WO2011000519A1 - Analyse de mouvements d'objets - Google Patents

Analyse de mouvements d'objets Download PDF

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Publication number
WO2011000519A1
WO2011000519A1 PCT/EP2010/003859 EP2010003859W WO2011000519A1 WO 2011000519 A1 WO2011000519 A1 WO 2011000519A1 EP 2010003859 W EP2010003859 W EP 2010003859W WO 2011000519 A1 WO2011000519 A1 WO 2011000519A1
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WO
WIPO (PCT)
Prior art keywords
coordinate system
movement
acceleration
motion
measured values
Prior art date
Application number
PCT/EP2010/003859
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German (de)
English (en)
Inventor
Gerald Bieber
Original Assignee
Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
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
Publication date
Application filed by Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. filed Critical Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Priority to EP10732851A priority Critical patent/EP2449345A1/fr
Publication of WO2011000519A1 publication Critical patent/WO2011000519A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/006—Pedometers

Definitions

  • the invention relates to a method for analyzing movements of objects.
  • the objects are, in particular, persons or other living beings.
  • the objects of movement can also be objects.
  • the invention further relates to a corresponding apparatus for analyzing movements of objects, a computer program configured to execute the method for analyzing movements of objects when it is executed on a computer or computer system, and a data carrier on which the computer program is stored is so that it is loadable into the memory of the computer or computer system or is readable and executable directly on the disk of the computer or computer system.
  • DE 10 2005 004 086 A1 describes a device for detecting movements.
  • the device detects the movements in the room by means of several motion sensors.
  • the measured values of at least one motion dimension are offset with the measured values of at least one other motion dimension.
  • a rotational speed measurement is combined with a linear acceleration measurement.
  • Acceleration measurements are combined to convert accelerations into three corrected spatial directions.
  • the acceleration sensors are attached to a person, it is difficult to align the directions of the coordinate axes of the sensors with appropriate directions with respect to the person.
  • the three directions that are mostly of interest to the person are the directions front and back, left and right, and top and bottom, respectively.
  • the latter direction usually coincides with the direction of the gravitational force acting on the person in the gravitational field of the earth.
  • the acceleration sensors according to the present invention may be implemented as described in DE 10 2005 004 086 A1.
  • Microsensors based on silicon structures can be used.
  • Such sensors are small and lightweight. They can be according to the invention, e.g. integrate into electronic devices used by persons, e.g. Mobile phones, handheld computers or the like. However, due to their small size, the sensors can also be integrated into even smaller units. For example, Such a unit can only be the three
  • Acceleration sensors for measuring the acceleration values in a Cartesian coordinate system and the facilities required to make the measured values available for evaluation.
  • the transmission of the measurements from the unit may e.g. wirelessly via a radio interface.
  • the three individual acceleration sensors are preferably an integrated unit, e.g. in the form of an integrated circuit. However, they may also be composed of separate units, i. be mechanically interconnected, or alternatively be a locally distributed system.
  • the individual can be any type of acceleration sensors.
  • Camera parameters can thus be motion changes such as distance,
  • the movement of the object can be detected by a camera arranged on the object. It is not only possible to determine the acceleration values of the movement of the object by evaluating the images captured by the camera. Rather, alternatively, the speed of movement and / or the traveled distances of the movement can be determined.
  • the later described method for analyzing movements of objects may therefore use speed values and / or instead of the 3D acceleration measurement values Our sign: FHIPT09011WO June 22, 2010
  • Distance values each as three-dimensional values and transform in the manner described below in a second coordinate system.
  • the camera or the camera system with a plurality of differently oriented cameras can be used in various ways to determine the speed and / or acceleration of the object.
  • at least one model of the movement of persons and / or objects can be used, wherein these persons and / or objects, as seen by the camera or the camera system, move past the object or move towards the object or move away from the object.
  • the information that a certain object or a certain person is moving toward the object exactly gives the information about the main movement direction. It is understood by a movement exactly to the object that z. B. as when walking a person's hip performs a periodic overlaying movement.
  • the person or the object to be moved precisely to the object can therefore, for. B. reciprocate while other persons or objects move past the object.
  • the information about the distance to the object can additionally be used in order to determine the speed and / or the acceleration of the object.
  • Main movement direction runs.
  • the direction of gravity may be determined using the information that the persons and objects apparently passing by the object as seen by the camera or cameras are at least partially fixedly positioned on the ground. At least in the time average, this results in the horizontal.
