WO2015127879A1 - Dispositif et procédé de détection d'exercice par haltère de musculation - Google Patents

Dispositif et procédé de détection d'exercice par haltère de musculation Download PDF

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Publication number
WO2015127879A1
WO2015127879A1 PCT/CN2015/073150 CN2015073150W WO2015127879A1 WO 2015127879 A1 WO2015127879 A1 WO 2015127879A1 CN 2015073150 W CN2015073150 W CN 2015073150W WO 2015127879 A1 WO2015127879 A1 WO 2015127879A1
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WIPO (PCT)
Prior art keywords
dumbbell
axis
angle
fitness
sensor
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PCT/CN2015/073150
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English (en)
Chinese (zh)
Inventor
陈隽永
王圣捷
李辰
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杭州匠物网络科技有限公司
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Publication of WO2015127879A1 publication Critical patent/WO2015127879A1/fr

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/06—User-manipulated weights
    • A63B21/072—Dumb-bells, bar-bells or the like, e.g. weight discs having an integral peripheral handle
    • A63B21/0726—Dumb bells, i.e. with a central bar to be held by a single hand, and with weights at the ends
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/065—Visualisation of specific exercise parameters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/75—Measuring physiological parameters of the user calorie expenditure

Definitions

  • the invention relates to a fitness dumbbell motion detecting device and a fitness dumbbell motion detecting method.
  • dumbbells due to lack of guidance and supervision, there are often problems such as incorrect exercise posture, lack of scientific planning during exercise, unfulfilled exercise plans, and inability to evaluate the results of exercise. Due to these problems of personal exercise, it is difficult to ensure the effect of personal dumbbell exercise.
  • dumbbell exercise In order to improve the effect of dumbbell exercise, it is generally necessary to learn a lot of training knowledge, take a dumbbell exercise course, hire a professional personal trainer and other methods. These methods require too much effort or a lot of money for the average exerciser, and there are more restrictions on the acquisition process. At present, there is no hardware device and method for guiding and supervising the exercise effect of ordinary dumbbell exercisers through specific technical means.
  • the technical problem to be solved by the present invention is to provide a fitness dumbbell motion detecting device capable of effectively measuring the posture and angle of use of a dumbbell user.
  • the present invention adopts the following technical solutions:
  • the device includes a detection circuit including a microcontroller module 3 and an inertial sensor module 2, a battery power management module 5 and a radio frequency communication module 4 electrically connected to the microcontroller module 3,
  • the inertial sensor module 2 includes a three-axis angular velocity sensor for detecting three-axis acceleration sensors of the X-axis, the Y-axis, and the Z-axis, and three-axis angular velocity sensors of the X-axis, the Y-axis, and the Z-axis three-axis angular velocity
  • the battery power management module 5 is configured to The microcontroller module 3, the inertial sensor module 2, and the RF communication module 4 provide operating power.
  • the present invention determines the two-dimensional inclination angle of the current dumbbell by the complementary filtering of the three-axis acceleration sensor and the three-axis angular velocity sensor in the inertial sensor module, and the measured value of the inclination angle is still very high under the accelerated motion state of the dumbbell. High accuracy.
  • the present invention can also adopt the following technical solutions:
  • the detection circuit further includes a magnetic field sensor module 20 including a three-axis magnetoresistive sensor that detects three-axis magnetic field strengths of the X-axis, the Y-axis, and the Z-axis.
  • a magnetic field sensor module 20 including a three-axis magnetoresistive sensor that detects three-axis magnetic field strengths of the X-axis, the Y-axis, and the Z-axis.
  • the present invention determines the local earth magnetic field by using a three-axis magnetoresistive sensor in the device.
  • the current azimuth of the dumbbell is obtained, and the azimuth is not affected by the motion acceleration, which solves the problem of measuring the current posture and angle of the dumbbell.
  • Another technical problem to be solved by the present invention is to provide a fitness dumbbell motion detecting method capable of effectively measuring the posture and angle of use of a dumbbell user.
  • the present invention adopts the following technical solutions:
  • the method includes the following steps:
  • the fitness dumbbell motion detecting device is fixedly connected to the fitness dumbbell to be tested;
  • the method installs the aforementioned fitness dumbbell motion detecting device on the fitness dumbbell, and the device can follow the dumbbell movement, and according to the fitness dumbbell movement process and the human joint motion constraint, the angle calculated according to the device can be calculated. Calculate the positional relationship between the fitness dumbbell and the user, and solve the problem of fitness dumbbell movement and position detection.
