CN110236896B - Walking assisting method and device and movable equipment - Google Patents

Walking assisting method and device and movable equipment Download PDF

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CN110236896B
CN110236896B CN201910557163.2A CN201910557163A CN110236896B CN 110236896 B CN110236896 B CN 110236896B CN 201910557163 A CN201910557163 A CN 201910557163A CN 110236896 B CN110236896 B CN 110236896B
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time
walking
user
vertical direction
acceleration
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CN110236896A (en
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徐朋
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Beijing Kingsoft Internet Security Software Co Ltd
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Beijing Kingsoft Internet Security Software Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/001—Appliances for aiding patients or disabled persons to walk about on steps or stairways

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  • Animal Behavior & Ethology (AREA)
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Abstract

The embodiment of the invention provides a walking assisting method, a walking assisting device and movable equipment, which are used for obtaining a current walking mode; acquiring vertical direction acceleration information of a user in real time; judging whether the vertical direction acceleration changes from 0 or not; if so, setting the current time as the starting time; determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time; determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time; and when the current reminding time is reached, triggering the reminding device to remind the user. In the embodiment of the invention, the user can be reminded before the user reaches the next step surface, so that the walking safety of the user is improved.

Description

Walking assisting method and device and movable equipment
Technical Field
The invention relates to the technical field of application program development, in particular to a walking assisting method, a walking assisting device and movable equipment.
Background
The special crowds such as the visually handicapped or the old are easy to have accidents such as empty stepping when walking, especially when going upstairs and downstairs.
Currently, there are physical aids for assisting special people walking, such as: a walking assistance robot, and the like.
However, the device mainly provides a supporting function for the user, reduces the labor intensity of the user in the walking process, cannot remind the user in advance when road surface information changes, reduces the possibility of accidents such as stepping on empty and the like, and improves the walking safety of the user.
Disclosure of Invention
The embodiment of the invention aims to provide a walking assisting method, a walking assisting device and a movable device, so as to improve the walking safety of a user. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a walking assistance method, which is applied to a mobile device including a reminder device, where the method includes:
obtaining a current walking mode; the current walking mode includes: an upstairs mode or a downstairs mode;
acquiring vertical direction acceleration information of a user in real time;
judging whether the vertical direction acceleration changes from 0 or not;
if so, setting the current time as the starting time;
determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time; the predicted walking time of the first step is obtained by calculation according to the historical walking speed of the user in the current walking mode and the height of the first step;
determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time;
and when the current reminding time is reached, triggering the reminding device to remind the user.
Further, before the step of determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time, the method further includes:
judging whether the change of the vertical direction acceleration meets a preset vertical direction acceleration change condition for the user to start walking in the current walking mode;
and if the change of the vertical direction acceleration meets the change condition of the vertical direction acceleration, executing the step of determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time.
Further, the step of determining whether the change of the vertical acceleration satisfies a preset vertical acceleration change condition that the user starts to walk in the current walking mode includes:
judging whether the change trend of the acceleration in the vertical direction meets a preset acceleration change curve corresponding to the current walking mode or not within a preset time period from the starting time, if so, determining that the change of the acceleration in the vertical direction meets a preset acceleration change condition that the user starts walking in the current walking mode.
Further, the step of determining whether the variation trend of the acceleration in the vertical direction meets a preset acceleration variation curve corresponding to the current walking mode within a preset time period from the starting time includes:
if the current walking mode is the upstairs going mode, judging whether the acceleration in the vertical direction is changed from 0 to an upward non-zero value in a preset time period from the starting moment, and whether the variation of the acceleration in the vertical direction exceeds a first variation threshold value; if the vertical direction acceleration is changed from 0 to an upward non-zero value, and the variation of the vertical direction acceleration exceeds the first variation threshold, determining the variation trend of the vertical direction acceleration in a preset time period from the starting time to conform to a preset acceleration variation curve corresponding to the upstairs going mode;
if the walking mode is a downstairs mode, judging whether the acceleration in the vertical direction is changed from 0 to a non-zero value in a downward direction within a preset time period from the starting time, and whether the variation of the acceleration in the vertical direction exceeds a second variation threshold value; and if the vertical direction acceleration is changed from 0 to a downward non-zero value and the variation of the vertical direction acceleration exceeds the second variation threshold, determining the variation trend of the vertical direction acceleration and conforming to a preset acceleration variation curve corresponding to the downstairs mode.
Further, the predicted walking time of the first step is calculated and stored in advance according to the historical walking speed of the user in the current walking mode and the preset height of the first step;
the step of determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time comprises the following steps:
and determining the predicted arrival time when the user arrives at the next step according to the stored predicted walking time of the first step and the starting time.
