CN110595500B - Method for accurately counting steps and intelligent shoes - Google Patents
Method for accurately counting steps and intelligent shoes Download PDFInfo
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- CN110595500B CN110595500B CN201910695119.8A CN201910695119A CN110595500B CN 110595500 B CN110595500 B CN 110595500B CN 201910695119 A CN201910695119 A CN 201910695119A CN 110595500 B CN110595500 B CN 110595500B
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
- A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B5/00—Footwear for sporting purposes
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B5/00—Footwear for sporting purposes
- A43B5/06—Running shoes; Track shoes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/006—Pedometers
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Abstract
The invention discloses a method for accurately counting steps and an intelligent shoe, wherein the intelligent shoe comprises a data collector and a controller; the data acquisition unit is arranged on the shoes; the controller is background terminal equipment; the controller executes a step counting method based on the parameters acquired by the data acquisition unit; the step counting method comprises the following steps: 1) signal acquisition; 2) positioning a complete landing time point; 3) carrying out gait detection on the signals; 4) single step signal division; 5) converting coordinates; 6) and judging whether the effective step is finished or not. The invention can more comprehensively and accurately calculate the step number.
Description
Technical Field
The invention relates to the technical field of step counting, in particular to a method for accurately counting steps and an intelligent shoe.
Background
Modern people pay attention to daily exercise of oneself, and the meter step is taken as an effective record, control monitoring means of taking exercise, is used widely in intelligent running shoes, and current intelligent running shoes are installed the sensor in it and are used for counting the number of steps. The vibration signal detected by the sensor in the smart shoe is not necessarily caused by the user walking, but may be due to other reasons, such as: the leg is shaken by a small amplitude (leg shake). The traditional intelligent shoes do not carry out exception processing and correct processing on stride and speed detection aiming at signals, and the step counting is carried out under the condition, so that the step counting error is easily caused, and the large amount of exercise is wrongly recorded.
Disclosure of Invention
The invention aims to overcome the defects and provide a method for accurately counting steps and an intelligent shoe.
In order to achieve the purpose, the technical solution of the invention is as follows: a method for accurately counting steps comprises the following steps:
1) signal acquisition: the sensor at least collects six types of signals of linear acceleration and angular acceleration of the foot in three directions of a space X, Y, Z, wherein the X, Y, Z direction is a set direction;
2) locating the complete landing time point: setting an initial threshold value to be 0.5G, amplifying an original signal by 3 times, eliminating interference, carrying out low-pass filtering processing on signal data, generating a square wave signal by utilizing y-axis acceleration, starting to detect an x-axis angular velocity maximum value if the square wave is detected to be a falling edge, judging whether the maximum value is greater than 500DPS, taking the time point of the maximum value as a landing time point if the maximum value is not detected, and continuously searching the time point with the angular velocity being zero as a complete landing time point if the maximum value is not detected;
3) and (3) carrying out gait detection on the signals: searching real-time signal data which has a difference value larger than a threshold value with the maximum value from the maximum value, setting the square wave signal to be-1 when the difference value of the real-time signal data and the maximum value is larger than the threshold value, starting to detect the minimum value of the acceleration of the y axis when the square wave signal is-1, detecting a complete landing time point, setting the square wave signal to be 0 after the complete landing time point is found, and taking 0.8 time of the difference value of the maximum value and the minimum value as the threshold value of the next step;
4) single step signal division: detecting the falling edge of the generated square wave signal, starting to detect the maximum value of the angular velocity when the real-time signal is greater than the minimum value of 0.2G (reducing process errors), judging the size of the maximum value, taking the maximum value point as one-step ending time when the real-time signal is less than zero, and searching a time point with the angular velocity being zero from the position of the maximum value point when the real-time signal is greater than zero to serve as one-step ending;
5) coordinate conversion, namely performing coordinate conversion on the acceleration by taking the coordinate of the accelerometer at each time of complete landing as a ground coordinate system;
6) judging whether an effective step is finished: and if the step length of the single step is greater than s and the height from the ground is greater than h, the step is valid, the step number is increased by one, otherwise, the step is invalid and not counted.
Preferably, s is 20cm and h is 2 cm.
Preferably, the filtering method uses a second-order butterworth low-pass filter for filtering.
Preferably, the gait detection further comprises an update of the maximum value: after the maximum value is detected, the value of the maximum value is locked, and then, if more than 10 maximum values are detected, the value of the maximum value is determined again. Or if the subsequent maximum value is greater than the maximum value, replacing the maximum value with a larger maximum value.
