CN102499692A - Ultrasonic gait detection device and method - Google Patents
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Abstract
The invention discloses an ultrasonic gait detection device and method. The method is characterized by comprising the following steps: installing an ultrasonic detection system in front of a walking aid robot platform, respectively detecting the distance between the left and right legs of the testee and the ultrasonic detection platform by multiple ultrasonic sensors, extracting gait information in the walking process of the human body, and analyzing and calculating gait parameters, including average step length, average pace, step frequency, instantaneous speed and the like. The device comprises an ultrasonic transceiver, a data acquisition and transmission device, a gait data processing unit and a gait characteristic parameter calculation and analysis unit. The detection device is installed on the walking aid robot platform, and no device is installed on the testee body, so that the ultrasonic gait detection device can detect the gait of the testee without any restriction, thereby reducing the mental load of the testee in the gait detection process; the extracted gait characteristic parameters are more accurate; and the detection system has the advantages of simple structure and low cost, and is convenient to use and install.
Description
Technical field
The present invention relates to a kind of walking aid rehabilitation training devices and method; Be particularly related to a kind ofly based on the assistant robot platform multiplex ultrasonic sensor being installed, the distance when detecting person walks between both legs and the ultrasound examination platform is through the range data Treatment Analysis to detection; Gait parameter when extracting human body walking; Comprise average step length, average leg speed, the ultrasound wave gait checkout gear and the method for step frequency etc.
Background technology
At the beginning of 2011 11 months, world's total population number has reached 7,000,000,000, and according to the census of the up-to-date announcement of the China demonstration of reporting the result, country's total population are 1.34 hundred million people, and 60 years old and above population are 1.77 hundred million people, account for 13% of total population number.The proportion of 60 years old and above population rises 2.93 percentage points, and the proportion of 65 years old and above population rises 1.91 percentage points.Along with the phenomenon of Chinese population aging is aggravated gradually; The patient who in aged crowd, has a large amount of lower extremity motor function obstacles; This type patient is except early stage operative treatment and necessary medicine treatment, and rehabilitation training correct, science plays an important role to recovering or improving lower extremity motor function.The walking aid rehabilitation image training robot can exist the patient of dyskinesia to carry out in time to lower limb; Science and effective lower limb rehabilitation training are the theoretical foundation and the prerequisites of this type patient being carried out rehabilitation training and this type patient's gait information is detected timely and analyzes.
The gait feature abstracting method of main flow is based on computer vision and realizes based on methods such as pick offs at present.L.Lee etc. use based on the matrix character of image outline each several part and analyze gait.The main joint part that Li-Shan Chou, people such as Kenton adopt 27 reflecting piece to be attached to the experimenter carries out IMAQ.People such as J.P.Foster have proposed a kind of automatic tracking system based on model, through setting up modelling of human body motion view data are carried out Treatment Analysis.These can bring error based on the treatment of picture method to system because the position of video camera and pick off move, and must possess correct image capture method and calibration system, need operator to have professional technique.
At disclosed world patent number a kind of gait feature of 5831937 propositions with the walking of ultrasonic sensor human body; The ultrasonic emitting end is installed in experimenter's waist back; Receiving terminal is installed on a certain fixed position with the transmitting terminal sustained height, extracts body gait information through range data.
In disclosed one Chinese patent application numbers 200420059643.5, propose a kind of strain-type three-dimensional strength measurement platform method and detect gait information, the three-dimensional strength measurement platform need be installed on the special-purpose pavement, installs loaded down with trivial detailsly, and cost is higher.
In disclosed one Chinese patent application numbers 200910069062.7, propose a kind of using ultrasonic sensor is put into a kind of step pattern measuring device that sole detects distance signal; This detection method cost is very low, when both feet land, carries out step-length and frequency but can only detect.
In disclosed one Chinese patent application numbers 200910154024.1, propose a kind ofly the walking speed measurement that two axle acceleration sensors carry out body gait to be installed in human body waist front; This gait detection method is easy; Cost is lower; But pick off is installed on one's body the experimenter, need repeatedly debugs the installation of sensing station, the shake that is carried at the pick off on experimenter's health in the testing process can bring a lot of interference.