Further, before the step of determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time, the method further includes:
receiving the height of the first step input by the user;
and calculating the predicted walking time of the first step according to the historical walking speed of the user in the current walking mode and the height of the first step input by the user.
Further, after the step of triggering the reminding device to remind the user when the current reminding time is reached, the method further includes:
determining the time period from the starting time to the time when the vertical direction acceleration becomes 0 for the third time as the actual walking time of the first step;
determining the ratio of the height of the first step to the actual walking time of the first step as the walking speed of the user in the current walking mode;
and determining the average value of the current walking speed and the historical walking speed of the user as the updated historical walking speed of the user.
In a second aspect, an embodiment of the present invention provides a walking assistance device, which is applied to a mobile device including a reminding device, where the walking assistance device includes:
the mode obtaining module is used for obtaining a current walking mode; the current walking mode includes: an upstairs mode or a downstairs mode;
the acceleration information acquisition module is used for acquiring the vertical acceleration information of the user in real time;
the first judgment module is used for judging whether the vertical direction acceleration changes from 0 or not;
the starting time setting module is used for setting the current time as the starting time if the acceleration in the vertical direction changes from 0;
the predicted arrival time determining module is used for determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time; the predicted walking time of the first step is obtained by calculation according to the historical walking speed of the user in the current walking mode and the height of the first step;
the current reminding time determining module is used for determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time;
and the reminding module is used for triggering the reminding device to remind the user when the current reminding time is reached.
Further, the apparatus further comprises:
the second judgment module is used for judging whether the change of the vertical direction acceleration meets the preset vertical direction acceleration change condition that the user starts to walk in the current walking mode before the predicted arrival time when the user arrives at the next step surface is determined according to the predicted walking time length of the first step and the starting time; and if so, triggering the predicted arrival time determining module.
Further, the second judging module,
the method is specifically configured to determine whether a change trend of the vertical direction acceleration within a preset time period from the starting time conforms to a preset acceleration change curve corresponding to the current walking mode, and if so, determine that the change of the vertical direction acceleration satisfies a preset vertical direction acceleration change condition that the user starts walking in the current walking mode.
Further, the second determining module is specifically configured to:
if the current walking mode is the upstairs going mode, judging whether the acceleration in the vertical direction is changed from 0 to an upward non-zero value in a preset time period from the starting moment, and whether the variation of the acceleration in the vertical direction exceeds a first variation threshold value; if the vertical direction acceleration is changed from 0 to an upward non-zero value, and the variation of the vertical direction acceleration exceeds the first variation threshold, determining the variation trend of the vertical direction acceleration in a preset time period from the starting time to conform to a preset acceleration variation curve corresponding to the upstairs going mode;
if the walking mode is a downstairs mode, judging whether the acceleration in the vertical direction is changed from 0 to a non-zero value in a downward direction within a preset time period from the starting time, and whether the variation of the acceleration in the vertical direction exceeds a second variation threshold value; and if the vertical direction acceleration is changed from 0 to a downward non-zero value and the variation of the vertical direction acceleration exceeds the second variation threshold, determining the variation trend of the vertical direction acceleration and conforming to a preset acceleration variation curve corresponding to the downstairs mode.
Further, the predicted walking time of the first step is calculated and stored in advance according to the historical walking speed of the user in the current walking mode and the preset height of the first step;
the predicted arrival time determining module is specifically configured to determine the predicted arrival time when the user arrives at the next step according to the stored predicted walking time of the first step and the start time.
Further, the apparatus further comprises:
the height receiving module is used for receiving the height of the first step input by the user before the predicted arrival time when the user arrives at the next step surface is determined according to the predicted walking time length of the first step and the starting time;
and the predicted walking time calculation module is used for calculating the predicted walking time of the first step according to the historical walking speed of the user in the current walking mode and the height of the first step input by the user.
Further, the apparatus further comprises:
the actual walking duration determining module is used for determining the time period from the starting time to the time when the vertical direction acceleration becomes 0 for the third time as the actual walking duration of the first-stage step after the reminding device is triggered to remind the user when the current reminding time is reached;
the walking speed determining module is used for determining the ratio of the height of the first-stage step to the actual walking time of the first-stage step as the walking speed of the user in the current walking mode;
and the historical walking speed updating module is used for determining the average value of the walking speed of the time and the historical walking speed of the user as the updated historical walking speed of the user.
In a third aspect, an embodiment of the present invention provides a mobile device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;
a memory for storing a computer program;
and a processor for implementing the steps of any of the walking assistance methods described above when executing the program stored in the memory.
In a fourth aspect, the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute any one of the walking assistance methods described above.
