CN107303181A - A kind of step motion recognition method based on six axle sensors - Google Patents
A kind of step motion recognition method based on six axle sensors Download PDFInfo
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- CN107303181A CN107303181A CN201710349657.2A CN201710349657A CN107303181A CN 107303181 A CN107303181 A CN 107303181A CN 201710349657 A CN201710349657 A CN 201710349657A CN 107303181 A CN107303181 A CN 107303181A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring 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 or mobility of a limb
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Abstract
The invention discloses a kind of step motion recognition method based on six axle sensors.It comprises the following steps：The detection data of the axle sensor of microcomputer reads six output, draw the resultant acceleration change curve of the axle resultant accelerations of XYZ tri-, detect the crest in resultant acceleration change curve, when the corresponding axle resultant accelerations of XYZ tri- of some crest are less than or equal to 1.5g, the crest is removed, when the sampled point between two neighboring crest is less than setting value K, the minimum crest of the axle resultant accelerations of XYZ in the two crests tri- is removed, at the time of crest corresponding time point is that pin lands；The pin landing posture that the continuous N number of sampling time point corresponding Y-axis magnitude of angular velocity after the moment judges each pin landing moment is landed according to each pin.The landing posture of pin when the present invention can recognize people's motion, is easy to what user understood oneself to walk appearance or running style.
Description
Technical field
Know the present invention relates to step motion identification technology field, more particularly to a kind of step motion based on six axle sensors
Other method.
Background technology
Modern much focuses on the daily exercise of oneself, the monitoring that meter step is taken exercise as a kind of effective record, monitoring very much
Means, are widely used in intelligent running shoes.Existing intelligent running shoes are being mounted therein with 3-axis acceleration sensor, but it
Step can only simply be counted, it is impossible to the landing posture of pin when recognizing people's motion, be unfavorable for that user understands oneself walks appearance or running style.
The content of the invention
The purpose of the present invention is to overcome in intelligent running shoes at present to install 3-axis acceleration sensor, can only simply count step, no
The technical problem of the landing posture of pin moves identification side there is provided a kind of step based on six axle sensors when can recognize people's motion
Method, the landing posture of pin when it can recognize people's motion is easy to what user understood oneself to walk appearance or running style.
A kind of step motion recognition method based on six axle sensors of the present invention, comprises the following steps：
The detection data of the axle sensor of microcomputer reads six output, the resultant acceleration change for drawing the axle resultant accelerations of XYZ tri- is bent
Crest in line chart, detection resultant acceleration change curve, when the corresponding axle resultant accelerations of XYZ tri- of some crest are less than or equal to
During setting value F, the crest is removed, when the sampled point between two neighboring crest is less than setting value K, by the two crests
The minimum crest of the axle resultant accelerations of XYZ tri- is removed, at the time of crest corresponding time point is that pin lands；
Microprocessor judges the pin landing posture at each pin landing moment, judges that the pin at some pin landing moment lands the side of posture
Method comprises the following steps：The corresponding Y-axis magnitude of angular velocity of continuous N number of sampling time point after the pin landing moment is found out, is looked for
The minimum value MIN gone out in this N number of Y-axis magnitude of angular velocity（Gy）, selected from this N number of Y-axis magnitude of angular velocity positioned at minimum value MIN（Gy）
The corresponding Y-axis magnitude of angular velocity of sampling time point after the sampling time point at place, is looked for from these Y-axis magnitude of angular velocities selected
Go out maximum MAX（Gy）, calculated minimum MIN（Gy）With maximum MAX（Gy）Average value AVG（Gy）If, AVG（Gy）Greatly
In M1 or MAX（Gy）More than M2, then judge that the pin landing posture at pin landing moment lands posture for front foot, otherwise judge the pin
The pin landing posture for landing the moment is that the rear foot lands posture.
In the technical program, six axle sensors of this method are arranged in shoe body, the X-axis positive direction court of six axle sensors
To in front of shoe body, Y-axis positive direction towards on the left of shoe body, Z axis positive direction straight up, by the motion conditions for detecting human body list pin
Calculate pin landing posture.
This method judges crest according to the maximum of change curve in resultant acceleration change curve, when the axles of XYZ tri- are closed
When acceleration exceedes setting value F, you can inside the Rule of judgment for entering crest, while spurious peaks can be also introduced, because people walks
Or the limiting frequency run can be evaluated whether out, the spacing between crest will not be less than K sampled point, so when two crests
Between when being smaller than K, you can according to crest value size, choose larger value as the crest of a meter step, i.e. numerical value compared with
Big crest is true crest, and the less crest of numerical value is spurious peaks.
