CN112669569A - Old people falling detection alarm device and method - Google Patents
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Abstract
The invention discloses an old man falling detection alarm device and method, which relate to the technical field of falling detection, and comprise a controller, a key module, a wireless connection module, a storage module, a display module, a detection module, a communication module, a positioning module and a power module which are electrically connected with the controller, wherein whether a user falls is judged by a method of adding an inclination angle based on an SMV threshold value; but in no way allows a false positive, i.e. a true fall, to occur without an alarm.
Description
Technical Field
The invention relates to the technical field of fall detection, in particular to an old people fall detection alarm device and method.
Background
In our country, falls rank fourth among the causes of injury or death, and particularly in the elderly population over 65 years old, this ranking has risen to the top. Therefore, the death rate is rapidly increased along with the increase of the age of people due to falling, in addition, the life of the old people is also seriously influenced by the negative effects brought by falling, and after falling, the old people are possibly disabled, so that the physical and mental health of the old people is influenced, the fear psychology generated after falling can also promote the old people to fear activities, the activity ability is reduced, the activity range is limited, and the life quality is reduced.
The fall detection mode can be divided into an active alarm mode and an automatic alarm mode according to the reaction mode of a detected person after falling, and the active system is suitable for the situation that the detected person is conscious after falling and can actively ask for help. For example, the personal emergency help-seeking system can ask for help from the outside by pressing the button by the wearer, and has the advantages of rapidness and accuracy. However, the method is too harsh in application conditions and is not suitable for a plurality of occasions. Push-button personal emergency help systems are ineffective when the wearer is unconscious or otherwise syncope. Even some old people are conscious and can not use the personal emergency help-seeking system under the condition of response, but the idea is a necessary and powerful supplement to the following automatic judgment device, namely, a wearer can cancel false alarm under certain normal conditions, the automatic system can automatically send an alarm or a help-seeking signal to the outside when falling occurs, and the detected person is not required to be conscious, so the application range of the system is wide, and the development direction of the falling detection system is provided.
The video analysis automatic system based on real-time monitoring, the real-time motion state of the detected object is monitored by a camera, the method has the disadvantages that the range of motion of the monitored object is limited, and the privacy of the user cannot be guaranteed;
the automatic audio analysis system based on the real-time signals can cause impact on the ground and cause vibration when a human body falls down. The fall detection method based on the audio signal analyzes the frequency of the vibration to judge, but the detection device used by the method is very complicated to install, and the frequency difference of the vibration generated when the person falls on the ground made of different materials is large, so that the method has poor universality.
Disclosure of Invention
The invention aims to provide an old man falling detection alarm device and method, which aim to overcome the defects caused in the prior art.
An old man falling detection alarm device comprises a controller, a key module, a wireless connection module, a storage module, a display module, a detection module, a communication module, a positioning module and a power supply module, wherein the key module, the wireless connection module, the storage module, the display module, the detection module, the communication module, the positioning module and the power supply module are electrically connected with the controller;
the key module comprises a configuration key, an alarm/cancel key and an information display key;
the wireless connection module is used for communicating with the mobile terminal in a short distance;
the storage module is used for receiving and storing user personal data input by the APP on the mobile terminal;
the display module is used for displaying personal information, time, mobile phone numbers of emergency contacts and the like of a user;
the detection module is used for detecting human body motion parameters of the user in real time and sending the detected various parameters to the controller to judge whether the user falls down;
the communication module realizes that the controller sends help seeking information to the emergency contact mobile phone number stored in the device when the user falls down through a wireless communication link.
The positioning module is used for positioning the position of the user, and the position information is transmitted to the mobile terminal of the emergency contact person in real time through the communication module.
Preferably, the remote alarm device further comprises a voice module, and the controller plays a voice alarm signal through a speaker in the voice module to perform local alarm after detecting that the user falls down.
