CN107389052B - Ankle pump motion monitoring system and terminal equipment - Google Patents
Ankle pump motion monitoring system and terminal equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention discloses an ankle pump movement monitoring system and terminal equipment, and belongs to the field of medical instruments. The system comprises a shell, and a power supply, a controller, a gyroscope, an accelerometer, a magnetometer, a communication module and a binding belt which are fixed on the shell; the gyroscope is used for sending angular velocity information of user movement to the controller, the accelerometer is used for sending acceleration information of user movement to the controller, and the magnetometer is used for sending magnetic force information of user movement to the controller; the controller is used for determining user posture information according to the angular velocity information, the acceleration information and the magnetic force information, and matching the posture information with standard posture information to obtain a matching result; the communication module is used for acquiring the matching result and sending matching result information containing the matching result; this ankle pump motion detection system can realize through small-size electronic components, and small and exquisite easy wearing does not just need accurate mechanical structure, reduces the machining cost.
Description
Technical Field
The invention relates to the field of orthopedic medical instruments, in particular to a monitoring system and terminal equipment for monitoring postoperative patient ankle pump movement data.
Background
Before and after the orthopedic operation, due to the reasons of wound pain, internal and external fixation, limb braking, high coagulation state of a patient and the like, deep venous thrombosis of lower limbs is easy to occur, embolus falls off and flows through the heart along with blood to enter pulmonary artery, so that pulmonary artery embolism is caused, and the death rate of the pulmonary artery embolism is over 20 percent. The ankle pump exercise is a simple, easy-to-carry out and significant-effect lower limb function exercise method, the ankle joint movement is mainly used for driving the muscle contraction of the lower limb, promoting the blood backflow, accelerating the elimination of swelling and the rehabilitation of limb functions, the early ankle pump training after the operation can promote the terminal blood backflow and inhibit the formation of lower limb venous thrombosis, clinically, when the ankle pump exercise is carried out after the operation of the orthopedic lower limb operation patient, the number and the quality of the exercise are not up to standard due to the reasons of worrying about wound healing, incision pain, thought attention is not enough, the ankle pump exercise is dull and single, and the like, and under the general condition, the ankle pump exercise of the patient needs to be carried out under the accompanying guidance of medical personnel, the patient needs to be in hospital for a long time and is not beneficial to the saving of the labor cost of the medical personnel, so a device for monitoring the ankle pump exercise is needed, thereby ensuring, the circulation and the accuracy of the ankle pump movement can be improved at home.
In the ankle pump exercise apparatus, such as the exercise apparatus disclosed in patent documents CN105832497A, CN205234878U, CN206063657U and the like, the foot is usually fixed and put into exercise by designing a product including a base, a support plate, a connecting rod, a spring and the like.
The ankle pump exercise assisting products based on mechanical structures on the market are heavy and inconvenient to install for patients who just have performed an operation.
Disclosure of Invention
In view of this, the present invention provides an ankle pump movement monitoring system and a terminal device, which can ensure accurate identification of ankle pump movement of a patient at low cost and can facilitate wearing of a postoperative patient.
In order to achieve the purpose, the invention adopts the following technical scheme:
a monitoring system for ankle pump movement comprises a shell, a power supply, a controller, a gyroscope, an accelerometer, a magnetometer, a communication module and a strap, wherein the power supply, the controller, the gyroscope, the accelerometer, the magnetometer, the communication module and the strap are fixed on the shell; the strap is used for being fixed with the foot of a user; the power supply is respectively connected with the controller, the gyroscope, the accelerometer, the magnetometer and the communication module and used for supplying power to the controller, the gyroscope, the accelerometer, the magnetometer and the communication module; the gyroscope, the accelerometer, the magnetometer and the communication module are respectively connected with the controller, the gyroscope is used for sending angular velocity information of user movement to the controller, the accelerometer is used for sending acceleration information of user movement to the controller, and the magnetometer is used for sending magnetic force information of user movement to the controller; the controller is used for determining user posture information according to the angular velocity information, the acceleration information and the magnetic force information, and matching the posture information with standard posture information to obtain a matching result; the communication module is used for acquiring the matching result and sending matching result information containing the matching result.
In an alternative embodiment, the controller, gyroscope, accelerometer, magnetometer, and/or communication module are integrated on a circuit board.
In an optional embodiment, the monitoring system for ankle pump movement further comprises a display screen fixed on the housing, and the display screen is connected with the controller and used for displaying the matching result obtained by the controller.
