# US 12,214,270 B2 · Motion data monitoring method and apparatus

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- Number: US 12,214,270 B2
- Document ID: US12214270B2
- Status: Granted
- Kind: B2
- Application number: 17/624,171
- Filed: 2020-07-03
- Published: 2022-11-17
- Granted: 2025-02-04
- Earliest claimed: 2019-07-05
- Assignees: Honor Device Co., Ltd.
- Applicants: Honor Device Co., Ltd.
- Inventors: Teng Xu; Xiaohan Chen; Bin Yang; Yue Li
- Web page: https://patentgrep.com/patent/US12214270B2

## CPC

- A63B 71/0619: {Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills}
- G01C 22/006: {Pedometers}
- A61B 5/112: {Gait analysis}
- A61B 5/1122: {of movement trajectories}
- A61B 5/1123: {Discriminating type of movement, e.g. walking or running (A61B5/1116, A61B5/112 take precedence)}
- A61B 5/681: {Wristwatch-type devices}
- A61B 5/7264: {Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems}
- G01C 19/00: Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01P 13/00: Indicating or recording presence, absence, or direction, of movement (electric switches H01H; counting moving objects G06M7/00)
- G01P 15/18: in two or more dimensions
- A61B 5/742: {using visual displays (displays for heart-related electrical signals, e.g. ECG, A61B5/339)}
- A61B 2503/10: Athletes
- A61B 2505/09: Rehabilitation or training
- A61B 2562/0219: Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
- A63B 2071/0661: {arranged on the user}
- A63B 2220/34: Angular speed
- A63B 2220/40: Acceleration
- A63B 2220/836: Sensors arranged on the body of the user
- A63B 2225/50: Wireless data transmission, e.g. by radio transmitters or telemetry
- A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H)
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G})

## Abstract

The motion data monitoring method includes: collecting, by an electronic device, an angular velocity signal and an acceleration signal of a user; obtaining, by the electronic device, a waveform feature of the angular velocity signal based on the angular velocity signal, and obtaining a waveform feature of the acceleration signal based on the acceleration signal; determining, by the electronic device, a gait feature of the user according to the waveform feature of the angular velocity signal and the waveform feature of the acceleration signal, where the gait feature includes a duration of flight from off-ground of a foot of the user to touching of the ground; and determining, by the electronic device, motion data according to the gait feature, where the motion data includes a jump height.

## Claims

### Claim 1

A motion data monitoring apparatus, comprising a processor, wherein the processor is coupled to a memory, the memory stores instructions, and the processor is configured to invoke and execute the instructions to cause the apparatus to perform:
collecting, by an electronic device, an angular velocity signal and an acceleration signal of a user;
obtaining, by the electronic device, a waveform feature of the angular velocity signal based on the angular velocity signal, and obtaining a waveform feature of the acceleration signal based on the acceleration signal;
performing action classification based on the waveform feature of the angular velocity signal and the waveform feature of the acceleration signal;
determining, by the electronic device, a gait feature of the user according to the waveform feature of the angular velocity signal and the waveform feature of the acceleration signal, wherein the waveform feature of the acceleration signal comprises two adjacent crests in a waveform of the acceleration signal, and wherein the gait feature comprises a duration of flight from off-ground of a foot of the user to touching of the ground; and
determining, by the electronic device, motion data according to the gait feature, wherein the motion data comprises a jump height when the action classification indicates a vertical jump or running jump.

### Claim 2 (depends on 1)

The motion data monitoring apparatus according to claim 1, wherein the collecting, by an electronic device, an angular velocity signal and an acceleration signal of a user comprises:
collecting, by the electronic device, an angular velocity signal and an acceleration signal of the foot or a leg of the user.

### Claim 3 (depends on 1)

The motion data monitoring apparatus according to claim 1, wherein the determining, by the electronic device, motion data according to the gait feature comprises:
determining, by the electronic device, a first component of the jump height according to the duration of flight;
determining, by the electronic device, a second component of the jump height according to an integration of the acceleration signal over the duration of flight; and
determining, by the electronic device, the jump height according to the first component and the second component.

