaines parties de son corps et dispositif de mise en oeuvre correspondant - Google Patents

Procédé de détermination de la trajectoire de mouvement (d'orientation) d'une personne (d'un sportif) ou de certaines parties de son corps et dispositif de mise en oeuvre correspondant Download PDF

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Publication number
WO2008075926A1
WO2008075926A1 PCT/MD2007/000004 MD2007000004W WO2008075926A1 WO 2008075926 A1 WO2008075926 A1 WO 2008075926A1 MD 2007000004 W MD2007000004 W MD 2007000004W WO 2008075926 A1 WO2008075926 A1 WO 2008075926A1
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WO
WIPO (PCT)
Prior art keywords
person
inputs
mutually perpendicular
microcontroller
sensors
Prior art date
Application number
PCT/MD2007/000004
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English (en)
Russian (ru)
Inventor
Eugen Moraru
Oleg Nicolaiciuc
Original Assignee
Eugen Moraru
Oleg Nicolaiciuc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Eugen Moraru, Oleg Nicolaiciuc filed Critical Eugen Moraru
Publication of WO2008075926A1 publication Critical patent/WO2008075926A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2503/00—Evaluating a particular growth phase or type of persons or animals
    • A61B2503/10—Athletes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches

Definitions

  • the invention relates to the field of sports medicine and more specifically relates to a method for recording the movement path (orientation) of a person (athlete) or its individual parts and device for its implementation.
  • This method has several disadvantages: low accuracy of determining the trajectory of motion due to various angles of the position of the subject and the lack of accurate reference coordinates of individual parts of the body; a lengthy process of computing, associated with the need to enter a large number of image frames into a computer and analyze it; involves certain lighting conditions of a person during the shooting; involves a person within the direct line of sight of movie camera (s); has a high cost.
  • this method also requires the presence of a person within sight, the availability of additional equipment for highlighting tags, a device for implementing this method is characterized by a high cost.
  • the closest in essence are a method of recording human movements and a device for its implementation, described in [4].
  • the described method consists in placing elements sensitive to changes in their position in space at significant points in the human body, using the means sensitive to the signals of these elements, recording information received from them, and processing the recorded information using a computer to obtain data on the nature of movements person.
  • a three-coordinate microcontroller device for measuring angular accelerations (deviations) is placed on the human body, including three angular acceleration sensors, each of which is oriented in the direction of one of three mutually perpendicular axes (X, Y, Z) and the signals from the output of these sensors are recorded in non-volatile memory , information from which is then used for subsequent processing.
  • the described method and device prototype have several disadvantages.
  • One of the disadvantages of the described method and device is the relatively low accuracy of reconstruction (subsequent calculation) of the trajectory of the body part (arm, leg or body) of a person (athlete), on which a three-coordinate microcontroller device for measuring angular accelerations is fixed, due to the fact angular deviation sensors measure short-term relative angular deviations, i.e. their readings depend on the initial position of the object, and give the result only in a short period of time with accelerated movement. With uniform motion, such sensors after a reaction time, usually measured in tens of microseconds, show a zero result. The reaction time of these sensors is determined by the time constant of the internal or external RC integration circuit connected to the sensor.
  • the aim of the present invention is to increase the accuracy of determination (reconstruction) of the trajectory of movement (orientation) of a person (athlete) or its individual part.
  • the method and device should be free from the above disadvantages, namely, it would not be required to carry out mandatory external exposure (illumination) of the test subject, binding to a certain limited territory (sensor coverage area), mandatory presence of a person in a line of sight and a certain orientation relative to the signal receiving means sensors.
  • This goal is achieved by the fact that in the method of recording the trajectory of movement (orientation) of a person (athlete) or its individual parts, consisting in the fact that at significant points in the human body are placed elements (three-coordinate autonomous measuring devices) that are sensitive to changes in their position in space and capable of determining the total spatial displacements of these points, using the means sensitive to the signals of these elements, write the information received from them into memory (autonomous wearable devices), yvayut synchronized data received from the portable autonomous device in a computer and treated to obtain the information reconstruction movement trajectories as individual parts of the human body and the whole body in general.
  • elements three-coordinate autonomous measuring devices
  • a person for accurate reconstruction of the trajectory of a person’s body, a person is placed on it (body) depending on the required accuracy of reconstruction from 5 to 11 three-coordinate autonomous measuring devices, each of which includes three angular and linear acceleration sensors (three semiconductor gyroscopes and accelerometers), each of which is oriented in the direction of one of the three mutually perpendicular axes (X, Y, Z), and a semiconductor compass.
  • three angular and linear acceleration sensors three semiconductor gyroscopes and accelerometers
  • the signals from the outputs of these sensors are digitized with a time interval of about 1 millisecond, pre-processed by the built-in microcontroller (scaled, normalized, compressed) and written to Flash memory (non-volatile) memory, the information from which is then read into a computer via a fast interface (for example, USB ) and used for subsequent processing - reconstruction of the trajectory of the human body.
  • a fast interface for example, USB
  • the means of determining the movement of a given point is made in the form of: three angular acceleration sensors (semiconductor gyroscopes) oriented along three mutually perpendicular axes (X, Y, Z), three linear acceleration sensors (semiconductor) oriented on three mutually perpendicular axes accelerometers), and a semiconductor compass connected to the inputs of an analog multiplexer, the output of which is connected to the input of an analog-to-digital converter, the output of which is connected to a mic controller whose output is connected to a Flash (nonvolatile) memory large volume and the other output is connected to the high speed interface which can be connected to the computer reading the stored data.
  • three angular acceleration sensors semiconductor gyroscopes
  • X, Y, Z mutually perpendicular axes
  • linear acceleration sensors semiconductor oriented on three mutually perpendicular axes accelerometers
  • semiconductor compass connected to the inputs of an analog multiplexer
  • a large flash memory can be made either as a one-piece internal (soldered) memory, or as an external flash memory inserted into a special slot (slot), for example, an ordinary Multi Media Card (MMC) or Secure Digital Card (SD) ) cards.
  • MMC Multi Media Card
  • SD Secure Digital Card