  • FIG. 1 is a block schematic diagram of a fitness dumbbell motion detecting apparatus according to Embodiment 1 of the present invention
  • FIG. 2 is a control flowchart of a fitness dumbbell motion detecting device according to Embodiment 2 of the present invention
  • FIG. 3 is a block schematic diagram of a fitness dumbbell motion detecting device according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic diagram of the use of a fitness dumbbell motion detecting device according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic diagram of the use of a fitness dumbbell motion detecting device according to Embodiment 4 of the present invention.
  • FIG. 6 is a schematic diagram of the use of a fitness dumbbell motion detecting method according to Embodiment 5 of the present invention.
  • FIG. 7 is a flow chart of a step 2) of a method for detecting a fitness dumbbell motion according to the present invention
  • FIG. 8 is a flowchart of sub-step e, step f, and step 4) of step 3) of the fitness dumbbell motion detecting method according to Embodiment 6 of the present invention.
  • the present invention relates to a fitness dumbbell motion detecting device, the device comprising a detecting circuit, the detecting circuit comprising a microcontroller module 3 and an inertial sensor module 2 electrically connected to the microcontroller module 3, and a battery power management module 5 And an RF communication module 4, the inertial sensor module 2 includes a three-axis angular velocity sensor for detecting three-axis acceleration of the X-axis, the Y-axis, and the Z-axis, and a three-axis angular velocity sensor for the X-axis, the Y-axis, and the Z-axis three-axis angular velocity, respectively.
  • the battery power management module 5 is configured to provide working power for the microcontroller module 3, the inertial sensor module 2, and the radio frequency communication module 4.
  • the microcontroller module of the device provided by the invention can be equipped with a data storage function, and can also be connected to a smartphone or a tablet via Bluetooth for historical data storage and processing.
  • the detection circuit further includes a magnetic field sensor module 20 including a three-axis magnetoresistive sensor that detects three-axis magnetic field strengths of the X-axis, the Y-axis, and the Z-axis.
  • a magnetic field sensor module 20 including a three-axis magnetoresistive sensor that detects three-axis magnetic field strengths of the X-axis, the Y-axis, and the Z-axis.
  • the radio frequency communication module 4 is a Bluetooth 4.0 radio frequency communication module, and the micro controller module 3 and the radio frequency communication module 4 adopt a system-on-chip processing chip of the type cc2541 or nRF51822.
  • the inertial sensor module 2 adopts a six-axis MEMS sensor chip of the type MPU-6050, and can also be implemented by using an ADXL345 three-axis acceleration sensor chip and a three-axis angular velocity sensor chip such as L3G4200 and ITG-3200.
  • the magnetic field sensor module 20 uses a three-axis magnetoresistive sensor chip of the type HMC5883L.
  • the fitness dumbbell motion detecting device of the present invention comprises a rectangular parallelepiped housing 1 , wherein the X-axis, the Y-axis, and the Z-axis three axes of the inertial sensor module 2 are aligned with the length, width and depth directions of the housing 1 , and the magnetic field sensor module 20
  • the present invention also includes a human-machine interaction module 6, which is used to provide working power for the microcontroller module 3, the inertial sensor module 2, the magnetic field sensor module 20, the human-machine interaction module 6, and the radio frequency communication module 4.
  • the battery power management module 5 can also charge the battery using an external power source.
  • the human-computer interaction module 6 further includes an OLED display unit, a button unit, and an LED display unit, the button unit including a first button for selecting display content of the OLED display unit and a second button for resetting the device.
  • the invention relates to a device 7 for detecting the movement of a fitness dumbbell, comprising a casing 1 in which a detection circuit is fixed, and in use, the device 7 and the fitness dumbbell are fixed by a magnet or a magic cable tie.
  • the fixing according to the present invention refers to that the detecting device is fixedly connected with the fitness dumbbell, and the detecting device can be fixed on the surface of the fitness dumbbell by means of a strap magnet, or can be directly disposed in the fitness dumbbell.