Preferably, the detection module adopts an MPU6050 attitude sensor, the MPU6050 attitude sensor is integrated with a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer, and samples human motion acceleration signals by adopting a sampling frequency of 50 Hz.
Preferably, the communication module adopts a GSM/GPRS module, which supports GSM communication and GPRS communication.
Preferably, the positioning module adopts a GPS/TDOA combined navigation positioning mode, the GSM/GPRS module transmits the obtained TDOA positioning data to the controller through a UART interface, when the GPS signal and the TDOA signal are stable and effective, the controller fuses the position information of the TDOA and the GPS to obtain accurate positioning, the specific method is that the difference value of the position information of the TDOA and the GPS is subjected to optimal Kalman filtering, the filtering result is output as navigation data, when a user is in an open and remote area, the number of base stations is small at the moment, only GPS positioning can be used, when the position of a wearer is in dense urban high buildings or indoors, the GPS signal is easy to shield, and only TDOA positioning can be used.
Preferably, the wireless connection module is a bluetooth, and the bluetooth module is electrically connected with the controller through a UART interface.
Preferably, the mobile terminal is any one of a mobile phone, a tablet computer and an intelligent bracelet.
An old man falling detection alarm method comprises the following steps:
s1, the device is worn on the waist of a user, research results show that the acceleration information of the neck or the waist of the human body can reflect the change and the motion state of the posture of the trunk of the human body most, the device is easier to wear on the waist relative to the neck, and is more reasonable and comfortable in ergonomics, and after the device is worn, the Bluetooth automatically establishes communication with a mobile terminal held by an emergency contact;
s2, the user presses down the configuration key on the device, opens the APP matched with the device on the mobile terminal, inputs the personal data of the user into the APP, and the personal data of the user is transmitted to the storage module of the device through Bluetooth;
s3, acquiring human motion data in real time through an MPU6050 attitude sensor in the device and transmitting the human motion data to a controller, carrying out attitude estimation on the motion data through a self-adaptive hybrid filtering algorithm by the controller, uploading the filtered data to a mobile terminal through a GSM/GPRS module, viewing displayed data and curves in real time by an emergency contact through an APP on the mobile terminal, and then adopting an SMV characteristic value as a judgment standard of a falling event, wherein the SMV is defined by the following formula:
wherein A isx、Ay、AzX, Y, Z, the SMV characteristic value changes rapidly, when the SMV exceeds the threshold value of 1.8g and the vertical Pitch angle Pitch is more than 60 degrees, the human body changes from the vertical state to the horizontal state and is in the state for a long time, the user can be judged to be in the falling state, then the step S5 is executed, otherwise the step S6 is executed;
s5, the controller sends out a voice alarm signal through a control loudspeaker to carry out local alarm, meanwhile, the GSM/GPRS module sends help seeking information to a mobile phone number of an emergency contact person stored in the device, the emergency contact person can check the specific position of a fallen person through an APP after receiving the help seeking information, when the user is in a waking state, the user can also carry out one-key alarm through short pressing of an alarm/cancel key, automatic alarm and active alarm are carried out, the device is prevented from missing alarm, when the user is in a coma state, strange rescuers can press an information display key on the device, and at the moment, the step S7 is executed;
s6: when the user accidentally presses the alarm/cancel key for a short time, the user can also perform one-key alarm, and when the user finds out the false alarm, the user can cancel the false alarm by pressing the alarm/cancel key for a long time;
s7: the controller controls the display module to display personal information, time, mobile phone numbers of the emergency contacts and the like of the user, and the rescue personnel can contact the emergency contacts as soon as possible according to the information to rescue in time.