  • Another way to determine the gravitational direction that can be combined with the ones mentioned above is to use knowledge of the type of motion the object is performing. For example, when walking, the hip of a person moves in a certain way relative to
  • Main direction of movement (the direction of movement of the person's center of gravity in this case).
  • the frequency of the superimposed movement of the hip or of another body part or object part in relation to the frequency of at least one other part of the object or of the person also provides information from which the direction of the gravitational field of the earth can be determined.
  • a camera to be used to analyze a person's walking motion may be attached to a belt (eg, around the waist or waist of the person
  • Main movement direction as mentioned above, can be accurately detected on the person moving persons or objects with the camera images.
  • Motion analysis is of interest for a variety of applications.
  • articles e.g. by tracing the accelerometer readings the movement of the object can be traced. This is conceivable, for example, for luggage.
  • the speed and then the distance covered by the object can be calculated by integration over time.
  • the mentioned unit may be e.g. a suitable one
  • the measured movement can be compared with known movement patterns. For example, a classification of a movement phase takes place and becomes dependent on the result of the classification
  • the person decided whether the person has moved or was moved himself and which calorie count or energy the person has consumed in their own movement. Not only can the calorie consumption be determined depending on the type of movement (e.g., walking, running, swimming, rowing, cycling, and the like), but also the actually measured movement information can be additionally used. In particular, the acceleration values can therefore not only for
  • Classification of the movement but also to evaluate the movement, e.g. be evaluated for determining the calorie consumption per time interval. From the acceleration readings, it is possible to determine whether the person was running fast or cycling slowly, cycling up or down a mountain, or swimming swiftly or slowly.
  • Coordinate system is the direction of the weight of the object. If the object is at rest, the direction of the weight force can be directly measured from the measured
  • the direction of the weight corresponds to the direction of the acceleration vector of the gravitational field. But even as the object moves with the attached 3D sensor, the direction of the weight force can be determined.
  • time intervals of the acceleration measured values are evaluated and the direction of the gravitational force or of the acceleration vector of the gravitational field is determined by temporal averaging.
  • the transformed coordinate system is not yet uniquely determined by the direction of the weight.
  • the two perpendicular coordinate axes can still be freely selected. At least one direction is still needed to define the second coordinate system.
  • DE 10 2005 004 086 A1 proposes to carry out two so-called initial measurements. For this purpose, a movement of the object is carried out with the attached 3D sensor. By evaluating the motion, the second direction, i. the direction of another coordinate axis of the
  • the measuring operation can begin to detect movements of the moving object.
  • the prerequisite is, however, that the orientation of the 3D sensor relative to the moving object does not change. Disadvantageous in the
  • the 3D sensor can be integrated into an electronic device that carries the person on the body.
  • the 3D sensor can be integrated into an electronic device that carries the person on the body.
  • the orientation of the 3D sensor with respect to the person changes. But even with animals or objects the repeated execution of initial measurements in many cases is not practical.
  • Computer system and a disk on which the program is stored in particular in the form of digital data.
  • the present invention is based, in particular, on the idea that in the evaluation of movements it is possible to resort to information about previous movements and / or information about types of movement.
  • a comparison of the motion to be analyzed with such information is known in particular as pattern recognition per se.
  • the motion to be analyzed can be classified.
  • a plurality of predefined classes may exist, one of which is determined for the classification of the movement.
  • the information can be present in various ways and the comparison can accordingly be carried out in various ways. For example, can a
  • Frequency analysis of one or more components of the measured using the 3D sensor acceleration vector can be performed.
  • walking or walking a person it is e.g. characteristically that the frequency of going right-to-left accelerations is one-half the frequency of the fore-and-aft accelerations when the 3D sensor is worn around the person's hip.
  • the area of the hip is a common place of wear.
  • the 3D sensor may be worn on a belt or on the waistband, or it may be integrated with a device worn there. Also, the placement of the 3D sensor in a trouser pocket places him in the hip area.
  • the pattern recognition can take place in very different ways.
