WO2019228419A1

WO2019228419A1 - Gait recognition method and recognition device

Info

Publication number: WO2019228419A1
Application number: PCT/CN2019/089081
Authority: WO
Inventors: 陈涛; 袁宏永; 陈建国; 苏国锋
Original assignee: 清华大学; 北京辰安科技股份有限公司
Priority date: 2018-05-31
Filing date: 2019-05-29
Publication date: 2019-12-05

Abstract

A gait recognition method, comprising: periodically sampling air pressure measurement data which are outputted by an air pressure sensor (S110), determining an air pressure change rule in a chamber according to the acquired air pressure measurement data (S120); and identifying gait information of a traveler according to the air pressure measurement data and the air pressure change rule (S130), wherein the air pressure sensor is provided in a shoe insert or a chamber of a sole. Also disclosed are a related device and a computer program medium.

Description

Gait recognition method and recognition device

Cross-reference to related applications

This application claims priority from a Chinese patent application filed with the Chinese Patent Office on May 31, 2018, with application number 201810549532.9, and with the invention name "gait recognition method and device", the entire contents of which are incorporated herein by reference. .

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on May 31, 2018, with application number 201820841673.3, and the invention name is "measurement device for gait recognition", the entire contents of which are incorporated herein by reference. in.

Technical field

The present application relates to the field of sensor detection, and in particular, to a gait recognition method and a recognition device.

Background technique

At present, people mainly know the number of steps they take through a pedometer. The pedometer is mainly composed of a vibration sensor and an electronic counter. When a pedestrian walks, the center of gravity of the body will vibrate up and down. The vibration sensor captures this movement and uses electrical pulses to Way to the electronic counter to achieve the purpose of step counting.

However, artificial swaying will also cause the pedometer to perform step counting. Even when there is no walking, the pedometer still thinks that the pedestrian is walking and counting, thus resulting in low step counting accuracy and poor user experience. At the same time, the gait information that the electronic pedometer can obtain is very limited. It is limited to the number of steps and the frequency, and cannot obtain the gait information of the foot.

Summary of the Invention

The purpose of this application is to solve at least one of the above-mentioned technical problems.

For this reason, the first purpose of this application is to propose a gait recognition method. This method makes full use of the information of the barometric pressure sensor, and realizes the recognition of gait information through the change of barometric pressure, which improves the recognition accuracy and the user experience.

The second object of the present application is to provide a gait recognition device.

The third object of the present application is to propose another gait recognition device.

A fourth object of the present application is to propose a computer-readable storage medium.

In order to achieve the above object, the gait recognition method provided by the embodiment of the first aspect of the present application includes: periodically sampling the air pressure measurement data output by the air pressure sensor, wherein the air pressure sensor is built in the cavity of the insole or sole; The air pressure change rule in the cavity is determined according to the collected air pressure measurement data; the gait information of the pedestrian is identified according to the collected air pressure measurement data and the air pressure change rule.

In order to achieve the above object, the gait recognition device provided by the embodiment of the second aspect of the present application includes: a sampling module for periodically sampling the pressure measurement data output by the pressure sensor, wherein the pressure sensor is built in the insole or Inside a cavity of a shoe sole; a determination module for determining a pressure change rule in the cavity according to the collected pressure measurement data; an identification module for identifying a trip based on the collected pressure measurement data and the pressure change rule Human gait information.

To achieve the above object, a gait recognition device provided in an embodiment of the third aspect of the present application, the gait recognition device is built into a cavity of an insole or a sole, and the device includes: a device for detecting air pressure data in the cavity; Barometric pressure sensor, memory, microcontroller, and computer program stored on the memory and executable on the microcontroller. When the microcontroller executes the program, the first embodiment of the present application is implemented. Gait recognition method.

According to the gait recognition method and device in the embodiments of the present application, the air pressure measurement data output by the air pressure sensor can be sampled periodically, wherein the air pressure sensor is built in the cavity of the insole or sole and is measured according to the collected air pressure The data determines the air pressure change law in the cavity, and the gait information of the pedestrian is identified according to the collected air pressure measurement data and the air pressure change law. That is, the pressure sensor is placed in the cavity of the insole or the sole, and the cavity is squeezed and deformed when walking. The pressure inside the cavity changes, and the change is more significant. The measured value detected by the pressure sensor changes significantly, similar to the amplifier to amplify the foot. The changing process of the tribal land and the kicker makes the changes in the air pressure measurement value further reflect the gait change. Then, while using the air pressure sensor to measure the air pressure, the pedestrian's gait information is directly identified through the air pressure measurement data, making full use of the pressure sensor's Information, and realize the recognition of gait information through the change of air pressure, which improves the accuracy of recognition and improves the user experience. In addition, it can be used for step counting in pedestrian navigation, reducing the use of other step counting sensors, and reducing the volume, weight, power consumption and cost of pedestrian navigation devices.

