CN109830086A - A kind of SCM Based the elderly falls down detection system under walking states - Google Patents
A kind of SCM Based the elderly falls down detection system under walking states Download PDFInfo
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Abstract
The present invention is that a kind of SCM Based the elderly falls down detection system, including single chip processing module, inertial sensor module, GPS positioning module, GPRS communication module, pressure sensor module and power module under walking states；The inertial sensor module is mounted on the ankle-joint position of the elderly user, and horizontally forward, horizontally to the right, z-axis forward direction is straight down for y-axis forward direction for inertial sensor module x-axis forward direction；Single chip processing module, GPS positioning module, GPRS communication module, pressure sensor module and the equal integrated installation of power module are at the shoe lining sole of the elderly user；The GPRS communication module is communicated by the realization of GSW public network with safeguard and supervision for the aged manpower machine short message.The present invention calculates the gait phase parameter of the elderly while realizing that detection the elderly falls down, and falls down reason for analysis the elderly and effective prevention the elderly falls down and provides necessary foundation.
Description
Technical field
The invention belongs to medical treatment & health fields, and in particular to a kind of SCM Based the elderly falling under walking states
Detection system.
Background technique
The aging degree of Chinese population is accelerating to deepen.2017,60 one full year of life and the above population in national population
240900000 people account for the 17.3% of total population, wherein 158,310,000 people of 65 one full year of life and the above population, accounts for the 11.4% of total population.60
One full year of life above population and 65 one full year of life above population all increase 0.6 percentage point than last year.The year two thousand twenty is expected, elderly population reach
To 2.48 hundred million, aging level reaches 17.17%, wherein 80 years old or more elderly population are up to 30,670,000 people；2025,60
Year old or more population be up to 300,000,000, become super senior type country.
Chinese population the elderly's proportion is increasing.The elderly is as a biggish group, society just by more
Concern, the especially health of the elderly.As the age increases, human body items physiological function is degenerated seriously, causes the coordination of gait
The decline of property, Equilibrium Equivalent Concentration and muscle strength, to be easy to fall down Deng contingencies.Studies have found that balance
Function is impaired and gait stability decline is to cause the main reason for the elderly falls down.The elderly falls down and cannot be found in time
And the event damaged also happens occasionally.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is: providing a kind of SCM Based old age
People falls down detection system under walking states.The system is total with the elderly's ankle-joint angular velocity information and plantar pressure information
It with foundation is used as, more accurately detects whether the elderly falls down in the process of walking, and calculates the gait phase ginseng of the elderly
Number falls down reason for analysis the elderly and effective prevention the elderly falls down and provides necessary foundation, is clinical disease diagnosis and health
Multiple medicine provides more information reference, to improve the quality of life of the elderly.
The present invention adopts the following technical scheme that solve above-mentioned technical problem, and a kind of SCM Based the elderly is walking
Detection system is fallen down under state, including single chip processing module, inertial sensor module, GPS positioning module, GPRS communicate mould
Block, pressure sensor module and power module；It is characterized in that,
The inertial sensor module is mounted on the ankle-joint position of the elderly user, and inertial sensor module x-axis is just
To horizontally forward, horizontally to the right, z-axis forward direction is straight down for y-axis forward direction；Single chip processing module, GPS positioning module, GPRS are logical
Believe module, pressure sensor module and the equal integrated installation of power module at the shoe lining sole of the elderly user；The power supply
Module is connect with single chip processing module；The single chip processing module respectively with inertial sensor module, pressure sensor mould
Block, GPS positioning module and the electrical connection of GPRS communication module；The GPRS communication module is realized by GSW public network and is supervised with the elderly
Protect the communication of manpower machine short message；
Detection process is:
Step 1: reading position information
Read old man's location information in real time by GPS positioning module；
Step 2: acquisition signal
The elderly's ankle-joint angular velocity information is acquired by inertial sensor module, is acquired by pressure sensor module old
Year people's plantar pressure information, and the curve that ankle-joint angular speed changes over time is drawn, it removes in angular speed curve because human body is trembled
Dynamic and generation spurious peaks；
Step 3: just sentence the state of falling down
It determines the curvilinear characteristic that y-axis ankle-joint angular speed changes over time, detects ankle-joint angular speed curve with the time
Whether passage always exists periodic peak point；If it exists, then it is assumed that the elderly is normal walking states, calculates old man's gait
Phase parameter, return step one；If it does not exist, then tentatively judge that the elderly falls down, enter step four；
Step 4: determination is fallen down
Human normal walking is acquired by pressure sensor and falls down the plantar pressure information under state, sets the elderly
Pressure threshold when falling down judges whether current plantar pressure value subtracts according to the plantar pressure information of current the elderly user
Five are entered step if so, judging that old man has fallen down for the plantar pressure threshold value under the state of falling down；If it is not, then returning again
Return step 1；
Step 5: the elderly's location information and gait phase parameter are sent to guardian's mobile phone
After detecting that old man falls down, the location information of old man and gait phase parameter are sent out by GPRS communication module 4
It send to guardian's mobile phone, to obtain emergency in time；Meanwhile guardian does accordingly old man according to the gait phase parameter of transmission
Exercise, to improve old man's degree of reaction, sensitivity and limbs balanced capacity, pre- falling-resistant.