  • the set of sensors contains three mutually perpendicular sensors of angular accelerations - semiconductor gyroscopes (oriented along the axes X, Y and Z), three mutually perpendicular sensors of linear accelerations - semiconductor accelerometers and a semiconductor compass.
  • the output signals of all sensors through an analog multiplexer are fed to the input of an analog-to-digital converter, where they are converted to digital form - they are digitized.
  • the digitized signals are fed to the corresponding inputs of the microcontroller, which performs the operations of preliminary signal processing
  • the recorded data from Flash memory can be quickly read into an external computer via a high-speed interface, for example, USB.
  • the read data in an external computer can be used to restore the motion paths of the main body parts of the athlete and obtain on the computer screen a schematic image of a person - an athlete performing certain exercises. Playing back recorded information in slow motion or accelerated pace, for example, will allow you to identify errors or inaccuracies in the movements of the athlete when he performs certain exercises.
  • this method can also be used in a number of other practical areas, for example, for the formation of human movements when creating animated films, in military fields, etc.
  • the described method provides high measurement accuracy, does not require harsh lighting conditions or irradiation of a person with any fields, does not limit the area of a person; provide a higher speed of data recording than high-speed photography, allow you to register the movement of a person (or parts thereof) for a considerable time and at a considerable distance.
  • Figure l presents a functional diagram of a device for recording the trajectory of a person or a part of it (arms, legs, torso) - a three-coordinate autonomous wearable measuring microcontroller device containing three (1, 2 and 3) semiconductor angular acceleration sensors (semiconductor gyroscopes) located on mutually perpendicular axes (X, Y, Z), three semiconductor sensors (4, 5 and b) of linear accelerations (semiconductor accelerometers) located on mutually perpendicular axes (X, Y, Z), the sensor - along uprovodnikovy compass 7, voltage sensor 8, an analog multiplexer 9, an analog-digital converter 10, microcontroller 11, sensor control unit 12, the high-speed USB interface 13 and nonvolatile memory 14 of large volume.
  • semiconductor angular acceleration sensors semiconductor angular acceleration sensors
  • semiconductor sensors (4, 5 and b) of linear accelerations (semiconductor accelerometers) located on mutually perpendicular axe
  • the outputs of all three mutually perpendicular angular acceleration sensors 1, 2 and 3, three mutually perpendicular linear acceleration sensors 4, 5 and b, the semiconductor compass 7 and the voltage sensor 8 are connected to the inputs of the analog multiplexer 9, the output of which is connected to the input of the analog-to-digital converter 10, the output of which is connected to the input of the microcontroller 11, one group of outputs of which is connected to the control inputs of the sensor control unit 12, the outputs of which are connected to the corresponding inputs of each of the sensors ovs 1-8, another group of inputs / outputs of the microcontroller 11 is connected to the inputs / outputs of the high-speed USB interface 13, the output of which can be connected to a computer, and the third group of inputs / outputs of the microcontroller 11 is connected to the inputs / outputs of the high-speed Flash (non-volatile) memory 14 .
  • one three coordinate autonomous measuring microcontroller device is fixed according to the invention.
  • the device operates as follows. All three semiconductor angular acceleration sensors 1, 2 and 3 are located on mutually perpendicular axes (X, Y, Z) made, for example, on the basis of ADXRS 15 OEB [7] semiconductor gyroscopes manufactured by Apalog Devices.
  • X, Y, Z mutually perpendicular axes
  • ADXRS 15 OEB [7] semiconductor gyroscopes manufactured by Apalog Devices.
  • All three semiconductor linear acceleration sensors 4, 5 and 6 are located on mutually perpendicular axes (X, Y, Z) made, for example, on the basis of ADXL202E [8] semiconductor accelerometers from Apalog Devices.
  • X, Y, Z the basis of ADXL202E [8] semiconductor accelerometers from Apalog Devices.
  • a voltage equivalent to the sensor shift per unit time is generated at the signal output relative to the average value of the supply voltage, i.e. equivalent to linear speed.
  • the semiconductor compass 7 can be performed, for example, on the basis of a three-coordinate microcircuit HMC1055 [9] from Nopeuwell. At its output, the voltage is equivalent to the deviation of the sensor axis from the north direction.
  • the sensor 8 is designed to measure the supply voltage of the sensors in order to calculate the midpoint of the supply voltage.
  • the midpoint of the supply voltage is necessary to calculate the positive or negative signals at the output of the sensors.
  • the signals from the outputs of all sensors are fed to the inputs of the analog multiplexer 9, and from its output fed to the input of an analog-to-digital converter 10, the outputs of which are connected to the inputs of the microcontroller 11, the outputs of which are connected to the inputs of the sensor control unit 12, the outputs of which are connected to the corresponding inputs of all sensors.
  • Sensor control is necessary to minimize measurement errors.
  • Flash memory block 14 can be made, for example, on the basis of a soldered AT45DB642D microcircuit [10] or on the basis of a conventional Multimedia card inserted into a special slot, for example, S ⁇ iDisk.
  • the nodes of the analog multiplexer 9, the analog-to-digital converter 10, the microcontroller 11, the USB 13 interface are internal nodes of the used modern C8051F342 [l 1] microcircuit manufactured by Silicop Labors.
  • the microcontroller 11 with a high speed, several hundred times higher than the frequency of registration of the trajectory of human movement, sequentially polls the inputs of the multiplexer 9, and the analog-to-digital converter 10 converts them into digital form.
  • the microcontroller then filters the data and normalizes the data, calculating the difference between the output signal and the midpoint of the supply voltage measured using sensor 8.
  • the signals from the outputs of all sensors allow you to calculate the offset along each of the X, Y, and Z axes that is stored every millisecond in Flash 14.
  • the number of bytes recorded in 1 ms is 4 (lopg is a long unsigned number) for registering the current time + 3 coordinates * 4 bytes per coordinate, a total of 16 bytes. Obviously 16 seconds of data is saved in 1 second.
  • the AT45DB642 Flash memory chip which has a capacity of 8 MB, is enough for 500 seconds (8 minutes) of recording, and an MMC card with a capacity of 128M can last 8000 seconds or 500 minutes (about 8 hours). This is quite enough for a human athlete to perform any exercise that requires registration.
  • the accumulated data is read from the device to the computer.
  • the advantages of the proposed method and device are: • higher accuracy of recording the trajectory of the body of a person (athlete);
  • test person is free from a certain orientation in space, for example, so that the sensors are lit or turned towards the receiving antenna or photodetector;
  • the devices used in the claimed method are autonomous, i.e. during measurements and registration, they have neither communication with a computer nor external power, therefore, they do not have wires or other elements that interfere with the natural movement of the test person.