In an alternative embodiment, the ankle pump movement monitoring system further comprises an input device coupled to the controller, the input device configured to obtain information input by a user.
In an optional embodiment, the display screen is further configured to display user classification information, and accordingly, the input device is configured to obtain the user classification information input by the user.
In an optional embodiment, the monitoring system for the motion of the ankle pump further comprises a voice broadcasting device connected with the controller, and the voice broadcasting device is used for broadcasting the matching result.
In an optional embodiment, the communication module comprises a bluetooth module, a wifi module or an infrared module.
A terminal device comprises a communication module and a display module, wherein the communication module is used for acquiring matching result information, the matching result information comprises a matching result, and the matching result is obtained by matching user posture information determined according to angular velocity information, acceleration information and magnetic force information with standard posture information; and the display module is used for displaying the matching result.
In an optional embodiment, the matching result information further includes time information, and the terminal device further includes a processing module, configured to perform data processing on the matching result information to obtain a correspondence between a matching result and time.
In an optional embodiment, the matching result information further includes a user identifier, and the terminal device further includes a processing module, configured to perform data processing on the matching result information to obtain a corresponding relationship between a matching result and a user.
The invention has the following beneficial effects:
(1) according to the ankle pump movement monitoring system provided by the embodiment of the invention, the real-time posture information of the ankle pump movement of the user is monitored, the movement posture information sequence in a movement period is determined according to the real-time posture information, and the movement posture information sequence is compared with the standard movement posture information sequence in the standard database, so that whether the ankle pump movement performed by the user meets the requirement is judged, and therefore, the user is reminded of continuing to move according to the current action, the movement posture of the user can be automatically adjusted under the condition of no external guidance, and the human resource cost is saved;
(2) the ankle pump movement detection system provided by the embodiment of the invention can also send the matching result to the terminal equipment, so that a terminal equipment user such as a doctor can know the ankle pump movement condition of the user in time;
(3) the ankle pump motion detection system provided by the embodiment of the invention can be realized by small electronic components, is small and easy to wear, meets the actual requirements of postoperative patients, does not need a precise mechanical structure, and reduces the machining cost;
(4) the state variable of the extended Kalman filtering algorithm adopts four-dimensional quaternion, compared with the Euler angle, a large amount of trigonometric function operation involved in Euler angle calculation is avoided, the updating rate and the real-time performance are ensured, and meanwhile, singularity caused by Euler angle calculation does not exist;
(5) according to the embodiment of the invention, the initial point and the terminal point of the action are accurately found through the cepstrum action sequence end point detection, and the dynamic path planning is carried out by utilizing the Bellman principle, so that the identification efficiency is improved, and the calculated amount is reduced.
Drawings
FIG. 1 is a flow chart of an ankle pump movement monitoring method provided by an embodiment of the invention;
FIG. 2 is a flowchart illustrating implementation of strapdown attitude calculation based on extended Kalman filtering data fusion according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a DTW algorithm according to an embodiment of the present invention;
FIG. 4 is a diagram of a local constraint path provided by an embodiment of the invention;
FIG. 5 is a schematic view of an ankle pump movement monitoring apparatus further provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of an ankle pump movement monitoring system according to an embodiment of the present invention;
fig. 7 is a schematic view of a usage scenario of the ankle pump movement monitoring system according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides an ankle pump movement monitoring method, including:
step 101: acquiring real-time motion attitude information of a user, wherein the real-time motion attitude information comprises angular velocity information, acceleration information and magnetic force information;
specifically, the real-time motion posture information may include any information representing the motion posture of the ankle pump performed by the user, such as angular velocity information measured by a gyroscope in real time, acceleration information measured by an accelerometer in real time, magnetic force information measured by a magnetometer in real time, and the like, and the present invention is not limited thereto, and in the embodiment of the present invention, the real-time motion posture information at least includes angular velocity information, acceleration information, and magnetic force information;
step 102: carrying out data fusion on the angular velocity information, the acceleration information and the magnetic force information to obtain corrected motion attitude information;
specifically, in the embodiment of the present invention, data fusion may be performed on angular velocity information, acceleration information, and magnetic force information by using a data fusion method such as kalman filtering, extended kalman filtering, and the like, which is not limited in the present invention; then, performing strapdown attitude calculation according to relatively standard data obtained after data fusion to obtain corrected motion attitude information such as a pitch angle, a roll angle, an azimuth angle and the like;