At the time of crest corresponding time point is that pin lands, by the crest above calculated, can obtain pin landing when
Carve, theoretically analyze, the process of front and rear pin landing is substantially in the process rotated around Y-axis, is counterclockwise revolved around Y-axis
Turn, be worth just, to be rotated clockwise around Y-axis, it is negative to be worth.When this method extracts continuous N number of sampling after pin lands the moment
Between put corresponding Y-axis magnitude of angular velocity, first find out the minimum value MIN in this N number of Y-axis magnitude of angular velocity（Gy）, then find out minimum value MIN
（Gy）The maximum MAX in the corresponding Y-axis magnitude of angular velocity of remaining sampling time point after place sampling time point（Gy）, calculate
Minimum value MIN（Gy）With maximum MAX（Gy）Average value AVG（Gy）If, AVG（Gy）More than M1 or MAX（Gy）More than M2,
Then judge that the pin landing posture at pin landing moment lands posture for front foot, otherwise judge the pin landing posture at pin landing moment
Posture is landed for the rear foot.
Preferably, a kind of step motion recognition method based on six axle sensors is further comprising the steps of：Micro- place
Manage crest number A of the device in resultant acceleration change curve and calculate current pedometer B, B=（A-1）× 2, as step number B
During less than c, caching step number B numerical value, microprocessor does not export step number B numerical value, when step number B is more than or equal to c, microprocessor
Device output step number B numerical value.
, there is primary wave due to only being set on a shoes on six axle sensors, resultant acceleration change curve in c >=6
Peak, people or so pin has respectively walked a step, so, crest and the relation that step number is 1 to 2, i.e., one crest correspondence are walked 2 steps.Due to
There are spurious peaks, so last crest is it cannot be determined whether be true crest, this method is in one crest of newest appearance,
Whether be true crest, so this method meter step has the delayed of crest if calculating previous crest.Caching step number, which is used primarily in, to be sentenced
Disconnected when to initially enter meter step state, in order to avoid some are disturbed, such as any of pin is rocked, and caching step number is devised here
Exactly meter step mode is initially entered when step number is more than or equal to when c is walked, microprocessor output step number B numerical value to display screen etc.
Module, the step number produced below will be added up, then first these step numbers of temporary cache when c steps are not reaching to.
Preferably, a kind of step motion recognition method based on six axle sensors is further comprising the steps of：Work as conjunction
When all there is not new crest in continuous d sampled point after last crest in acceleration change curve map, microprocessor
Device terminates this meter step, and resultant acceleration change curve is reset, if now step number B is more than or equal to c, calculates this meter
Total step number C=B+2 of step.
C >=6, continuous d after last crest（Such as 80）When individual sampled point all new crest does not occur, people is judged
Body stop motion, terminates meter step, and total step number adds 2, i.e., last delayed crest is converted into step number adds total step number.
Preferably, the detection frequency of six axle sensor is 25HZ, K is 8-15.
Preferably, the N is 8-12.
Preferably, the M1 is 80-120 degrees seconds, the M2 is 30-50 degrees seconds.
Preferably, during the detection data of the axle sensor of microcomputer reads six output, using kalman filter method pair
The data of six axle sensors output are filtered.Kalman filter method makes obtained data more smooth, and computation complexity is more
Low, efficiency is faster.
Preferably, the data of six axle sensors report pattern to use fifo mode.
The beneficial effects of the invention are as follows：The landing posture of pin, is easy to user to understand walking for oneself when can recognize people's motion
Appearance or running style, and then correct appearance or running style, it is to avoid sprain for exercise.
Brief description of the drawings
Fig. 1 is a kind of workflow diagram of the present invention.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：A kind of step motion recognition method based on six axle sensors of the present embodiment, as shown in figure 1, including
Following steps：
Six axle sensors are exported by the detection data of the axle sensor of microcomputer reads six output using kalman filter method
Data are filtered, and are drawn in the resultant acceleration change curve of the axle resultant accelerations of XYZ tri-, detection resultant acceleration change curve
Crest, when the corresponding axle resultant accelerations of XYZ tri- of some crest be less than or equal to 1.5g when, the crest is removed, when adjacent two
When sampled point between individual crest is less than setting value 10, the minimum crest of the axle resultant accelerations of XYZ in the two crests tri- is removed,
Retain the maximum crest of the axle resultant accelerations of XYZ tri-, at the time of crest corresponding time point is that pin lands；
Microprocessor judges the pin landing posture at each pin landing moment, judges that the pin at some pin landing moment lands the side of posture
Method comprises the following steps：The corresponding Y-axis magnitude of angular velocity of continuous 10 sampling times point after the pin landing moment is found out, is looked for
The minimum value MIN gone out in this 10 Y-axis magnitude of angular velocities（Gy）, selected from this 10 Y-axis magnitude of angular velocities positioned at minimum value MIN
（Gy）The corresponding Y-axis magnitude of angular velocity of sampling time point after the sampling time point at place, from these Y-axis magnitude of angular velocities selected
In find out maximum MAX（Gy）, calculated minimum MIN（Gy）With maximum MAX（Gy）Average value AVG（Gy）If, AVG
（Gy）More than 100 degrees seconds or MAX（Gy）More than 40 degrees seconds, then judge that the pin landing posture at pin landing moment is landed for front foot
Posture, otherwise judges that the pin landing posture at pin landing moment lands posture for the rear foot.
