DE102004034469A1 - Sensor system for detecting movement sequences and feedback arrangement - Google Patents

Abstract

There is provided detection system for movement sequences and / or the position of an object, comprising a sensor arranged on the object for detecting the movement and / or the position of an object, at least one feedback device, which is arranged on the object or adjacent thereto, and an evaluation device, which is in signal communication with the sensor and the feedback device, wherein the evaluation device comprises a comparator, which is designed to compare data determined by the sensor with predetermined or predeterminable data, which are provided in the evaluation device, and wherein the feedback device is designed, directly in time Dependence of the comparison result of the comparator to exert a reaction.

Description

The The present invention relates to a motion detection system and / or the position of an object, a motion detection process and / or the position of an object and a corresponding computer program product.

Acquisition systems, especially to capture positions and movements of objects, are known from the prior art. By such systems can Movements measured and be reconstructed, for example through a video analysis. For this purpose, in particular high performance cameras are used, after the development of the film or the preparation of the data of the users to be able to observe and evaluate the movement process.

adversely with these systems is that they are very consuming and expensive in their manufacture and operation. Furthermore it is impossible, a direct feedback during the movement of the user to pass on this.

It is therefore an object of the present invention, a detection system and a detection method for movements and / or to provide the position of an object by means of which direct feedback to the user is possible, the resolution, i. the accuracy is improved and additional parameters are measured can be.

These Task is by a detection system for motion sequences and / or the position of an object according to the claim 1, a detection method for movements and / or the position of an object according to claim 12 and a computer program product according to claim 15 solved. Preferred embodiments are the subject of the dependent Dependent claims.

• – zumindest einen am Objekt angeordneten Sensor zur Erfassung der Bewegung und/oder der Position eines Objekts,
• – zumindest eine Feedbackeinrichtung, welche am Objekt oder diesem benachbart angeordnet ist, und
• – zumindest eine Auswerteeinrichtung, welche mit dem Sensor und der Feedbackeinrichtung in Signalverbindung steht, wobei die Auswerteeinrichtung einen Komparator umfaßt, welcher zum Vergleich von vom Sensor ermittelten Daten mit vorbestimmten oder vorbestimmbaren Daten ausgelegt ist, welche in der Auswerteeinrichtung vorgesehen sind, und wobei die Feedbackeinrichtung ausgelegt ist, zeitnah bzw. zeitlich unmittelbar in Abhängigkeit des Vergleichsergebnisses des Komparators eine Reaktion auszuüben.

According to the invention, a detection system for motion sequences and / or the position of an object is provided, comprising

• At least one sensor arranged on the object for detecting the movement and / or the position of an object,
• At least one feedback device, which is arranged on or adjacent to the object, and
• - At least one evaluation device which is in signal communication with the sensor and the feedback device, wherein the evaluation device comprises a comparator, which is designed to compare data determined by the sensor with predetermined or predeterminable data, which are provided in the evaluation device, and wherein the feedback device is designed to promptly or temporally directly depending on the comparison result of the comparator to exert a reaction.

Of the At least one sensor is advantageously in a compact Type executed and independently arranged on the object, i. independent of the position of the other elements of the detection system positionable. Thus, it is possible the Position the sensor so that movements of the Object not negatively affected become. The feedback device can on the one hand on the object itself or be arranged adjacent thereto. In other words it is possible, the feedback device at a second associated with the object Object or on a related to the object Person to arrange which recipient of the Feedbacks should be.

By Signal contact or connection of the evaluation on the one hand with the at least one sensor and the feedback device is it is possible a variety of different data, which for example in Comparator can be processed to transfer these elements. This data can on the one hand, be single data or entire data sets. In this context Single data means those data by means of which, for example determine the position of an object. The records, on the other hand serve to specify a course of motion, i. one over a longer period of time defined sequence of individual positions.

Instead of one or in addition to a movement or a certain position, it is also possible, Times or timings to eat. Also conceivable would be the measurement and processing of a traveled distance from the detected Acceleration in dependence from the measured time.