step 103: determining a motion attitude information sequence in a motion period;
specifically, according to the starting time and the ending time of a motion period, the motion period is determined, and therefore a motion attitude information sequence in the motion period is determined;
generally, a method for measuring cepstrum distance is to assume a signal starting a period of time as background noise, and respectively calculate cepstrum coefficients of the signal starting the period of time, then estimate the cepstrum coefficients of the background noise by using an average value of the cepstrum coefficients of the period of time, calculate the cepstrum distance between each frame of signal and the background noise signal, and analyze a starting point and a terminating point of a gesture motion sequence;
the initial point and the end point of the action can be accurately found by adopting cepstrum action sequence end point detection;
step 104: judging whether the corrected motion attitude information sequence is matched with a standard attitude information sequence in a standard attitude information sequence database or not to obtain a matching result;
specifically, in the embodiment of the present invention, before step 104, a standard posture information sequence database is further established and stored, where the standard posture information sequence database may be a single-person group database, or may be a classification database, for example, the group is classified into different categories such as the elderly, the middle-aged, the young and the children according to age groups, and respective databases are established for the different categories;
in an optional embodiment of the invention, in consideration of the fact that a standard posture information sequence has great influence on a matching process, the standard posture information sequence with good compatibility and strong robustness is a key for improving the ankle pump action recognition rate, in order to ensure the recognition rate and the recognition accuracy, a redundant sample library is adopted in a standard posture information sequence database, and a plurality of posture information sequence samples in one motion cycle are obtained by taking a class of people as an example; calculating the distortion degree between every two samples; dividing the obtained multiple samples into a plurality of subsets according to the distortion degree; and taking the average value of each subset as a standard attitude information sequence, and establishing a standard attitude information sequence database. Specifically, a plurality of experiment objects with large differences can be organized to repeatedly perform ankle pump actions to obtain attitude information sequence samples, and the samples with distortion degrees meeting a preset threshold value are taken as a subset.
Step 105: and sending and/or displaying the matching result to prompt the user whether to continue moving according to the current action.
According to the ankle pump movement monitoring method provided by the embodiment of the invention, the real-time posture information of the ankle pump movement of the user is monitored, the movement posture information sequence in a movement period is determined according to the real-time posture information, and the movement posture information sequence is compared with the standard movement posture information sequence in the standard database, so that whether the ankle pump movement performed by the user meets the requirement is judged, and therefore, the user is reminded of continuing to move according to the current action, the movement posture of the user can be automatically adjusted under the condition of no external guidance, and the human resource cost is saved;
the ankle pump movement detection method provided by the embodiment of the invention can also send the matching result to the terminal equipment, so that a terminal equipment user such as a doctor can know the ankle pump movement condition of the user in time;
the ankle pump movement detection method provided by the embodiment of the invention can be realized through small electronic components, so that the monitoring system is small and exquisite and easy to wear, the actual requirements of postoperative patients are met, a precise mechanical structure is not needed, and the machining cost is reduced.
In an optional embodiment, the angular velocity information includes three-axis angular velocities, the acceleration information includes three-axis accelerations, the magnetic force information includes three-axis magnetic forces, and step 102 includes:
step 102 a: constructing a state transition matrix and an observation equation matrix of extended Kalman filtering according to a state variable and an observation variable by taking a quaternion and a gyro triaxial zero offset error as the state variables and the triaxial acceleration and the triaxial magnetic force as the observation variables;
specifically, in the embodiment of the present invention, the state transition matrix and the observation equation matrix are both in a jacobian matrix form.
Step 102 b: obtaining a state variable predicted value and an observed value according to the state transition matrix and the observation equation matrix;
102c, correcting and compensating the state variable predicted value according to the observation value so as to update quaternion and gyro triaxial zero offset error in real time;
step 102 d: and carrying out strapdown attitude calculation according to the updated quaternion and the gyro triaxial zero-offset error to obtain corrected motion attitude information.
For example, referring to fig. 2, quaternions Q0, Q1, Q2 and Q3 and gyro three-axis zero offset errors W1, W2 and W3 are selected as state variables, so that the state variable X is a 7-dimensional vector; assigning an initial value, such as [ 1000000 ], to the state vector; the output values of the accelerometer and the magnetometer (namely the three-axis acceleration and the three-axis magnetic force) under the carrier coordinate are selected as state observed quantities, so that the state observed quantities are 6-dimensional vectors.
