Exercise assistance robot that corrects the user's exercise posture

Abstract

An exercise assistance robot for correcting a user's exercise posture according to the present invention comprises a shooting unit that captures the user's body contour and identifies distance information from the user, a user body information calculation unit that calculates the user's skeletal information based on the user's body contour and distance information provided by the shooting unit, a user posture identification unit that identifies the user's current exercise posture based on the user's body contour detected by the shooting unit and the user's skeletal information calculated by the user body information calculation unit, and an exercise posture correction information providing unit that receives the current exercise posture information and provides correction posture information to the user.

Description

Technology Field

[0001] The present invention relates to an exercise assistance robot for correcting a user's exercise posture, and more specifically, to an exercise assistance robot for correcting a user's exercise posture that recognizes and analyzes the user's exercise posture to assist in performing exercises in an accurate posture. Background Technology

[0003] As people active in modern society use increasingly advanced smart devices, their bodies become more comfortable, but they are less active than people of the past, leading to a problem of deteriorating health.

[0004] Therefore, people are putting effort into self-care by starting exercise activities such as home training, fitness, and running to take care of their health.

[0005] In addition, some people start exercising not only for health but also for physical beauty.

[0006] However, since most people tend to exercise privately rather than through outdoor activities, there was a problem in that they were unaware whether they were exercising with the correct or incorrect posture.

[0007] Furthermore, according to Korean Registered Patent No. 10-2420086, while it is possible to correct each user's posture by monitoring exercise movements while performing exercise together with multiple people online, there was a problem in that users who wished to exercise individually or those who could not exercise together online due to conflicting schedules were still unable to perform the exercise with the correct posture. Prior art literature

[0009] Korean Registered Patent No. 10-2420086 (Published July 11, 2022) The problem to be solved

[0010] The objective of the present invention is to provide an exercise assistance robot that corrects a user's exercise posture to an accurate exercise posture, which is devised to solve the problems described above. means of solving the problem

[0012] To achieve the above objective, an exercise assistance robot for correcting a user's exercise posture according to the present invention comprises: a shooting unit that captures the user's body contour and identifies distance information from the user; a user body information calculation unit that calculates the user's skeletal information based on the user's body contour and distance information provided by the shooting unit; a user posture identification unit that identifies the user's current exercise posture based on the user's body contour detected by the shooting unit and the user's skeletal information calculated by the user body information calculation unit; and an exercise posture correction information providing unit that receives the current exercise posture information and provides correction posture information to the user.

[0013] In addition, the imaging unit is characterized by further identifying distance information to surrounding terrain features based on the position of the motion assistance robot.

[0014] In addition, it further includes a position calculation unit that calculates a position where the motion assistance robot can photograph the user without colliding with the user or surrounding terrain features, based on distance information to surrounding terrain features, the user's current exercise posture, and distance information to the user.

[0015] In addition, the exercise assistance robot is characterized by further including one or more actuators that operate individually for movement and can provide correction posture information to a user, an information transmission and reception unit that receives user commands, a position calculation unit that controls the actuators based on the user's commands and position information, and an information transmission and reception unit that controls the actuators based on information received from the exercise posture correction information provider.

[0016] In addition, the control unit determines the position of the motion assistance robot by prioritizing the user's movement command received from the information transmission and reception unit over the position information calculated by the position calculation unit.

[0017] In addition, the control unit is characterized by additionally performing a function to adjust the intensity of the exercise based on a preset number of exercises and the number of times the user exercises with the correct posture. Effects of the invention

[0019] As described above, the exercise assistance robot for correcting a user's exercise posture according to the present invention can correct the exercise posture of a user exercising individually into an accurate exercise posture, thereby increasing the user's exercise efficiency and reducing the risk of injury to the user caused by an incorrect exercise posture. Brief explanation of the drawing

[0021] FIG. 1 is a schematic diagram briefly illustrating the operation of an exercise assistance robot that corrects a user's exercise posture according to the present invention. FIG. 2 is an example diagram of an exercise assistance robot that corrects a user's exercise posture according to the present invention identifying the user's body information. FIG. 3 is an example diagram of an exercise assistance robot that corrects a user's exercise posture according to the present invention identifying the user's major joints. FIG. 4 is a diagram briefly illustrating a configuration for calculating the position of an exercise assistance robot that corrects a user's exercise posture according to the present invention. FIG. 5 is a diagram briefly illustrating the configuration for controlling an exercise assistance robot that corrects a user's exercise posture according to the present invention. FIG. 6 is a simplified example diagram illustrating an exercise assistance robot that corrects a user's exercise posture according to the present invention. Specific details for implementing the invention

[0022] Specific structural or functional descriptions of embodiments according to the concept of the present invention disclosed herein are provided merely for the purpose of explaining embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms and are not limited to the embodiments described herein.