Compared with prior art, the beneficial effects of the present invention are:
The present invention draws ankle-joint angle by the ankle-joint angular velocity information during acquiring the elderly from walking to falling down
The curve that speed changes over time, removal spurious peaks because of caused by human body shake.When ankle-joint angular speed curve is with the time
Passage can detecte out whether the elderly falls down in conjunction with plantar pressure variation there is no when periodic peak point.It is existing
Detection fall down equipment and can detecte out the elderly and fall down, but after the elderly falls down, problem of falling down cannot be carried out qualitative
Analysis, to cannot be that analysis the elderly falls down reason and is effectively to prevent the elderly to fall down and provide necessary foundation.The present invention
Gait analysis algorithm with strong applicability is embedded, while realizing that detection the elderly falls down, when calculating the gait of the elderly
Phase parameter falls down reason for analysis the elderly and effective prevention the elderly falls down and provides necessary foundation, is clinical disease diagnosis
More information reference is provided with medical science of recovery therapy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of SCM Based wearable the elderly of the invention falls down detection system；
Y-axis angular speed curve when Fig. 2 is human normal walking；
Y-axis angular speed curve when Fig. 3 is falling over of human body；
The relationship that Fig. 4 heel strike, tiptoe are liftoff between local peaking's point
Fig. 5 is the work flow diagram that the SCM Based wearable the elderly of one kind falls down detection system.
In figure, 1 single chip processing module, 2 inertial sensor modules, 3 GPS positioning modules, 4 GPRS communication modules, 5 pressures
Force snesor module, 6 power modules, 7 mobile phones.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
A kind of SCM Based the elderly of the present invention falls down detection system, including single-chip microcontroller processing under walking states
Module, inertial sensor module, GPS positioning module, GPRS communication module, pressure sensor module and power module.It is described used
Property sensor module is mounted on the ankle-joint position of the elderly user, inertial sensor module x-axis forward direction horizontally forward, y-axis
Horizontally to the right, z-axis forward direction is straight down for forward direction.Single chip processing module, GPS positioning module, GPRS communication module, pressure sensing
Device module and the equal integrated installation of power module are at the shoe lining sole of the elderly user；The power module and single-chip microcontroller are handled
Module connection, powers for single chip processing module；The single chip processing module respectively with inertial sensor module, pressure sensing
Device module, GPS positioning module and the electrical connection of GPRS communication module；The GPRS communication module is realized and old age by GSW public network
The communication of people guardian's SMS information；
Detection process is:
Step 1: reading position information
Read the elderly's location information in real time by GPS positioning module.
Step 2: acquisition signal
The elderly's ankle-joint angular velocity information is acquired by inertial sensor module, is acquired by pressure sensor module old
Year people's plantar pressure information, and the curve that ankle-joint angular speed changes over time is drawn, it removes in angular speed curve because human body is trembled
Dynamic and generation spurious peaks.
Step 3: just sentence the state of falling down
It determines the curvilinear characteristic that y-axis ankle-joint angular speed changes over time, detects ankle-joint angular speed curve with the time
Whether passage always exists periodic peak point.If it exists, then it is assumed that the elderly is normal walking states, calculates old man's gait
Phase parameter, return step one；If it does not exist, then tentatively judge that the elderly falls down, enter step four.
Step 4: determination is fallen down
Human normal walking is acquired by pressure sensor and falls down the plantar pressure information under state, sets the elderly
Pressure threshold when falling down judges whether current plantar pressure value subtracts according to the plantar pressure information of current the elderly user
Five are entered step if so, judging that old man has fallen down for the plantar pressure threshold value under the state of falling down；If it is not, then returning again
Return step 1；
The present invention is added plantar pressure information and judges, final to detect whether the elderly falls down, and examines more accurately, in time
Old man is surveyed to fall down.