Preferably, the calculation method of the height above ground is as follows: h ═ loop az dt; where az is the original Z-axis acceleration value.
Preferably, the method for calculating the single step comprises the following specific steps: 1) performing coordinate conversion on the acceleration to obtain the acceleration in the advancing direction; 2) carrying out double-integration to single-step on the acceleration in the advancing direction; 3) correcting the error of the stride; 4) correcting the average speed; 5) and calculating the average speed to obtain the stride.
An intelligent shoe based on the step counting accurate method comprises a data acquisition unit and a controller; the data acquisition unit is arranged on the shoes; the controller is background terminal equipment; the data acquisition unit is used for at least acquiring six parameters of linear acceleration and angular acceleration of the human body in three directions of the space X, Y, Z; the X, Y, Z direction is a set direction, and the collected parameters are sent to the controller; the data acquisition unit transmits the acquired parameters to the controller in a Bluetooth communication mode; and the controller executes a step counting method based on the parameters acquired by the data acquisition unit.
Preferably, the data acquisition unit is a six-axis acceleration sensor.
Due to the adoption of the technical scheme, the invention has the remarkable technical effects that: the invention can help the running enthusiasts and the hiking enthusiasts to eliminate some interference signals, accurately record the exercise data such as the number of steps, the step frequency, the pace and the like generated in the exercise, and accurately record the exercise data such as the mileage, the calorie consumption and the like generated in each exercise, so that the running enthusiasts or the hiking enthusiasts can better and more reasonably arrange the exercise plan of the running enthusiasts or the hiking enthusiasts.
Drawings
FIG. 1 is a schematic flow chart of the step counting method of the present invention;
FIG. 2 is a schematic diagram of the time point of the present invention for locating a full landing;
FIG. 3 is a schematic diagram of a gait detection signal of the invention;
FIG. 4 is a signal diagram of a single step division according to the present invention.
In the figure: 1. a y-axis machine speed signal; 2. the generated square wave signal; 3. dividing the signal in a single step; 4. acceleration of the y-axis; 5. the square wave signal has a falling edge.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments.
As shown in fig. 1, a method for accurately counting steps includes the following steps:
1) signal acquisition: the six-axis acceleration sensor at least collects six types of signals of linear acceleration and angular acceleration of a foot in three directions of a space X, Y, Z, wherein the X, Y, Z direction is a set direction;
2) referring to fig. 2, the full landing is located: setting an initial threshold value to be 0.5G, amplifying the square wave signal to be 0 times, amplifying the original signal by 3 times, eliminating interference, and carrying out low-pass filtering processing on signal data, or adopting a pass-band filtering method, generating the square wave signal by utilizing y-axis acceleration, starting to detect a maximum value of x-axis angular velocity if the square wave is detected to be a falling edge, judging whether the maximum value is greater than 500DPS, if not, taking the time point of the maximum value as a landing time point, and if so, continuously searching the time point with the angular velocity being zero as a complete landing time point;
preferably, the invention uses a second order Butterworth low pass filter for filtering. The filter formula is as follows:
data_fil＝(0.0201*data1+0.0402*data2+0.0201*data3+1.5610f*data_fil1-0.6414*data_fil2)
data _ file is a signal filtered at a certain moment, data _ file 1 and data _ file 2 are signals filtered at the previous moment and the previous moment respectively, and data1, data2 and data3 are original data at a certain moment, original data at the previous moment and original data at the previous moment respectively.
3) Referring to fig. 3, gait detection is performed on the signals: the invention respectively uses the characteristics of the y-axis acceleration of the accelerometer to carry out gait detection and single step signal division (the main characteristics of the y-axis acceleration signal and the x-axis angular velocity of the gyroscope in the motion process can not be greatly changed due to different users, and the invention has good universality). The invention uses a dynamic threshold method to generate square wave signals for gait detection. The accuracy of dynamic threshold detection is higher relative to static thresholds. Detecting a maximum value of the signal, searching real-time signal data with a difference value larger than a threshold value from the maximum value, setting the square wave signal as-1 when the difference value of the real-time signal data and the maximum value is larger than the threshold value, starting to detect a minimum value of y-axis acceleration when the square wave signal is-1, detecting a complete landing time point, setting the square wave signal as 0, and taking 0.8 time of the difference value of the maximum value and the minimum value as a threshold value of the next step; after the maximum value is detected, the value of the maximum value is locked, and then, if more than 10 maximum values are detected, the value of the maximum value is determined again. Or if the following maximum value is larger than the maximum value, replacing the maximum value with a larger maximum value;
4) referring to fig. 4, single step signal division is performed: detecting the falling edge of the generated square wave signal, starting to detect the maximum value of the angular velocity when the real-time signal is greater than the minimum value of 0.2G (reducing process errors), judging the size of the maximum value, taking the maximum value point as the time for finishing one step when the real-time signal is less than zero, and searching the time point with the angular velocity being zero from the position of the maximum value point when the real-time signal is greater than zero, wherein the time point is taken as the end of one step, and the end of one step is the start of the next step;
5) coordinate conversion, namely performing coordinate conversion on the acceleration by taking the coordinate of the accelerometer at each time of complete landing as a ground coordinate system;
6) judging whether an effective step is finished: and if the step length of a single step is greater than s-20 cm and the height from the ground is greater than h-2 cm, the step is valid, the step number is increased by one, and otherwise, the step is invalid and not counted.
