CN106373335A - Inertial technology based and Android phone applied detection and smart alarm method for old people's fall - Google Patents
Inertial technology based and Android phone applied detection and smart alarm method for old people's fall Download PDFInfo
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- CN106373335A CN106373335A CN201610674548.3A CN201610674548A CN106373335A CN 106373335 A CN106373335 A CN 106373335A CN 201610674548 A CN201610674548 A CN 201610674548A CN 106373335 A CN106373335 A CN 106373335A
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- Prior art keywords
- angle
- human body
- acceleration
- old people
- attitude
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0407—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis
- G08B21/043—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis detecting an emergency event, e.g. a fall
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0446—Sensor means for detecting worn on the body to detect changes of posture, e.g. a fall, inclination, acceleration, gait
Abstract
The invention discloses an inertial technology based and Android phone applied detection and smart alarm method for old people's fall. The method comprises the following steps: reading the data concerning the human body acceleration, the angular acceleration and the geomagnetic field strength measured respectively by the accelerometer, the gyroscope, the magnetometer and other sensors in an Android phone; based on the read data concerning the human body acceleration and the alike, using the inertia technique to calculate and seek the accelerations of ax, ay, az at the human body attitude angles and under a geographic coordinate system like the yaw angle (psi), the pitch angle (theta) and etc.; if az is greater than an acceleration amplitude threshold and the duration is longer than t1, indicating that the human body is in motion; waiting until t2 time, if the yaw angle (psi) or the pitch angle (theta) is greater than an angle threshold, determining a fall occurs; otherwise, considering a normal human movement is taking place; when a fall is detected, starting the smart alarm; and if in the t3 time, the alarm is not cancelled by the old people, sending the alarm information about the position and the body condition of the old people to their relatives and medical institutions. With the invention, it is possible to increase the detection accuracy of falls substantially. The method can also be expanded conveniently.
Description
Technical field
The present invention relates to android mobile phone app, more particularly to a kind of Falls Among Old People detection based on inertial technology and intelligence
Can alarm method.
Background technology
1st, Chinese society's aged tendency of population is serious, " empty nest " family increases
Accelerate the differentiation with family structure, aged tendency of population, " empty nest " family's increasing number with social senilization's speed
It has been the increasingly serious social problem that China faces.By the end of the end of the year 2015, the whole nation 60 years old and above aging population are own super
Cross 200,000,000, account for the 14.9% of total population；About 18,240,000 life of elderly person is in unmarried family not living home.Expect the year two thousand thirty aged
Population nearly 300,000,000, the advanced age of aging population, disability and empty nesting will be further exacerbated by, and Empty nest elderly family ratio or will reach
To 90%.
2nd, Falls in Old People takes place frequently, and fall fail to succour in time become old man's fortuitous casualty first because
Research finds that the serious consequence that Falls in Old People brings not is to be directly contributed by tumble, but after falling
Do not obtain timely medical rescue, lead to " length is lain " to cause.The injury that i.e. Falls in Old People brings not only with fall when body
The impact events being subject to are relevant, are also largely dependent on the length of relief response time.Therefore, old people's particularly " empty nest "
If old people can be found after falling in time, send doctor treatment as early as possible, the fall injury that bring can be greatly lowered.
3rd, existing fall detection method existing defects
Based on this demand, market occurs in that a lot of methods with regard to fall detection, but all there is certain defect, return
Receive as follows:
1) dedicated video, audio detection equipment are needed based on the fall detection method of image information, audio signal, cost is relatively
Height, and using being limited by time and space；
2) the fall detection method great majority based on acceleration signal, merely with a kind of sensor of accelerometer, obtain data
Limited, and acceleration information is made i.e. as detection foundation after simple process, false alarm rate is high.
3) detection method based on non-Android system wearable device, is limited to development system imperfection, requires simultaneously
The wearable device that elders wear is added, is unfavorable for product promotion.
Content of the invention
The invention aims to overcoming the shortcomings of above-mentioned background technology, providing to be based on a kind of android mobile phone and being used to
Property technology Falls Among Old People detection and intelligent alarm method, the accuracy rate of fall detection can be increased substantially；Product is with mobile phone app
For entity, it is easy to promote.
The anti-tumble intelligent alarm method of a kind of old man based on inertial technology that the present invention provides, comprises the following steps:
The human body that in step one, reading android smart phone, the sensor such as accelerometer, gyroscope, magnetometer records
The data such as acceleration, angular acceleration and geomagnetic field intensity；
Step 2, based on the data such as acceleration reading, calculate with inertial technology and ask for yaw angle ψ, pitching angle theta et al.
