KR101101003B1 - Monitoring system and method for moving and balancing of human body using sensor node - Google Patents

Abstract

The present invention relates to a system for detecting movement and balance of a body using a sensor node, the power supply unit 10; A three-axis acceleration sensor 20; A three-axis gyro sensor 30; A pressure sensor 40; An A / D converter 50 for converting the measured analog signal into a digital signal; Real time clock means 60; A microprocessor (60) having an RF transceiver for establishing a mathematical model to infer a patient's state (Standing, Bending, Sitting, Lying); It is composed of an external memory 70 to improve data types and situation reasoning methods for analyzing existing body balance and movement, and acquires signals of sensor nodes attached to the wrist and ankle with a system for analyzing body movement and balance. From this, it is possible to observe the change in the size and direction of the movement, the moving distance and the position, and it is inexpensive, convenient to wear and carry, and also uses the acceleration sensor and gyro sensor and displays the detection signal data to display biofeedback. It is possible to improve posture correction efficiency by allowing posture to be corrected, and to detect the fall accident immediately by situation inference and transmit detection signal to hospital and guardian to deal effectively with the damage caused by the accident more effectively and actively. It is a useful invention with advantages.

Sensor node, balance detection system, 3-axis acceleration sensor, 3-axis gyro sensor.

Description

Monitoring system and method for moving and balancing of human body using sensor node}

The present invention relates to a system and method for detecting the movement and balance of the body, and more particularly, the three-axis acceleration sensor for detecting the three-dimensional acceleration of the body and the three-axis gyro for sensing the angular velocity of the body The sensor detects the balance and fall of the body by receiving the detection signal about movement and balance by using a sensor, and monitors the patient's condition after the fall using the pressure sensor. The present invention relates to a system and a method for detecting a movement and balance of a body using a sensor node which stores a detection signal for analysis in a memory and transmits it through a wireless device.

In general, methods for measuring body balance include an observational analysis method with the naked eye, an analysis method with a photographing method, and an image motion analysis method for photographing a patient's movement with an optical camera and analyzing it with a computer.

Among them, when using the observational analysis method with the naked eye, it is difficult to accurately record and record when the movement proceeds quickly, and the analyst has to repeat the subject's movement several times in order to accurately record the movement or balance.

In addition, in the case of using the analysis method by taking a picture, there is a problem that even if the desired balance or moving image is taken, it is insufficient to store the image and analyze the change.

The image analysis method used to solve this problem is to attach a reflector to a part of the subject's body in the case of the image motion analysis equipment for analyzing the balance and movement of the body in real time, and the laboratory and the imaging for the balance and movement analysis. It is a method of obtaining the data necessary for body balance and motion analysis by obtaining the position value of the reflector from the image obtained with several cameras.

Image analysis has the advantage of being accurate and three-dimensional, but in order to perform this, a separate analysis room must be provided and a camera must be installed at a specific location of the measurement room. Therefore, there is a problem that image analysis using expensive equipment is possible in a laboratory environment and cannot be applied to real life.

The present invention has been invented to solve various defects and problems caused by the conventional method for measuring body balance in view of the above situation, and the object thereof is to infer data types and situations necessary for analyzing existing body balance and movement. The present invention provides a system and method for detecting body motion and balance using a sensor node that improves the method.

Another object of the present invention is a system for analyzing body movement and balance to obtain signals from sensor nodes attached to the wrist and ankle, and to observe the change in the size and direction of movement, the distance moved and the position therefrom, and The present invention provides a system and method for detecting body movement and balance using a sensor node that is inexpensive and easy to wear and carry.

Another object of the present invention is to increase the posture correction efficiency by using the acceleration sensor, gyro sensor and to display the detection signal data to correct the posture by biofeedback and immediately detects the fall accident caused by situation inference and The present invention provides a system and method for detecting the movement and balance of a body using a sensor node that can effectively and actively cope with damage caused by an accident by transmitting a detection signal to a hospital and a caregiver.