Crest number A of the microprocessor in resultant acceleration change curve calculates current pedometer B, and B=（A-
1）× 2, when step number B is less than 6, caching step number B numerical value, microprocessor does not export step number B numerical value, be more than as step number B or
During equal to 6, microprocessor output step number B numerical value and preservation.
Continuous 80 sampled points all do not occur new after last crest in resultant acceleration change curve
During crest, microprocessor terminates this meter step, resultant acceleration change curve is reset, if now step number B is more than or equal to
6, calculate total step number C=B+2 of this meter step.
Six axle sensors use this sensor of MPU6500 come for example, MPU6500 sensors set sample rate for
25Hz, the calculatings axle of collection are the angular speed range that AxAyAz and GxGyGz, the range of acceleration are set to positive and negative 8g, gyroscope
Pattern is reported using fifo mode etc. for positive and negative 500 degree/s and data.Consider for power saving, sensor will under not working condition
Into low-power consumption mode.It can also be waken up under this low-power consumption mode scene, it is main here to use what interrupting movement woke up
Method, is exactly when the axle resultant accelerations of XYZ tri- exceed certain threshold value（Such as 250mg）When, sensor reenters mode of operation.
Six axle sensors of this method are arranged in shoe body, and the X-axis positive directions of six axle sensors is towards in front of shoe body, Y-axis
Positive direction is towards shoe body left side, and Z axis positive direction straight up, appearance is landed by detecting that the motion conditions of human body list pin calculate pin
State and the step number of motion.The detection data of six axle sensors output are after kalman filter method is filtered, then by microprocessor
Device processing identification.Kalman filter method makes that obtained data are more smooth, and computation complexity is lower, and efficiency is faster.
This method judges crest according to the maximum of change curve in resultant acceleration change curve after filtering, works as XYZ
When three axle resultant accelerations are more than 1.5g, you can inside the Rule of judgment for entering crest, while spurious peaks can be also introduced, because people walks
The limiting frequency of road or running can be evaluated whether out, and the spacing between crest will not be less than 10 sampled points, so when two
Between crest when being smaller than 10, you can according to crest value size, choose larger value as the crest of a meter step, that is, count
The larger crest of value is true crest, and the less crest of numerical value is spurious peaks.
At the time of crest corresponding time point is that pin lands, by the crest above calculated, can obtain pin landing when
Carve, theoretically analyze, the process of front and rear pin landing is substantially in the process rotated around Y-axis, is counterclockwise revolved around Y-axis
Turn, be worth just, to be rotated clockwise around Y-axis, it is negative to be worth.When this method extracts continuous 10 samplings after pin lands the moment
Between put corresponding Y-axis magnitude of angular velocity, first find out the minimum value MIN in this 10 Y-axis magnitude of angular velocities（Gy）, then find out minimum value
MIN（Gy）The maximum MAX in the corresponding Y-axis magnitude of angular velocity of remaining sampling time point after place sampling time point（Gy）,
Calculated minimum MIN（Gy）With maximum MAX（Gy）Average value AVG（Gy）If, AVG（Gy）More than M1 or MAX（Gy）Greatly
In M2, then judge that the pin landing posture at pin landing moment lands posture for front foot, otherwise judge that the pin at pin landing moment falls
Ground posture is that the rear foot lands posture.
Due to only setting crest of appearance, people on six axle sensors, resultant acceleration change curve on a shoes
Left and right pin has respectively walked a step, so, crest and the relation that step number is 1 to 2, i.e., corresponding 2 steps of walking of one crest.It is pseudo- due to existing
Crest, so last crest is it cannot be determined whether be true crest, this method is in one crest of newest appearance, before just calculating
Whether one crest is true crest, so this method meter step has the delayed of crest.Caching step number, which is used primarily in, to be determined when
Initially enter meter step state, in order to avoid some are disturbed, such as any of pin rocks, devise here caching step number be exactly when
Initially enter meter step mode when step number is more than 5 step, microprocessor output step number B numerical value to the modules such as display screen, display screen
Step number is shown, the step number produced below will be added up, then these step numbers of elder generation's temporary cache when 5 step is not reaching to are micro-
Processor does not export step number B numerical value to modules such as display screens, and display screen does not show step number.