Acceleration a under body attitude angle and geographic coordinate systemx,ay,az；
If step 3 azMore than acceleration amplitude threshold value, and the persistent period is more than t1, show that human body is kept in motion；
Step 4, wait t2After time, if yaw angle ψ or pitching angle theta are more than angle threshold, can determine whether as falling, no
Then it is considered as human normal motion；
Step 5, detect tumble i.e. start intelligent alarm, if t3In time, old man does not cancel warning, then to relatives and doctor
Treat mechanism and send the alarming short message including the information such as old man position, condition.
In technique scheme, described step 2, mainly use inertial technology, using mutual based on pi actuator and second order
The attitude derivation algorithm mending wave filter solves the acceleration a under human body attitude angle and geographic coordinate systemx,ay,az, specific algorithm mistake
Journey is as follows:
1) using traditional attitude derivation algorithm, solved using accelerometer data measured and obtain pitching angle theta1, magnetic force measurement
Obtain data and solve and obtain yaw angle ψ1；
2) adopt quaternary number attitude derivation algorithm, solve pitching angle theta using gyroscope data measured2, yaw angle ψ2Deng human body
Attitude angle；
3) multiplication cross of the attitude angle vector of the human body obtaining process 1,2 is as the input of pi actuator；
4) second order complementary filter merges the output correction gyroscope data measured of pi actuator, substitutes into and solves quaternary fractional differentiation
Equation, solves and obtains spin matrix and human body attitude angle (yaw angle ψ and the angle of pitch)；
5) using the spin matrix obtaining, solve the acceleration a obtaining under geographic coordinate systemx,ay,az.
In technique scheme, also include step 5, if elapsed time t after alarm mechanism triggering3Do not cancel warning
Operation, then send alarming short message.
In technique scheme, in described step 5, send alarming short message to medical institutions and relatives and include old man position
Put, the information such as condition.
In technique scheme, in described step one, read accelerometer, gyroscope, magnetometer in android mobile phone
Data before, first set medical institutions and kinship bond mode and condition information.
In technique scheme, all functional realiey are with Android system as development platform, with android intelligence
Mobile phone is carrier；With mobile phone app as entity.
The present invention use inertial technology, based on android mobile phone Falls Among Old People detection and intelligent alarm method, have with
Lower beneficial effect:
1) inertial technology is introduced fall detection, solved using the attitude based on pi actuator and second order complementary filter principle
Algorithm realizes the resolving of human body attitude, improves the accuracy of fall detection；
2) built-in warning cancellation mechanism, reduces false alarm；Send alarming short message to medical institutions and relatives and include old man
The information such as position, condition are it is ensured that timely succour；
3) make full use of the sensors such as smart mobile phone built-in acceleration meter, gyroscope, magnetometer, need not additionally add sensing
Device, low cost；
4) with Android system as development platform, with android smart phone as carrier；Product entity is a mobile phone
App, is easy to promote.
Brief description
Fig. 1 is the Falls Among Old People detection based on inertial technology and intelligent alarm method flow process on android mobile phone of the present invention
Schematic diagram；
Fig. 2 is the Falls Among Old People detection based on inertial technology and intelligent alarm method step on android mobile phone of the present invention
Contact method setting surface chart in one；
Fig. 3 is the Falls Among Old People detection based on inertial technology and intelligent alarm method step on android mobile phone of the present invention
Condition information interface figure is set in one；
Fig. 4 is the Falls Among Old People detection based on inertial technology and intelligent alarm method step on android mobile phone of the present invention
The schematic flow sheet of attitude algorithm algorithm in two；
Fig. 5 is the report of the Falls Among Old People detection based on inertial technology and intelligent alarm method step 6 on android mobile phone
Alert cancellation surface chart；
Fig. 6 is the report of the Falls Among Old People detection based on inertial technology and intelligent alarm method step 6 on android mobile phone
Alert short message content surface chart.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail, but this embodiment should not be construed as right
The restriction of the present invention.
Referring to Fig. 1, on android mobile phone of the present invention, the Falls Among Old People based on inertial technology detects and intelligent alarm method,
Comprise the following steps:
Step one, referring to Fig. 2 to Fig. 3, set medical institutions and relatives' contact method and condition information, read
Accelerometer, gyroscope, the data of magnetometer；
The human body that in step one, reading android mobile phone, the sensor such as accelerometer, gyroscope, magnetometer records accelerates
The data such as degree, angular acceleration and geomagnetic field intensity；
Step 2, based on the data such as acceleration reading, calculate with inertial technology and ask for yaw angle ψ, pitching angle theta et al.