Preferably, the adaptive hybrid filtering algorithm in step S4 specifically includes:
s4.1, obtaining angular velocity differential quaternion by using an angular velocity and quaternion differential equation measured by a 3-axis MEMS gyroscope in an MPU6050 attitude sensor;
s4.2, processing data measured by a 3-axis MEMS accelerometer in an MPU6050 attitude sensor by using a gradient descent method to obtain a differential value of a minimum error quaternion;
s4.3: and (4) performing complementary fusion on the two groups of data obtained in the steps (S4.1) and (S4.2), reducing the drift error of a gyroscope and the attitude estimation error caused by high-frequency interference of the accelerometer as much as possible, and integrating the attitude differential quaternion subjected to complementary filtering to estimate the optimal attitude value.
The invention has the following advantages:
the invention is based on a waist wearable detection device, is very suitable for protecting the privacy of a wearer, and can also reduce the influence on the daily life of the wearer to the greatest extent, human body motion data can be collected in real time through an MPU6050 attitude sensor arranged in the device and transmitted to a controller, the controller carries out attitude estimation on the motion data through a self-adaptive hybrid filtering algorithm, an SMV characteristic value is adopted as a judgment standard of a falling event, when the SMV value is greater than a threshold value of 1.8g and a Pitch angle Pitch is greater than 60 degrees, a human body is changed from an upright state to a horizontal state and is in the state for a long time, at the moment, the SMV characteristic value is changed rapidly and the inclination angle of the human body and the vertical direction is changed greatly, the user can be judged to be in the falling state, the controller controls a voice module to carry out local alarm, and sends position and help seeking information to an emergency contact person through a communication module to seek help, when a user is awake, one-key alarm can be performed by pressing an alarm/cancel key for a short time, automatic alarm and active alarm are combined, and report omission can be avoided; but in no way allows false positives, i.e. missing a true fall, without an alarm, the consequences of which may be unthinkable once such occurs. In addition, strange rescue personnel can display the user information by pressing an information display key on the device, and the alarm can be cancelled by pressing the alarm/cancellation key for a long time so as to prevent false alarm. The invention can accurately judge the old people when the old people fall down and can remotely transmit the falling information and the positioning information to relatives and relevant rescue departments in time so that the old people can be rescued in time when sudden diseases or accidental falls down occur, thereby reducing the sudden death rate of the old people and improving the life quality of the old people, and having wide social significance.
Drawings
FIG. 1 is a schematic diagram of the structure of the device of the present invention.
FIG. 2 is a flow chart of detection and alarm of the present invention.
FIG. 3 is a flow chart of adaptive hybrid filtering and detection decision according to the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1-3, the invention provides an old people falling detection alarm device, which comprises a controller, a key module, a wireless connection module, a storage module, a display module, a detection module, a communication module, a positioning module and a power module, wherein the key module, the wireless connection module, the storage module, the display module, the detection module, the communication module, the positioning module and the power module are electrically connected with the controller, the power module supplies electric energy to the whole device, and the controller adopts an STM32F103 series single chip microcomputer;
the key module comprises a configuration key, an alarm/cancel key and an information display key;
the wireless connection module is used for communicating with the mobile terminal in a short distance;
the storage module is used for receiving and storing user personal data input by the APP on the mobile terminal;
the display module is used for displaying personal information, time, mobile phone numbers of emergency contacts and the like of a user;
the detection module is used for detecting human body motion parameters of the user in real time and sending the detected various parameters to the controller to judge whether the user falls down;
the communication module realizes that the controller sends help seeking information to the emergency contact mobile phone number stored in the device when the user falls down through a wireless communication link.
The positioning module is used for positioning the position of the user, and the position information is transmitted to the mobile terminal of the emergency contact person in real time through the communication module.
In this embodiment, the remote alarm device further comprises a voice module, and the controller plays a voice alarm signal through a speaker in the voice module to perform local alarm after detecting that the user falls down.
In this embodiment, the detection module adopts MPU6050 attitude sensor, MPU6050 attitude sensor integration has 3 axle MEMS gyroscopes and 3 axle MEMS accelerometers, in order to avoid the spectrum aliasing phenomenon, can make the signal after the sampling undistorted reply become original signal, adopts the frequency to be greater than the twice of signal highest frequency, in order to reserve certain allowance, this design adopts 50Hz sampling frequency to sample human motion acceleration signal, can really reflect human motion acceleration change condition like this, can not occupy too big storage space again.