The calculation formula for the height H from the ground is H ═ integral ^ integral-az dtIn the formula, az: and (5) carrying out double integration on az to obtain a value of the ground clearance h according to the original Z-axis acceleration value.
Calculation of single step stride calculation s: coordinate conversion of accelerationConversion formula is
In the formula, ax: an original X-axis acceleration value; ay: an original Y-axis acceleration value; az: an original Z-axis acceleration value; ax' is the transformed X-axis acceleration value; ay' is the transformed Y-axis acceleration value; az' is the transformed Z-axis acceleration value; wx: angular velocity as the x-axis; wy: angular velocity as y-axis; wz: angular velocity for the z-axis; the conversion is completed to obtain an acceleration in the advancing direction of axy ═ sqrt (ax '^ 2+ ay' ^ 2.) the acceleration in the advancing direction of axy is subjected to double integration to obtain a single step, and D ═ ^ jjjj (v + axy) dt (v is an uncorrected speed). Under normal conditions, the speed of the ball of the foot is zero after landing. Due to the error and the drift of the accelerometer, the calculated speed after landing is not zero. And carrying out error correction on the distance through the speed, wherein the correction term is as follows: -0.5 × v _ stop T _ stop, the modified velocity v1 ═ v _ init, v1 ═ v-0.5 × v _ stop T _ stop, where v _ stop is the calculated velocity at landing and T _ stop is the time interval from ball lift to ball lift. After error correction, the average velocity is corrected by adding correction of the initial velocity when the sole lifts off the ground, and the formula is as follows:
v2＝6/(1+exp(5-1.695*(v_init+1.02)) + 0.395; where v _ init is the average speed after error correction, and the step Stride is calculated as v 2T _ stop/2
An intelligent shoe based on the step counting accurate method comprises a data acquisition unit and a controller; the data acquisition unit is arranged on the shoes; the controller is background terminal equipment; the data acquisition unit is used for at least acquiring six parameters of linear acceleration and angular acceleration of the human body in three directions of the space X, Y, Z; the X, Y, Z direction is a set direction, and the collected parameters are sent to the controller; the data acquisition unit transmits the acquired parameters to the controller in a Bluetooth communication mode; the data detector is a six-axis acceleration sensor; and the controller executes a step counting method based on the parameters acquired by the data acquisition unit.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the scope of the invention, and all equivalent changes and modifications made in the claims of the present invention should be included in the scope of the present invention.
Claims (8)
1. A method for accurately counting steps is characterized in that: the method comprises the following steps:
1) signal acquisition: at least six types of signals of linear acceleration and angular acceleration of a foot in three directions of a space X, Y, Z are collected, wherein the X, Y, Z direction is a set direction;
2) positioning the complete landing: setting an initial threshold value of a difference value between real-time signal data and a maximum value to be 0.5G, setting a square wave signal to be 0, amplifying an original signal by 3 times, eliminating interference, carrying out low-pass filtering on the signal data, generating the square wave signal by utilizing y-axis acceleration, starting to detect the maximum value of x-axis angular velocity if the square wave is detected to be a falling edge, judging whether the maximum value is greater than 500DPS, if not, taking the time point of the maximum value as a landing time point, and if so, continuously searching for the time point with the angular velocity being zero as a complete landing time point;
3) and (3) carrying out gait detection on the signals: searching real-time signal data which has a difference value larger than a threshold value with the maximum value from the maximum value, setting the square wave signal to be-1 when the difference value of the real-time signal data and the maximum value is larger than the threshold value, starting to detect the minimum value of the acceleration of the y axis when the square wave signal is-1, detecting a complete landing time point, setting the square wave signal to be 0 after the complete landing time point is found, and taking 0.8 time of the difference value of the maximum value and the minimum value as the threshold value of the next step;
4) single step signal division: detecting the falling edge of the generated square wave signal, starting to detect the maximum value of the angular velocity when the real-time signal is greater than the minimum value of 0.2G to judge the size of the maximum value, taking the maximum value point as the time for finishing one step when the real-time signal is less than zero, and searching the time point with the angular velocity being zero from the position of the maximum value point when the real-time signal is greater than zero to finish one step;
5) coordinate conversion, namely performing coordinate conversion on the acceleration by taking the coordinate of the accelerometer at each time of complete landing as a ground coordinate system;
6) judging whether an effective step is finished: and if the single step stride is larger than s and the height from the ground is larger than h, the step is valid, the step number is increased by one, otherwise, the step is invalid and not counted.