  • Coordinate system into which the acceleration measurements are transformed the direction of a particular, excellent direction of motion. Excellent is the direction by features typical of the movement. For example, When walking a person, it makes sense to refer to the forward direction the person walks in as an excellent direction of movement. This excellent direction of movement is also referred to as the main movement direction or main movement axis. However, it is not absolutely necessary to select the forward direction as the direction of the second axis of the transformed coordinate system when walking. For example, The right-to-left direction running perpendicular thereto and likewise perpendicular to the direction of the gravitational field could also be selected as the direction of the second coordinate axis. It is only important to always choose the same direction for the second coordinate axis for similar movements. This makes it possible, in particular, to compare the movements with each other or to evaluate them at least in the same way.
  • the direction e.g. the main direction of movement, can be defined in relation to the other movement.
  • the other movement can also be one
  • Movement type can match or equal each other, using the
  • the second direction is also fixed for the motion to be analyzed and can transform the motion measurements from the measurement coordinate system to the transformed one
  • the acceleration measurement values are transformed into a second coordinate system
  • the direction of the gravitational field is chosen as the direction of a first axis of the second coordinate system
  • Movement information on the one hand with existing information about another movement or a movement type on the other hand is determined.
  • the transformed coordinate system may in many cases be defined as the person or a characteristic area of the person (e.g., the hip) as a fixed coordinate system.
  • the part of the body to which the 3D sensor is attached has a rotational component of motion, so that it moves in the body
  • the motion to be analyzed be subdivided into different time periods, in each of which a different transformed coordinate system is selected.
  • the transitions between these periods are characterized by the moments of rotation
  • Movement component defined.
  • the direction of the first coordinate axis of the transformed coordinate system i. the coordinate axis, which is to be aligned in the direction of the gravitational field, not exactly defined. Nevertheless, with the transformation of the acceleration measurement values into the transformed coordinate system, the result obtained is much better and more accurately evaluable if the direction of the first coordinate axis is determined by determining a gravitational acceleration vector averaged over a period of time.
  • Movement measured values are evaluated in each case in a sliding manner over a period of time, in particular averaged, whereby the time period in each case at a current time of the
  • this slidingly shifting period which in each case is based on the current time of the movement measurement, can always be the same length.
  • an equal number of consecutive measured values is always evaluated.
  • the measured values distributed over the evaluation period can be weighted equally or differently. This depends in particular on the type of movement.
  • Coordinate axis of the transformed coordinate system to determine but not only has the above-mentioned advantage.
  • information about the movement can be obtained from a rotation of this direction with respect to the measurement coordinate system. It can thus be easily recognized, for example, that movements were carried out before and after the rotation according to different types of movement.
  • the motion information for the second axis detection derived from the acceleration measurements may be e.g. to act at the speed of the movement, from the direction of which in a simple way results in an excellent direction of movement to a frequency of components of the measured
  • the acceleration measured values used for the comparison are measured values of the motion to be analyzed. These are therefore not measured values of initial measurements. However, it is basically also possible to carry out such initial measurements and to use them for determining the direction of the second axis. However, it should be noted that the initial measurement may be subject to a different type of movement than the actual one
  • Fig. 1 schematically a 3D acceleration sensor, the Cartesian
  • FIG. 2 shows schematically a device for analyzing movements of objects, the figure also illustrating the method according to the invention in the manner of a flow chart
  • FIG. 3 is a diagram showing acceleration measurements with two components in an approximately horizontal plane when a person is walking, with the SD acceleration sensor carried in the right trouser pocket;
  • FIG. 4 shows measured values for a movement as in FIG. 3, but with the SD acceleration sensor in the left trouser pocket, FIG.
  • FIG. 5 shows movement measurements similar to those of FIG. 3 and FIG. 4, but with the sensor worn on the belt buckle in the hip region of the person, FIG.
  • Fig. 6 is a diagram illustrating two components of measured acceleration values in an approximately horizontal plane, the movement taking place in that the person carrying the sensor in a
  • Fig. 1 shows a 3D sensor S, which is shown as a cube and three
  • Has acceleration sensors These three sensors measure the components of the overall acceleration vector in the direction of the three coordinate axes x, y, z of a Cartesian coordinate system resting with respect to the sensor.
  • the gravitational acceleration vector of a gravitational field is designated, in which the sensor S is located.
  • the direction of the acceleration vector g coincides with the direction of the coordinate axis x ', which is the first coordinate axis of a transformed coordinate system.
  • the transformed coordinate system x, y, z are denoted by y 'and z' and shown in Fig. 1 by dashed lines with an arrow at the end of the line.
  • the measured values of the measurement coordinate system x, y, z are labeled A1 (x-axis), A2 (y-axis) and A3 (z-axis). These readings are sensor acceleration readings.