Constructing a state transition matrix of extended Kalman filtering according to the output (namely three-axis angular velocity) of the gyroscope, and predicting a state vector at the K-moment and a state estimation covariance matrix at the K-moment through the constructed state transition matrix, an initial state vector and a noise covariance matrix;
constructing an observation equation matrix of Kalman filtering, and obtaining Kalman gain at the K moment according to the constructed observation equation matrix, a state estimation covariance matrix at the K-moment and observation noise covariance;
and solving a residual error, finishing the correction of the predicted value of the state variable X at the K-moment, and obtaining the state variable estimated value at the K moment. Wherein, the obtaining of the residual error involves the correction of a coordinate conversion matrix R from a carrier coordinate system to a geographic coordinate system, the acceleration [ 00 g ] on the geographic coordinate system and the local magnetic field strength [ bx by bz ] are utilized to obtain the acceleration [ vx vy vz ] and the magnetic field strength [ wx wy wz ] under the carrier coordinate system through the coordinate conversion matrix, and the difference is subtracted with the output value [ ax ay az mx my mz ] of the accelerometer and the magnetometer under the carrier coordinate system to obtain the residual error
The quaternion can be updated according to the obtained state variable at the time K, the zero offset of the gyroscope is corrected and compensated, and the attitude of the carrier is calculated by utilizing the obtained quaternion to Euler angle.
The state variable of the extended Kalman filtering algorithm adopts four-dimensional quaternion, compared with the Euler angle, a large amount of trigonometric function operation involved in Euler angle calculation is avoided, the updating rate and the real-time performance are ensured, and meanwhile, singularity caused by Euler angle calculation does not exist.
In a specific embodiment, the determining whether the corrected motion gesture information sequence matches a standard gesture information sequence in a standard gesture information sequence database includes:
comparing the corrected motion attitude information sequence with each standard attitude information sequence in a standard attitude information sequence database, and determining a standard attitude information sequence closest to the corrected motion attitude information sequence;
judging whether the difference between the corrected motion attitude information sequence and the nearest and nearest standard attitude information sequence meets a threshold value;
if so, the matching result is that the corrected motion attitude information sequence is matched with the standard attitude information sequence;
if not, the matching result is that the corrected motion attitude information sequence is not matched with the standard attitude information sequence.
Wherein, the comparing the corrected motion attitude information sequence with each standard attitude information sequence in a standard attitude information sequence database comprises: and based on the Bellman principle, respectively comparing the corrected motion attitude information sequence with each standard attitude information sequence by adopting a DTW (delay tolerant shift keying) algorithm.
Referring to fig. 3, the feature vector sequence N of the test template is marked on the horizontal axis of a two-dimensional rectangular coordinate system, the feature vector sequence M of the reference template is marked on the vertical axis, and the vertical and horizontal lines are drawn by the integer coordinates representing the serial numbers to form a grid, wherein each node in the grid corresponds to the transfer distance of the corresponding element of the two sequences. The DTW algorithm is carried out in two steps, namely, the distance between two sequence elements is calculatedThe distance matrix is obtained, and the optimal path is found out from the distance matrix. If all possible paths are searched in the path planning process, the calculation cost is too high. In order to select the optimal path and reduce the calculation complexity, the path dynamic planning is carried out by utilizing the Bellman principle. Starting point (i)
1，j
1) To the end point (i)
k，j
k) Can be expressed as
If (i)
f，j
f) Is a starting point (i)
1，j
1) To the end point (i)
k，j
k) One node on the path is then passed through node (i)
f，j
f) Is expressed as
According to the Bellman principle
From the starting point (i)
1，j
1) Passing through the node (i)
f，j
f) To the end point (i)
k，j
k) Is from the starting point (i)
1，j
1) To node (i)
f，j
f) And the best path and the routing node (i)
f，j
f) To the end point (i)
k，j
k) Of the optimal path.
The process of searching for the optimal path includes, for example: starting from point (i, j), for the local path constraint as in fig. 4, the previous lattice point reachable by point (i, j) may only be (i-1, j), (i-1, j-l) and (i, j-1), and then (i, j) must select the point corresponding to the minimum of these three distances as its previous lattice point.
Calculation from the starting point (i)
1，j
1) To the kth node (i)
k，j
k) Then, assuming a transition to node (i)
k，j
k) Must be routed to node (i) with the possible sequence number k-1 on the path
k-1，j
k-1) And starting. Easily derived from the Bellman principle
In this way, starting from point (l,1) (let D (1,1) ═ 0), a search is performed, and recursion is repeated until (N, M) the optimal path is obtained, and D (N, M) is the matching distance corresponding to the optimal matching path. When action recognition is carried out, the test template is matched with all the reference templates to obtain the minimum matching distance D
minAnd (N, M) is the recognition result.
