The detection method and device of running posture on a kind of treadmill and treadmillTechnical field
The present invention relates to the detection methods and detection device of running posture on a kind of treadmill and treadmill.
Background technology
Common treadmill only has the function of the use of running, and whether running posture is accurate rationally, can only pass through coach etc.Professional person carries out guidance adjustment, and also mostly from vision and empirically judges.With the improvement of living standards, to professional body-buildingDemand increase, builder need it is more acurrate, more easily running guidance.
Invention content
Technical problem to be solved by the invention is to provide a kind of detection method of running posture on treadmill, this method passes through raceThe use of step person obtains the running style data in running.For this purpose, the present invention uses following technical scheme：
The detection method of running posture on a kind of treadmill, including the following steps：
A) treadmill powers on first, initializes treadmill various components, then starts pressure sensor, read on each positionThe pressure data of pressure sensor；
B) pressure sensor school zero：In treadmill zero load, each pressure sensor value is read out, which is denoted as phaseThe initial value of inductive sensing device after the completion of the zero-time of school, reads again each pressure sensor data, and pressure sensor is read againData and the initial value of corresponding pressure sensor do difference processing, school zero is completed；
The reading of pressure when c) running：When runner enters running state, master controller starts to read and handle the pressure behind school zeroForce sensor data, the running pressure data of each position pressure sensor of plate of record race in real time；
D) wave trough position is detected：According to c）The finally obtained running pressure data of step finds the wave of running pressure data waveformPaddy；
E) contact time is calculated：In d), adjacent trough starts to be one complete when contacting to earth between end pointBetween, contact time=trough end time-trough time started；
F) crest location is calculated：In d), traverse adjacent trough start and terminate between all pressure spots pressureData, numerical value are up to crest location, that is, are contacted to earth；
G) judge that the left and right foot that contacts to earth contacts to earth：In crest location, current left-side sensor and right sensor value and each autobiography are calculatedDeviation between sensor average value, if left sensor current value is higher than left sensor average value and right sensor current valueIt is then left foot less than right sensor average value, otherwise is right crus of diaphragm；If the numerical value of two side sensers is simultaneously greater than or less than respectiveThe mean value of sensor then judges that shift ratio, left sensor shift ratio bigger are then contacted to earth for left foot, right sensor offsetRatio bigger is then contacted to earth for right crus of diaphragm；
H) judge that front and back sole contacts to earth：Derivation is carried out to the pressure data of pressure sensor, to the section of wave crest since troughDerivative is both greater than zero, i.e. pressure data is incremented by, and forefoot contacts to earth；If there is minus value, i.e. pressure data reduces, judgesIt contacts to earth for rear heel；
I) left-right balance, according to formula：The average value of left-right balance=left and right foot contact time=(when left foot averagely contacts to earthBetween/（Left foot contact time+the right crus of diaphragm that is averaged is averaged contact time）)*100% :(right crus of diaphragm be averaged contact time/（Left foot averagely touchesGround time+right crus of diaphragm is averaged contact time）* 100%) left foot and right crus of diaphragm, are calculated separately from average contact time, left foot averagely contacts to earthTime=left foot contacts to earth total time/left foot step number；
J) cadence, according to step d) and f) in the wave crest data that obtain every time and trough data, the appearance of each secondary wave crest bePrimary landing, the running cadence of runner can be obtained by wave crest number；
K) stride, according to j）In obtained runner's cadence, whithin a period of time, stride=distance/cadence；
L) real time monitoring algorithm is handled：Treadmill monitoring pressure in real time data repeat above-mentioned c）--k）All steps.
Further, the pressure data and running pressure data on pressure sensor are read using the sample frequency of 125HZ.
Further, while gathered data, pressure sensor data is filtered and denoising.
Further, pressure related data or running style related data wirelessly will be transferred to application by treadmillSoftware, the wireless mode are bluetooth, WiFi or ANT+.
Further, step b）In, the error that difference processing floats up and down can be handled and be subtracted by sliding mean filterIt is small.
Further, step d）In, judge that the beginning condition of trough is:1. current value is higher than zero threshold value, 2. previous values are lowIn zero threshold value；Judge that pressure trough termination condition is：1. current value is less than zero threshold value, 2. previous values are higher than zero threshold value.