According to the walking assisting method, the walking assisting device and the mobile equipment, the current walking mode is obtained; the current walking mode includes: an upstairs mode or a downstairs mode; acquiring vertical direction acceleration information of a user in real time; judging whether the vertical direction acceleration changes from 0 or not; if so, setting the current time as the starting time; determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time; the predicted walking time of the first step is obtained by calculation according to the historical walking speed of the user in the current walking mode and the height of the first step; determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time; and when the current reminding time is reached, triggering the reminding device to remind the user. In the embodiment of the invention, the starting time is determined according to the acceleration change condition in the vertical direction in the walking process of the user, the predicted arrival time when the user arrives at the next step surface is determined according to the predicted walking time and the starting time of the first step, the current reminding time which is earlier than the predicted arrival time is further determined, and the user is reminded before the user arrives at the next step surface, so that the possibility of accidents such as the user stepping on the air is reduced, and the walking safety of the user is improved.
Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a walking assistance method according to an embodiment of the present invention;
fig. 2 is another schematic flow chart of a walking assistance method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the variation of vertical acceleration during the first step walking process of a user in the upstairs mode;
FIG. 4 is a schematic diagram illustrating the variation of vertical acceleration during a first step of user walking in the downstairs mode;
fig. 5 is a schematic structural diagram of a walking assisting device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a mobile device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the walking safety of a user, the embodiment of the invention provides a walking assisting method, a walking assisting device and movable equipment.
Referring to fig. 1, fig. 1 is a schematic flow chart of a walking assistance method provided in an embodiment of the present invention, where the method is applied to a mobile device including a reminder device, for example: the walking aid can be wearable equipment such as a mobile phone and a watch, or equipment specially used for walking assistance. The reminding device can be a vibration motor, a signal lamp and the like, and the specific forms of the movable equipment and the reminding device are not limited in the embodiment of the invention.
The method shown in fig. 1 specifically includes the following steps:
step 101, obtaining a current walking mode; the current walking mode includes: upstairs mode or downstairs mode.
In this step, there are various ways to obtain the current walking mode, for example: before walking, a user can set a current walking mode, specifically, a key for determining the walking mode can be set in the mobile device, the user can set the current walking mode through the key, and the current walking mode can be an upstairs mode or a downstairs mode; the mobile device may also monitor and analyze information such as vertical acceleration, speed, displacement, and the like in the walking process of the user in real time, so as to determine the current walking mode of the user, for example, whether the vertical acceleration, speed, and/or displacement change image in the walking process of the user is matched with the vertical acceleration, speed, and/or displacement change image in the preset walking mode may be used to determine the current walking mode of the user, where a specific manner of obtaining the current walking mode is not limited.
And 102, acquiring the vertical direction acceleration information of the user in real time.
Specifically, the mobile device may include an accelerometer, and when the user wears the mobile device to walk, the accelerometer is used to obtain vertical acceleration information of the user in real time.
Step 103, judging whether the vertical direction acceleration changes from 0. If yes, go to step 14.
And step 104, setting the current time as the starting time.
105, determining the predicted arrival time when the user arrives at the next step according to the predicted walking time and the starting time of the first step; the predicted walking time of the first step is obtained by calculation according to the historical walking speed of the user in the current walking mode and the height of the first step.
Specifically, the time from the starting time to the predicted walking time interval of the previous step may be determined as the predicted arrival time when the user reaches the next step, for example, if the current time is the starting time, the starting time is set to t0When the predicted walking time of the first step is 2s, the predicted arrival time when the user arrives at the next step is t1＝2s。
In the embodiment of the present invention, two determination methods for predicting the walking time of the first-level step may be used:
one way is that: calculating the predicted walking time of the first step according to the historical walking speed of the user in the current walking mode and the preset height of the first step in advance, namely: and determining the ratio of the preset height of the first step to the historical walking speed of the user as the predicted walking time of the first step, then storing the predicted walking time in the movable equipment, and directly obtaining the stored predicted walking time of the first step when the predicted arrival time needs to be determined. Wherein, the height of the one-level step of predetermineeing can be according to the altitude value that stair construction standard set for, for example: 20 cm.
The other mode is as follows: and after receiving the height of the first step input by the user, calculating to obtain the predicted walking time of the first step according to the historical walking speed of the user in the current walking mode and the height of the first step input by the user.
The method and the device have the advantages that the predicted walking time length is determined by the aid of the height of the first-level step input by the user, and the problem that the predicted walking time length is inaccurate in calculation when the difference between the current walking step height of the user and the preset step height of the equipment is large can be solved.