In order to achieve the foregoing object, a computer-readable storage medium provided by an embodiment of the fourth aspect of the present application implements the gait recognition method according to the first aspect of the present invention when the computer program is executed by a processor.

Additional aspects and advantages of the present application will be given in part in the following description, part of which will become apparent from the following description, or be learned through practice of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

FIG. 1 is a flowchart of a gait recognition method according to an embodiment of the present application; FIG.

2 is a diagram illustrating an example of a waveform of pressure measurement data detected by a pressure sensor according to an embodiment of the present application;

3 is a flowchart of a gait recognition method according to an embodiment of the present application;

4 is a schematic structural diagram of a gait recognition device according to an embodiment of the present application;

5 is a schematic structural diagram of a gait recognition device according to a specific embodiment of the present application;

6 is a schematic structural diagram of a gait recognition device according to another embodiment of the present application;

7 is a schematic structural diagram of a cavity of an insole according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a gait recognition device according to another specific embodiment of the present application.

Detailed ways

Hereinafter, embodiments of the present application are described in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

The following describes a gait recognition method and a recognition device according to embodiments of the present application with reference to the drawings.

FIG. 1 is a flowchart of a gait recognition method according to an embodiment of the present application. It should be noted that the gait recognition method in the embodiment of the present application can be applied to the gait recognition device in the embodiment of the present application.

As shown in FIG. 1, the gait recognition method may include:

S110. Sampling the air pressure measurement data output by the air pressure sensor periodically.

It should be noted that, in the embodiment of the present application, the gait recognition device may include an air pressure sensor. The air pressure sensor may sensitively detect changes in air pressure, and the air pressure sensor is built into the cavity of the insole (or sole). In this way, when a person walks, the size of the cavity in which the air pressure sensor is placed changes due to the squeeze between the foot and the insole (or sole). The air pressure in the cavity will change significantly as the human body walks. There is an obvious change in air pressure caused by the foot tribal land. When the foot is vacated, the air pressure value returns to normal because the cavity is not deformed. Therefore, this application uses this air pressure change pulse signal to accurately record the foot tribal land. , Flying state, and derivation of gait information such as the number of steps of the human body, the step frequency, the landing state, the flying state, and the walking mode.

First, the air pressure measurement data detected by the air pressure sensor while the pedestrian is walking can be collected periodically. For example, the air pressure measurement data detected by the air pressure sensor when a pedestrian is walking may be collected every 5 seconds, and the sampling time may be 10 seconds. In other words, every 5 seconds, air pressure measurement data detected by the air pressure sensor within 10 seconds can be collected.

S120. Determine a pressure change rule in the cavity according to the collected pressure measurement data.

Optionally, according to all the collected air pressure measurement data, a change law of the air pressure in the cavity during the acquisition time period is determined. For example, the relationship between air pressure and time can be used to represent the law of air pressure change. For example, as shown in FIG. 2, the collected air pressure measurement data detected by the air pressure sensor while the pedestrian is walking is represented by a correspondence graph between air pressure and time, and the change in air pressure in the cavity can be determined through the correspondence graph. Regularity, for example, the air pressure change in the E time period shown in FIG. 2 is large, and the air pressure change in the F time period is relatively stable.

S130. Identify the gait information of the pedestrian according to the collected pressure measurement data and the pressure change rule. Wherein, in the embodiment of the present application, the gait information may include, but is not limited to, a tribal land state, a vacated state, a number of steps, a step frequency, a walking manner, and the like.

Optionally, certain algorithmic processing can be performed on the collected air pressure measurement data and the air pressure change rule to obtain gait information of pedestrians, such as landing and flying states (also referred to as landing and flying times), steps, Cadence, walking style, landing strength, etc. As an example, as shown in FIG. 3, the specific implementation process of identifying the gait information of the pedestrian according to the collected air pressure measurement data and the air pressure change rule may include:

S310. Determine the foot status of the pedestrian at each sampling time according to the collected air pressure measurement data, wherein the foot status includes a landing status and a flying status;

Optionally, the pressure value Pk at the current sampling time is determined from the collected pressure measurement data, and the difference between the pressure value Pk at the current sampling time and the normal pressure value PN at the current sampling time is calculated. If the absolute value of the difference is greater than the target threshold, it is determined that the foot state of the pedestrian at the current sampling time is a landing state; if the absolute value of the difference is less than the target threshold, it is determined that the pedestrian is in the The foot state at the current sampling time is a vacated state.

It can be understood that when a pedestrian is walking, the foot can be divided into a grounded state and a vacated state. When the foot tribe land, touching the ground and kicking the feet are a continuous process. There is a large change in air pressure, which appears to increase or decrease rapidly, as shown in Figure 2. Among them, the time period E can be regarded as a landing state, and the time period F can be regarded as a foot empty state.