By means of the comparator, the data measured by the sensor can advantageously be compared with corresponding reference data and, on the basis of this comparison, corresponding results can be output via suitable arithmetic operations. The results can be output to the feedback device in the form of difference values between the reference value and the read-in value, for example. This is advantageously carried out in a timely manner or in temporally immediate dependence on the calculation of the comparison result or on the acquisition of the data by the at least one sensor. Immediately or directly in time means a reaction within of a few seconds, preferably less than 10 seconds, more preferably less than 1 second and most preferably less than 50 milliseconds. Thus, it is possible by the timely reaction exercising, during the movement of the object to give this or a person feedback. Advantageously, a system is created which operates autonomously, ie independently, from external devices and which is capable of giving the user prompt feedback or, in particular, real-time feedback.

preferably, is the sensor formed, the acceleration and / or the rotation rate, preferably in each case in three axes or axial directions to measure. The three axis directions are advantageously arranged so that they span three-dimensional space. Preferably, the axial directions are perpendicular to each other. Therefor In particular, a so-called micromechanical "low-g" semiconductor acceleration sensor is suitable a resolution of a few milli-g. Such sensors can be a resolution less than one degree per second. Additionally or as an alternative to acceleration can also be the rate of rotation through a sensor can be measured. Thus, it is possible also the rotation speed and / or - acceleration to measure one or more axes. Consequently, it is possible as well a "tumbling" of the object advantageously determine by means of such a device.

In a preferred embodiment have the sensor and / or the feedback device and the evaluation device Radio transmission on. Thus, it is possible the signal transmission between sensor and / or feedback device and evaluation device wirelessly. Such a wireless transmission can be performed, for example, by means of "Bluetooth" or other standardized or proprietary Procedure done.

It is additional or alternatively also possible, the signal connection over to design the object itself. This would be conceivable, for example, in a signal connection via Garments one the person representing the object. Such garments, which electrical signal connections are known in the field of so-called "wearable electronics". A transmission could be here take place by incorporated in the textile fabric conductive warp and weft threads become that capable are to transmit electronic data.

advantageously, the signal connection is designed as a secure connection. In other words, the connection may be designed such that a manipulation from the outside not possible is. this could be done by the signal is encrypted or encoded on the one hand and On the other hand, provided with a signature, so that the signal receiver information about the Signal transmitter receives. Consequently it is impossible, to manipulate or intercept the signals, and other signals to replace. By a corresponding coding it is likewise not possible, that the Data can be analyzed and changed by an external body.

Farther Preferably, the sensor and / or the evaluation device a time recording device. Time recording device is here especially not as a "stopwatch" to understand but as a signal generator, the time signals to the appropriate facilities emits. Thus, you can dependent on from the time signals and one measured by the accelerometer Acceleration of the distance, the speed as well as the speed course over the Distance of the object can be calculated.

Especially Preferably, the feedback device optical and / or acoustic output means to exert the reaction. such optical and / or acoustic output means may for example be a loudspeaker or headphones his or a display or light-emitting diodes. It is, however, too conceivable, instead of an optical or acoustic signaling to exert a force on the object or a body adjacent to the object.

Farther Advantageously, the detection system has a memory device on, which preferably in the evaluation, the feedback device and / or the sensor is provided. The storage device can advantageously the data read in by the sensor, the reference values which are provided in the evaluation device and the corresponding processing data or programs to save. As memory device, in particular all volatile and non-volatile electronic semiconductor memory, in particular DRAMs and flash memory be used.

In a preferred embodiment the evaluation device has a first evaluation unit and a second evaluation unit, which together in signal communication stand. It is thus possible perform a preliminary analysis of the data in the first evaluation unit and in the second evaluation this pre-analyzed data on to process.

Preferably, the first evaluation unit is located adjacent to the object or the second evaluation unit is remote from the object. In other words, the second evaluation unit not provided in direct or indirect physical contact with the object but arranged so that the movement or position of the object of the second evaluation unit is independently possible. The first and second evaluation unit preferably have radio transmission means for the preferably secure signal connection. Thus, the second evaluation unit could be arranged by means of a radio link at a central location, spaced from the object, preferably in the range of one meter to several kilometers.

• – Erfassen der Bewegung und/oder der Position des Objekts mittels zumindest eines am Objekt angeordneten Sensors;
• – Auswerten der vom Sensor ermittelten Daten in einer Auswerteeinrichtung, indem die vom Sensor ermittelten Daten mit vorbestimmten oder vorbestimmbaren Daten durch einen Komparator verglichen werden; und
• – zeitnahes Ausüben einer Reaktion in Abhängigkeit des Vergleichsergebnisses des Komparators durch eine Feedbackeinrichtung.