  • the detecting circuit includes a microcontroller module 3 and an inertial sensor module 2, a battery power management module 5 and a radio frequency communication module 4 electrically connected to the microcontroller module 3, and the inertial sensor module 2
  • a three-axis angular velocity sensor microwave-mechanical inertial sensor chip) for detecting a three-axis acceleration sensor of an X-axis, a Y-axis, and a Z-axis three-axis acceleration, and an X-axis, a Y-axis, and a Z-axis three-axis angular velocity, respectively, the battery power source
  • the management module 5 is configured to provide working power for the microcontroller module 3, the inertial sensor module 2, and the radio frequency communication module 4.
  • the present invention further provides a magnetic field sensor module 20 on the circuit for detecting the azimuth of the dumbbell on the basis of the embodiment 1.
  • the housing 1 is included, and the detection circuit is disposed in the housing 1.
  • the detection circuit includes a microcontroller module 3 and an inertial sensor module 2, a magnetic field sensor module 20, a battery power management module 5, a human-machine interaction module 6 and a Bluetooth 4.0 radio frequency communication module electrically connected to the microcontroller module 3. 4.
  • the inertial sensor module 2 includes a three-axis angular velocity sensor for detecting three-axis accelerations of the X-axis, the Y-axis, and the Z-axis, and three-axis angular velocity sensors of the X-axis, the Y-axis, and the Z-axis three-axis angular velocity, respectively.
  • the X-axis, the Y-axis, and the Z-axis of the inertial sensor module 2 are aligned with the length, width, and depth of the device housing 1, and the magnetic field sensor module 20 includes three-axis magnetic field strengths for detecting the X-axis, the Y-axis, and the Z-axis.
  • the battery power management module 5 is used as a microcontroller module.
  • inertial sensing Module 2 the magnetic field sensor module 20, man-machine interaction module 6, 4.0 Bluetooth RF communication module 4 supplies power, when using a rechargeable battery, the battery power management module 5 may also utilize an external power source to charge the battery.
  • the magnetic field strength measured by the magnetic field sensor module 20 in the X-axis, Y-axis, and Z-axis directions can reflect the magnetic field strength of the environment in which the fitness dumbbell is placed, and the change in the magnetic field component on each sensitive axis due to the change in the dumbbell posture. It is worth noting that most fitness dumbbells are made of magnetic materials such as iron and steel. The magnetic field strength on some measuring axes may exceed the measurement range of the magnetic field sensor, causing measurement errors. In specific applications: the range is larger. A magnetoresistive sensor, such as the preferred HMC5883L, can effectively avoid detection errors caused by measured values exceeding the range.
  • the measured output of the magnetic field sensor module 20 is transmitted to the microcontroller module 3 via the IIC bus in consideration of static power consumption. It should be understood by those skilled in the art that the technical features and working processes of the modules in the first embodiment are also applicable to the present embodiment, and thus are not described herein.
  • the device In order to detect the attitude angle of the dumbbell, the device needs to be fixed to the fitness dumbbell through the housing. At this time, the three-axis acceleration of the X-axis, the Y-axis, and the Z-axis measured by the inertial sensor module 2, the X-axis, and the Y-axis The three-axis angular velocity in the axial and Z-axis directions can reflect the corresponding movement of the fitness dumbbell. It is worth noting that in some special dumbbell fitness exercises, the acceleration on some measurement axes may exceed the measurement range of the acceleration sensor, causing measurement errors. In specific applications: use an acceleration sensor with multi-range selection. For example, the preferred MPU-6050 can effectively avoid detection errors caused by measured values exceeding the range. Taking into account the static power consumption, the measured output of the inertial sensor module 2 is transmitted to the microcontroller module 3 via the IIC bus.
  • the battery power management module 5 completes the regulation of the battery discharge and the battery charging control, the discharge voltage of the battery and the battery power The quantity is related and unstable.
  • the battery discharge voltage is higher than the internal working voltage of the system.
  • the battery power management module steps down the battery discharge voltage to a certain voltage value of the internal working voltage of the system of 2.0 to 3.0V.
  • a switching buck regulator is selected.
  • the buck regulator can be implemented by using a switching buck regulator chip LM3670 or TPS62730.
  • the battery charging control needs to step down and limit the 5V output voltage of the external charger. When the battery voltage is too low, it uses constant current charging.
  • the battery charging can be realized by a single-cell charging chip SE9017, SE9016 or LTC4054, and the charging state can be displayed by red and green two-color LEDs.