Further, even if the user walks on a plane, the gravity center height of the user can be changed continuously in the walking process, and then the situation that the vertical direction acceleration changes from 0 can occur, and when the user walks on the plane, subsequent auxiliary reminding is not needed, so that after the vertical direction acceleration is detected to change from 0 and the current time is set as the starting time, the change situation of the vertical direction acceleration is judged before the predicted arrival time when the user arrives at the next step face is determined according to the predicted walking time and the starting time of the first step, so as to eliminate the situation that the vertical direction acceleration changes from 0 due to plane walking, and determine that the user is really in an upstairs mode or a downstairs mode, and the specific steps are as follows:
judging whether the change of the vertical direction acceleration meets a preset vertical direction acceleration change condition for the user to start walking in the current walking mode;
and if the change of the vertical direction acceleration meets the change condition of the vertical direction acceleration, executing the step of determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time.
Referring to fig. 3 and 4, when a user goes upstairs or downstairs, the change of the acceleration in the vertical direction has a certain rule in the process of walking one step, wherein the vertical upward direction is set as the positive direction in both fig. 3 and 4.
Specifically, fig. 3 is a schematic diagram of a change situation of an acceleration in a vertical direction during a process that a user walks a first step in an upstairs mode, wherein a horizontal axis represents time t, and a vertical axis represents an acceleration value a, as can be seen from fig. 3, when the user walks the first step upstairs, the acceleration in the vertical direction is first changed from 0 to an upward non-zero value, then is gradually reduced to 0, and is changed from 0 to a downward non-zero value, and finally is gradually reduced to 0 again, and a time when the acceleration in the vertical direction is changed to 0 for the third time is an actual arrival time when the user arrives at the next step; fig. 4 is a schematic diagram of a change situation of an acceleration in a vertical direction during a user walks a first step in a downstairs mode, in which a horizontal axis represents time t and a vertical axis represents an acceleration value a, as can be seen from fig. 4, when the user walks the first step while downstairs, the acceleration in the vertical direction is first changed from 0 to a non-zero value in a downward direction, then gradually decreased to 0, and changed from 0 to a non-zero value in an upward direction, and finally gradually decreased to 0 again, and a time when the acceleration in the vertical direction is changed to 0 for the third time is an actual arrival time when the user arrives at the next step.
Therefore, further, it may be determined whether the change of the vertical direction acceleration satisfies a preset vertical direction acceleration change condition that the user starts walking in the current walking mode, by:
judging whether the change trend of the acceleration in the vertical direction meets a preset acceleration change curve corresponding to the current walking mode or not within a preset time period from the starting time, if so, determining that the change of the acceleration in the vertical direction meets a preset acceleration change condition that the user starts walking in the current walking mode.
Further, referring to fig. 3 and 4, since the vertical direction acceleration change curve in the upstairs mode is different from the vertical direction acceleration change curve in the downstairs mode, if the current walking mode is the upstairs mode, it can be determined whether the change trend of the vertical direction acceleration in the preset time period from the start time meets the acceleration change curve in the upstairs mode shown in fig. 3 according to the characteristics of the vertical direction acceleration curve in fig. 3; if the current walking mode is the downstairs mode, it may be determined whether the change trend of the vertical acceleration within the preset time period from the start time meets the acceleration change curve in the downstairs mode shown in fig. 4 according to the characteristics of the vertical acceleration curve in fig. 4.
Specifically, the determining process may include:
if the current walking mode is the upstairs going mode, judging whether the acceleration in the vertical direction is changed from 0 to an upward non-zero value in a preset time period from the starting moment, and whether the variation of the acceleration in the vertical direction exceeds a first variation threshold value; if the vertical direction acceleration is changed from 0 to an upward non-zero value, and the variation of the vertical direction acceleration exceeds the first variation threshold, determining the variation trend of the vertical direction acceleration in a preset time period from the starting time to conform to a preset acceleration variation curve corresponding to the upstairs going mode;
if the current walking mode is a downstairs mode, judging whether the acceleration in the vertical direction is changed from 0 to a non-zero value in a downward direction within a preset time period from the starting time, and whether the variation of the acceleration in the vertical direction exceeds a second variation threshold value; and if the vertical direction acceleration is changed from 0 to a downward non-zero value and the variation of the vertical direction acceleration exceeds the second variation threshold, determining the variation trend of the vertical direction acceleration and conforming to a preset acceleration variation curve corresponding to the downstairs mode.
In this step, the historical walking speed of the user in the current walking mode is obtained after counting and calculating the single walking speed of the user when walking the first step in the historical certain time period in the current walking mode, wherein the single walking speed of the user when walking the first step can be obtained by calculating the following process:
determining the time period from the starting time to the time when the vertical direction acceleration becomes 0 for the third time as the actual walking time of the first step;
and determining the ratio of the height of the first step to the actual walking time of the first step as the walking speed of the user in the current walking mode.