When continuous 80 sampled points all new crest do not occur after last crest, judge that human body stops fortune
It is dynamic, terminate meter step, total step number adds 2, i.e., last delayed crest is converted into step number adds total step number.
Claims (8)
1. a kind of step motion recognition method based on six axle sensors, it is characterised in that comprise the following steps：
The detection data of the axle sensor of microcomputer reads six output, the resultant acceleration change for drawing the axle resultant accelerations of XYZ tri- is bent
Crest in line chart, detection resultant acceleration change curve, when the corresponding axle resultant accelerations of XYZ tri- of some crest are less than or equal to
During setting value F, the crest is removed, when the sampled point between two neighboring crest is less than setting value K, by the two crests
The minimum crest of the axle resultant accelerations of XYZ tri- is removed, at the time of crest corresponding time point is that pin lands；
Microprocessor judges the pin landing posture at each pin landing moment, judges that the pin at some pin landing moment lands the side of posture
Method comprises the following steps：The corresponding Y-axis magnitude of angular velocity of continuous N number of sampling time point after the pin landing moment is found out, is looked for
The minimum value MIN gone out in this N number of Y-axis magnitude of angular velocity（Gy）, selected from this N number of Y-axis magnitude of angular velocity positioned at minimum value MIN（Gy）
The corresponding Y-axis magnitude of angular velocity of sampling time point after the sampling time point at place, is looked for from these Y-axis magnitude of angular velocities selected
Go out maximum MAX（Gy）, calculated minimum MIN（Gy）With maximum MAX（Gy）Average value AVG（Gy）If, AVG（Gy）Greatly
In M1 or MAX（Gy）More than M2, then judge that the pin landing posture at pin landing moment lands posture for front foot, otherwise judge the pin
The pin landing posture for landing the moment is that the rear foot lands posture.
2. a kind of step motion recognition method based on six axle sensors according to claim 1, it is characterised in that also wrap
Include following steps：Crest number A of the microprocessor in resultant acceleration change curve calculates current pedometer B, and B=
（A-1）× 2, when step number B is less than c, caching step number B numerical value, microprocessor does not export step number B numerical value, when step number B is more than
Or during equal to c, microprocessor output step number B numerical value.
3. a kind of step motion recognition method based on six axle sensors according to claim 2, it is characterised in that also wrap
Include following steps：Continuous d sampled point does not all occur newly after last crest in resultant acceleration change curve
Crest when, microprocessor terminate this meter step, resultant acceleration change curve is reset, if now step number B is more than or waited
In c, total step number C=B+2 of this meter step is calculated.
4. a kind of step motion recognition method based on six axle sensors according to claim 1 or 2 or 3, its feature exists
In：The detection frequency of six axle sensor is 25HZ, and K is 8-15.
5. a kind of step motion recognition method based on six axle sensors according to claim 4, it is characterised in that：It is described
N is 8-12.
6. a kind of step motion recognition method based on six axle sensors according to claim 4, it is characterised in that：It is described
M1 is 80-120 degrees seconds, and the M2 is 30-50 degrees seconds.
7. a kind of step motion recognition method based on six axle sensors according to claim 1 or 2 or 3, its feature exists
In：During the detection data of the axle sensor of microcomputer reads six output, six axle sensors are exported using kalman filter method
Data be filtered.
8. a kind of step motion recognition method based on six axle sensors according to claim 1 or 2 or 3, its feature exists
In：The data of six axle sensors report pattern to use fifo mode.
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| CN201710349657.2A CN107303181B (en) | 2017-05-17 | 2017-05-17 | Step motion identification method based on six-axis sensor |
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| CN201710349657.2A CN107303181B (en) | 2017-05-17 | 2017-05-17 | Step motion identification method based on six-axis sensor |
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| CN107303181B CN107303181B (en) | 2019-12-24 |
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| CN110108278A (en) * | 2019-05-22 | 2019-08-09 | 北京卡路里信息技术有限公司 | It is landed determining method and device based on the foot of six axle sensors |
| CN110595500A (en) * | 2019-07-30 | 2019-12-20 | 福建省万物智联科技有限公司 | Method for accurately counting steps and intelligent shoes |
| CN110694252A (en) * | 2019-10-09 | 2020-01-17 | 成都乐动信息技术有限公司 | Running posture detection method based on six-axis sensor |
| CN110876613A (en) * | 2019-09-27 | 2020-03-13 | 深圳先进技术研究院 | Human motion state identification method and system and electronic equipment |
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| CN110876613B (en) * | 2019-09-27 | 2022-07-22 | 深圳先进技术研究院 | A kind of human body motion state recognition method, system and electronic device |
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| Publication number | Publication date |
|---|---|
| CN107303181B (en) | 2019-12-24 |
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