  • the human-computer interaction module 6 further includes a display unit and a button unit, the button unit including a first button for controlling the display unit and a second button for resetting the device.
  • the human-computer interaction module 6 mainly implements the functions of the display device working mode, the display exercise data, and the reset device.
  • the main working modes of the device of the invention are: 1, sleep mode, 2, Bluetooth discoverable mode, 3, Bluetooth connection mode, 4, exercise mode;
  • the main exercise data of the device of the invention is: 1.
  • the device work mode needs real-time display, and the exercise data only needs to be displayed during the user exercise and exercise completion, exercise data and exercise data after the end of exercise, OLED
  • the screen displays, the display content is 1, the number of dumbbell fitness actions completed, 2, the number of calories burned by dumbbells, 3, the dumbbell fitness action score.
  • the microcontroller module 3 mainly performs the following processing tasks: 1. receiving the output signal of the inertial sensor module 2, 2, receiving the output signal of the magnetic field sensor module 20, 3. detecting the state of the button, 4, detecting the battery voltage and the state of charge and discharge, 5 , control LED and OLED display, 6, control Bluetooth 4.0 RF communication module 4 work, set Bluetooth transmission parameters, launch content, receive Bluetooth data. 7. The method for detecting the movement and position of a fitness dumbbell according to the present invention, and calculating the posture angle of the dumbbell and the positional relationship between the dumbbell and the user.
  • the microcontroller module 3 can be implemented by the cc2541 or the nRF51822 on-chip system chip.
  • the chip is a radio on-chip system chip, which has a single-chip core and a 2.4 GHz RF transceiver, and can run the Bluetooth 4.0 low-power protocol. Stack.
  • the present invention mainly has the following working modes, which are controlled and scheduled by the microcontroller module: 1. Power-on initialization mode, 2. Sleep mode, 3. Bluetooth discoverable mode, 4. Bluetooth connection Modal, 5, exercise mode, 6, exercise complete modal.
  • the device 7 when the device is used, after the device 7 is powered on/reset, the device 7 enters the power-on initialization mode of the modal state, and mainly initializes the sensor, the Bluetooth protocol stack, etc., after the initialization is finished, the device enters the above mode.
  • Sleep mode in the sleep mode, the system detects the acceleration every few seconds. If the change of the acceleration exceeds the set threshold, the device is considered to have moved, then the device exits the sleep mode and enters the Bluetooth to discover Modal, when the device is in the Bluetooth discoverable mode, the microcontroller module 3 controls the Bluetooth 4.0 radio communication module 4 to transmit a broadcast frame.
  • the device When the mobile terminal device such as a smart phone or a tablet computer is connected to the device 7 via Bluetooth, the device enters the Bluetooth connection. Status, if smartphone, tablet After the smart terminal such as brain operates the device 7 to start exercising, the device enters the exercise mode. During the exercise mode, the microcontroller module 3 configures the inertial sensor module 2 and the magnetic field sensor module 20 to enter the 20 Hz high-speed acquisition mode. Increasing the sampling frequency will increase the power consumption, but it can also improve the accuracy and bandwidth of the fitness dumbbell attitude angle and position detection.
  • the microcontroller module 3 In the exercise mode, the microcontroller module 3 according to the measured values of the inertial sensor module 2 and the magnetic field sensor module 20, Calculate the attitude angle and position of the fitness dumbbell in real time, and send the measurement result and the solution result to the smartphone or tablet through the Bluetooth 4.0 RF communication module 4 in real time, and the smart terminal such as a smart phone or a tablet computer calculates the exercise times according to the above data.
  • the calorie consumption and the motion score are returned to the microcontroller module 3 through the Bluetooth 4.0 RF communication module 4, and the microcontroller module 3 controls the OLED to display the above exercise data according to the returned data and the detected first button state, Bluetooth. After the connection is disconnected, the device enters the sleep mode.
  • Bluetooth 4.0 RF communication module 4 is responsible for Bluetooth connection and Bluetooth output transmission.
  • the Bluetooth 4.0 RF communication module 4 can be implemented by the cc2541 or nRF51822 system-on-chip.
  • the chip is a radio on-chip system chip with a single-chip core and a 2.4GHz RF transceiver, and can run the Bluetooth 4.0 low-power protocol. Stack.