In this embodiment, the communication module is a GSM/GPRS module, which supports GSM communication and GPRS communication.
In this embodiment, the positioning module adopts a GPS/TDOA combined navigation positioning mode, the GSM/GPRS module transmits the obtained TDOA positioning data to the controller through a UART interface, when both the GPS signal and the TDOA signal are stable and effective, the controller fuses the position information of the TDOA and the GPS to obtain accurate positioning, specifically, the difference between the position information of the TDOA and the GPS is subjected to optimal kalman filtering, and the filtering result is output as navigation data.
In this embodiment, the wireless connection module is a bluetooth, and the bluetooth module is electrically connected to the controller through a UART interface.
In this embodiment, the mobile terminal is any one of a mobile phone, a tablet computer, and an intelligent bracelet.
An old man falling detection alarm method comprises the following steps:
s1, wearing the device on the waist of the user, starting the device to work, and automatically establishing communication contact with the mobile terminal held by the emergency contact through Bluetooth;
s2, the user presses down the configuration key on the device, opens the APP matched with the device on the mobile terminal, inputs the personal data of the user into the APP, and the personal data of the user is transmitted to the storage module of the device through Bluetooth;
s3, acquiring human motion data in real time by an MPU6050 attitude sensor in the device and transmitting the data to a controller, wherein the MPU-6050 is a global first example MEMS sensor integrating a three-axis accelerometer and a three-axis gyroscope, effectively avoiding the problem of the axis difference between the gyroscope and the accelerometer, although the module has the function of digitally outputting fusion calculation data in formats of a rotation matrix, a quaternion and an Euler angle of 6 axes or 9 axes, the module has the defects of low calculation speed, large acceleration introduction error and the like and cannot be widely applied due to the fact that codes are closed, specific filtering algorithms are unknown, parameters cannot be adjusted and are inconvenient to use, the module self-contained algorithm has the defects of low calculation speed and the like, so that the invention adopts the controller to carry out attitude estimation on the motion data through a self-adaptive hybrid filtering algorithm and uploads the filtered data to a mobile terminal through a GSM/GPRS module, the emergency contact can check the displayed data and curve in real time through the APP on the mobile terminal, and the falling direction of the emergency contact cannot be predicted due to the randomness of the falling event, so that the emergency contact is not suitable for judging the falling event by adopting certain axial acceleration data. The advantage of using the SMV (Signal magnetic Vector) feature value is that it ignores the spatial direction of the three-axis acceleration Signal, and performs Vector sum operation on the spatial acceleration, so that the method for determining the fall event by using the threshold value is realized, that is, regardless of the fall mode, the SMV feature value can be used as the determination standard of the fall event, and the SMV is defined by the following formula:
wherein A isx、Ay、AzX, Y, Z, the SMV characteristic value changes rapidly, when the SMV exceeds the threshold value of 1.8g and the vertical Pitch angle Pitch is more than 60 degrees, the human body changes from the vertical state to the horizontal state and is in the state for a long time, the user can be judged to be in the falling state, then the step S5 is executed, otherwise the step S6 is executed;
s5, the controller sends out a voice alarm signal through a control loudspeaker to carry out local alarm, meanwhile, the GSM/GPRS module sends help seeking information to a mobile phone number of an emergency contact person stored in the device, the emergency contact person can check the specific position of a fallen person through an APP after receiving the help seeking information, when the user is in a waking state, the user can also carry out one-key alarm through short pressing of an alarm/cancel key, automatic alarm and active alarm are carried out, the device is prevented from missing alarm, when the user is in a coma state, strange rescuers can press an information display key on the device, and at the moment, the step S7 is executed;
s6: when the user accidentally presses the alarm/cancel key for a short time, the user can also perform one-key alarm, and when the user finds out the false alarm, the user can cancel the false alarm by pressing the alarm/cancel key for a long time;
s7: the controller controls the display module to display personal information, time, mobile phone numbers of the emergency contacts and the like of the user, and the rescue personnel can contact the emergency contacts as soon as possible according to the information to rescue in time.