For example, in this example, assuming that the sampling time is k, the pressure value Pk of the current sampling time k can be determined from the collected pressure measurement data, and the pressure value Pk of the current sampling time k and the current sampling time can be determined. The difference between the normal pressure value PN and the target threshold value Tp is compared. For example, if the absolute value of the difference value is greater than the target threshold value Tp, the foot of the pedestrian at the current sampling time may be determined. The state is a landing state; if the absolute value of the difference is less than the target threshold Tp, it is determined that the foot state of the pedestrian at the current sampling time is a vacated state. Wherein, in the embodiment of the present application, the normal pressure value at the sampling time is used to indicate the pressure value that is stable and lasts for a certain period of time during the sampling time; the target threshold value Tp can be calculated by the following formula: Tp = 3 ~ 5σ, where σ is the mean square error of the current normal pressure value, and Tp represents 3 to 5 times the mean square error σ of the normal pressure value at the current sampling time.

In this way, the absolute value of the difference between the air pressure value Pk and the normal air pressure value PN at the current sampling time can be used as the determination value of the foot state at the current sampling time, and the determination value can be compared with the target threshold. According to the comparison result, it is determined whether the foot state at the current sampling time is the landing state or the flying state.

S320. Calculate the number of steps and the frequency of the pedestrian when the pedestrian is walking according to the pressure change rule, the pressure value waveform corresponding to the landing state and the pressure value waveform corresponding to the vacant state;

Optionally, according to the pressure value waveform corresponding to the landing state, the pressure value waveform of the target landing state is found from the pressure change rule, wherein the target landing state is used to indicate that the cumulative time of the foot tribe land is greater than the first time A time threshold landing state, and an air pressure value waveform of a target empty state from the air pressure change rule according to the air pressure value waveform corresponding to the empty state, wherein the target empty state is used to indicate the time of foot empty A vacated state whose accumulated time is greater than a second time threshold; based on the pressure value waveform of the target landing state and the pressure value waveform of the target vacated state, determining that the target landing state and the target vacated state alternately appear from the pressure change rule. After that, based on the number of times the target landing state and the target vacant state alternately appear, calculate the number of steps of the pedestrian while walking, and use the number of steps and the number of steps used by the pedestrian to walk the steps Time, calculating the cadence of the pedestrian while walking. For example, if the number of times is one, that is, the number of steps is one step, and the number of times is five times, then the number of steps is five steps.

For example, as shown in FIG. 2, when a pedestrian is walking, the air pressure value output by the air pressure sensor will show a certain periodic law, which can be analyzed to obtain the number of walking steps. For example, assuming that the air pressure change rule in the cavity can be represented by the air pressure change waveform shown in FIG. 2, the air pressure change waveform shown in FIG. 2 can be analyzed and processed according to the waveform of the foot tribal land state and the vacated state to obtain walking. Steps M.

In this example, to avoid misjudgment, it is assumed that in one step cycle, the foot needs to have two states of landing and flying, and each state needs to meet a certain length of time. Assume that the accumulated time of the foot tribe land state is td, and let the accumulated time of the foot tribe land state be tt; Let the foot tribe land or the vacated state be represented by W, W = 1 when the foot tribe land, W = 0 when the foot is emptied, let The time thresholds of the foot tribal land and airspace are td1 (that is, the first time threshold) and tt1 (the second time threshold). The threshold settings can be obtained based on the analysis of pedestrians' various motion characteristics, and can be designed to be adaptive in the future. Estimation mode. In practical applications, the current state of the foot tribe can be determined in real time, and the cumulative time td and tt of the current step landing and vacation of the foot can be recorded in real time, so the calculation method of the number of walking steps can be as follows:

Set two conditions:

Condition 1: W = 1 and td> td1;

Condition 2: W = 0 and tt> tt1;

If condition 1 and condition 2 are satisfied at the same time, it can be determined in real time that the current movement is a walking step, and the current number of walking steps is: M = M + 1.

S330: Obtain a change range of the air pressure value according to the collected air pressure measurement data;

Optionally, the maximum pressure and the minimum value of the pressure within a preset time are obtained from the collected pressure measurement data, wherein the preset time is used to indicate a walking time covering at least one step; calculating the preset The difference between the maximum value of the air pressure and the minimum value of the air pressure over time, and the difference is taken as the variation range of the air pressure value.

It can be understood that when pedestrians walk, they can be divided into multiple walking modes such as walking and running. They can also distinguish between slow walking and fast walking for walking, and distinguish between jogging and fast running for running. The walking intensity gradually increases. The intensity of the foot tribe gradually increases, the cavity deformation also gradually increases, and the magnitude of the change in the pressure value detected by the pressure sensor will also increase. Therefore, the pedestrian's Way of walking.