Further, the average value of the current walking speed and the historical walking speed of the user may be determined as the updated historical walking speed of the user.
In the embodiment of the invention, when the user uses the mobile device to perform the auxiliary walking of the first step, the historical walking speed of the user can be set as a certain default initial value, or the historical walking speed of the user can be set as a certain speed initial value input by the user, and then the single walking speed determined by the method when the user travels the first step is averaged with the default initial value or the speed initial value along with the increase of the number of steps traveled by the user, so that the updated historical walking speed of the user can be obtained.
Step 106, determining the current reminding time according to the predicted arrival time; and the current reminding time is earlier than the predicted arrival time.
Specifically, the current reminding time may be set to a certain time that is earlier than a preset time interval of the predicted arrival time, where the preset time interval may be set according to an actual situation, and here, the setting is not limited.
And step 107, when the current reminding time is reached, triggering a reminding device to remind the user.
As can be seen from the above embodiments, in the embodiments of the present invention, the starting time can be determined according to the change of the acceleration in the vertical direction during the walking process of the user, the predicted arrival time when the user arrives at the next step surface can be determined according to the predicted walking time and the starting time of the first step, the current reminding time earlier than the predicted arrival time can be further determined, and the user is reminded before the user arrives at the next step surface, so as to reduce the possibility of accidents such as the user stepping on the ground, and therefore, the walking safety of the user is improved.
Referring to fig. 2, fig. 2 is another schematic flow chart of a walking assistance method provided by an embodiment of the present invention, and the specific steps include:
step 201, obtaining a current walking mode; the current walking mode includes: upstairs mode or downstairs mode.
Step 202, acquiring vertical direction acceleration information of the user in real time.
In step 203, it is determined whether the vertical acceleration changes from 0. If yes, go to step 14. If not, return to step 202.
Step 204, setting the current time as the starting time.
The contents of step 201 to step 204 are the same as those of step 101 to step 104, and are not described herein again.
Step 205, if the current walking mode is the upstairs mode, it is determined whether the vertical acceleration changes from 0 to an upward non-zero value within a preset time period from the start time, and whether the variation of the vertical acceleration exceeds a first variation threshold. If yes, go to step 207; if not, return to step 202.
In step 206, if the current walking mode is the downstairs mode, it is determined whether the vertical acceleration changes from 0 to a non-zero downward acceleration value within a preset time period from the start time, and whether the variation of the vertical acceleration exceeds a second variation threshold. If yes, go to step 207; if not, return to step 202.
Step 207, receiving the height of the first step input by the user.
And 208, calculating to obtain the predicted walking time of the first step according to the historical walking speed of the user in the current walking mode and the height of the first step input by the user.
Specifically, the ratio of the height of the first step input by the user to the historical walking speed of the user in the current walking mode may be determined as the predicted walking time of the first step.
And step 209, determining the predicted arrival time when the user arrives at the next step according to the predicted walking time and the starting time of the first step.
Specifically, the time from the starting time to the predicted walking time interval of the previous step may be determined as the predicted arrival time when the user reaches the next step, for example, if the current time is the starting time, the starting time is set to t0When the predicted walking time of the first step is 2s, the predicted arrival time when the user arrives at the next step is t1＝2s。
Step 210, determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time.
Specifically, the current reminding time may be set to a certain time that is earlier than a preset time interval of the predicted arrival time, where the preset time interval may be set according to an actual situation, and here, the setting is not limited.
And step 211, when the current reminding time is reached, triggering a reminding device to remind the user.
Step 212, determining the time period from the starting time to the time when the vertical direction acceleration becomes 0 for the third time as the actual walking time of the first step.
And step 213, determining the ratio of the height of the first step to the actual walking time of the first step as the walking speed of the user in the current walking mode.
And 214, determining the average value of the current walking speed and the historical walking speed of the user as the updated historical walking speed of the user.
In the embodiment shown in fig. 2, the starting time can be determined according to the acceleration change condition in the vertical direction during the walking process of the user, the predicted arrival time when the user arrives at the next step surface can be determined according to the predicted walking time and the starting time of the first step, the current reminding time which is earlier than the predicted arrival time can be further determined, and the user is reminded before the user arrives at the next step surface, so that the possibility of accidents such as the user stepping on the air can be reduced, and therefore, the walking safety of the user is improved. Meanwhile, after the user is reminded, the actual walking time of the first-level step is determined according to the change condition of the acceleration in the vertical direction, the walking speed of the user in the current walking mode is obtained, and then the historical walking speed of the user is updated according to the walking speed, so that the predicted reaching time and the reminding time are determined according to the updated historical walking speed of the user in the subsequent walking assisting process, and therefore the calculation accuracy of the reminding time can be improved.