The invention also includes following technical scheme, a kind of treadmill, including plate and treadmill brandreth are run, it is set in the race plateThere is treadbelt, it is treadmill brandreth to run below plate, and treadmill brandreth is connect with plate is run by connector, is arranged with outside the connectorBolster, pressure sensor and pressure sensor holder, the pressure sensor and pressure sensor branch are set up under bolsterPortion.
Further, the connector is screw, and the bolster is rubber pad.
Further, there are four the pressure sensor is set, the pressure sensor is separately mounted to run plate both sides.Both sidesRespectively there are one in front and one in back two pressure sensors.
The invention also includes following technical schemes, and the technical solution device is for realizing the above method：
The detection device of running posture on a kind of treadmill, including main controller module, pressure sensor, wireless communication module andPressure sensor data acquires and conversion module, and main controller module is acquired and turned by the communications cable and pressure sensor dataMold changing block, which is connected, builds hardware communication links, and pressure sensor is connected to sensor data acquisition and conversion by the communications cableThus a communication channel from treadmill main process task chip to pressure sensor, master controller are set up in the input port of moduleUtilize SPI or UART（Universal asynchronous receiving-transmitting transmitter）Etc. hardware communication protocols pass through pressure sensor data acquisition and conversionModule is written and read operation to each pressure sensor, obtains corresponding pressure data on each position of running board of running machine,Wireless communication module is connected on main controller module（Such as bluetooth module, WIFI module, ANT+（Antennal interface）Module）, channel radioBelieve that the running data of main controller module are passed to handheld device by module by communication.
Further, the main controller module is the main control circuit being made of host processor chip and peripheral circuitModule.Main process task chip is Cortex-M0 chips.Peripheral circuit include host processor chip circuit system, key control circuit,Digital pipe display circuit, buzzer control circuit, system indicator circuit and power supply stabilization circuit.
Further, the pressure data that main controller module acquires pressure sensor data and conversion module obtains carries outAnalysis is packaged, and wireless communication module is sent it to by UART serial communications.
Further, the pressure sensor module is the pressure sensor of differential signal output, belongs to full-bridge strainFormula Miniature electronic pressure and weighting transducers, including the positive and negative input signal cable of one group of power supply and one group of positive negative output of pressure simulation signalSignal wire coordinates corresponding sensor data acquisition and conversion module to use.
Further, the sensor data acquisition and conversion module include chip and circuit system, electricity with crystal oscillatorSource regulator circuit, system indicator circuit, chip is using the ADS1256 of TI companies, and the chip is with multiple analog signalsInput pin, each group of Differential Input can be made of two AD input pins, and chip supports Differential Input, signal amplification and mouldThe functions such as number conversion, cooperation pressure sensor uses, then passes through SPI（Serial Peripheral Interface (SPI)）Communication mode or USART（It is general sameStep/asynchronous serial reception/transmitter）Mode is by transformed digital data transmission to main controller module.
Further, the wireless communication module includes wireless chip, wireless chip circuit system, power supply voltage stabilizing electricityRoad, system indicator circuit and USART circuits, the wireless chip can be WiFi chip, Bluetooth chip or ANT+ chips,For USART serial ports to receive the data information that main controller module transmits, which refers to being transported by main controller moduleThe running style data information of gained or the immediate data measured for pressure sensor after calculation processing.
By above technical scheme, the present invention by measuring and calculating the whereabouts dynamics of determining runner's all directions, intoAnd calculate the parameters such as whereabouts pedal force degree, the stride of running, cadence, running equilibrium state of runner's running posture etc.,Runner can be reminded and be instructed by the data detected, while speed governing is optimized to treadmill, improve runningPerson, which runs, to be accustomed to.
Description of the drawings
Fig. 1 is a kind of running machine structure schematic diagram of the present invention.
Fig. 2 is the detection device module diagram of running posture on a kind of treadmill of the present invention.