For example, when determining the variation range of the air pressure value, the difference between the maximum air pressure value and the minimum air pressure value over a period of time can be selected from the collected air pressure measurement data as the determination value of the walking mode. For example, assuming that the selected time period (that is, the above-mentioned preset time) is t, where t time needs to be able to cover at least one step of walking time, from the collected pressure measurement data, the current time of t can be selected to be within the time period of t The maximum value of the atmospheric pressure and the minimum value of the atmospheric pressure, and the difference between the maximum value of the atmospheric pressure and the minimum value of the atmospheric pressure is taken as the variation range of the atmospheric pressure value.

S340. Determine the walking mode of the pedestrian when walking according to the variation range of the air pressure value.

Optionally, when the variation range of the air pressure value is smaller than the first determination threshold, determining that the walking mode is slow walking; when the variation range of the air pressure value is greater than or equal to the first determination threshold and smaller than the second determination When the threshold is determined, the walking mode is determined to be fast walking; when the variation range of the air pressure value is greater than or equal to the second determination threshold value and less than the third determination threshold value, the walking mode is determined to be jogging; when the air pressure value is When the variation range is greater than or equal to the third determination threshold, it is determined that the walking mode is fast running.

For example, suppose that Pmax is the maximum value of air pressure during the time period t from the current moment, and let Pmin be the minimum value of air pressure during the time period t from the current moment, and the difference between the maximum pressure and the minimum pressure is: Pm = Pmax -Pmin, wherein the difference Pm is the variation range of the pressure value;

Through actual walking experiments, the Pm value range under different walking modes can be determined and set as the determination threshold for various walking modes, as follows:

If Pm <the first decision threshold Pm1, the walking method is slow walking; if Pm1≤Pm <the second decision threshold Pm2, the walking method is fast walking; if Pm2≤Pm <the third decision threshold Pm3, the walking method is Jog; if Pm ≥ Pm3, the walking mode is fast running. Therefore, the change in the air pressure value output by the air pressure sensor can be matched with the determination threshold in various walking modes to identify the walking mode of the pedestrian when walking.

According to the gait recognition method in the embodiment of the present application, the air pressure measurement data output by the air pressure sensor may be sampled periodically, wherein the air pressure sensor is built in the cavity of the insole or the sole of the shoe and is determined according to the collected air pressure measurement data. The air pressure change rule in the cavity, and the gait information of the pedestrian is identified according to the collected air pressure measurement data and the air pressure change rule. That is, the pressure sensor is placed in the cavity of the insole or the sole, and the cavity is squeezed and deformed when walking. The pressure inside the cavity changes, and the change is more significant. The measured value detected by the pressure sensor changes significantly, similar to the amplifier to amplify the foot. The changing process of the tribal land and the kicker makes the changes in the air pressure measurement value further reflect the gait change. Then, while using the air pressure sensor to measure the air pressure, the pedestrian's gait information is directly identified through the air pressure measurement data. Information, and realize the recognition of gait information through the change of air pressure, which improves the accuracy of recognition and improves the user experience. In addition, it can be used for step counting in pedestrian navigation, reducing the use of other step counting sensors, and reducing the volume, weight, power consumption and cost of pedestrian navigation devices.

Corresponding to the gait recognition methods provided by the foregoing embodiments, an embodiment of the present application further provides a gait recognition device. Since the gait recognition device provided by the embodiments of the present application is similar to the gait recognition device provided by the foregoing embodiments, The gait recognition method corresponds to this. Therefore, the foregoing implementation manner of the gait recognition method is also applicable to the gait recognition device provided in this embodiment, which will not be described in detail in this embodiment. FIG. 4 is a schematic structural diagram of a gait recognition device according to an embodiment of the present application.

As shown in FIG. 4, the gait recognition apparatus 400 may include a sampling module 410, a determination module 420, and a recognition module 430.

Specifically, the sampling module 410 is configured to periodically sample the air pressure measurement data output by the air pressure sensor, wherein the air pressure sensor is built into the cavity of the insole or sole.

The determination module 420 is configured to determine a pressure change rule in the cavity according to the collected pressure measurement data.

The identification module 430 is configured to identify the gait information of the pedestrian according to the collected air pressure measurement data and the air pressure change rule. As an example, the gait information may include, but is not limited to, a tribal land state, a vacated state, a number of steps, a step frequency, a walking manner, and the like. Wherein, in this example, as shown in FIG. 5, the recognition module 430 may include: a foot state determination unit 431, a calculation unit 432, an acquisition unit 433, and a determination unit 434.