The technical problem to be achieved by the present invention is to wear a three-axis acceleration sensor and a three-axis gyro sensor on the wrist and leg of the body, and additionally wear a pressure sensor on the wrist to measure the patient's pulse, using a mathematical reasoning model using the same As applied fall detection and reliable pulse monitoring can be achieved, the power supply unit 10; A three-axis acceleration sensor 20 worn on the patient's wrist and leg; A three-axis gyro sensor 30 worn on the wrist and leg of the patient; A pressure sensor 40 worn on the wrist of the patient to measure the wearer's pulse; An A / D converter 50 for converting the analog signal measured by the three-axis acceleration sensor 20, the three-axis gyro sensor 30 and the pressure sensor 40 into a digital signal; A real time clock means (60) configured to apply a real time to a pulse measuring signal among the signals converted by the A / D converter (50); A microprocessor having an RF transceiver for inferring a patient's state (Standing, Bending, Sitting, Lying) by establishing a mathematical model based on the received measurement value by receiving the converted signal from the A / D converter 50 ( 60) and; Characterized in that the external memory 70 for storing the measurement value received in the microprocessor 60.

The present invention improves existing data types and situational reasoning methods for analyzing body balance and movement, and acquires signals from sensor nodes attached to the wrists and ankles by analyzing the body movement and balance. Changes in size and direction, distance traveled and position can be observed, inexpensive, easy to carry and carry, and posture correction by biofeedback using acceleration sensor and gyro sensor and displaying detection signal data By improving the posture correction efficiency, it is possible to immediately detect the fall accident by situation inference and send the detection signal to the hospital and the guardian, so that there is a special advantage to deal with the damage caused by the accident more effectively and actively.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the body movement and balance detection system using the sensor node of the present invention.

1 is a block diagram of a body movement and balance detection system using the sensor node of the present invention, Figure 2 is a view showing a sensor wearing state according to the present invention, Figure 3 is a body movement and balance detection method using the sensor node of the present invention As a flow chart for executing the movement and balance detection system of the body using the sensor node of the present invention, the power supply unit 10; A three-axis acceleration sensor 20 worn on the patient's wrist and leg; A three-axis gyro sensor 30 worn on the wrist and leg of the patient; A pressure sensor 40 worn on the wrist of the patient to measure the wearer's pulse; An A / D converter 50 for converting the analog signal measured by the three-axis acceleration sensor 20, the three-axis gyro sensor 30 and the pressure sensor 40 into a digital signal; A real time clock means (60) configured to apply a real time to a pulse measuring signal among the signals converted by the A / D converter (50); A microprocessor having an RF transceiver for inferring a patient's state (Standing, Bending, Sitting, Lying) by establishing a mathematical model based on the received measurement value by receiving the converted signal from the A / D converter 50 ( 60) and; It consists of an external memory (70) for storing the measured values received by the microprocessor (60).

In addition, the body motion and balance detection method using the sensor node of the present invention is a measurement data acquisition step (S1, S1) to obtain the measurement data by the three-axis acceleration sensor 20, three-axis gyro sensor 30 and the pressure sensor 40 ', S1 " and Equation 1 or 3 for the measurement data obtained in the measurement data acquisition step S1, and Equation 2 for the measurement data obtained in the measurement data acquisition step S1', respectively. Formula employing steps S2, S2 ', and S2 "; Condition 1, 2, 3 application steps (S3, S4, S5) of sequentially applying condition 1, condition 2, condition 3 to the process data obtained by employing the equation in the equation adoption step (S2); The condition 2 application step (S4) and the step of employing the equation in the equation adoption step (S2 ") to obtain the processing data, the condition 4 to the measurement data obtained the measurement data by the pressure sensor 40 Condition 4 applying step (S6) and applying the measurement time providing step (S7) to provide the measurement time by the real-time clock means 60 in real time in the condition 4 application step (S6) and the steps S5, S6 The motion and balance state display step (S8) of inferring and displaying the fall / pulse abnormality from the execution of the step is performed.

Equations 1 and 1 ' Equations 2 and 2 'Equations 3 and 3' are as follows.

(Equation 1)

는 A 위치의 가속도를 나타낸다.

Represents the acceleration of the A position.

(Equation 1 ')

는 B 위치의 가속도를 나타낸다.

Represents the acceleration of the B position.

(Equation 2)

는 A 위치의 각속도를 나타낸다.

Denotes the angular velocity of the A position.

(Equation 2 ')

는 B 위치의 각속도를 나타낸다.

Denotes the angular velocity of the B position.

(Equation 3)

θ _A represents the angle of the A position.

(Equation 3 ')

θ _B represents the angle of the B position.

In addition, each of the conditions 1, 2, 3, 4 is as follows.

Condition 1:

는 A 위치의 최대 가속도,

는 A 위치의 최소 가속도,

는 B 위치의 최대 가속도,

는 B 위치의 최소 가속도,

는 A 위치의 최대 각속도,

는 A 위치의 최소 각속도,

는 B 위치의 최대 각속도,

는 B 위치의 최소 각속도이다.