Furthermore, according to the invention, a detection method for motion sequences and / or the position of an object is provided, comprising the steps:

• Detecting the movement and / or the position of the object by means of at least one sensor arranged on the object;
• - evaluating the data determined by the sensor in an evaluation device by comparing the data determined by the sensor with predetermined or predeterminable data by a comparator; and
• - Timely exerting a reaction in dependence of the comparison result of the comparator by a feedback device.

By the timely or immediate reaction, it is possible to the object during its Give movement or its movement a feedback. immediate in this context means "temporally immediate ", in particular in the range of less than one minute, preferably one Second and most preferably a few milliseconds. By Such a method makes it possible for the object, regardless of external devices, feedback about his movement or his Movement and / or to give his position so that this Method runs autonomously from external devices. The detected by the sensor Data is transmitted to the evaluation, so that after evaluation This data corresponding processed data transmitted to the feedback device can be. This can be done for example by radio transmission.

• – Übertragen von Daten von einer ersten Auswerteeinheit der Auswerteeinrichtung an eine zweite, ortsferne Auswerteeinheit der Auswerteeinrichtung;
• – Verarbeiten der Daten in der zweiten Auswerteeinheit; und
• – Übertragen der verarbeiteten Daten an die erste Auswerteeinheit. Hierdurch ist es möglich, einen Teil der Daten in der ersten Auswerteeinheit vorzuanalysieren und die voranalysierten Daten in der zweiten Auswerteeinheit weiter zu analysieren. Vorteilhafterweise ist die erste Auswerteeinheit am Objekt selber angebracht und die zweite Auswerteeinheit ortsfern angeordnet. Zur Weiterverarbeitung bzw. zum Auslösen eines Feedbacks werden die in der zweiten Auswerteeinheit verarbeiteten Daten wieder an die erste Auswerteeinheit übertragen und entsprechend weitergeleitet.

Preferably, the detection method further comprises the steps of:

• - transferring data from a first evaluation unit of the evaluation device to a second, remote evaluation unit of the evaluation device;
• Processing the data in the second evaluation unit; and
• - Transferring the processed data to the first evaluation unit. This makes it possible to pre-analyze part of the data in the first evaluation unit and to further analyze the pre-analyzed data in the second evaluation unit. Advantageously, the first evaluation unit is attached to the object itself and the second evaluation unit is arranged remote from the location. For further processing or for triggering a feedback, the data processed in the second evaluation unit are again transmitted to the first evaluation unit and forwarded accordingly.

Farther According to the invention is Use of a detection system according to the invention for Detecting the movement and / or the position of at least one body part a person provided. Such systems can be used in particular in the field of skiing, for example, in ski jumping, in which the angle of inclination and the twist of the skis are measured in flight can. Also is an application in martial arts, such as boxing, karate etc. conceivable in which power and the movement measured should be. Even with ball sports can, according to the Acceleration, the force and the movement are detected. In sports with rackets let yourself arranging such a system on the racket or integrate it, in order thus to have corresponding parameters, e.g. the force vector, the Force gradients, movement, etc. to capture.

The present detection system can also be used in rehabilitation, e.g. after operations (re-learning of movements), or serve to detect postural damage, e.g. with uneven loads in different movements.

The Invention will be more preferred with reference to accompanying drawings embodiments described by way of example. It shows:

1 a schematic representation of an embodiment of the present invention;

2 a diagram of a preferred sensor of the present invention;

3 a diagram of a preferred first evaluation unit of the present invention;

4 a diagram of a preferred feedback device of the present invention; and

5 shows a diagram of a preferred second evaluation unit of the present invention.

In 1 is an example of an application of Detection system according to a preferred embodiment for training improvement in ski jumping or ski flying shown. At the feet of a person 2 There are two skis or objects 4 , Arranged on the object 4 are, adjacent to the person's feet 2 , two sensors 6 , These transmit the acceleration and rotation forces, which are on the objects 4 Act. As acceleration and / or rotation sensors 6 In particular, modern micromechanical low-g semiconductor acceleration sensors can be used. These have a resolution or accuracy of a few milligrams or degrees per second. Thus, it is possible in particular, the angular position of the objects 4 to accurately determine and analyze the objects 4 to gain acting acceleration forces. The in the sensor 6 Data obtained are via a signal connection 8th to an evaluation device 10 directed.