In summary, in the embodiment of the present invention, based on the bellman principle, comparing the corrected motion posture information sequence with the standard posture information sequence by using the DTW algorithm includes:
establishing a two-dimensional rectangular coordinate system according to the corrected motion attitude information sequence and the standard attitude information sequence;
solving the shortest distance from the initial point to the terminal point of the two-dimensional rectangular coordinate system according to the formula (1):
wherein:
i
kthe k standard attitude information in the standard attitude information sequence is obtained;
j
kthe k motion attitude information in the corrected motion attitude information sequence is obtained;
D
min(i
k,j
k) Is a node (i) from an initial point to the two-dimensional rectangular coordinate system
k,j
k) The shortest distance of (d);
D
min(i
k-1，j
k-1) Is a node (i) from an initial point to the two-dimensional rectangular coordinate system
k-1,j
k-1) The shortest distance of (d);
d(i
k，j
k|i
k-1，j
k-1) Is a slave node (i)
k-1，j
k-1) To node (i)
k，j
k) The transfer distance of (2).
According to the embodiment of the invention, the initial point and the terminal point of the action are accurately found through the cepstrum action sequence end point detection, and the dynamic path planning is carried out by utilizing the Bellman principle, so that the identification efficiency is improved, and the calculated amount is reduced.
Referring to fig. 5, an embodiment of the present invention further provides an ankle pump movement monitoring apparatus, including:
the acquiring unit 10 is used for acquiring real-time motion attitude information of a user, wherein the real-time motion attitude information comprises angular velocity information, acceleration information and magnetic force information;
the correction unit 20 is used for performing data fusion on the angular velocity information, the acceleration information and the magnetic force information to obtain corrected motion attitude information;
a determination unit 30 for determining a corrected motion attitude information sequence within one motion cycle;
a judging unit 40 for judging whether the corrected motion attitude information sequence matches with a standard attitude information sequence in a standard attitude information sequence database to obtain a matching result
And a sending and/or displaying unit 50 for sending and/or displaying the matching result to prompt the user whether to continue to move according to the current action.
In an optional embodiment, the angular velocity information includes three-axis angular velocities, the acceleration information includes three-axis accelerations, the magnetic force information includes three-axis magnetic forces, and the modification unit 20 is configured to:
constructing a state transition matrix and an observation equation matrix of extended Kalman filtering according to a state variable and an observation variable by taking a quaternion and a gyro triaxial zero offset error as the state variables and the triaxial acceleration and the triaxial magnetic force as the observation variables;
obtaining a state variable predicted value and an observed value according to the state transition matrix and the observation equation matrix;
correcting and compensating the state variable predicted value according to the observation value so as to update quaternion and gyro triaxial zero offset error in real time;
and carrying out strapdown attitude calculation according to the updated quaternion and the gyro triaxial zero-offset error to obtain corrected motion attitude information.
In an alternative embodiment, the determining unit 40 is configured to:
comparing the corrected motion attitude information sequence with each standard attitude information sequence in a standard attitude information sequence database, and determining a standard attitude information sequence closest to the corrected motion attitude information sequence;
judging whether the difference between the corrected motion attitude information sequence and the nearest and nearest standard attitude information sequence meets a threshold value;
if so, the matching result is that the corrected motion attitude information sequence is matched with the standard attitude information sequence;
if not, the matching result is that the corrected motion attitude information sequence is not matched with the standard attitude information sequence.
The embodiments of the apparatus and the methods of the present invention correspond to one another, and have the advantages of the embodiments of the methods, and specific descriptions of the functional units, the advantages, and the like are given in the embodiments of the methods, and are not repeated herein.
Referring to fig. 6, an embodiment of the present invention further provides an ankle pump movement monitoring system, which includes a housing 7, and a power supply 1, a controller 2, a gyroscope, an accelerometer, a magnetometer 4, a communication module 5, and a strap 6 fixed on the housing 7; the strap 6 is used for fixing with the foot of the user; the power supply 1 is respectively connected with the controller 2, the gyroscope, the accelerometer, the magnetometer 4 and the communication module 5 and is used for supplying power to the controller 2, the gyroscope, the accelerometer, the magnetometer 4 and the communication module 5; the gyroscope, the accelerometer, the magnetometer 4 and the communication module 5 are respectively connected with the controller 2, the gyroscope is used for sending angular velocity information of the user movement to the controller 2, the accelerometer is used for sending acceleration information of the user movement to the controller 2, and the magnetometer 4 is used for sending magnetic force information of the user movement to the controller 2; the controller 2 is used for determining user posture information according to the angular velocity information, the acceleration information and the magnetic force information, matching the posture information with standard posture information and obtaining a matching result; the communication module 5 is configured to obtain the matching result and send matching result information including the matching result to the terminal device.