Based on the same inventive concept, according to the walking assisting method provided by the above embodiment of the present invention, correspondingly, the embodiment of the present invention further provides a walking assisting device, which is applied to a mobile device including a reminding device; the schematic structural diagram of the device is shown in fig. 5, and the device comprises:
a mode obtaining module 501, configured to obtain a current walking mode; the current walking mode includes: an upstairs mode or a downstairs mode;
an acceleration information obtaining module 502, configured to obtain vertical acceleration information of the user in real time;
a first judging module 503, configured to judge whether the vertical acceleration changes from 0;
a start time setting module 504, configured to set a current time as a start time if the vertical acceleration changes from 0;
a predicted arrival time determining module 505, configured to determine, according to the predicted walking time of the first step and the starting time, a predicted arrival time when the user arrives at the next step; the predicted walking time of the first step is obtained by calculation according to the historical walking speed of the user in the current walking mode and the height of the first step;
a current reminding time determining module 506, configured to determine a current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time;
and a reminding module 507, configured to trigger the reminding device to remind the user when the current reminding time is reached.
Further, the apparatus further comprises:
the second judgment module is used for judging whether the change of the vertical direction acceleration meets the preset vertical direction acceleration change condition that the user starts to walk in the current walking mode before the predicted arrival time when the user arrives at the next step surface is determined according to the predicted walking time length of the first step and the starting time; and if so, triggering the predicted arrival time determining module.
Further, the second determining module is specifically configured to determine whether the variation trend of the vertical direction acceleration is in accordance with a preset acceleration variation curve corresponding to the current walking mode within a preset time period from the starting time, and if the variation trend of the vertical direction acceleration is in accordance with the preset acceleration variation curve corresponding to the current walking mode within the preset time period from the starting time, determine that the variation of the vertical direction acceleration satisfies a preset vertical direction acceleration variation condition that the user starts walking in the current walking mode.
Further, the second determining module is specifically configured to:
if the current walking mode is the upstairs going mode, judging whether the acceleration in the vertical direction is changed from 0 to an upward non-zero value in a preset time period from the starting moment, and whether the variation of the acceleration in the vertical direction exceeds a first variation threshold value; if the vertical direction acceleration is changed from 0 to an upward non-zero value, and the variation of the vertical direction acceleration exceeds the first variation threshold, determining the variation trend of the vertical direction acceleration in a preset time period from the starting time to conform to a preset acceleration variation curve corresponding to the upstairs going mode;
if the walking mode is a downstairs mode, judging whether the acceleration in the vertical direction is changed from 0 to a non-zero value in a downward direction within a preset time period from the starting time, and whether the variation of the acceleration in the vertical direction exceeds a second variation threshold value; and if the vertical direction acceleration is changed from 0 to a downward non-zero value and the variation of the vertical direction acceleration exceeds the second variation threshold, determining the variation trend of the vertical direction acceleration and conforming to a preset acceleration variation curve corresponding to the downstairs mode.
Further, the predicted walking time of the first step is calculated and stored in advance according to the historical walking speed of the user in the current walking mode and the preset height of the first step;
the predicted arrival time determining module is specifically configured to determine the predicted arrival time when the user arrives at the next step according to the stored predicted walking time of the first step and the start time.
Further, the apparatus further comprises:
the height receiving module is used for receiving the height of the first step input by the user before the predicted arrival time when the user arrives at the next step surface is determined according to the predicted walking time length of the first step and the starting time;
and the predicted walking time calculation module is used for calculating the predicted walking time of the first step according to the historical walking speed of the user in the current walking mode and the height of the first step input by the user.
Further, the apparatus further comprises:
the actual walking duration determining module is used for determining the time period from the starting time to the time when the vertical direction acceleration becomes 0 for the third time as the actual walking duration of the first-stage step after the reminding device is triggered to remind the user when the current reminding time is reached;
the walking speed determining module is used for determining the ratio of the height of the first-stage step to the actual walking time of the first-stage step as the walking speed of the user in the current walking mode;
and the historical walking speed updating module is used for determining the average value of the walking speed of the time and the historical walking speed of the user as the updated historical walking speed of the user.
In the embodiment of the present invention shown in fig. 5, the starting time setting module 504 determines the starting time according to the change condition of the acceleration in the vertical direction during the walking process of the user, the predicted arrival time determining module 505 determines the predicted arrival time when the user arrives at the next step according to the predicted walking time and the starting time of the first step, the current reminding time determining module 506 further determines the current reminding time earlier than the predicted arrival time, and the reminding module 507 reminds the user before the user arrives at the next step, so as to reduce the possibility of accidents such as the user stepping on the air, and therefore, the walking safety of the user is improved.