The evaluation device 10 comprises in particular a first evaluation unit 12 and a second evaluation unit 14 , The first evaluation unit 12 stands over the signal connection 8th with the sensors 6 in contact. In particular, Bluetooth can be used as transmission technology for this purpose as a wireless transmission technology. In the first evaluation unit 12 In particular, a pre-analysis of the sensor 6 determined data take place. It is possible on the one hand to evaluate important information derived directly from the sensor signal. These can be, for example, the angular difference between the two objects 4 be, the speed delay by external resistors (eg air resistance) and the amplitude of the shaking and / or fluttering of the objects 4 ,

on the other hand Is it possible, compared to this data statistical or predeterminable or predetermined, stored and preferably to compare dynamically generated reference values or progressions and output as feedback correction values accordingly. A movement history could thus for example, by a over the route changing Angle of the object can be displayed, the angle to the can be measured to the center of gravity acting gravitational acceleration. moreover It is also possible Guide values, such as speed or distance traveled, through integration to calculate the acceleration signal.

The in the first evaluation unit 12 Determined comparison results or output information can be directly in time or in real time as feedback to the person 2 be transmitted. This can be done in particular via an on the person 2 arranged feedback device 16 take place, which preferably via a wireless signal connection 18 is in contact or in communication with the first evaluation unit. For example, it is possible by means of Bluetooth this data to a feedback device 16 in the form of an audio headset and the person 2 to transmit corresponding information by means of signals. This could be done for example by a sound signal of the same frequency whose volume is variable, or additionally or alternatively by means of a change in the frequency of the sound signal.

In a preferred embodiment, the evaluation device 10 a second (optional) evaluation unit 14 on. The evaluation unit 14 is to the person 2 remote from the location, ie an influence on the movement sequence and / or the position of the object 4 or the person 2 is through the second evaluation unit 14 not given. The second evaluation unit 14 is via a signal connection 20 with the first evaluation unit 12 in signal connection. The signal connection 20 takes place here wirelessly, in particular, the Bluetooth technology can be used in this case.

The second evaluation unit 14 is used in particular for processing or acquiring further information about the movement sequence and / or the position of the object 4 , For example, the second evaluation unit 14 a speed measuring device 22 (eg radar or laser speedometer). Also, means for determining position 24 (eg photoelectric sensors) in the second evaluation unit 14 be provided. To display data, it is possible at the second evaluation unit 14 a display device 26 provided by means of which third parties can view data accordingly.

2 shows a schematic circuit diagram of a sensor 6 , The sensor 6 has, for example, an acceleration measuring device 28 on. The acceleration measuring device 28 transfers data to a processor 30 which has a power supply 32 is supplied with energy or electricity. The processor 30 may be that of the accelerometer 28 obtained data in a memory device 34 to save. In the storage device 34 can also be stored predetermined or predeterminable reference values, which are used as comparison values to those of the acceleration measuring device 28 obtained data serve. Corresponding comparison results can be transmitted via a radio transmission device 36 to the first evaluation unit 12 via the signal connection 8th be sent.

A suitable radio transmission device 38 is also in the in 3 shown first evaluation unit 12 intended. The first evaluation unit 12 also has a processor 40 on, which with the radio transmission device 38 is in signal communication and according to the radio transmission device 38 processed data processed. The processor is supplied with energy 40 and / or the radio transmission device 38 and / or one with the processor 40 connected storage device 42 about a power supply 44 , In the processor 40 appropriate calculation rules or programs can be provided to those of the sensors 6 to process recovered data and in memory 42 compared with reference values. The in the processor 40 determined (comparative) results are transmitted via the radio transmission device 38 to the in 4 illustrated feedback device 16 Posted.

The feedback device 16 also has a radio transmission device 46 on which data from the radio transmission device 38 the first evaluation unit 12 receives. These data are transmitted to a D / A converter, which in response to the determined results, a sound signal via an acoustic output means 50 , for example, an earphone, outputs. Those are supplied in the feedback device 16 provided elements via a power supply 52 ,

In a preferred embodiment, the detection system has an (optional) second evaluation unit 14 on which in detail 5 is shown. The second evaluation unit 14 comprises a radio transmission device 54 to send data to a processor 56 forward, which with a memory 58 is in signal connection. The processor 56 can transfer data to an interface 60 for a display device 26 transfer. Also in signal connection with the processor 56 are interfaces 62 . 64 for a variety of measuring devices, such as a speed measuring device 22 or means for determining position 24 , The interfaces can each be connected via various interfaces with the corresponding devices, for example an RS232 connection or via Ethernet.