In the embodiment of the invention, the terminal equipment can comprise a mobile phone, a notebook computer, an intelligent television, a pad and the like; the communication module 5 can be a Bluetooth module, an infrared communication module or a wifi communication module, and the Bluetooth module is preferred; in the embodiment of the invention, in order to save the equipment space, a gyroscope and an accelerometer are integrated components; the controller 2 is a microcontroller.
Specifically, in the embodiment of the present invention, the controller 2 includes an obtaining unit, a correcting unit, a determining unit, and a determining unit, where the obtaining unit is configured to obtain output signals (that is, angular velocity information, acceleration information, and magnetic force information) of the gyroscope, the accelerometer, and the magnetometer 4, the correcting unit is configured to perform data fusion on the angular velocity information, the acceleration information, and the magnetic force information to obtain corrected motion attitude information, the determining unit is configured to determine a corrected motion attitude information sequence in one motion cycle, and the determining unit is configured to determine whether the corrected motion attitude information sequence matches a standard attitude information sequence in a standard attitude information sequence database to obtain a matching result; the acquiring unit, the correcting unit, the determining unit and the judging unit correspond to the acquiring unit, the correcting unit, the determining unit and the judging unit provided by the embodiment of the device in a one-to-one manner, and the data processing methods of the units correspond to the embodiment of the method in a one-to-one manner, and the method embodiment is detailed and is not repeated herein;
the accelerometer and the magnetometer can respectively measure two three-dimensional vectors of gravity acceleration and geomagnetic field (magnetic force), the extended Kalman filtering can be combined with the characteristics of the sensors, the angular velocity measured by the gyroscope is used for prediction updating, and the gravity acceleration and the magnetic field are used for observation updating to obtain attitude information with higher precision;
referring to fig. 7, during the use, dress ankle pump motion monitoring system on user's foot, along with patient's motion, each sensor carries out AD collection to the user action to mean value filtering, transmits the nine data after filtering for microcontroller through the I2C mode, and microcontroller utilizes data to carry out the gesture and resolves and the action discernment matches, sends the matching result to the cell-phone through bluetooth module at last.
The ankle pump movement monitoring system provided by the embodiment of the invention monitors the real-time posture information of the ankle pump movement of a user through the gyroscope, the accelerometer and the magnetometer 4, determines a movement posture information sequence in a movement period according to the real-time posture information, compares the movement posture information sequence with a standard movement posture information sequence in a standard database, judges whether the ankle pump movement performed by the user meets the requirement or not, and sends a judgment result to the terminal equipment, so that the terminal equipment user can know the movement state of a monitoring system user of the ankle pump movement in time, and when the terminal equipment user is a patient, the patient can adjust the movement posture by himself without external guidance, thereby saving the human resource cost of medical staff; when the terminal equipment user is a doctor, the doctor can know the ankle pump movement condition of the user in time;
the ankle pump motion detection system provided by the embodiment of the invention can be realized by small electronic components, is small and easy to wear, meets the actual requirements of postoperative patients, does not need a precise mechanical structure, and reduces the machining cost.
To further achieve compactness of the system, in the present embodiment, the controller 2, the gyroscope, the accelerometer, the magnetometer 4 and/or the communication module 5 are integrated on a circuit board.
In an alternative embodiment of the present invention, the ankle pump movement detection system further comprises a display screen fixed to the housing 7, the display screen being connected to the controller 2 for displaying the matching result obtained by the controller 2. Through setting up the display screen, the user of being convenient for is audio-visual obtains the matching result. Correspondingly, the controller 2 in the embodiment of the present invention may further include a data processing unit, configured to count a plurality of matching results of the user to obtain motion rule information, where the plurality of matching results include a plurality of matching results of the same user in different time periods, and the motion rule may include a motion rule of the same user in different time periods, such as the number of times of completing an action, the accuracy of the action, and the like; in other embodiments, the multiple matching results may also include multiple matching results of different users in the same time period, and the like, which is not limited in the present invention. By counting the motion rule of the user, the user can know the stage motion condition conveniently.
In an alternative embodiment of the invention, the ankle pump motion detection system further comprises an input device connected to the controller 2 for obtaining information input by the user. The user-entered information may include a user-entered identification code, exercise timing information, and the like. Through the input device, man-machine interaction is enhanced, the system is more humanized and personalized, and the user satisfaction is improved. In a specific embodiment, the display screen is further configured to display user classification information, and accordingly, the input device is configured to obtain the user classification information input by the user. The controller 2 also has a selection unit for selecting the corresponding standard attitude information database according to the classification information input by the user.