2. The method of step counting accuracy of claim 1, wherein: the s is 20cm, and the h is 2 cm.
3. A method of step-counting accuracy as claimed in claim 1, wherein: the filtering mode adopts a second-order Butterworth low-pass filter for filtering.
4. A method of step-counting accuracy as claimed in claim 1, wherein: the gait detection also includes an update of a maximum: and locking the maximum value after the detection of the maximum value, and then re-determining the maximum value when more than 10 maximum values are detected, or replacing the maximum value with a larger maximum value if the subsequent maximum value is larger than the maximum value.
5. A method of step-counting accuracy as claimed in claim 1, wherein: the calculation method of the ground clearance comprises the following steps: h ═ loop az dt; where az is the original Z-axis acceleration value.
6. A method of step-counting accuracy as claimed in claim 1, wherein: the method for calculating the single step stride comprises the following specific steps: 1) performing coordinate conversion on the acceleration to obtain the acceleration in the advancing direction; 2) carrying out double integration on the acceleration in the advancing direction to obtain a single-step; 3) correcting the error of the stride; 4) correcting the average speed; 5) and calculating the average speed to obtain the stride.
7. A smart shoe employing the step-counting accuracy method of claim 1, wherein: comprises a data acquisition unit and a controller; the data acquisition unit is arranged on the shoes; the controller is background terminal equipment; the data acquisition unit is used for at least acquiring six parameters of linear acceleration and angular acceleration of the human body in three directions of the space X, Y, Z; the X, Y, Z direction is a set direction, and the collected parameters are sent to the controller; the data acquisition unit transmits the acquired parameters to the controller in a Bluetooth communication mode; and the controller executes a step counting method based on the parameters acquired by the data acquisition unit.
8. The intelligent shoe according to claim 7, wherein the step-counting accuracy method according to claim 1 is further characterized in that: the data acquisition unit is a six-axis acceleration sensor.
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| CN106123911A (en) * | 2016-08-06 | 2016-11-16 | 深圳市爱康伟达智能医疗科技有限公司 | A kind of based on acceleration sensor with the step recording method of angular-rate sensor |
| CN106643785A (en) * | 2016-12-28 | 2017-05-10 | 北京航空航天大学 | Method for multi-source information self-adaption step number detection based on MEMS inertial measurement unit |
| CN107303181A (en) * | 2017-05-17 | 2017-10-31 | 浙江利尔达物联网技术有限公司 | A kind of step motion recognition method based on six axle sensors |
| CN108244744A (en) * | 2016-12-29 | 2018-07-06 | 中国移动通信有限公司研究院 | A kind of method of moving state identification, sole and footwear |
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| US7607243B2 (en) * | 2006-05-03 | 2009-10-27 | Nike, Inc. | Athletic or other performance sensing systems |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106123911A (en) * | 2016-08-06 | 2016-11-16 | 深圳市爱康伟达智能医疗科技有限公司 | A kind of based on acceleration sensor with the step recording method of angular-rate sensor |
| CN106643785A (en) * | 2016-12-28 | 2017-05-10 | 北京航空航天大学 | Method for multi-source information self-adaption step number detection based on MEMS inertial measurement unit |
| CN108244744A (en) * | 2016-12-29 | 2018-07-06 | 中国移动通信有限公司研究院 | A kind of method of moving state identification, sole and footwear |
| CN107303181A (en) * | 2017-05-17 | 2017-10-31 | 浙江利尔达物联网技术有限公司 | A kind of step motion recognition method based on six axle sensors |
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