Is the maximum acceleration at position A,

Is the minimum acceleration at position A,

Is the maximum acceleration of the B position,

Is the minimum acceleration at position B,

Is the maximum angular velocity at position A,

Is the minimum angular velocity at position A,

Is the maximum angular velocity at position B,

Is the minimum angular velocity at position B.

Condition 2:

Condition 3:

는 A 위치의 가속도 기준레벨,

는 B 위치의 가속도 기준레벨,

는 A 위치의 각속도 기준레벨,

는 B 위치의 각속도 기준레벨을 나타낸다.

Is the acceleration reference level at position A,

Is the acceleration reference level at position B,

Is the angular velocity reference level at position A,

Denotes the angular velocity reference level of the B position.

Condition 4:

P _m Silver pulse rate per minute, △ P _m Represents the pulse rate change per minute.

Next, the three-axis acceleration sensor 20 and the three-axis gyro sensor 30 respectively wearing two places will be described as an example of the body movement and balance method using the sensor node of the present invention.

First, the data obtained from the three-axis acceleration sensor and the three-axis gyro sensor are applied to the mathematical inference model, and the measured data obtained by the three-axis acceleration sensor 20 located at the A position (x, y, z) to infer the balance state. Applying Equation 1 to obtain the acceleration a _A of the 3-axis acceleration sensor 20 at the A position and Equation 1 'to obtain the acceleration a _B of the 3-axis acceleration sensor 20 at the B position. (Step S1).

In addition, by applying Equation 2 to the measurement data obtained by the three-axis gyro sensor 30 of the A position to the angular velocity (ωA) of the three-axis gyro sensor 30 of the A position and the three-axis gyro sensor 30 of the B position The angular velocity ωB of the 3-axis gyro sensor 30 at the B position is obtained by applying Equation 2 to the obtained measurement data (step S1 ').

In this way, after obtaining the linear acceleration and the angular velocity of each of the three-axis acceleration sensor 20 and the three-axis gyro sensor 30, the change in the linear value obtained in Equations 1 and 2 in step S3 is the reference acceleration 0.4 When the condition 1 above satisfies the angular velocity and the acceleration is compared with g and the reference angular velocity 60 ° / s, it is determined that there is a possibility of falling and the condition is compared with the condition 2 in the next step S4.

In the condition 2, when the condition 1 is satisfied, the operation principle of the 3-axis acceleration sensor 20 will be described based on the acceleration sensor that detects the acceleration in the 1-dimensional direction of the 3-axis acceleration sensor 20. ) In the stationary state, the gravity is not applied to the plane orthogonal to the direction of gravity, but this plane becomes the absolute horizontal plane, the sensor signal value in the 3-axis acceleration sensor 20, the axis is arranged in this plane direction Becomes the reference or zero.

Based on the reference plane, the tilt according to the movement, that is, the tilt value of the measurement line may be measured, and the acceleration in the axial direction may be measured using the reference plane. In order to apply the condition 2 as described above, the slope of the measurement line is obtained using Equation 3, and it is determined whether the condition is a lying state or a fall state through the condition 2.

Ie condition 2:

Θ _A is the angle with respect to the x-axis of the 3-axis acceleration sensor 20 in the A position, θ _B is the angle with respect to the x axis of the 3-axis acceleration sensor 20 in the B position

Therefore, according to the angle of θ _A and θ _B , the state of the subject is shown in Table 1 below.

The state of the subject according to the angles θ _A and θ _B θ _A θ _B       condition    <35 °     <35 °    Standing status     ＞ 35 °     <35 °     Bent    <35 °      ＞ 35 °     Sitting     ＞ 35 °      ＞ 35 °   Lying down

If the condition 2 is satisfied as described above, the maximum acceleration values (a _Amax , a _Bmax ) of the 3-axis acceleration sensor 20 are equal to or higher than the reference level (T _aA = 3.0 g, T _aB = 2.5 g), or If the maximum angular velocity value (ω _Amax , ω _Bmax ) of the gyro sensor 30 is greater than or equal to the reference level (TωA = 200 ° / sec, TωB = 340 ° / sec), it is regarded as a fall. Transmitting data to a nearby hospital or guardian via a set-top box via wire / wireless, and applying the pulse detected from the pressure sensor 40 in real time to the real-time clock means 60 in step S "to measure the pulse rate per minute in step S6. Continuously monitor and monitor the patient's condition after the fall compared to Condition 4.