In this embodiment, the adaptive hybrid filtering algorithm in step S4 specifically includes:
s4.1, obtaining angular velocity differential quaternion by using an angular velocity and quaternion differential equation measured by a 3-axis MEMS gyroscope in an MPU6050 attitude sensor;
s4.2, processing data measured by a 3-axis MEMS accelerometer in an MPU6050 attitude sensor by using a gradient descent method to obtain a differential value of a minimum error quaternion;
s4.3: and (4) performing complementary fusion on the two groups of data obtained in the steps (S4.1) and (S4.2), reducing the drift error of a gyroscope and the attitude estimation error caused by high-frequency interference of the accelerometer as much as possible, and integrating the attitude differential quaternion subjected to complementary filtering to estimate the optimal attitude value.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.
Claims (9)
1. The utility model provides an old man falls and detects alarm device which characterized in that: the device comprises a controller, and a key module, a wireless connection module, a storage module, a display module, a detection module, a communication module, a positioning module and a power module which are electrically connected with the controller, wherein the power module provides electric energy for the whole device;
the key module comprises a configuration key, an alarm/cancel key and an information display key;
the wireless connection module is used for communicating with the mobile terminal in a short distance;
the storage module is used for receiving and storing user personal data input by the APP on the mobile terminal;
the display module is used for displaying personal information, time, mobile phone numbers of emergency contacts and the like of a user;
the detection module is used for detecting human body motion parameters of the user in real time and sending the detected various parameters to the controller to judge whether the user falls down;
the communication module realizes that the controller sends help seeking information to the emergency contact mobile phone number stored in the device when the user falls down through a wireless communication link.
The positioning module is used for positioning the position of the user, and the position information is transmitted to the mobile terminal of the emergency contact person in real time through the communication module.
2. The old man fall detection alarm device according to claim 1, wherein: the controller plays a voice alarm signal through a loudspeaker in the voice module to give an alarm locally after detecting that the user falls down.
3. The old man fall detection alarm device according to claim 1, wherein: the detection module adopts an MPU6050 attitude sensor, the MPU6050 attitude sensor is integrated with a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer, and a sampling frequency of 50Hz is adopted to sample human motion acceleration signals.
4. The old man fall detection alarm device according to claim 1, wherein: the communication module adopts a GSM/GPRS module, and supports GSM communication and GPRS communication.
5. The old man fall detection alarm device according to claim 4, wherein: the positioning module adopts a GPS/TDOA combined navigation positioning mode, the GSM/GPRS module transmits acquired TDOA positioning data to the controller through a UART interface, when a GPS signal and the TDOA signal are stable and effective, the controller fuses position information of the TDOA and the GPS to acquire accurate positioning, the specific method is to perform optimal Kalman filtering on a difference value of the position information of the TDOA and the GPS, a filtering result is output as navigation data, when a user is in an open and remote area, the number of base stations is small at the moment, only GPS positioning can be used, when the position of a wearer is in dense urban high buildings or indoors, the GPS signal is easy to shield, and only TDOA positioning can be used.
6. The old man fall detection alarm device according to claim 1, wherein: the wireless connection module is Bluetooth and is electrically connected with the controller through a UART interface.
7. The old man fall detection alarm device according to claim 1, wherein: the mobile terminal is any one of a mobile phone, a tablet personal computer and an intelligent bracelet.