An embodiment of the present invention further provides a mobile device, as shown in fig. 6, which includes a processor 601, a communication interface 602, a memory 603, and a communication bus 604, where the processor 601, the communication interface 602, and the memory 603 complete mutual communication through the communication bus 604,
a memory 603 for storing a computer program;
the processor 601 is configured to implement the following steps when executing the program stored in the memory 603:
obtaining a current walking mode; the current walking mode includes: an upstairs mode or a downstairs mode;
acquiring vertical direction acceleration information of a user in real time;
judging whether the vertical direction acceleration changes from 0 or not;
if so, setting the current time as the starting time;
determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time; the predicted walking time of the first step is obtained by calculation according to the historical walking speed of the user in the current walking mode and the height of the first step;
determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time;
and when the current reminding time is reached, triggering the reminding device to remind the user.
Further, other processing flows in the walking assistance method provided by the embodiment of the present invention may also be included, and are not described in detail herein.
The communication bus mentioned in the above-mentioned removable device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the above-mentioned removable device and other devices.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Further, the memory may be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In yet another embodiment of the present invention, a computer-readable storage medium is further provided, which has instructions stored therein, which when run on a computer, cause the computer to perform any of the above-mentioned walking assistance methods of the above-mentioned embodiments.
In yet another embodiment, a computer program product containing instructions is provided, which when run on a computer, causes the computer to perform any of the above walking assistance methods of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described above in accordance with the embodiments of the invention may be generated, in whole or in part, when the computer program instructions described above are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic cable, Digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy Disk, a hard Disk, a magnetic tape), an optical medium (e.g., a Digital Video Disc (DVD)), a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus, removable device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (16)

1. A walking assisting method is applied to movable equipment comprising a reminding device, and comprises the following steps:
obtaining a current walking mode; the current walking mode includes: an upstairs mode or a downstairs mode;
acquiring vertical direction acceleration information of a user in real time;
judging whether the vertical direction acceleration changes from 0 or not;
if so, setting the current time as the starting time;
determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time; the predicted walking time of the first step is obtained by calculation according to the historical walking speed of the user in the current walking mode and the height of the first step;
determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time;
and when the current reminding time is reached, triggering the reminding device to remind the user.
2. The method of claim 1, wherein prior to the step of determining the predicted arrival time of the user at the next step level based on the predicted walking duration of one step and the start time, the method further comprises:
judging whether the change of the vertical direction acceleration meets a preset vertical direction acceleration change condition for the user to start walking in the current walking mode;
and if the change of the vertical direction acceleration meets the change condition of the vertical direction acceleration, executing the step of determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time.
3. The method according to claim 2, wherein the step of determining whether the change of the vertical direction acceleration satisfies a preset vertical direction acceleration change condition that the user starts walking in the current walking mode comprises:
judging whether the change trend of the acceleration in the vertical direction meets a preset acceleration change curve corresponding to the current walking mode or not within a preset time period from the starting time, if so, determining that the change of the acceleration in the vertical direction meets a preset acceleration change condition that the user starts walking in the current walking mode.
4. The method according to claim 3, wherein the step of determining whether the variation trend of the vertical direction acceleration is in accordance with a preset acceleration variation curve corresponding to the current walking mode within a preset time period from the start time comprises:
if the current walking mode is the upstairs going mode, judging whether the acceleration in the vertical direction is changed from 0 to an upward non-zero value in a preset time period from the starting moment, and whether the variation of the acceleration in the vertical direction exceeds a first variation threshold value; if the vertical direction acceleration is changed from 0 to an upward non-zero value, and the variation of the vertical direction acceleration exceeds the first variation threshold, determining the variation trend of the vertical direction acceleration in a preset time period from the starting time to conform to a preset acceleration variation curve corresponding to the upstairs going mode;
if the walking mode is a downstairs mode, judging whether the acceleration in the vertical direction is changed from 0 to a non-zero value in a downward direction within a preset time period from the starting time, and whether the variation of the acceleration in the vertical direction exceeds a second variation threshold value; and if the vertical direction acceleration is changed from 0 to a downward non-zero value and the variation of the vertical direction acceleration exceeds the second variation threshold, determining the variation trend of the vertical direction acceleration and conforming to a preset acceleration variation curve corresponding to the downstairs mode.
5. The method according to claim 1, wherein the predicted walking time of the first step is calculated and stored in advance according to the historical walking speed of the user in the current walking mode and the preset height of the first step;
the step of determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time comprises the following steps:
and determining the predicted arrival time when the user arrives at the next step according to the stored predicted walking time of the first step and the starting time.