  • Embodiment 1 and Embodiment 2 can be assembled as an independently provided circuit board in other systems during use, or can be used alone. Therefore, the embodiment 3 will be explained by using the assembly application alone, and those skilled in the art should understand that this embodiment does not constitute a limitation of the application manner thereof.
  • the present embodiment includes a housing 1 which is fixed to the inside of the housing 1 as described in Embodiment 1 or Embodiment 2, and is fixed to the dumbbell handle 8 at one end face of the housing 1 by a magic strap.
  • the inertial sensor 2 and the magnetic field sensor module 20 inside the device can follow the movement of the fitness dumbbell, measure the acceleration, angular velocity, and magnetic field change generated by the dumbbell movement, and are proposed by the present invention.
  • the fitness dumbbell movement and position detection method solves the relationship between the posture angle of the dumbbell and the position of the dumbbell and the user.
  • a fitness dumbbell motion detecting device 7 as described in Embodiment 1 or Embodiment 2 includes only an electric circuit and is installed inside the fitness dumbbell 9.
  • this embodiment is a structural schematic diagram of a specific application example. The embodiment is installed inside a fitness dumbbell, and the inertial sensor module and the magnetic field sensor module can follow the fitness dumbbell movement, and measure the acceleration and angular velocity generated by the dumbbell motion. The magnetic field changes, and through the fitness dumbbell movement and position detection method proposed by the present invention, the posture angle of the dumbbell and the relationship between the dumbbell and the user position are calculated.
  • the invention also provides the following fitness dumbbell movement detection method.
  • the method includes the following steps:
  • the fitness dumbbell motion detecting device is fixedly connected to the fitness dumbbell to be tested;
  • the step 1) comprises two steps: a, sensor data acquisition, ie: the microcontroller module 3 sends a sensor data read command to the inertial sensor module 2 and/or the magnetic field sensor module 20, when the inertial sensor module 2 and/or When receiving the data read command, the magnetic field sensor module 20 returns the sensor measurement result of the corresponding channel; b, the dumbbell angle solution, that is, the X-axis and the Y-axis which are connected to the fitness dumbbell based on the sensor data collected in step a.
  • the acceleration and angular velocity data measured by the Z-axis triaxial acceleration sensor and the triaxial angular velocity sensor are calculated by using the earth gravity field as a vertical reference, and the inclination angle of the dumbbell relative to the horizontal plane is calculated, and/or based on the sensor data acquisition of the step a.
  • the sensor data acquisition of step a needs to reach a certain sampling frequency, taking into account the motion dynamics of the user using the dumbbell and the Nyquist sampling law, the three-axis acceleration sensor and the three-axis angular velocity sensor data of step a
  • the frequency of acquisition is above 5 Hz.
  • the step 2) comprises two steps: c. storing historical sensor acquisition data, that is, storing historical measurement data of the N-time acceleration sensor and the angular velocity sensor; d, motion type determination, that is, the acceleration sensor and the angular velocity stored by the step c
  • the historical measurement data of the sensor calculates the expectation and variance of the most recent N acceleration and angular velocity measurement data.
  • N is an integer of 3-15.
  • the dumbbell when the acceleration and the angular velocity variance are greater than ⁇ 1, the dumbbell is considered to be moving.
  • the acceleration and the angular velocity variance are less than ⁇ 1 and greater than ⁇ 2, and the angular velocity is expected to be less than E1, the dumbbell is considered to be held by the user, but is stationary.
  • the acceleration, the angular velocity variance is less than ⁇ 2, and the angular velocity is expected to be less than E2, the dumbbell is considered to be stationary on the fixed object, wherein ⁇ 1, ⁇ 2, E1, E2 are combined with the selected acceleration, angular velocity sensor measurement, output noise performance, and The quality of the dumbbells is comprehensively determined.
  • step 2) dumbbell motion detection is to determine whether the dumbbell is in motion, and the dumbbell motion state is divided into Class 3: 1.
  • Dumbbell movement, 2 the dumbbell is picked up by the user, the user holds the dumbbell to be stationary, and the dumbbell is placed on the fixed object to be stationary.
  • the present invention uses the steps 1) to measure and solve the dumbbell angle sub-step a sensor acquisition of the 3-axis acceleration sensor and the triaxial angular velocity sensor measurement data, referring to FIG. 7, sequentially performs the following two sub-steps To determine the static type of dumbbell: c, store historical sensor to collect data, d, exercise type judgment.