Thus, it is possible to provide a detection system which is considered to be on the object 4 arranged, self-sufficient system works and is capable of immediate or real-time feedback to a person 2 about their movement and / or the position of the object 4 to deliver.

2

person

4

object

6

sensor

8th

signal connection

10

evaluation

12

first evaluation

14

second evaluation

16

Feedback facility

18 20

signal connection

22

speed measuring

24

medium for position determination

26

display

28

accelerometer

30

processor

30 40, 56

processor

32 44, 52

power supply

34 42, 58

memory device

36 38, 46, 54

Radio transmission device

48

D / A converter

50

acoustic output means

60 62, 64

interface

Claims (14)

Detection system for motion sequences and / or the position of an object ( 4 ), comprising - at least one on the object ( 4 ) arranged sensor ( 6 ) for detecting the movement and / or the position of an object ( 4 ), - at least one feedback device ( 16 ), which on the object ( 4 ) or adjacent thereto, and - at least one evaluation device ( 10 ), which with the sensor ( 6 ) and the feedback device ( 16 ) in signal connection ( 8th . 18 ), wherein the evaluation device ( 10 ) comprises a comparator which for comparison from the sensor ( 6 ) is designed with predetermined or predeterminable data, which in the evaluation device ( 10 ) are provided, and wherein the feedback device ( 16 ) is designed to promptly respond in response to the comparison result of the comparator. A detection system according to claim 1, wherein the sensor ( 6 ) is designed to measure the acceleration and / or the rotation rate, preferably in each case in three axes. Detection system according to one of the preceding claims, wherein the sensor ( 6 ), the feedback device ( 16 ) and / or the evaluation device ( 10 ) Radio transmission means ( 36 . 38 . 46 ) exhibit. Detection system according to one of the preceding claims, wherein the signal connection ( 8th . 18 ) is formed as a secure connection. Detection system according to one of the preceding claims, wherein the sensor ( 6 ) and / or the evaluation device ( 10 ) have a time detection device. Detection system according to one of the preceding claims, wherein the feedback device ( 16 ) optical and / or acoustic output means ( 50 ) to exercise the reaction. A detection system according to any one of the preceding claims, further comprising a memory device ( 34 . 42 . 58 ), which preferably in the evaluation device ( 10 ), the feedback device ( 16 ) and / or the sensor ( 6 ) is provided. Detection system according to one of the preceding claims, wherein the evaluation device ( 10 ) a first evaluation unit ( 12 ) and a second evaluation unit ( 14 ) which are in signal communication with each other ( 20 ) stand. A detection system according to claim 8, wherein the first evaluation unit ( 12 ) on the object ( 4 ) or adjacent thereto and the second evaluation unit ( 14 ) remote from the object ( 4 ) is arranged. Detection system according to one of claims 8 or 9, wherein the first and second evaluation unit ( 12 . 14 ) Radio transmission means ( 38 . 54 ) to the preferably secured signal connection ( 20 ) exhibit. Detection method for motion sequences and / or the position of an object, comprising the steps: - Detecting the movement and / or the position of the object ( 4 ) by means of at least one object ( 4 ) arranged sensor ( 6 ); - Evaluating the sensor ( 6 ) in an evaluation device ( 10 ) by the sensor ( 6 ) are compared with predetermined or predeterminable data by a comparator; and - exerting a response as a function of the comparison result of the comparator by means of a feedback device ( 16 ). A detection method according to claim 12, further comprising the steps of: - transmitting data from a first evaluation unit ( 12 ) of the evaluation device ( 10 ) to a second, remote evaluation unit ( 14 ) of the evaluation device ( 10 ); - processing the data in the second evaluation unit ( 14 ); and - transmitting the processed data to the first evaluation unit ( 12 ). Use of the detection system according to one of claims 1 to 10 for detecting the movement sequence and / or the position of at least one body part of a person ( 2 ). Computer program product which program parts to execution A method according to any one of claims 12 or 13.