The foot state determination unit 431 is configured to determine the foot state of the pedestrian at each sampling time according to the collected air pressure measurement data, wherein the foot state includes a landing state and a vacated state; as In one example, the foot state determination unit 431 is specifically configured to determine the air pressure value Pk at the current sampling time from the collected air pressure measurement data; calculate the air pressure value Pk at the current sampling time and the normal air pressure at the current sampling time The difference between the values PN; if the absolute value of the difference is greater than the target threshold, determining that the foot state of the pedestrian at the current sampling time is a landing state; if the absolute value of the difference is less than the The target threshold value determines that the foot state of the pedestrian at the current sampling time is a vacated state.

The calculation unit 432 is configured to calculate the number of steps and the frequency of the pedestrian while walking according to the pressure change rule, the pressure value waveform corresponding to the landing state, and the pressure value waveform corresponding to the vacated state; as an example The calculation unit 432 is specifically configured to find the air pressure value waveform of the target landing state from the air pressure change rule according to the air pressure value waveform corresponding to the landing state, wherein the target landing state is used to indicate the accumulation of the time of the foot tribe land A landing state with a time greater than a first time threshold; and an air pressure value waveform of a target empty state is found from the air pressure change rule according to the air pressure value waveform corresponding to the empty state, wherein the target empty state is used to indicate a foot The accumulated time at the moment of flight is greater than the threshold state of the second time; according to the pressure value waveform of the target landing state and the pressure value waveform of the target empty state, determine the target landing state and the target empty from the pressure change rule. The number of times the state alternates; the number of times the state alternates according to the target landing state and the target vacant state Calculating the number of steps of the pedestrian is walking; time according to the number of steps and the number of steps of the pedestrian walking is used to calculate pitch during walking of the pedestrian.

The obtaining unit 433 is configured to obtain a variation range of the pressure value according to the collected pressure measurement data. As an example, the obtaining unit 433 is specifically configured to obtain the maximum pressure within a preset time from the collected pressure measurement data. Value and minimum pressure, wherein the preset time is used to indicate a walking time covering at least one step; calculating a difference between the maximum pressure and the minimum pressure within the preset time, and using the difference As the change range of the air pressure value.

The determining unit 434 is configured to determine a walking mode of the pedestrian when walking according to a variation range of the air pressure value. As an example, the determining unit 434 is specifically configured to: when the variation range of the air pressure value is smaller than the first determination threshold, determine that the walking mode is slow walking; when the variation range of the air pressure value is greater than or equal to the first When the determination threshold value is less than the second determination threshold value, the walking mode is determined to be fast walking; when the pressure value variation range is greater than or equal to the second determination threshold value and is less than the third determination threshold value, the walking manner is determined It is jogging; when the variation range of the air pressure value is greater than or equal to the third determination threshold, it is determined that the walking mode is fast running.

According to the gait recognition device in the embodiment of the present application, the air pressure sensor can be placed in the cavity of the insole or the sole, and the cavity is compressed and deformed during walking, and the pressure inside the cavity changes, and the change is more significant. The measured value changes significantly, similar to the amplifier amplifying the changing process of the foot tribe and kicking feet, so that the change in the pressure measurement value further reflects the gait change, and then using the pressure sensor to measure the pressure, directly identify the pedestrian through the pressure measurement data The gait information makes full use of the information of the air pressure sensor, and realizes the recognition of gait information through the change of air pressure, which improves the accuracy of recognition and the user experience. In addition, it can be used for step counting in pedestrian navigation, reducing the use of other step counting sensors, and reducing the volume, weight, power consumption and cost of pedestrian navigation devices.

In order to implement the above embodiments, another gait recognition device is proposed in the present application.

FIG. 6 is a schematic structural diagram of a gait recognition device according to another embodiment of the present application. As shown in FIG. 6, the gait recognition device 600 may include: an air pressure sensor 610, a memory 620, a microcontroller 630, and a computer program 640.

The gait recognition device 600 may be built into a cavity of an insole or a sole. For example, as shown in FIG. 7, the gait recognition device 600 may be built into the cavity A of the insole. That is, a cavity may be provided on the insole, and the gait recognition device 600 may be placed in the cavity, and the air pressure data in the cavity may be detected by the air pressure sensor 610 in the gait identification device 600.

The computer program 640 can be stored on the memory 620 and can be run on the microcontroller 630. When the microcontroller 630 executes the program 640, the gait recognition method described in any one of the foregoing embodiments of the present application can be implemented.