8. An elderly fall detection alarm method using the elderly fall detection alarm device according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:
s1, wearing the device on the waist of the user, starting the device to work, and automatically establishing communication contact with the mobile terminal held by the emergency contact through Bluetooth;
s2, the user presses down the configuration key on the device, opens the APP matched with the device on the mobile terminal, inputs the personal data of the user into the APP, and the personal data of the user is transmitted to the storage module of the device through Bluetooth;
s3, acquiring human motion data in real time through an MPU6050 attitude sensor in the device and transmitting the human motion data to a controller, carrying out attitude estimation on the motion data through a self-adaptive hybrid filtering algorithm by the controller, uploading the filtered data to a mobile terminal through a GSM/GPRS module, viewing displayed data and curves in real time by an emergency contact through an APP on the mobile terminal, and then adopting an SMV characteristic value as a judgment standard of a falling event, wherein the SMV is defined by the following formula:
wherein A isx、Ay、AzX, Y, Z, the SMV characteristic value changes rapidly when the SMV exceeds the threshold value of 1.8g and in the vertical directionWhen the Pitch angle Pitch is more than 60 degrees, the human body is changed from the vertical state to the horizontal state and is in the horizontal state for a long time, then the user can be judged to be in the falling state, and then the step S5 is executed, otherwise the step S6 is executed;
s5, the controller sends out a voice alarm signal through a control loudspeaker to carry out local alarm, meanwhile, the GSM/GPRS module sends help seeking information to a mobile phone number of an emergency contact person stored in the device, the emergency contact person can check the specific position of a fallen person through an APP after receiving the help seeking information, when the user is in a waking state, the user can also carry out one-key alarm through short pressing of an alarm/cancel key, automatic alarm and active alarm are carried out, the device is prevented from missing alarm, when the user is in a coma state, strange rescuers can press an information display key on the device, and at the moment, the step S7 is executed;
s6: when the user accidentally presses the alarm/cancel key for a short time, the user can also perform one-key alarm, and when the user finds out the false alarm, the user can cancel the false alarm by pressing the alarm/cancel key for a long time;
s7: the controller controls the display module to display personal information, time, mobile phone numbers of the emergency contacts and the like of the user, and the rescue personnel can contact the emergency contacts as soon as possible according to the information to rescue in time.
9. The old man fall detection alarm method according to claim 8, wherein: the adaptive hybrid filtering algorithm in step S4 specifically includes:
s4.1, obtaining angular velocity differential quaternion by using an angular velocity and quaternion differential equation measured by a 3-axis MEMS gyroscope in an MPU6050 attitude sensor;
s4.2, processing data measured by a 3-axis MEMS accelerometer in an MPU6050 attitude sensor by using a gradient descent method to obtain a differential value of a minimum error quaternion;
s4.3: and (4) performing complementary fusion on the two groups of data obtained in the steps (S4.1) and (S4.2), reducing the drift error of a gyroscope and the attitude estimation error caused by high-frequency interference of the accelerometer as much as possible, and integrating the attitude differential quaternion subjected to complementary filtering to estimate the optimal attitude value.
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| CN115063945A (en) * | 2022-06-20 | 2022-09-16 | 浙江科技学院 | Fall detection alarm method and system based on attitude fusion calculation |
| CN115457733A (en) * | 2022-09-09 | 2022-12-09 | 张家港江苏科技大学产业技术研究院 | Outdoor sport detection alarm device |
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| 徐恩松等: "基于Mahony滤波算法的姿态解算与应用研究", Retrieved from the Internet <URL:fx361.com/page/2019/1205/6079026.shtml> * |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115063945A (en) * | 2022-06-20 | 2022-09-16 | 浙江科技学院 | Fall detection alarm method and system based on attitude fusion calculation |
| CN115063945B (en) * | 2022-06-20 | 2023-12-29 | 浙江科技学院 | Fall detection alarm method and system based on attitude fusion calculation |
| CN115457733A (en) * | 2022-09-09 | 2022-12-09 | 张家港江苏科技大学产业技术研究院 | Outdoor sport detection alarm device |
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