### Claim 4 (depends on 3)

The motion data monitoring apparatus according to claim 3, wherein
the determining, by the electronic device, a first component of the jump height according to the duration of flight comprises:
H
t
=
1
2
*
g
⁡
(
Δ
⁢
t
2
)
2
,
wherein Ht represents the first component, Δt represents the duration of flight, and g represents an acceleration of gravity;
the determining, by the electronic device, a second component of the jump height according to an integration of an acceleration signal over the duration of flight comprises:
Ha=∫∫t0+Δtt0(k*accz)dt, wherein Ha represents the second component, Δt represents the duration of flight, t0 represents an initial moment of the duration of flight, k is a correction parameter, and accz represents a signal component of an acceleration of the user in a z-axis direction of a local horizontal coordinate system; and
the determining, by the electronic device, the jump height according to the first component and the second component comprises:
when |Ha−Ht|<ΔH, H=½*(Ha+Ht), wherein a threshold ΔH is a preset threshold, and H is the jump height.

### Claim 5 (depends on 1)

The motion data monitoring apparatus according to claim 1, wherein the determining, by the electronic device, a gait feature of the user according to the waveform feature of the angular velocity signal and the waveform feature of the acceleration signal comprises:
determining, by the electronic device, the gait feature of the user according to the waveform feature of the angular velocity signal, the waveform feature of the acceleration signal, and an attitude angle matrix, wherein the attitude angle matrix is determined according to the angular velocity signal and the acceleration signal.

### Claim 6 (depends on 5)

The motion data monitoring apparatus according to claim 5, further comprising:
constructing, by the electronic device, an attitude angle correction matrix according to a preset condition, wherein the preset condition comprises presetting a velocity of the foot of the user before taking off from the ground to 0 and a displacement in a vertical direction to 0, and presetting a velocity of the foot of the user after touching the ground to 0 and a displacement in the vertical direction to 0; and
correcting, by the electronic device, the attitude angle matrix according to the attitude angle correction matrix.

### Claim 7 (depends on 6)

The motion data monitoring apparatus according to claim 6, wherein the correcting, by the electronic device, the attitude angle matrix according to the attitude angle correction matrix comprises:
R
c
=
C
*
R
,
wherein
⁢
C
=
[
1
0
0
0
cos
⁢
γ
sin
⁢
γ
0
-
sin
⁢
γ
cos
⁢
γ
]
[
cos
⁢
β
0
-
sin
⁢
β
0
1
0
sin
⁢
β
0
cos
⁢
β
]
[
cos
⁢
α
-
sin
⁢
α
0
sin
⁢
α
cos
⁢
α
0
0
0
1
]
;
γ
=
γ
1
+
γ
2
,
γ
1
=
arctan
⁡
(
v
z
g
⁢
Δ
⁢
t
)
,
γ
2
=
arctan
⁡
(
H
z
S
)
;
β
=
arctan
⁡
(
v
y
g
⁢
Δ
⁢
t
)
;
and
⁢
α
=
arctan
⁡
(
v
x
g
⁢
Δ
⁢
t
)
,
wherein
C represents the attitude angle correction matrix, R represents the attitude angle matrix, Rc represents a corrected attitude angle matrix, α, β, and γ are respectively rotation angles in an x-axis direction, a y-axis direction, and the z-axis direction in the local horizontal coordinate system, vx, vy, and vz are respectively velocity components in the x-axis direction, the y-axis direction, and the z-axis direction, Hz is a displacement in the z-axis direction, S is a displacement of the foot of the user after the taking off from the and before the touching of the ground, and Δt is a time interval from the taking off from the ground of the foot of the user to the touching of the ground.

### Claim 8 (depends on 1)

The motion data monitoring apparatus according to claim 1, wherein
the motion data further comprises at least one of a movement distance, a quantity of steps, and a movement velocity of the user.

### Claim 9 (depends on 1)

The motion data monitoring apparatus according to claim 1, further comprising:
performing, by the electronic device, zero-velocity correction according to a local minimum value time point of a movement velocity in a time interval from the touching of the ground to the taking off from the ground; and/or
performing, by the electronic device, distance correction according to a local minimum value time point of a displacement in the vertical direction in the time interval from the touching of the ground to the taking off from the ground.

### Claim 10 (depends on 1)

The motion data monitoring apparatus according to claim 1, further comprising:
performing, by the electronic device, action classification according to the waveform feature of the angular velocity signal, the waveform feature of the acceleration signal, and the motion data, wherein an action classification result comprises at least one of vertical jump, running jump, or sideward movement.

### Claim 11 (depends on 1)

The motion data monitoring apparatus according to claim 1, further comprising:
performing, by the electronic device, template matching on the motion data and database data, and outputting a character classification and/or a person tag of the user.