  • Step 2) In the sub-step c of the dumbbell motion detection, the microcontroller module, or the smartphone and the tablet connected to the device via Bluetooth 4.0, store the historical measurement data of the N-time acceleration sensor and the angular velocity sensor, in order to balance the step 2) Sub-step 2 of motion detection, accuracy of motion type judgment, and step 2) real-time performance of dumbbell motion detection, so N should take an integer from 3 to 15, step 2) sub-step d of dumbbell motion detection is stored in sub-step c
  • the historical data of the sensor is used to calculate the expectation and variance of the most recent N acceleration and angular velocity measurement data. Referring to FIG. 7, when the acceleration and the angular velocity variance are greater than ⁇ 1, the dumbbell is considered to be moving.
  • the dumbbell When the acceleration and angular velocity variance are less than ⁇ 1 and greater than ⁇ 2, When the angular velocity is expected to be less than E1, the dumbbell is considered to be held by the user, but is stationary. When the acceleration, angular velocity variance is less than ⁇ 2, and the angular velocity is expected to be less than E2, the dumbbell is considered to be stationary on the fixed object, where ⁇ 1, ⁇ 2. E1, E2 need to combine the selected acceleration, angular velocity sensor measurement, output noise performance, and dumbbell quality. Experimented comprehensively determined.
  • the step 3) comprises two steps: e, motion sampling, that is, recording the dumbbell inclination angle and/or azimuth angle obtained by the step 1) solving the dumbbell angle during the K-duty dumbbell exercise; f, calculating the initial angle calibration
  • the value that is, in the dumbbell inclination angle and/or azimuth of the K dumbbell exercise steps stored in step e, the maximum angle value and the minimum angle value of each action are discriminated, and the maximum angle average value of the K times motion is obtained.
  • the minimum angle average value is used to calculate the average value of the intermediate position angle of the user action, and subtracted from the intermediate position angle of the corresponding standard action to obtain an initial angle calibration value, and in the future motion detection, the initial angle calibration value is used.
  • Correction step 1) Calculate the inclination and/or azimuth of the dumbbell obtained from the angle of the dumbbell.
  • step 2) the dumbbell motion detection output dumbbell is placed on the fixed object and is stationary, then step 3) the initial angle calibration of the dumbbell is performed at the next exercise.
  • Step 1 solves the inclination angle and azimuth angle of the dumbbell angle. Actually, it measures the conversion angle relationship between the sensor coordinates and the geodetic coordinate system. For the same dumbbell fitness action, the angle calculated in step 1 is because The angle at which the user holds the dumbbell is different, and a very significant difference occurs.
  • Step 3 The initial angle calibration of the dumbbell is to solve the angle measurement error caused by the random placement of the dumbbell and the angle at which the user holds the dumbbell. FIG.
  • step 8 includes two sub-steps: , action sampling, f, calculate the initial angle calibration value, in step 3) the sub-step e action sampling of the dumbbell initial angle calibration, the user is required to perform the dumbbell exercise exercise for the K-times as standard as possible, the module with the data storage function
  • the microcontroller module or the corresponding smartphone and tablet connected via Bluetooth 4.0, will record the dip angle and/or azimuth of the dumbbell obtained by step 1) solving the dumbbell angle during the K-dumb workout.
  • step 3) sub-step f of the initial calibration of the dumbbell calculates the initial angle calibration value process, and the K-duplex exercise stored in step e has been In the inclination angle and/or azimuth angle of the dumbbell, the maximum angle value and the minimum angle value of each movement are discriminated, and the maximum angle average value and the minimum angle average value of the K times motion are obtained. Calculate the average value of the intermediate position angle of the user action, and subtract the angle from the intermediate position of the corresponding standard action to obtain the initial angle calibration value, and use the initial angle calibration value to correct the step 1) solution in future motion detection. Calculate the inclination and/or azimuth of the dumbbell obtained from the angle of the dumbbell. If the dumbbell motion detection output dumbbell is placed on the fixed object at rest, it can be considered that the angle at which the user holds the dumbbell changes during the next exercise. When you need to re-execute step 3 dumbbell initial angle calibration.