When P _m (pulse rate per minute) and ΔP _m (pulse rate per minute) satisfy the condition 4 in the step 4 comparing the condition 4 and the pulse rate, the detection is continuously performed. This can be displayed on a monitor or transmitted to the nearby hospital or guardian via a set-top box, wired or wireless.

The sensor node comprises a 3-axis acceleration sensor 20, a 3-axis gyro sensor 30 and a microprocessor 70, an external memory 80, a power supply unit 10, including a 2.4 GHz RF transceiver, Figure 2 As shown in figure, sensor node A is worn on the wrist and sensor node B on the ankle.

The three-axis acceleration signal and the angular velocity signal, which are analog signals obtained from the three-axis acceleration sensor 20 and the three-axis gyro sensor 40, are converted into digital signals using the A / D converter 50 and transmitted to the microprocessor 70. do.

The microprocessor 70 processes operations for situation inference through mathematical conditions and equations, and if the acceleration and the angular velocity are differentiated from the time axis through the real-time clock means 60, the data such as position information and distance, speed, angle, etc. You can get it.

The processed results and the data obtained from the sensor nodes A and B are transmitted and stored to the external memory 80 through the RF transceiver, and the three-dimensional motion analysis is possible through the stored data information. Real-time transmission of data acquired in B enables three-dimensional motion analysis of body movements in real time.

Therefore, the body movement and balance detection system and method using the sensor node of the present invention can correct the posture through the analysis of the exercise of the athletes can also be used in rehabilitation.

The present invention has been described above with reference to specific embodiments of the present invention, but this is only an example and the present invention is not limited thereto. Changes or variations of the described embodiments can be made without departing from the scope of the invention, and such changes or modifications are within the scope of the invention. Therefore, the scope of the present invention should be determined by the appended claims and equivalents thereof, not by the embodiments described.

1 is a block diagram of a body movement and balance detection system using the sensor node of the present invention,

2 is a view showing a sensor wearing state according to the present invention;

3 is a flowchart of a method of detecting a movement and balance of a body using the sensor node of the present invention.

Description of the Related Art

10: power supply 20: 3-axis acceleration sensor

30: 3-axis gyro sensor 40: pressure sensor

50: A / D converter 60: real time clock means

70: microprocessor 80: external memory

Claims (2)

delete A measurement data acquisition step (S1, S1 ', S1 ") of acquiring measurement data by the three-axis acceleration sensor 20, the three-axis gyro sensor 30, and the pressure sensor 40; and the measurement data acquisition step (S1). Equation 1 (S2, S2 ', S2 &quot;) employing Equation 1 or Equation 3 below to the measured data obtained in Equation 2, and Equation 2 to the measured data obtained in the measured data acquisition step S1'. ; Conditions 1, 2, and 3 applying steps 1, 2, and 3 sequentially to the process data obtained by employing the equation in the equation adopting step (S2) (S3, S4, S5); The condition 2 application step (S4) and the step of employing the equation in the equation adoption step (S2 ") to obtain the processing data, the condition 4 to the measurement data obtained the measurement data by the pressure sensor 40 Condition 4 applying step (S6) and applying a measurement time providing step (S7) to provide the measurement time by the real-time clock means 60 in real time in the condition 4 application step (S6) and the steps S5, S6 Body motion and balance detection method using a sensor node, characterized in that consisting of the body movement and balance state display step (S8) to infer the fall / pulse abnormality from the execution of the display. Equation 1 is

ego, here

Represents the acceleration of the A position. Equation 2 is

ego, here

Denotes the angular velocity of the A position. Equation 3 is

ego, Θ _A represents the angle of the A position. In addition, condition 1

ego, here

Is the maximum acceleration at position A,

Is the minimum acceleration at position A,

Is the maximum acceleration of the B position,

Is the minimum acceleration at position B,

Is the maximum angular velocity at position A,

Is the minimum angular velocity at position A,

Is the maximum angular velocity at position B,

Is the minimum angular velocity at position B. Condition 2

ego, Condition 3 is

, here

Is the acceleration reference level at position A,

Is the acceleration reference level at position B,

Is the angular velocity reference level at position A,

Denotes the angular velocity reference level of the B position. Condition 4

ego, Where P _m Silver pulse rate per minute, △ P _m Represents the pulse rate change per minute.

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