[0023] Embodiments according to the concept of the present invention may be subject to various modifications and may take various forms; therefore, embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all modifications, equivalents, or substitutions that fall within the spirit and scope of the present invention.

[0025] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

[0027] FIG. 1 is a simplified configuration diagram illustrating the operation of an exercise assistance robot for correcting a user's exercise posture according to the present invention; FIG. 2 is an example diagram illustrating an exercise assistance robot for correcting a user's exercise posture according to the present invention identifying the user's body information; FIG. 3 is an example diagram illustrating an exercise assistance robot for correcting a user's exercise posture according to the present invention identifying the user's major joints; FIG. 4 is a simplified diagram illustrating the configuration for calculating the position of an exercise assistance robot for correcting a user's exercise posture according to the present invention; FIG. 5 is a simplified diagram illustrating the configuration for controlling an exercise assistance robot for correcting a user's exercise posture according to the present invention; and FIG. 6 is an example diagram illustrating a simplified exercise assistance robot for correcting a user's exercise posture according to the present invention.

[0029] As illustrated in FIG. 1, the exercise assistance robot for correcting a user's exercise posture according to the present invention comprises a shooting unit (100), a user body information calculation unit (200), a user posture identification unit (300), and an exercise posture correction information provision unit (400).

[0031] The above-mentioned capturing unit (100) may be defined as a camera and a radar for recognizing a user and determining the distance to the user. At this time, the user's body contour can be recognized through an image captured by the camera, and the distance between the user and the exercise assistance robot (10) can be determined through the radar.

[0033] At this time, the user body information calculation unit (200) can calculate the user's skeletal information through the detection information of the shooting unit (100).

[0035] Referring to FIG. 2, the user's height (H) and shoulder length (W) can be calculated using the distance information between the exercise assistance robot (10) and the user through the following Equation 1 and Equation 2.

[0037] <Equation 1>

[0038]

[0040] <Equation 2>

[0041]

[0043] L: Distance from the user, a: Distance to the user's head, b: Distance to the user's feet, c: Distance to one of the user's shoulders, d: Distance to the other of the user's shoulders, M: Distance to the midpoint of the user's shoulders

[0045] At this time, the user body information calculation unit (200) can determine whether to photograph the user's side or the user's front by comparing the calculated shoulder length and height.

[0046] Here, the user body information calculation unit (200) further includes a function to recognize the user's eyes, nose, and mouth in order to determine that the front of the user is being photographed.

[0048] In addition, by calculating the ratio of shoulder length to height, it is possible to determine which direction the user being photographed is looking relative to the exercise assistance robot (10).

[0050] Accordingly, the user body information calculation unit (200) can accurately extract the user's major joints through the image information and the user's skeletal information among the information provided by the shooting unit (100).

[0052] That is, by combining the direction the user is looking at and the height of the user identified by the user body information calculation unit (200) with the image of the user captured by the shooting unit (100), the user's current state can be identified in detail, allowing the user's major joints to be extracted more precisely.

[0054] At this time, referring to FIG. 3, the exercise assistance robot (10) recognizes the front image, the side image, and the image between the front and the side of the user through the detected information, calculates the user's major joints corresponding to each image, and applies them to each image.

[0056] The above user posture identification unit (300) can identify various exercise postures including squats, deadlifts, push-ups, etc. from an image in which major joints are applied.

[0058] In the case of a squat, it is possible to determine whether the user's current exercise posture is a squat by observing the movement of the pelvic, knee, and ankle joint coordinates.

[0060] In addition, in the case of the deadlift, it is possible to determine whether the user's current exercise posture is a deadlift posture by identifying the degree of pelvic flexion through the joint coordinates of the knees, pelvis, and shoulders.

[0062] In addition, in the case of push-ups, the user can detect through the camera unit (100) that the user is lying face down on the floor rather than standing, and determine whether the user's current exercise posture is a push-up posture by identifying the movement of the elbow bending through the shoulder joint coordinates, elbow joint coordinates, and wrist joint coordinates.

[0064] In other words, it is possible to determine what posture the user is performing from the comprehensive movement of the major joints.

[0066] The above exercise posture correction information providing unit (400) performs an analysis of the movement being performed by the user based on the joint movements of the user identified in real time through the user posture identification unit (300).

[0068] That is, the above exercise posture correction information providing unit (400) identifies the degree of movement of the user's joints when each joint of the user moves.

[0070] When a user performs a squat, it is possible to analyze whether the squat is performed correctly by determining whether the joint coordinates of the pelvis reach the joint coordinates of the knees, and simultaneously determining whether the joint coordinates of the shoulders, chest, and pelvis are in a straight line.