  • Step 4) is: After the processing of step 1, step 2, and step 3, the dumbbell angle corresponding to a certain exercise action can be obtained. Further, counting and timing the change of the dumbbell position calculated above can obtain the period and duration of the dumbbell fitness action, specifically,
  • Step 4 Calculate the dumbbell movement parameters into: g, calculate the dumbbell angle; h, dumbbell exercise action count; i, calculate the dumbbell exercise calorie consumption; j, evaluate the dumbbell exercise quality, four sub-steps.
  • the dumbbell angle obtained by the step 1 of the dumbbell initial value correction step obtained in step 3 can be used to obtain the dumbbell angle corresponding to a certain exercise action.
  • calculate the dumbbell motion parameter sub-step h dumbbell exercise action count select two angles that the dumbbell must pass during the exercise action, such as the angle of the dumbbell movement to the position close to the expected lowest point, and the dumbbell movement to near the expected lowest point.
  • step 4 calculate the dumbbell motion parameter sub-step i to calculate the dumbbell motion calorie consumption, and approximate the person's upper arm as the swing lever device, and calculate the current dumbbell position by the preset upper arm length L1, lower arm length L2 and dumbbell angle.
  • step 4 calculating the dumbbell motion parameter sub-step j to evaluate the dumbbell exercise quality, the time interval of the dumbbell angle twice through the "dumbbell high position judgment angle" (or “dumbbell low position judgment angle") is timed, and the dumbbell fitness can be obtained.
  • the dumbbell angle is “dumbbell”
  • the low position judgment angle rises to the "dumbbell height position judgment angle”
  • the process of descending to the "dumbbell low position judgment angle” is timed, and the duration of the dumbbell fitness exercise word action can be obtained, and when the dumbbell fitness movement duration is less than the set time
  • the threshold value it is considered that the user performs loose dumbbell exercise, the power is lack of control, and the exercise effect is poor.
  • Step i Calculate the dumbbell exercise calorie consumption and calculate the maximum height of the dumbbell relative to the user's shoulder. Value, when the maximum height of the dumbbell relative to the user's shoulder is less than The threshold that when the user is not enough action dumbbells fitness standards when it detects a user action dumbbell exercise the above deficiencies, can make the appropriate tips and advice for users.
  • the method for detecting the fitness dumbbell motion proposed by the present invention is to use the posture angle obtained in the foregoing example, combined with the action specification of the specific dumbbell fitness exercise, and the joint motion constraint of the human body to solve the relative position of the fitness dumbbell and the user.
  • the dumbbell angle calibration is first performed. After the calibration correction, when the dumbbell equipped with the device of the invention is located at the low position 14, the device detects the X sensitivity.
  • the position of the dumbbell can be calculated according to the inclination angle ⁇ 3 on the X sensitive axis detected by the device, the user arm length L input in advance, and the arm length coefficient K of the supine bird motion.
  • the power of the supine bird movement, ie the user strength assessment P W/T.
  • the method for detecting the fitness dumbbell motion proposed by the present invention is to use the posture angle obtained in the foregoing example, combined with the action specification of the specific dumbbell fitness exercise, and the joint motion constraint of the human body to solve the relative position of the fitness dumbbell and the user.
  • the maximum angle value and the minimum angle value of each movement are discriminated, and the maximum angle average value and the minimum angle average value of the M motions are obtained, referring to FIG. 8 , the maximum The average angle is 6 degrees and the minimum angle average is -115 degrees.
  • the maximum angle average value and the minimum angle average value the average value of the intermediate position angle of the user motion is calculated, and subtracted from the intermediate position angle of the corresponding standard curling motion to obtain an initial angle calibration value, and the future action is performed.
  • the initial angle calibration value is used to correct the inclination angle of the dumbbell obtained in step 1, for example, corresponding to the action shown in FIG.
  • the standard angle is the range: -80 degrees to 45 degrees
  • the inclination angle after the dumbbell angle calibration the dumbbell uncalibrated inclination angle + the initial angle
  • the calibration value, the maximum angle average and the minimum angle average of the user's curling motion after calibration are: -78 degrees and 43 degrees, respectively.
  • the angle of the "dumbbell low position judgment angle” is set to: -70 degrees, and the “dumbbell height position judgment angle” angle is: 20 degrees, then, only when the dumbbell angle is calibrated, the inclination angle is less than After -70 degrees, after a certain change process, and finally more than 20 degrees, it is considered that the user has performed the dumbbell curling action in turn, and the dumbbell exercise count is increased by one.