In an optional embodiment of the present invention, the ankle pump movement detection system further comprises a voice broadcasting device connected to the controller, and the voice broadcasting device is configured to broadcast the matching result. The matching result is broadcasted by the voice broadcasting device, so that a user can know the current movement condition without specially checking a display screen in the movement process, the user satisfaction degree is improved, the measuring system can be used for users with visual disorders, and the use range is expanded. Further, the controller 2 further comprises a timing unit, a user of the input device acquires timing information input by the user, the timing unit is used for sending a reminding control instruction when the timing time is reached, and the voice broadcasting device is further used for sending timing ending reminding information according to the reminding control instruction, so that the user can move according to the preset time length.
The embodiment of the invention also provides terminal equipment which comprises a communication module and a display module, wherein the communication module is used for acquiring matching result information, the matching result information comprises a matching result, and the matching result is obtained by matching the user posture information determined according to the angular velocity information, the acceleration information and the magnetic force information with the standard posture information; and the display module is used for displaying the matching result.
Specifically, in the embodiment of the present invention, the matching result information may further include information such as a user identifier and exercise time, which is not limited in the present invention; the terminal device may include a mobile phone, a notebook computer, a smart television, a pad, and the like, which is not limited in the present invention.
The terminal equipment provided by the embodiment of the invention can timely know the motion condition of the ankle pump of the user by acquiring the matching result information sent by the ankle pump motion detection system, so that when the terminal equipment user is a patient, the patient can automatically adjust the motion posture without external guidance, and the human resource cost of medical personnel is saved; when the terminal equipment user is a doctor, the doctor can know the ankle pump movement condition of the user in time;
in an optional embodiment, the matching result information further includes time information, and the terminal device further includes a processing module, configured to perform data processing on the matching result information to obtain a corresponding relationship between a matching result and time, so as to count a motion condition of a user within a period of time. Furthermore, the matching result information further includes a user identifier, and the terminal device further includes a processing module, configured to perform data processing on the matching result information to obtain a corresponding relationship between a matching result and a user, so as to count different motion conditions of different users.
The invention has not been described in detail in part of the common general knowledge of those skilled in the art. The specific embodiments described are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
The invention has not been described in detail in part of the common general knowledge of those skilled in the art.
Claims (10)
1. The monitoring system for the ankle pump movement is characterized by comprising a shell, a power supply, a controller, a gyroscope, an accelerometer, a magnetometer, a communication module and a binding belt, wherein the power supply, the controller, the gyroscope, the accelerometer, the magnetometer, the communication module and the binding belt are fixed on the shell; the strap is used for being fixed with the foot of a user; the power supply is respectively connected with the controller, the gyroscope, the accelerometer, the magnetometer and the communication module and used for supplying power to the controller, the gyroscope, the accelerometer, the magnetometer and the communication module; the gyroscope, the accelerometer, the magnetometer and the communication module are respectively connected with the controller, the gyroscope is used for sending angular velocity information of user movement to the controller, the accelerometer is used for sending acceleration information of user movement to the controller, and the magnetometer is used for sending magnetic force information of user movement to the controller;
the controller is used for acquiring real-time motion attitude information of a user, the real-time motion attitude information comprises angular velocity information, acceleration information and magnetic force information, the angular velocity information, the acceleration information and the magnetic force information are subjected to data fusion to obtain corrected motion attitude information, a corrected motion attitude information sequence in a motion period is determined, whether the corrected motion attitude information sequence is matched with a standard attitude information sequence in a standard attitude information sequence database is judged, a matching result is obtained, wherein the angular velocity information comprises three-axis angular velocity, the acceleration information comprises three-axis acceleration, the magnetic force information comprises three-axis magnetic force, and the angular velocity information, the acceleration information and the magnetic force information are subjected to data fusion to obtain corrected motion attitude information, and the method comprises the following steps: constructing a state transition matrix and an observation equation matrix of extended Kalman filtering according to a state variable and an observation variable by taking a quaternion and a gyro triaxial zero offset error as the state variables and the triaxial acceleration and the triaxial magnetic force as the observation variables; obtaining a state variable predicted value and an observed value according to the state transition matrix and the observation equation matrix; correcting and compensating the state variable predicted value according to the observation value so as to update quaternion and gyro triaxial zero offset error in real time; carrying out strapdown attitude calculation according to the updated quaternion and the gyro triaxial zero offset error to obtain corrected motion attitude information;
the communication module is used for acquiring the matching result and sending matching result information containing the matching result.