6. The method of claim 1,
before the step of determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time, the method further comprises the following steps:
receiving the height of the first step input by the user;
and calculating the predicted walking time of the first step according to the historical walking speed of the user in the current walking mode and the height of the first step input by the user.
7. The method according to claim 5 or 6, wherein after the step of triggering the reminding device to remind the user when the current reminding time is reached, the method further comprises:
determining the time period from the starting time to the time when the vertical direction acceleration becomes 0 for the third time as the actual walking time of the first step;
determining the ratio of the height of the first step to the actual walking time of the first step as the walking speed of the user in the current walking mode;
and determining the average value of the current walking speed and the historical walking speed of the user as the updated historical walking speed of the user.
8. A walking assisting device is characterized in that the walking assisting device is applied to a movable device comprising a reminding device, and comprises:
the mode obtaining module is used for obtaining a current walking mode; the current walking mode includes: an upstairs mode or a downstairs mode;
the acceleration information acquisition module is used for acquiring the vertical acceleration information of the user in real time;
the first judgment module is used for judging whether the vertical direction acceleration changes from 0 or not;
the starting time setting module is used for setting the current time as the starting time if the acceleration in the vertical direction changes from 0;
the predicted arrival time determining module is used for determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time; the predicted walking time of the first step is obtained by calculation according to the historical walking speed of the user in the current walking mode and the height of the first step;
the current reminding time determining module is used for determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time;
and the reminding module is used for triggering the reminding device to remind the user when the current reminding time is reached.
9. The apparatus of claim 8, further comprising:
the second judgment module is used for judging whether the change of the vertical direction acceleration meets the preset vertical direction acceleration change condition that the user starts to walk in the current walking mode before the predicted arrival time when the user arrives at the next step surface is determined according to the predicted walking time length of the first step and the starting time; and if so, triggering the predicted arrival time determining module.
10. The apparatus of claim 9, wherein the second determining module,
the method is specifically configured to determine whether a change trend of the vertical direction acceleration within a preset time period from the starting time conforms to a preset acceleration change curve corresponding to the current walking mode, and if so, determine that the change of the vertical direction acceleration satisfies a preset vertical direction acceleration change condition that the user starts walking in the current walking mode.
11. The apparatus of claim 10,
the second judgment module is specifically configured to:
if the current walking mode is the upstairs going mode, judging whether the acceleration in the vertical direction is changed from 0 to an upward non-zero value in a preset time period from the starting moment, and whether the variation of the acceleration in the vertical direction exceeds a first variation threshold value; if the vertical direction acceleration is changed from 0 to an upward non-zero value, and the variation of the vertical direction acceleration exceeds the first variation threshold, determining the variation trend of the vertical direction acceleration in a preset time period from the starting time to conform to a preset acceleration variation curve corresponding to the upstairs going mode;
if the walking mode is a downstairs mode, judging whether the acceleration in the vertical direction is changed from 0 to a non-zero value in a downward direction within a preset time period from the starting time, and whether the variation of the acceleration in the vertical direction exceeds a second variation threshold value; and if the vertical direction acceleration is changed from 0 to a downward non-zero value and the variation of the vertical direction acceleration exceeds the second variation threshold, determining the variation trend of the vertical direction acceleration and conforming to a preset acceleration variation curve corresponding to the downstairs mode.
12. The device according to claim 8, wherein the predicted walking time of the first step is calculated and stored in advance according to the historical walking speed of the user in the current walking mode and the preset height of the first step;
the predicted arrival time determining module is specifically configured to determine the predicted arrival time when the user arrives at the next step according to the stored predicted walking time of the first step and the start time.
13. The apparatus of claim 8, further comprising:
the height receiving module is used for receiving the height of the first step input by the user before the predicted arrival time when the user arrives at the next step surface is determined according to the predicted walking time length of the first step and the starting time;
and the predicted walking time calculation module is used for calculating the predicted walking time of the first step according to the historical walking speed of the user in the current walking mode and the height of the first step input by the user.
14. The apparatus of claim 12 or 13, further comprising:
the actual walking duration determining module is used for determining the time period from the starting time to the time when the vertical direction acceleration becomes 0 for the third time as the actual walking duration of the first-stage step after the reminding device is triggered to remind the user when the current reminding time is reached;
the walking speed determining module is used for determining the ratio of the height of the first-stage step to the actual walking time of the first-stage step as the walking speed of the user in the current walking mode;
and the historical walking speed updating module is used for determining the average value of the walking speed of the time and the historical walking speed of the user as the updated historical walking speed of the user.
15. A mobile device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 7 when executing a program stored in the memory.
16. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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