  • the angle of the dumbbell exercise action cycle and the duration of the dumbbell exercise action are started, when the dumbbell angle is greater than the "dumbbell height position" Judging the angle” angle, and after a change process, when the angle is smaller than the "dumbbell low position judgment angle", stop the dumbbell exercise action duration time, and use the current timing value as the current secondary dumbbell exercise duration; on this basis, when the dumbbell When the angle is increased from the angle smaller than the "dumbbell low position judgment angle" to the angle larger than the "dumbbell low position judgment angle", the dumbbell exercise action cycle timing is stopped, the current timing value is taken as the current dumbbell exercise period, and the dumbbell exercise action cycle is restarted.
  • the device and method provided by the invention have the following beneficial effects:
  • the posture angle of the dumbbell can be reliably detected.
  • the above-mentioned measured dumbbell posture angle, fitness dumbbell movement process and human joint motion constraint can be used to calculate the positional relationship between the fitness dumbbell and the user.
  • the above-mentioned measured posture angle can be used to count the number of times and time for the user to use the dumbbell for the specific fitness movement training, and the above-described measured fitness dumbbell and the positional relationship of the user and the quality of the dumbbell can be calculated. The number of calories burned by the user for dumbbell exercise.
  • the invention has a radio frequency communication module, it can be interconnected with a smart phone or a smart tablet computer to further process the above-mentioned measurement data and statistical data, provide an evaluation for the user's fitness quality and effect, and further guide the user's fitness. Action and fitness program.
  • the present invention discloses a fitness dumbbell motion detecting device and a fitness dumbbell motion detecting method.
  • the detection circuit comprises a microcontroller module, and an inertial sensor module, a magnetic field sensor module, a battery power management module, and a Bluetooth RF communication module electrically connected to the microcontroller module, and the inertial sensor module includes three for detecting acceleration respectively.
  • the magnetic field sensor module includes a three-axis magnetoresistive sensor for detecting an environmental magnetic field of the device, and the detection data of the inertial sensor module and the magnetic field sensor module are input through the serial interface.
  • the controller module utilizes the fitness dumbbell movement and position detection algorithm to process the data, and sends the processing result and sensor data to the mobile phone or tablet through the Bluetooth 4.0 RF communication module to provide an intuitive fitness action evaluation for the user. And tips.
  • the invention can accurately detect the positional relationship between the fitness dumbbell and the user, thereby solving the problem of the calorie consumption evaluation of the fitness dumbbell fitness and the standard evaluation of the dumbbell fitness action.
  • the invention also provides a method for detecting the movement of a fitness dumbbell, which uses the three-axis acceleration information measured by the three-axis acceleration sensor and the angular velocity information measured by the three-axis angular velocity sensor to perform complementary filtering to calculate the current angle and speed information of the dumbbell, and utilizes The motion information obtained above, the specification of the specific dumbbell fitness movement, the geometric motion constraint of the human joint, and the position of the dumbbell are calculated.

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  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

La présente invention concerne un dispositif de détection d'exercice par haltère de musculation, comprenant un circuit de détection. Le circuit de détection comprend un module de microcontrôleur (3) et un module de capteur inertiel (2), un module de gestion d'alimentation par batterie (5) et un module de communication par radiofréquence (4) qui sont électriquement raccordés au module de microcontrôleur (3). Le module de capteur inertiel (2) comprend un capteur d'accélération de trois axes et un capteur de vitesse angulaire de trois axes qui sont respectivement utilisés pour détecter des accélérations de trois axes comprenant un axe X, un axe Y et un axe Z et des vitesses angulaires des trois axes comprenant l'axe X, l'axe Y et l'axe Z. La présente invention concerne également un procédé de détection d'exercice par haltère de musculation utilisant le dispositif.
PCT/CN2015/073150 2014-02-28 2015-02-16 Dispositif et procédé de détection d'exercice par haltère de musculation WO2015127879A1 (fr)

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CN109126020A (zh) * 2018-10-02 2019-01-04 罗银凤 一种负重机械练习动态调节系统
CN113018825A (zh) * 2019-12-25 2021-06-25 财团法人工业技术研究院 智能实时运动疲劳侦测系统、方法及装置
CN112190257A (zh) * 2020-09-17 2021-01-08 未来穿戴技术有限公司 按摩仪的控制方法及终端设备、计算机可读存储介质
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