[0072] If the user performs the movement in a posture that deviates from the judgment criteria, the exercise posture correction information providing unit (400) determines that the user's exercise posture is incorrect.

[0074] As illustrated in FIG. 4, the motion assistance robot is configured to further include a position calculation unit (500) so that it can calculate a position that does not collide with surrounding terrain features and the user.

[0076] The above-mentioned imaging unit (100) may be configured to further include a lidar.

[0077] If the above-mentioned capturing unit is defined solely as a camera, a map can be generated by analyzing the correlation of the captured photos and recognizing the location while capturing surrounding terrain features using a visual SLAM method.

[0079] Alternatively, if the above-mentioned capturing unit is defined as a camera and Lidar, a map can be generated by recognizing surrounding terrain features by emitting laser light using the Lidar SLAM method and calculating the time it takes for the light to reflect back.

[0081] That is, through the camera unit (100), the distance to surrounding terrain features can be detected based on the current position of the motion assistance robot (10) to generate an accurate map.

[0083] Accordingly, when the exercise assistance robot (10) starts an operation, the exercise assistance robot (10) first operates the above-mentioned camera unit (100) to identify the surrounding terrain features and the user's location based on the exercise assistance robot (10).

[0085] At this time, first, the above-mentioned position calculation unit (500) calculates a first position based on the detected information, in which the exercise assistance robot (10) can photograph the user's body as a whole and simultaneously avoid collisions with surrounding terrain features and the user.

[0087] Additionally, when moving to the above location to photograph the user, the second position calculation unit (500) calculates a second position in which the user and the exercise assistance robot (10) do not collide with the user and surrounding terrain features by considering the user's exercise posture calculated from the user posture identification unit (300).

[0089] At this time, the second position is a position that does not come into contact with the action performed by the user, and is a position where the main movement regarding the action can be easily identified.

[0090] Unless the user changes the exercise posture, the exercise assistance robot (10) does not deviate from the position calculated by the position calculation unit (500).

[0092] As shown in FIG. 5, the motion assistance robot is configured to further include an information transmission / reception unit (600), a driving unit (700), and a control unit (800) for driving and communicating with a user.

[0094] The exercise assistance robot (10) can receive commands by voice from the user through the information transmission and reception unit (600). When the user transmits a command to the exercise assistance robot (10) to assist with exercise, the exercise assistance robot (10) starts to perform an action.

[0096] At this time, as described above, the exercise assistance robot (10) can identify the exercise currently being performed by the user through the user posture detection unit (300) and respond in real time, but when the user transmits a command to perform a specific exercise, the exercise assistance robot (10) first recognizes the user's command and corrects the corresponding exercise posture.

[0098] Unless the user transmits another command, the above-mentioned exercise assistance robot (10) continues to perform the command transmitted once.

[0100] Additionally, the exercise assistance robot (10) can set the final destination of the exercise assistance robot (10) through the position calculation unit (500), but if the user transmits a command to move more than a predetermined distance by voice, the exercise assistance robot (10) is made to prioritize the execution of the user's command.

[0101] Likewise, unless there is another command, the above-mentioned exercise assistance robot (10) does not change its position.

[0103] At this time, referring to FIG. 6, the motion assistance robot (10) moves by being equipped with one or more Mecanum wheels (11). In addition, the motion assistance robot (10) can move accurately to the position calculated by the position calculation unit (500) by having one or more driving units (700) that are individually driven and correspond to each Mecanum wheel (11).

[0105] The above information transmission and reception unit (600) can be defined as a voice recognition unit and a voice output unit.

[0106] At this time, the exercise assistance robot (10) can recognize commands by the user's voice through the voice recognition unit and can output correction information regarding the user's exercise posture as voice through the voice output unit.

[0108] At this time, the exercise assistance robot (10) can convert an image of an incorrect posture into text using a VLM (Vision Language Model) and then output the text as voice through the voice output unit.

[0110] Additionally, the information transmission and reception unit (600) may be defined as a wireless communication unit. At this time, the exercise assistance robot (10) can be connected to the user's portable terminal and computing device via Bluetooth or Wi-Fi, etc., to receive the user's commands and transmit correction information regarding the user's exercise posture.

[0112] At this time, the exercise assistance robot (10) can output a video of the motion performed by the user in real time to the screen of the portable terminal and computing device.

[0114] The above control unit (800) can control the driving unit (700) and the information transmission / reception unit (600) based on information received from the position calculation unit (500) and the exercise posture correction information providing unit (400) and the user's command to perform movement of the exercise assistance robot (10) and transmit information about exercise correction to the user.

[0116] Additionally, the control unit (800) can determine the number of times the user has performed the exercise with the correct movements from the preset number of exercises through the exercise posture correction information providing unit (400), and then adjust the intensity of the exercise.