Step 5: the elderly's location information and gait phase parameter are sent to guardian's mobile phone.
After detecting that old man falls down, the location information of old man and gait phase parameter are sent out by GPRS communication module 4
It send to guardian's mobile phone, to obtain emergency in time；Meanwhile guardian does accordingly old man according to the gait phase parameter of transmission
Exercise, to improve old man's degree of reaction, sensitivity and limbs balanced capacity, pre- falling-resistant.
The present invention has embedded gait analysis algorithm with strong applicability, while realizing that detection the elderly falls down, calculates
The gait phase parameter of the elderly falls down reason for analysis the elderly and effective prevention the elderly falls down and provides necessary foundation,
More information reference is provided for clinical disease diagnosis and medical science of recovery therapy.
In step 3, the concrete operations of state are fallen down in preliminary judgement are as follows: y-axis ankle-joint angle speed when observation human body normal walking
The curve (removal spurious peaks because of caused by human body shake) changed over time is spent, the step number of entire walking process is exactly curve office
Portion's peak point number.So periodic peak point is not present in the ankle-joint angular speed curve as the elderly as time goes by
When, it can tentatively judge that old man falls down.
In step 3, the gait phase parameter concrete operations of the elderly are calculated are as follows: human walking procedure is a rhythmicity
Movement.Gait cycle includes two phases: support phase and swing phase.In gait analysis, there are two gait key points: tiptoe
Liftoff and heel strike.Tiptoe is liftoff to refer to that unilateral foot will leave ground, the moment that tiptoe is finally contacted with ground.Heel is hit
Ground refers to the moment that swing phase terminates in gait processes, and unilateral foot has just been contacted with ground.
Respectively T at the time of if the liftoff point of heel strike point and tiptoe in n-th of gait cycle is correspondingstrike(n)、Tof
(n), the initial time by heel strike o'clock as a gait cycle, then the gait cycle T of available n-th stepcycle(n)
Are as follows:
Tcycle(n)=Tstrike(n+1)-Tstrike(n)
Support phase duration T in the gait cyclesp(n) are as follows:
Tsp(n)=Tof(n)-Tstrike(n)
Swing phase duration T in the gait cycleswing(n) are as follows:
Tswing(n)=Tstrike(n+1)-Tof(n)。
In step 4, the concrete operations fallen down are determined are as follows: the plantar pressure value obtained when human normal is walked is defined as
The plantar pressure value obtained under falling over of human body state is defined as pressure when second pressure value, i.e. falling over of human body by first pressure value
Force threshold.When old man's plantar pressure value is kept to second pressure value from first pressure value, that is, judge that old man falls down.
Embodiment
A kind of SCM Based the elderly of the present embodiment falls down detection system, including following step under walking states
It is rapid:
Step 1: reading position information
Read old man's location information in real time by GPS positioning module.
Step 2: acquisition signal
The elderly's ankle-joint angular velocity information is acquired by inertial sensor module, is acquired by pressure sensor module old
Year people's plantar pressure information, and the curve that ankle-joint angular speed changes over time is drawn, it removes in angular speed curve because human body is trembled
Dynamic and generation spurious peaks.
Step 3: just sentence the state of falling down
It determines the curvilinear characteristic that y-axis ankle-joint angular speed changes over time, detects ankle-joint angular speed curve with the time
Whether passage always exists periodic peak point.If it exists, then it is assumed that the elderly is normal walking states, calculates old man's gait
Phase parameter (gait cycle, support phase time, swing phase time), return step one；If it does not exist, then tentatively judge the elderly
It falls down, enters step four.
Step 4: determination is fallen down
Human normal walking is acquired by pressure sensor and falls down the plantar pressure information under state, sets the elderly
Pressure threshold when falling down judges whether current plantar pressure value subtracts according to the plantar pressure information of current the elderly user
Five are entered step if so, judging that old man has fallen down for the plantar pressure threshold value under the state of falling down；If it is not, then returning again
Return step 1；
Step 5: the elderly's location information and gait phase parameter are sent to guardian's mobile phone.
After detecting that old man falls down, the location information of old man and gait phase parameter are sent out by GPRS communication module 4
It send to guardian's mobile phone, to obtain emergency in time；Meanwhile guardian does accordingly old man according to the gait phase parameter of transmission
Exercise, to improve old man's degree of reaction, sensitivity and limbs balanced capacity, pre- falling-resistant.