2. The ankle pump movement monitoring system of claim 1 wherein the controller, gyroscope, accelerometer, magnetometer, and/or communication module are integrated on a circuit board.
3. The ankle pump movement monitoring system of claim 1 further comprising a display screen affixed to the housing, the display screen being connected to the controller for displaying the matching results from the controller.
4. The system for monitoring movement of an ankle pump of claim 3 further comprising an input device connected to the controller, the input device for obtaining user-entered information.
5. The system for monitoring movement of an ankle pump of claim 4 wherein the display screen is further configured to display user classification information and the input device is configured to obtain user classification information input by a user.
6. The ankle pump movement monitoring system of claim 1 further comprising a voice announcement device connected to the controller, the voice announcement device being configured to announce the matching result.
7. The ankle pump movement monitoring system of claim 1 wherein the communication module comprises a bluetooth module, a wifi module or an infrared module.
8. The terminal equipment is characterized by comprising a communication module and a display module, wherein the communication module is used for acquiring matching result information, the matching result information comprises a matching result, and the matching result is obtained by matching user posture information determined according to angular velocity information, acceleration information and magnetic force information with standard posture information; the display module is configured to display the matching result, where the matching result is obtained by a controller of a monitoring system, and the display module specifically includes:
the controller is used for acquiring real-time motion attitude information of a user, the real-time motion attitude information comprises angular velocity information, acceleration information and magnetic force information, the angular velocity information, the acceleration information and the magnetic force information are subjected to data fusion to obtain corrected motion attitude information, a corrected motion attitude information sequence in a motion period is determined, whether the corrected motion attitude information sequence is matched with a standard attitude information sequence in a standard attitude information sequence database is judged, a matching result is obtained, wherein the angular velocity information comprises three-axis angular velocity, the acceleration information comprises three-axis acceleration, the magnetic force information comprises three-axis magnetic force, and the angular velocity information, the acceleration information and the magnetic force information are subjected to data fusion to obtain corrected motion attitude information, and the method comprises the following steps: constructing a state transition matrix and an observation equation matrix of extended Kalman filtering according to a state variable and an observation variable by taking a quaternion and a gyro triaxial zero offset error as the state variables and the triaxial acceleration and the triaxial magnetic force as the observation variables; obtaining a state variable predicted value and an observed value according to the state transition matrix and the observation equation matrix; correcting and compensating the state variable predicted value according to the observation value so as to update quaternion and gyro triaxial zero offset error in real time; and carrying out strapdown attitude calculation according to the updated quaternion and the gyro triaxial zero-offset error to obtain corrected motion attitude information.
9. The terminal device according to claim 8, wherein the matching result information further includes time information, and the terminal device further includes a processing module configured to perform data processing on the matching result information to obtain a correspondence between a matching result and time.
10. The terminal device according to claim 8, wherein the matching result information further includes a user identifier, and the terminal device further includes a processing module, configured to perform data processing on the matching result information to obtain a corresponding relationship between a matching result and a user.
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| CN108671505B (en) * | 2018-03-20 | 2019-11-19 | 杭州电子科技大学 | A kind of badminton auxiliary system and its control method |
| CN108648795B (en) * | 2018-03-30 | 2019-05-17 | 常州市第一人民医院 | A kind of ankle pump sport monitoring device and computer readable storage medium |
| CN109847308B (en) * | 2019-02-14 | 2021-05-14 | 张智敏 | Sports training system based on big data |
| CN111150403A (en) * | 2019-12-09 | 2020-05-15 | 重庆百会体育产业有限公司 | Ankle motion detection system |
| CN111561926A (en) * | 2020-06-04 | 2020-08-21 | 成都亿佰特电子科技有限公司 | Portable posture detection device and article posture detection method |
| CN113080879A (en) * | 2021-05-06 | 2021-07-09 | 陕西福音假肢有限责任公司 | Circuit and method for continuously and dynamically measuring joint movement angle |
| CN115844359A (en) * | 2022-10-28 | 2023-03-28 | 北京大学第三医院（北京大学第三临床医学院） | Risk early warning interaction system for intelligent ankle pump training detection and analysis and intelligent foot ring |
| CN116211290B (en) * | 2023-02-20 | 2024-01-30 | 汕头大学 | Ankle pump movement posture monitoring and evaluating method and system |
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