Specific implementation mode
With reference to attached drawing 1.A kind of treadmill, including plate 1 and treadmill brandreth 2 are run, it is equipped with treadbelt 3 in the race plate, runs plate 1Lower section is treadmill brandreth 2, and treadmill brandreth 2 connect 4 by connector with plate 1 is run, bolster is arranged with outside the connector 45, pressure sensor 6 and pressure sensor holder 7, the pressure sensor 5 and pressure sensor holder 7 are set under bolsterPortion.The pressure sensor holder 7 is located at 6 lower section of pressure sensor.The connector 4 is screw, and the bolster 5 is rubberPad.There are four the pressure sensor 5 is set, it is separately mounted to run 1 both sides of plate, both sides respectively there are one in front and one in back two pressure sensors4。
When installation, screw passes through rubber ring to connect treadmill brandreth 2 with pressure sensor and runs the screw hole on plate 1, fromAnd it fixes and runs plate 1 and treadmill brandreth 2.
Using above-mentioned treadmill, the detection method of running posture on a kind of treadmill, including the following steps：
A) treadmill powers on first, initializes treadmill various components, then starts pressure sensor, read on each positionThe pressure data of pressure sensor.
B) pressure sensor school zero：In treadmill zero load, each pressure sensor value is read out, treadmill journeySequence utilizes the time of 2000ms, which is denoted as to the initial value of respective sensor, school zero-time in the way of average value filteringAfter the completion, each pressure sensor data is read again, data that pressure sensor is read again and corresponding pressure sensorInitial value does difference processing, and school zero is completed.The result obtained when theoretically unloaded is all zero, really near zero up and downIt floats, the error that difference processing floats up and down can be handled and be reduced by sliding mean filter.
The reading of pressure when c) running：When runner enters running state, master controller starts after reading and handling school zeroPressure sensor data, in real time record run each position pressure sensor of plate running pressure data.
D) wave trough position is detected：According to c）The finally obtained running pressure data of step finds running pressure data waveformTrough；Judge that the beginning condition of trough is:1. current value is higher than zero threshold value, 2. previous values are less than zero threshold value；Judge pressure wavePaddy termination condition is：1. current value is less than zero threshold value, 2. previous values are higher than zero threshold value.
E) contact time is calculated：In d), adjacent trough start between end point be one completely contact to earthTime, contact time=trough end time-trough time started.
F) crest location is calculated：In d), traverse adjacent trough start and terminate between all pressure spotsPressure data, numerical value are up to crest location, that is, are contacted to earth.
G) judge that the left and right foot that contacts to earth contacts to earth：In crest location, calculating current left-side sensor is with right sensor value and respectivelyDeviation between sensor average value, if left sensor current value is higher than left sensor average value and right sensor is worked asPreceding value is then left foot less than right sensor average value, otherwise is right crus of diaphragm；If the numerical value of two side sensers is simultaneously greater than or is less thanThe mean value of respective sensor, then judge that shift ratio, left sensor shift ratio bigger are then contacted to earth for left foot, right sensorShift ratio bigger is then contacted to earth for right crus of diaphragm；
H) judge that front and back sole contacts to earth：Derivation is carried out to the pressure data of pressure sensor, to the section of wave crest since troughDerivative is both greater than zero, i.e. pressure data is incremented by, and forefoot contacts to earth；If there is minus value, i.e. pressure data reduces, judgesIt contacts to earth for rear heel.
I) left-right balance, according to formula：The average value of left-right balance=left and right foot contact time=(left foot averagely touchesThe ground time/（Left foot contact time+the right crus of diaphragm that is averaged is averaged contact time）)*100% :(right crus of diaphragm be averaged contact time/（Left foot is flatEqual contact time+right crus of diaphragm is averaged contact time）* 100%) left foot and right crus of diaphragm, are calculated separately from average contact time, left foot is averageContact time=left foot contacts to earth total time/left foot step number.
J) cadence, according to step d) and f) in the wave crest data that obtain every time and trough data, the appearance of each secondary wave crest,It is primary landing, the running cadence of runner can be obtained by wave crest number.
K) stride, according to j）In obtained runner's cadence, whithin a period of time, stride=distance/cadence.
L) real time monitoring algorithm is handled：Treadmill monitoring pressure in real time data repeat above-mentioned c）--k）All steps.
The pressure data and running pressure data on pressure sensor are read using the sample frequency of 125HZ.