  • the sensor S may e.g. be integrated into an electronic device and / or be attached to the moving object.
  • the sensor S may be e.g. to act the sensor of FIG. 1.
  • the 3D sensor S has three individual acceleration sensors 15a, 15b, 15c which repeat, in particular cyclically at constant time intervals, measured values of the acceleration with respect to the three axes of a Cartesian coordinate system x, y, z (eg of the non-transformed
  • the measured value A1 of the sensor 15a is e.g. the measured value of the x-axis, the measured value A2 of the sensor 15b, the measured value of the y-axis and the measured value A3 of the sensor 15c, the measured value with respect to the z-axis.
  • the measured values A1, A2, A3 are transmitted to the device 10.
  • the signal connection can be realized wirelessly and / or wired. Also, further devices or units may be arranged between the SD sensor S and the device 10, Our sign: FHIPT09011WO June 22, 2010
  • the 3D sensor S may be e.g. in a common assembly (e.g., an electronic device, e.g.
  • the device 10 would be in this case with a corresponding receiving device for receiving the
  • the device 10 is installed in the same unit as the 3D sensor S.
  • Either all the devices shown in Fig. 2 may be installed in a common unit (e.g., the mentioned electronic device) or the boundary (e.g.
  • Radio interface of the structural unit of the 3D sensor between the latter and the device 10, between the device 10 and the device 12 or between the device 12 and the device 14.
  • the determination device 10 determines from the acceleration measurement values A1, A2, A3 the direction of a gravitational field in which the movement of a movement object takes place on which the 3D sensor S is arranged. An embodiment of how the determination is made will be discussed in more detail.
  • the thus determined direction of the gravitational field outputs the device 10 together with the measured values A1, A2, A3 as the direction of the first coordinate axis x 1 of the transformed coordinate system to the device 12, which is a comparison device.
  • the comparison device 12 has access to a data memory 11, in which
  • the comparison device 12 determines the direction of a second axis y 1 of the transformed coordinate system from a comparison of the acceleration measured values A1, A2, A3 or movement information derived therefrom on the one hand with the information stored in the data memory 11.
  • the comparison device 12 also takes over the coordinate transformation.
  • Comparator 12 are therefore in the second, transformed Our sign: FHIPT09011 WHU June 22, 2010
  • Analyzer 14 which energy has consumed a person for the movement, which was measured by taking the measured values A1, A2, A3.
  • the comparison device 12 can also output further information to the analysis device 14, in particular the
  • the comparison device 12 a can the comparison device 12 a
  • the comparison device determines, as mentioned, the direction of the second axis of the
  • Movement type and optionally also the above-mentioned main axis of motion transmits them to the analysis device 14, which therefore no longer has to perform a pattern recognition.
  • the analyzer 14 may use the motion type information immediately upon the actual analysis of the motion. For example, is the
  • Calorie consumption for movement if it determines from the movement type that the person did not move himself, but was moved.
  • standing components gl, g2, g3 are components in the output coordinate system. If there is no acceleration other than acceleration due to gravity, the components are the measured values of the three individual acceleration sensors of the 3D sensor.
  • y 2 denotes the second coordinate axis of the transformed coordinate system. This vector is to be determined using information about another movement or type of movement, eg pattern recognition. Its components y1, y2, y3 are also related to the output coordinate system. If an arbitrary vector x is defined first, which is perpendicular to the vector x ', the following applies:
  • the components of the vector 3c are chosen such that its magnitude is 1.
  • m2 ⁇ mx
  • x> (ml-xl) * xl + (m2-x2) * x2 + (m3-x3) * x3
  • m3 ⁇ mx
  • z> (ml-xl) * zl + (m2-x2 ) * z2 + (m3-x3) * z3
  • the vector x ' is determined from the measured movement. These are the
  • ie the value x ' new of the current processing cycle is equal to the sum of the summands weighted with the factors a and b, where the summands are the component m2 of the current measured value in the direction of x' and the value x ⁇ lt of the preceding processing cycle.
  • a and b are to be chosen such that their sum a + b is equal to 1.
  • Transformation taking into account information about another movement or a type of movement in the actual analysis of the movement, a higher accuracy can be achieved because an unexpected, incorrect or changed orientation of the 3D sensor is detected with respect to the moving object and taken into account in the transformation becomes.