Acceleration a under body attitude angle and geographic coordinate systemx,ay,az；Wherein, referring to Fig. 4, specific algorithm process is as follows:
1) using traditional attitude derivation algorithm, solved using accelerometer data measured and obtain pitching angle theta1, magnetic force measurement
Obtain data and solve and obtain yaw angle ψ1；
2) adopt quaternary number attitude derivation algorithm, solve pitching angle theta using gyroscope data measured2, yaw angle ψ2Deng human body
Attitude angle；
3) multiplication cross of the attitude angle vector of the human body obtaining process 1,2 is as the input of pi actuator；
4) second order complementary filter merges the output correction gyroscope data measured of pi actuator, substitutes into and solves quaternary fractional differentiation
Equation, solves and obtains spin matrix and human body attitude angle (yaw angle ψ and the angle of pitch)；
5) using the spin matrix obtaining, solve the acceleration a obtaining under geographic coordinate systemx,ay,az.
If step 3 azMore than acceleration amplitude threshold value, and the persistent period is more than t1, show that human body is kept in motion；
Step 4, wait t2After time, if yaw angle ψ or pitching angle theta are more than angle threshold, can determine whether as falling, no
Then it is considered as human normal motion；
Step 5, referring to Fig. 5 to Fig. 6, detecting tumble i.e. start intelligent alarm, if t3In time, old man does not cancel report
Alert, then send, to relatives and medical institutions, the alarming short message including the information such as old man position, condition.
Obviously, those skilled in the art can carry out the various changes and modification essence without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprise these changes and modification.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (3)
1. on a kind of android mobile phone, the Falls Among Old People based on inertial technology detects with intelligent alarm method it is characterised in that wrapping
Include following steps:
In step one, reading android mobile phone, the human body acceleration that accelerometer, gyroscope, magnetometer sensor record, angle add
Speed and geomagnetic field intensity data；
Step 2, the acceleration based on reading, calculate with inertial technology and ask for yaw angle ψ, pitching angle theta human body attitude angle and ground
Acceleration a under reason coordinate systemx,ay,az；
If step 3 azMore than acceleration amplitude threshold value, and the persistent period is more than t1, show that human body is kept in motion；
Step 4, wait t2After time, if yaw angle ψ or pitching angle theta are more than angle threshold, can determine whether, for falling, to be otherwise considered as
Human normal moves；
Step 5, startup intelligent alarm is detected during tumble, if t3In time, old man does not cancel warning, then to relatives and therapeutic machine
Structure sends and includes old man position, the alarming short message of condition information.
2. the Falls Among Old People detection based on inertial technology and intelligent alarm side on android mobile phone according to claim 1
Method it is characterised in that: in described step 2, attitude algorithm algorithmic procedure is as follows:
1) using traditional attitude derivation algorithm, solved using accelerometer data measured and obtain pitching angle theta1, magnetometer data measured
Solution obtains yaw angle ψ1；
2) adopt quaternary number attitude derivation algorithm, solve pitching angle theta using gyroscope data measured2, yaw angle ψ2The attitude of human body
Angle；
3) using process 1), 2) multiplication cross of the attitude angle vector of the human body that obtains as pi actuator input；
4) second order complementary filter merges the output correction gyroscope data measured of pi actuator, substitutes into and solves quaternary fractional differentiation side
Journey, solves and obtains spin matrix and human body attitude angle；
5) using the spin matrix obtaining, solve the acceleration a obtaining under geographic coordinate systemx,ay,az.
3. on the android mobile phone according to any one of claim 1, the Falls Among Old People based on inertial technology detects and intelligence
Can alarm method it is characterised in that:
1) read accelerometer, gyroscope, before the data of magnetometer, first set medical institutions and kinship bond mode and
Condition information；
2) start intelligent alarm when tumble is detected；
3) built-in warning cancellation mechanism: old man can cancel warning within the t3 time, does not cancel warning within the t3 time, to relatives and
Medical institutions send alarming short message；
4) alarming short message includes old man position, condition information.
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| CN201610674548.3A CN106373335A (en) | 2016-08-16 | 2016-08-16 | Inertial technology based and Android phone applied detection and smart alarm method for old people's fall |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827299A (en) * | 2018-03-29 | 2018-11-16 | 南京航空航天大学 | A kind of attitude of flight vehicle calculation method based on improvement quaternary number second order complementary filter |
| CN110246300A (en) * | 2018-03-07 | 2019-09-17 | 深圳市智听科技有限公司 | The data processing method of hearing aid, device |
| CN112556831A (en) * | 2020-12-01 | 2021-03-26 | 南京艾泰克物联网科技有限公司 | Intelligent detection and alarm device for well lid abnormity and detection method thereof |
| CN113793476A (en) * | 2021-09-10 | 2021-12-14 | 上海赐创信息技术有限公司 | Old people falling detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110246300A (en) * | 2018-03-07 | 2019-09-17 | 深圳市智听科技有限公司 | The data processing method of hearing aid, device |
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| CN113793476A (en) * | 2021-09-10 | 2021-12-14 | 上海赐创信息技术有限公司 | Old people falling detection method |
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Application publication date: 20170201 |