Abstract

Le procédé de détermination de la trajectoire de mouvement d'une personne ou des parties de la personne (bras, jambes, tronc) consiste à disposer sur le corps de la personne au moins cinq micro-contrôleurs autonomes de déplacement spatial qui comprennent trois capteurs (1, 2, 3) d'accélérations angulaires (gyroscopes) dont chacun est orienté en direction d'un des trois axes mutuellement perpendiculaires (X, Y, Z), trois capteurs (4, 5, 6) d'accélérations linéaires (accéléromètres) dont chacun est orienté dans la direction d'un parmi trois axes mutuellement perpendiculaires (X, Y, Z) et une boussole semi-conductrice fonctionnant en trois dimensions dont les signaux de sortie sont multiplexés, numérisés et enregistrés dans une mémoire Flash de grande capacité; une fois la tâche effectué, ils peuvent être lus via une interface USB rapide par un ordinateur extérieur pour reconstruire la trajectoire du mouvement de l'intégralité de l'humain ou de parties de son corps.
PCT/MD2007/000004 2006-12-21 2007-11-09 Procédé de détermination de la trajectoire de mouvement (d'orientation) d'une personne (d'un sportif) ou de certaines parties de son corps et dispositif de mise en oeuvre correspondant WO2008075926A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
MD20060287 2006-12-21
MDA20060287 2006-12-21

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WO2008075926A1 true WO2008075926A1 (fr) 2008-06-26

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EA (1) EA011541B1 (fr)
WO (1) WO2008075926A1 (fr)

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CN110236560A (zh) * 2019-06-06 2019-09-17 深圳市联邦佳维工业装备有限公司 智能穿戴设备的六轴姿态检测方法、系统

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DE102012111304A1 (de) * 2012-11-22 2014-05-22 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung, Verfahren und Computerprogramm zur Rekonstruktion einer Bewegung eines Objekts
EP2798357B1 (fr) 2013-01-18 2015-04-29 Fraunhofer-ges. zur Förderung der Angewandten Forschung E.V. Détermination de vitesse d'un mouvement multidimensionnel dans un système de coordonnées global
RU2750758C1 (ru) * 2020-10-30 2021-07-02 Федеральное государственное автономное образовательное учреждение высшего образования "Уральский федеральный университет имени первого Президента России Б.Н. Ельцина" Способ ретроспективного определения траектории движения объекта и устройство для его осуществления

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Publication number Priority date Publication date Assignee Title
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EA200701569A3 (ru) 2008-04-28
EA200701569A2 (ru) 2007-12-28

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