It is fallen down 1. just sentencing
The curve that y-axis ankle-joint angular speed changes over time when observing human body normal walking (draw because of human body shake by removal
The spurious peaks risen), the step number of entire walking process is exactly curve local peaking point number, as shown in Figure 2.When the ankle of the elderly closes
When periodic peak point is not present in section angular speed curve as time goes by, falling over of human body can be tentatively judged, such as Fig. 3 institute
Show.Each periodically peak point, which represents, to be made a move, just no longer walking stride after falling down, so no longer in the presence of periodically
Peak point.
2. calculating the gait phase parameter of the elderly
Human walking procedure is the movement of a rhythmicity.Gait cycle includes two phases: support phase and swing phase.?
In gait analysis, there are two gait key points: tiptoe is liftoff and heel strike.Tiptoe is liftoff to refer to that unilateral foot will leave ground
Face, the moment that tiptoe is finally contacted with ground.Heel strike refers to that swing phase terminates in gait processes, and unilateral foot and ground are just
The moment of contact.
Respectively T at the time of if the liftoff point of heel strike point and tiptoe in n-th of gait cycle is correspondingstrike(n)、Tof
(n), the initial time by heel strike o'clock as a gait cycle, then the gait cycle T of available n-th stepcycle(n)
Are as follows:
Tcycle(n)=Tstrike(n+1)-Tstrike(n)
Support phase duration T in the gait cyclesp(n) are as follows:
Tsp(n)=Tof(n)-Tstrike(n)
Swing phase duration T in the gait cycleswing(n) are as follows:
Tswing(n)=Tstrike(n+1)-Tof(n)。
In the case where human body is static, y-axis angular speed is ideally zero, so inferring that local peaking's point centainly occurs
During swing phase, then heeloff liftoff respectively in the two sides of local peaking's point with tiptoe.Tiptoe is liftoff, and point is corresponding local
First local trough before peak point, heel strike point correspond to first zero crossing after partial points, as shown in Figure 4.
When walking, the support phase time accounts for the accounting about 60% of gait cycle to people, according to the heel strike point time of y-axis angular speed curve
Gait cycle T can be calculated with the liftoff time of tiptoecycle(n), support phase time Tsp(n), swing phase time Tswing(n)。
When old man's gait cycle is obviously 0.2~0.5 times longer than the standard gait cycle time, illustrate that aging causes to feel slow
It is blunt, reaction is slack-off, then guardian needs to allow old man to reinforce brain training, keeps certain degree of reaction and sensitivity；When old man's
When left and right foot support phase time difference falls down old man's gait cycle time or more at 0.2, illustrate that aging leads to muscle strength
Decline and balance ability is caused to decline, then guardian needs that old man is allowed to reinforce isokinetic muscle strength testing and training, and enhancing limbs balance energy
Power.
3. determination is fallen down
The plantar pressure value obtained when human normal is walked is defined as first pressure value, will obtain under falling over of human body state
Plantar pressure value be defined as second pressure value, i.e. pressure threshold after falling over of human body.When old man's plantar pressure value is pressed from first
Force value is kept to second pressure value, that is, judges that old man falls down.
Single chip processing module described in the present embodiment uses STM32F103ZET6 single-chip microcontroller；The inertial sensor mould
Block uses HWT905 module；The GPS positioning module uses ATGM332D-5N-3X module；The GPRS communication module is adopted
With SIM800C module；The pressure sensor module uses 100kg pressure sensor+HX711AD module.
Inertial sensor module HWT905 used in the present invention integrates high-precision accelerometer, gyroscope, earth magnetic field sensing
Measurement noise can be effectively reduced using advanced digital filtering technique in device, improve measurement accuracy.HWT905 inside modules are integrated
Attitude algorithm device cooperates Dynamic Kalman Filtering algorithm, is capable of the current pose of accurate output module in a dynamic environment, surely
It is qualitative high.GPRS communication module SIM800C has embedded ICP/IP protocol stack, avoid user oneself transplant protocol stack when
Many difficulties, while greatly improve the stability of system also, have small in size, and light-weight, cheap, interface is simple, makes
The features such as with facilitating, can be widely used in field data collection, in the numerous areas such as long-range monitoring.