The drop-off positions when present invention determines that runner runs by adaptive algorithm and whereabouts dynamics, and then judgeRunner runs the parameters of posture, for example, the dynamics of trampling that falls, the stride of running, cadence, equilibrium state of running, when contacting to earthBetween, preceding heel-toe motion situation etc..By runner's running style, we can remind runner, while to treadmillSpeed governing is optimized, runner's running custom etc. is improved.
With reference to attached drawing 2, the detection device of running posture detection method on a kind of above-mentioned treadmill, including master controller are realizedModule 100, pressure sensor 300, wireless communication module 200 and the acquisition of 300 data of pressure sensor and conversion module 400, it is mainStructure hardware communications that controller module 100 is acquired by the communications cable with 300 data of pressure sensor and conversion module is connectedLink, pressure sensor 300 are connected to the input port of sensor data acquisition and conversion module by the communications cable, thus establishedIt plays one and utilizes SPI or UART from treadmill main process task chip to the communication channel of pressure sensor 300, master controller（It is logicalUse asynchronous receiving-transmitting transmitter）Etc. hardware communication protocols by 300 data of pressure sensor acquire and conversion module to each pressureSensor 300 is written and read operation, obtains corresponding pressure data, main controller module on each position of running board of running machineWireless communication module 200 is connected on 100（Such as bluetooth module, WIFI module, ANT+（Antennal interface）Module）, wireless communication moduleThe running data of main controller module 100 are passed to handheld device by 200 by communication.
The main controller module 100 is the main control circuit mould being made of host processor chip and peripheral circuit 120Block.Main process task chip 110 is Cortex-M0 master chips.Peripheral circuit 120 includes host processor chip circuit system 121, buttonControl circuit 122, digital pipe display circuit 123, buzzer control circuit 124, system indicator circuit 125 and power supply voltage stabilizing electricityRoad 126.
The pressure data that main controller module 100 acquires 300 data of pressure sensor and conversion module obtains dividesAnalysis is packaged, and wireless communication module 200 is sent it to by UART serial communications.
300 module of pressure sensor is the pressure sensor 300 of differential signal output, belongs to full-bridge strain-type electricitySub- micro pressure weighing sensor, including the positive and negative input signal cable of one group of power supply and one group of positive negative output signal of pressure simulation signalLine coordinates corresponding sensor data acquisition and conversion module to use.
The sensor data acquisition and conversion module 400 be include A/D chip 401 and the circuit system with crystal oscillator402, power supply stabilization circuit 403, system indicator circuit 404, A/D chip adopt 401 be TI companies ADS1256, the chipWith multiple analog signal input pins, each group of Differential Input can be made of two AD input pins, and chip supports differenceThe functions such as input, signal amplification and analog-to-digital conversion, cooperation pressure sensor 300 uses, then passes through SPI（Serial Peripheral Interface (SPI)）It is logicalLetter mode or USART modes are by transformed digital data transmission to main controller module 100.
The wireless communication module 200 includes wireless chip 201, wireless chip circuit system 202, power supply stabilization circuit203, system indicator circuit 204 and USART circuits 205, the wireless chip can be WiFi chip, Bluetooth chip or ANT+Chip, USART serial ports is receiving the data information that main controller module 100 transmits.
The pressure data of sensor or running style related data wirelessly can be transferred to application software by the present invention,The wireless mode can be bluetooth, WiFi, ANT+ etc..The realization platform of the algorithm can be placed on the software of treadmill master boardIt is interior, bluetooth or WiFi etc. can also be utilized wirelessly by real-time Data Transmission to the APP of handheld device 500, compiled in APPWrite the calculating that the algorithm realizes each running style parameter.
After obtaining each group runner running posture related data by algorithm above, the end APP, WEB, PC software can be by eachThe running posture of a runner is analyzed, assesses, gives a mark, and provides posture and is promoted and suggests and instruct, can also be by adjusting runningThe parameters of machine help improve the running style of runner.
The foregoing is merely the preferred embodiment of the present invention, it is noted that for those of ordinary skills,Under the premise of not departing from the principle of the present invention, a variety of remodeling or improvement can be carried out to the present invention, these are regarded as the present inventionProtection domain within.