Optionally, in an embodiment of the present application, as shown in FIG. 8, the gait recognition device 600 may further include a Bluetooth module 650. The Bluetooth module 650 is connected to the microcontroller 630. The Bluetooth module 650 may be used to perform Bluetooth pairing with the terminal device B, and when the pairing is successful, send the barometric pressure measurement data and gait information stored in the memory 620 to the terminal device B. In other words, in order to facilitate data collection and transmission, gait data transmission can be performed using Bluetooth low energy transmission technology, which has good ease of use and low power consumption. The terminal device B is used to perform Bluetooth pairing with the Bluetooth module 650 in the gait recognition device 600 through Bluetooth communication. When the pairing is successful, the microcontroller 630 may use the Bluetooth module 650 to store the pressure measurement data stored in the memory 620 and The gait information is sent to the terminal device B. The corresponding data acquisition application software can be designed on terminal device B to collect, store, display and process data in real time. As an example, the terminal device may be a hardware device such as a mobile phone or a tablet computer.

It should be noted that when the terminal device B and the gait recognition device 600 are connected through Bluetooth, the gait recognition device 600 can real-time use the Bluetooth module 650 to measure the pressure measurement data detected by the pressure sensor 610 and the identified gait information. Send to terminal device B for display. When the terminal device B is not connected to the gait identification device 600, the gait identification device 600 may store the pressure measurement data detected by the air pressure sensor 610 and the identified gait information in the memory 620; When Bluetooth is connected, the historical data stored in the memory 620 can be synchronized to the terminal device B, and the current gait information identification data is displayed.

In order to improve the availability and feasibility of the gait identification device of the present application, optionally, in an embodiment of the present application, as shown in FIG. 8, the gait identification device 600 may further include a power module 660. The power module 660 can be used to provide power to the gait identification device 600. Specifically, a power module 660 may be built in the gait identification device 600. In this way, power is provided to the gait identification device 600 through the power module 660 to ensure that other components or modules of the gait identification device 600 can be used normally. As an example, the power module 660 may be a lithium battery.

Optionally, in an embodiment of the present application, as shown in FIG. 8, the gait recognition device 600 may further include a prompt module 670 and a power detection module 680. The prompt module 670 is connected to the microcontroller 630, and the power detection module 680 is connected to the microcontroller 630 and the power module 660, respectively. The power detection module 680 may be configured to send an instruction for insufficient power to the microcontroller 630 when it is detected that the power of the power supply module 660 is less than the first preset threshold. When the microcontroller 630 receives the instruction, it controls the prompt module 670 to prompt. As an example, the prompting module 670 may include an LED light and / or a micro-vibration motor, or the prompting module 670 may also be a siren or an siren, or it may also be a voice prompting module, that is, reminding through a voice play. The user's current power supply is low.

For example, taking the reminder module 670 as an LED light as an example, the power detection module 680 can detect the power of the power module 660, and when detecting that the power of the power module 660 is less than a first preset threshold, it sends a Low battery command. When the microcontroller 630 receives the instruction, it can light up the LED light and flash the LED light at a preset frequency to remind the user that the current power supply is insufficient and that the power supply module 660 needs to be charged.

Optionally, in an embodiment of the present application, as shown in FIG. 8, the gait recognition device 600 may further include a power charging and protection module 690. The power charging and protection module 690 is connected to the power module 660 and the microcontroller 630, respectively. The power charging and protection module 690 can be used to charge the power module 660 and protect it from overcharge. More specifically, when the power detection module 680 detects that the power of the power module 660 is insufficient, the microcontroller 630 may send a power charging instruction to the power charging and protection module 690. When the power charging and protection module 690 receives the power charging instruction, it can charge the power module 660. During the charging process, the power detection module 680 can detect the power of the power module 660 and send a signal to the power charging and protection module 690 when the power of the power module 660 is greater than a certain threshold. The power charging and protection module 690 is receiving When this signal is reached, the charging operation of the power module 660 is stopped to prevent overcharging.

Optionally, in an embodiment of the present application, as shown in FIG. 8, the gait recognition device 600 may further include a reset module 6100. The reset module 6100 is connected to the microcontroller 630. For example, when the microcontroller 630 detects that the gait recognition device 600 needs to be initialized, it can send a reset instruction to the reset module 6100. When the reset module 6100 receives the reset instruction, it can perform a reset operation on the gait recognition device 600. As an example, the gait recognition device 600 may have a key externally connected to the reset module 6100. When the user triggers the key, the reset module 6100 can detect that the user has triggered the key. At this time, the reset module 6100 The gait recognition device 600 may be reset.

Therefore, the pedestrian's gait information is identified through the pressure data measured by the pressure sensor, and the information of the sensor is fully used. At the same time, the number of steps is calculated through the change of the pressure, which improves the accuracy of step counting. In the process, there is no need to tie other devices on the hands and feet of the user, which improves the user experience.

In order to implement the above embodiments, the present invention further provides a computer program that, when executed by a processor, implements the gait recognition method according to any one of the above embodiments.