Standard gait cycle in the present invention refers in normal adults walking process side heel contact to the parapodum with again
Secondary elapsed time when landing.Walking states in the application refer to old man's nature walking states, and normal walking state, which refers to, does not fall
The nature of while falling walking states.
The present invention does not address place and is suitable for the prior art.
Claims (4)
1. a kind of SCM Based the elderly falls down detection system under walking states, including it is single chip processing module, used
Property sensor module, GPS positioning module, GPRS communication module, pressure sensor module and power module；It is characterized in that,
The inertial sensor module is mounted on the ankle-joint position of the elderly user, inertial sensor module x-axis forward direction water
It puts down forward, horizontally to the right, z-axis forward direction is straight down for y-axis forward direction；Single chip processing module, GPS positioning module, GPRS communicate mould
Block, pressure sensor module and the equal integrated installation of power module are at the shoe lining sole of the elderly user；The power module
It is connect with single chip processing module；The single chip processing module respectively with inertial sensor module, pressure sensor module,
GPS positioning module and the electrical connection of GPRS communication module；The GPRS communication module is realized and safeguard and supervision for the aged people by GSW public network
The communication of SMS information；
Detection process is:
Step 1: reading position information
Read old man's location information in real time by GPS positioning module；
Step 2: acquisition signal
The elderly's ankle-joint angular velocity information is acquired by inertial sensor module, the elderly is acquired by pressure sensor module
Plantar pressure information, and the curve that ankle-joint angular speed changes over time is drawn, it removes in angular speed curve due to human body shake
The spurious peaks of generation；
Step 3: just sentence the state of falling down
Determine the curvilinear characteristic that y-axis ankle-joint angular speed changes over time, detection ankle-joint angular speed curve is as time goes by
Whether periodic peak point is always existed；If it exists, then it is assumed that the elderly is normal walking states, calculates old man's gait phase
Parameter, return step one；If it does not exist, then tentatively judge that the elderly falls down, enter step four；
Step 4: determination is fallen down
Human normal walking is acquired by pressure sensor and falls down the plantar pressure information under state, and setting the elderly falls down
When pressure threshold judge whether current plantar pressure value is kept to fall according to the plantar pressure information of current the elderly user
The plantar pressure threshold value under state enters step five if so, judging that old man has fallen down；If it is not, then returning to step
Rapid one；
Step 5: the elderly's location information and gait phase parameter are sent to guardian's mobile phone
After detecting that old man falls down, the location information of old man and gait phase parameter are sent to by GPRS communication module 4
Guardian's mobile phone, to obtain emergency in time；Meanwhile guardian does corresponding forging to old man according to the gait phase parameter of transmission
Refining, to improve old man's degree of reaction, sensitivity and limbs balanced capacity, pre- falling-resistant.
2. according to claim 1 fall down detection system, which is characterized in that
In step 3, if respectively T at the time of the liftoff point of heel strike point and tiptoe in n-th of gait cycle is correspondingstrike
(n)、Tof(n), the initial time by heel strike o'clock as a gait cycle obtains the gait cycle T of the n-th stepcycle(n)
Are as follows:
Tcycle(n)=Tstrike(n+1)-Tstrike(n)
Support phase duration T in the gait cyclesp(n) are as follows:
Tsp(n)=Tof(n)-Tstrike(n)
Swing phase duration T in the gait cycleswing(n) are as follows:
Tswing(n)=Tstrike(n+1)-Tof(n)。
3. according to claim 1 fall down detection system, which is characterized in that step 5 has obtained the gait week for falling down old man
It is obviously longer by 0.2~0.5 than the standard gait cycle time when falling down old man's gait cycle after phase, support phase time, swing phase time
Times, illustrate that aging leads to that insensitive, reaction is slack-off, then needs to remind guardian that old man is allowed to reinforce brain training, keep certain
Degree of reaction and sensitivity；
When the left and right foot support phase time difference for falling down old man falls down old man's gait cycle time or more at 0.2, explanation
Aging causes muscle strength to decline and balance ability is caused to decline, then needs to remind guardian that old man is allowed to reinforce muscle function
Training enhances limbs balanced capacity.
4. according to claim 1 fall down detection system, which is characterized in that the single chip processing module uses
STM32F103ZET6 single-chip microcontroller；The inertial sensor module uses HWT905 module；The GPS positioning module uses
ATGM332D-5N-3X module；The GPRS communication module uses SIM800C module；The pressure sensor module uses
100kg pressure sensor+HX711AD module.
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