[0118] For example, when a user performs 10 squats, if 5 or more are performed with correct movements, the control unit (800) can increase the intensity of the exercise for the squat.

[0120] In this case, adjusting the intensity of the exercise may involve increasing or decreasing the number of repetitions performed, increasing or decreasing the number of repetitions performed with the correct posture within the same number of repetitions, or adjusting the range of motion for the corresponding exercise movement.

[0122] Here, taking the squat as an example, the range of motion for the exercise movement can be defined by whether the pelvic coordinates do not go down to knee height, go down to knee height, or go down deeper than knee height.

[0124] That is, when the control unit (800) detects that the user performs exercise in the correct posture more than a predetermined number of times from a set number of times, it can increase the intensity of the exercise by adjusting the range of motion of the exercise or the number of times of exercise.

[0126] Conversely, if the control unit (800) detects that the user is unable to perform the exercise in the correct posture more than a predetermined number of times, it can lower the intensity of the exercise by adjusting the range of motion or the number of times the exercise is performed.

[0128] Additionally, the control unit (800) can determine that the correct operation was not performed if the motion trajectory is not performed within the set time by considering the motion trajectory and time.

[0130] For example, if a user fails to perform the 5th squat movement within 3 seconds while performing 10 squats, the control unit (800) determines that the movement was not performed in the correct posture.

[0132] In addition, the control unit (800) can determine the body parts lacking muscle strength by identifying the user's performance ability according to the type of exercise through the intensity of the exercise.

[0134] At this time, the control unit (800) can recommend exercises that can strengthen body parts lacking muscle strength.

[0136] In another embodiment, the imaging unit (100) may be configured to further include a thermal imaging camera. In this case, the image of a user performing a specific exercise can be captured by the thermal imaging camera to detect the temperature of a specific body part of the user.

[0138] At this time, the control unit (800) can determine whether the user is performing the exercise properly through the temperature of a specific body part detected by the imaging unit (100).

[0140] For example, when a user performs a squat, the quadriceps, gluteus maximus, and hamstrings are primarily used, causing these body parts to generate more heat than other parts and raising their temperature.

[0142] Therefore, if the control unit (800) determines that the temperature of another body part and the temperature of the body part being exercised do not differ by more than a preset value, the control unit (800) can determine that the user has not performed the exercise correctly.

[0144] As described above, although the present invention has been described with reference to preferred embodiments with reference to the accompanying drawings, it is evident to those skilled in the art that many obvious variations are possible from this description without departing from the scope of the invention. Accordingly, the scope of the invention should be interpreted by the claims described to include examples of such many variations. Explanation of the symbols

[0146] 10: Exercise Assist Robots 11: Mecanum Wheel 100 : Filming Department 200 : User body information calculation unit 300 : User posture detection unit 400 : Exercise posture correction information provider 500 : Location calculation unit 600 : Information Transmitter / Receiver 700 : Drive unit 800 : Control unit

Claims

Claim 1 An exercise assistance robot for correcting a user's exercise posture, comprising: a shooting unit that captures the user's body contour and determines distance information from the user; a user body information calculation unit that calculates the user's skeletal information based on the user's body contour and distance information provided by the shooting unit; a user posture determination unit that determines the user's current exercise posture based on the user's body contour detected by the shooting unit and the user's skeletal information calculated by the user body information calculation unit; and an exercise posture correction information provision unit that receives the user's current exercise posture information and provides correction posture information to the user. Claim 2 An exercise assistance robot for correcting a user's exercise posture, characterized in that, in claim 1, the above-mentioned imaging unit further identifies distance information with surrounding terrain features based on the position of the exercise assistance robot. Claim 3 An exercise assistance robot for correcting a user's exercise posture, characterized in that, in claim 2, it further includes a position calculation unit that calculates a position where the exercise assistance robot can photograph the user without colliding with the user and surrounding terrain features, based on distance information with surrounding terrain features, the user's current exercise posture, and distance information with the user. Claim 4 In claim 3, the exercise assistance robot for correcting a user's exercise posture is further characterized by comprising: one or more driving units that drive individually for movement; an information transmission and reception unit capable of providing correction posture information to the user and receiving commands from the user; and a control unit that controls the driving units based on position information from the position calculation unit and commands from the user, and controls the information transmission and reception unit based on information received from the exercise posture correction information providing unit. Claim 5 An exercise assistance robot for correcting a user's exercise posture, characterized in that, in claim 4, the control unit determines the position of the exercise assistance robot by prioritizing the user's movement command received from the information transmission / reception unit over the position information calculated by the position calculation unit. Claim 6 An exercise assistance robot for correcting a user's exercise posture, characterized in that, in claim 4, the control unit additionally performs the function of adjusting the intensity of the exercise based on a preset number of exercises and the number of times the user exercises in an accurate posture.

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