In the description of this application, it should be understood that the terms “first” and “second” are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “examples”, “specific examples”, or “some examples” and the like means specific features described in conjunction with the embodiments or examples , Structure, materials, or features are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without any contradiction, those skilled in the art may combine and combine different embodiments or examples and features of the different embodiments or examples described in this specification.

Any process or method description in a flowchart or otherwise described herein can be understood as representing a module, fragment, or portion of code that includes one or more executable instructions for implementing a particular logical function or step of a process And, the scope of the preferred embodiments of the present application includes additional implementations, in which the functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application pertain.

The logic and / or steps represented in the flowchart or otherwise described herein, for example, a sequenced list of executable instructions that can be considered to implement a logical function, can be embodied in any computer-readable medium, For the instruction execution system, device, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from the instruction execution system, device, or device), or combine these instruction execution systems, devices, or devices Or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.

It should be understood that each part of the application may be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it may be implemented using any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

A person of ordinary skill in the art can understand that all or part of the steps carried by the methods in the foregoing embodiments may be implemented by a program instructing related hardware. The program may be stored in a computer-readable storage medium. The program is When executed, one or a combination of the steps of the method embodiment is included.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

The aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those skilled in the art can interpret the above within the scope of the present application. Embodiments are subject to change, modification, substitution, and modification.

Claims

A gait recognition method includes the following steps:

Periodically sampling the air pressure measurement data output by the air pressure sensor, wherein the air pressure sensor is built into the cavity of the insole or sole;

Determining a variation rule of the air pressure in the cavity according to the collected air pressure measurement data;

Gait information of a pedestrian is identified according to the collected air pressure measurement data and the air pressure change rule.
The gait recognition method according to claim 1, wherein the gait information includes a foot tribe land state, a vacated state, a number of steps, a step frequency, and a walking manner; and wherein the according to the collected air pressure The measurement data and the air pressure change rule to identify pedestrian gait information include:

Determining the foot state of the pedestrian at each sampling time according to the collected air pressure measurement data, wherein the foot state includes a landing state and a flying state;

Calculating the number of steps and the frequency of the pedestrian while walking according to the pressure change rule, the pressure value waveform corresponding to the landing state, and the pressure value waveform corresponding to the vacated state;

Acquiring a variation range of the air pressure value according to the collected air pressure measurement data;

A walking mode of the pedestrian when walking is determined according to a variation range of the air pressure value.
The gait recognition method according to claim 2, wherein determining the foot state of the pedestrian at each sampling time according to the collected air pressure measurement data comprises:

Determine the air pressure value Pk at the current sampling time from the collected air pressure measurement data;

Calculating a difference between the pressure value Pk at the current sampling time and the normal pressure value PN at the current sampling time;

If the absolute value of the difference is greater than the target threshold, it is determined that the foot state of the pedestrian at the current sampling time is a landing state, wherein the target threshold Tp is a mean square error σ of a normal pressure value at the current sampling time. 3 to 5 times, the normal pressure value at the current sampling time is used to indicate the pressure value that is stable and lasts for a certain period of time within the current sampling time;

If the absolute value of the difference is smaller than the target threshold, it is determined that the foot state of the pedestrian at the current sampling time is a vacated state.
The gait recognition method according to claim 2, wherein the pedestrian is calculated when the pedestrian is walking according to the pressure change rule, the pressure value waveform corresponding to the landing state, and the pressure value waveform corresponding to the vacated state. Steps and frequency, including:

According to the air pressure value waveform corresponding to the landing state, find the air pressure value waveform of the target landing state from the air pressure change rule, wherein the target landing state is used to indicate a landing where the cumulative time of the foot tribe land is greater than the first time threshold status;

According to the air pressure value waveform corresponding to the empty state, find the air pressure value waveform of the target empty state from the air pressure change rule, wherein the target empty state is used to indicate that the cumulative time of the foot empty time is greater than the second time threshold Flying state

Determining, according to the pressure value waveform of the target landing state and the pressure value waveform of the target flying state, the number of times that the target landing state and the target flying state alternately appear from the pressure change rule;

Calculating the number of steps of the pedestrian while walking according to the number of times that the target landing state and the target vacant state appear alternately;

Calculate the step frequency of the pedestrian while walking according to the number of steps and the time taken by the pedestrian to walk the steps.
The gait recognition method according to claim 2, wherein acquiring the change range of the air pressure value according to the collected air pressure measurement data comprises:

Obtaining a maximum pressure and a minimum value of air pressure within a preset time from the collected air pressure measurement data, wherein the preset time is used to indicate a walking time covering at least one step;

Calculate a difference between the maximum value of the air pressure and the minimum value of the air pressure within the preset time, and use the difference as the variation range of the air pressure value.
The gait recognition method according to claim 2 or 5, wherein determining the walking mode of the pedestrian when walking according to the variation range of the air pressure value comprises:

When the variation range of the air pressure value is smaller than the first determination threshold, determining that the walking mode is slow walking;

When the variation range of the air pressure value is greater than or equal to the first determination threshold and less than the second determination threshold, determining that the walking mode is fast walking;

When the variation range of the air pressure value is greater than or equal to the second determination threshold and less than the third determination threshold, determining that the walking mode is jogging;

When the variation range of the air pressure value is greater than or equal to the third determination threshold, it is determined that the walking mode is fast running.
A gait recognition device, comprising:

A sampling module for sampling the air pressure measurement data output by the air pressure sensor periodically, wherein the air pressure sensor is built in the cavity of the insole or the sole;

A determining module, configured to determine a pressure change rule in the cavity according to the collected pressure measurement data;

An identification module is configured to identify gait information of a pedestrian according to the collected air pressure measurement data and the air pressure change rule.
The gait recognition device according to claim 7, wherein the gait information includes a foot tribe land state, a vacated state, a number of steps, a step frequency, and a walking manner; wherein the recognition module includes:

A foot state determination unit, configured to determine the foot state of the pedestrian at each sampling time according to the collected air pressure measurement data, wherein the foot state includes a landing state and a vacated state;

A calculation unit, configured to calculate the number of steps and the frequency of the pedestrian while walking according to the pressure change rule, the pressure value waveform corresponding to the landing state, and the pressure value waveform corresponding to the flying state;

An obtaining unit, configured to obtain a variation range of the air pressure value according to the collected air pressure measurement data;

The determining unit is configured to determine a walking mode of the pedestrian when walking according to a variation range of the air pressure value.
The gait recognition device according to claim 8, wherein the foot state determination unit is specifically configured to:

Determine the air pressure value Pk at the current sampling time from the collected air pressure measurement data;

Calculating a difference between the pressure value Pk at the current sampling time and the normal pressure value PN at the current sampling time;

If the absolute value of the difference is greater than the target threshold, it is determined that the foot state of the pedestrian at the current sampling time is a landing state, wherein the target threshold Tp is a mean square error σ of a normal pressure value at the current sampling time. 3 to 5 times, the normal pressure value at the current sampling time is used to indicate the pressure value that is stable and lasts for a certain period of time within the current sampling time;

If the absolute value of the difference is smaller than the target threshold, it is determined that the foot state of the pedestrian at the current sampling time is a vacated state.
The gait recognition device according to claim 8, wherein the calculation unit is specifically configured to:

According to the air pressure value waveform corresponding to the landing state, find the air pressure value waveform of the target landing state from the air pressure change rule, wherein the target landing state is used to indicate a landing where the cumulative time of the foot tribe land is greater than the first time threshold status;

According to the air pressure value waveform corresponding to the empty state, find the air pressure value waveform of the target empty state from the air pressure change rule, wherein the target empty state is used to indicate that the cumulative time of the foot empty time is greater than the second time threshold Flying state

Determining, according to the pressure value waveform of the target landing state and the pressure value waveform of the target flying state, the number of times that the target landing state and the target flying state alternately appear from the pressure change rule;

Calculating the number of steps of the pedestrian while walking according to the number of times that the target landing state and the target vacant state appear alternately;

The step frequency of the pedestrian while walking is calculated based on the number of steps and the time taken by the pedestrian to walk the steps.
The gait recognition device according to claim 8, wherein the obtaining unit is specifically configured to:

Obtaining a maximum pressure and a minimum value of air pressure within a preset time from the collected air pressure measurement data, wherein the preset time is used to indicate a walking time covering at least one step;

Calculate a difference between the maximum value of the air pressure and the minimum value of the air pressure within the preset time, and use the difference as the variation range of the air pressure value.
The gait recognition device according to claim 8 or 11, wherein the determining unit is specifically configured to:

When the variation range of the air pressure value is smaller than the first determination threshold, determining that the walking mode is slow walking;

When the variation range of the air pressure value is greater than or equal to the first determination threshold and less than the second determination threshold, determining that the walking mode is fast walking;

When the variation range of the air pressure value is greater than or equal to the second determination threshold and less than the third determination threshold, determining that the walking mode is jogging;

When the variation range of the air pressure value is greater than or equal to the third determination threshold, it is determined that the walking mode is fast running.
A gait recognition device, characterized in that the gait recognition device is built into a cavity of an insole or a sole, and the device includes: an air pressure sensor, a memory, and a microcontroller for detecting air pressure data in the cavity. And a computer program stored on the memory and executable on the microcontroller, when the microcontroller executes the program, the gait recognition method according to any one of claims 1 to 6 is implemented .
A computer-readable storage medium having stored thereon a computer program, characterized in that when the computer program is executed by a processor, the gait recognition method according to any one of claims 1 to 6 is implemented.