  • FIG. 3 shows the measured values of a running movement of a person in the plane which is perpendicular to the direction of the acceleration vector of the gravitational field.
  • the horizontal axis of the coordinate system in Fig. 3 is oriented approximately in the left / right direction of the running motion, i. approximately perpendicular to the actual direction of travel.
  • the vertical axis in FIG. 3 is therefore approximately in the forward / backward direction of FIG.
  • the 3D sensor was in the pocket of the person while walking, i. E. was located in the hip area. Therefore, the 3D sensor did not directly measure the movement of the center of mass, but was located laterally from the center of mass. Characteristic of the running movement is in such a case that the 3D sensor certain
  • FIG. 3 and the following figures Shown in FIG. 3 and the following figures are lines which each connect two temporally successive measured values of the 3D sensor. The measured values are therefore at the points where the line sharply kinks.
  • the main axis of movement is represented by a straight line, which corresponds to the direction of the second coordinate axis of the transformed coordinate system.
  • FIG. 3 shows a running movement, in which the sensor was in the left trouser pocket. It can be seen in FIG. 3 that the connecting lines between the measuring points in their overall image are similar to FIG. Since the 3D sensor in the pocket on which the 3D sensor is based was located on the opposite side, the lines in FIG. 4 form a mirrored 9 about a vertical axis.
  • Fig. 5 shows acceleration measurements while walking the person, but in contrast to the movements of Figs. 3 and 4, the 3D sensor was carried in the center of the body in front of the center of mass on the belt buckle of a belt worn in the hip area.
  • the main axis of movement drawn in FIGS. 3 and 4 as well as in FIG. 5 was determined by means of a frequency analysis. The information about the
  • Movement type "running” is used, according to which the frequency of the right / left motion is half the frequency of the forward / backward movement. For example, for a Our sign: FHIPT09011 WHU June 22, 2010
  • Fig. 6 shows measured values of a 3D sensor which was worn by a person while the person was driving in a road vehicle.
  • the main axis of motion may be through the characteristic, with the aid of the 3D sensor
  • the main axis of motion is therefore preferably determined taking into account these high probabilities. Due to the resulting knowledge of the axial position is one example. able to better identify the road situation (highway, country road, driving in urban areas, etc.).
  • the "driving" type of movement is recognized, for example, by evaluating the ratio of the horizontal acceleration to the vertical acceleration and comparing it with a typical value for this movement pattern, and identifying a vibration typical of driving, for example, by varying the vibration frequencies of the vehicle Moving objects are identified as frequencies typical for driving a car.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

La présente invention concerne un procédé permettant d'analyser les mouvements d'objets, en particulier d'objets inanimés, de personnes, ou d'autres êtres vivants, pour lesquels on dispose de valeurs de mesures d'accélération selon les trois axes, perpendiculaires entre eux, d'un premier système de coordonnées (x, y, z). Ce procédé consiste à prendre les valeurs de mesures d'accélération (A1, A2, A3) et à les transposer (dispositifs 10, 12) dans un second système de coordonnées (x', y', z'); à déterminer, pour la transposition aboutissant au second système de coordonnées (x', y', z'), à partir des valeurs de mesures d'accélération (A1, A2, A3), la direction d'un champ gravitationnel dans lequel le mouvement se produit ou s'est produit (dispositif 10); à choisir l'orientation du champ gravitationnel et à l'utiliser comme direction d'un premier axe (x') du second système de coordonnées (x', y', z'); à déterminer (dispositif 12) la direction d'un deuxième axe du second système de coordonnées (x', y', z') à partir d'une comparaison entre, d'une part, les valeurs de mesures d'accélération (A1, A2, A3) ou l'information de mouvement qui en été a déduite, et d'autre part l'information disponible (mémoire 11) se rapportant à un autre mouvement ou à un autre type de mouvement.
PCT/EP2010/003859 2009-06-30 2010-06-30 Analyse de mouvements d'objets WO2011000519A1 (fr)

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DE102009031268.4 2009-06-30
DE102009031268A DE102009031268A1 (de) 2009-06-30 2009-06-30 Analysieren von Bewegungen von Objekten

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EP2711669A4 (fr) * 2011-05-17 2014-11-12 Sony Corp Appareil de calcul de l'orientation d'un déplacement, procédé de calcul de l'orientation d'un déplacement, programme de calcul de l'orientation d'un déplacement et appareil de navigation

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