Summary of the invention
The objective of the invention is to solve the problems referred to above that prior art exists, provide a kind of with multiplex ultrasonic gait checkout gear and method.Gait feature data when this apparatus and method that the present invention proposes can the human body walking are carried out Treatment Analysis to data, calculate step-length, average leg speed, gait feature parameter such as step frequency.
The technical scheme that the present invention provides is: this method that detects with the multiplex ultrasonic gait, and the gait feature that adopts the ultrasonic sensor human body to walk is characterized in ultrasonic detection device is installed in assistant robot platform the place ahead;, on experimenter's health, do not install any checkout equipment additional, when detecting the walking of experimenter left and right sides lower limb respectively and the distance between the ultrasound examination platform through multiplex ultrasonic sensor; Gait information when extracting human body walking; The analytical calculation gait parameter comprises average step length, average leg speed; The step frequency, parameters such as instantaneous velocity.
The ultrasonic detection device and the experimenter that are arranged on the assistant robot platform move simultaneously; Multiplex ultrasonic detects experimenter's relative distance data between left and right sides lower limb and the ultrasound examination platform in the process of walking; Analyze experimenter's gait information through the range data that detects; Multichannel is ultrasound wave and its emission receiving device independently, through ultrasonic emitting to experimenter's shank and turn back to receiving terminal.
It is to carry out the loop-around data detection through multiplex ultrasonic during the relative distance data between left and right sides lower limb and the ultrasound examination platform in the process of walking that said multiplex ultrasonic detects the experimenter.
Detection system comprises the setting of surveyed area scope:
(1) the ultrasonic wave detecting system platform is vertical with experimenter's direction of travel.
(2) increase the width of surveyed area through increasing ultrasonic sensor quantity.
(3) maximum that through software the single channel ultrasonic sensor is set detects distance, avoids assistant robot with other barriers data to be detected to produce and disturbs.
(4) change the angle between ultrasonic sensor and the detection platform, the interference that produces when reducing ultrasound examination through structural design.
The setting in sampling time, through sampling in the sampling period inside that has been provided with, the sampling time is less than the sampling period, has increased sampling density, guarantees that each sampling period is identical.
Through Single-chip Controlling ultrasonic sensor image data, carry out serial communication through single-chip microcomputer and computer, import the data of gathering back into computer.
To processing side's method of data, comprise that to removing noise in the data data are carried out smothing filtering, and the data of collection merge, the peak value of data detects.
Difference size through judging the neighbouring sample data is removed noise, judges multichannel data is merged multichannel data in same sampling instant data difference size, judges peak value through the variation of local data.
Through behind the date processing to the method for distilling of gait information, comprise through the judgement of peak value the confirming of average step length, the confirming of average leg speed, step confirming frequently to gait cycle.
Detection data maximum difference according to left lower limb after handling and right lower limb calculates step-length, calculates the method for step-length through detecting data and the relation of step-length, detects the step-length time of confirming through peak value, the gait cycle time, calculates average step length, average leg speed and step frequency.
What the present invention provided is this with multiplex ultrasonic gait checkout gear; Be characterized in including: based on the ultrasound wave gait checkout gear of assistant robot platform; Multichannel is ultrasound wave and its sending and receiving apparatus independently; Single-chip data acquisition and transmitting device are installed in gait data processing unit, gait feature calculation of parameter and analytic unit within the computer.
For better realizing the object of the invention, described ultrasound wave adopts ultrasonic distance measuring module, this module integrated ultrasonic signal trigger with its sending and receiving apparatus; Ultrasonic emitting; Receiving circuit, through triggering signal control ultrasonic emitting signal, the transducer through piezoelectric effect again; Convert the ultrasonic signal that receives into DC5V voltage, through detecting the distance and position of return voltage time detecting barrier.
(1) important technological parameters
Practical voltage: DC5V.Quiescent current: 2mA.Level output: high 5V, low 0V.Induction angle: be not more than 15 degree.Detection range: 2cm-450cm.Precision: can reach 1mm
(2) mode of connection:
VCC, trig (control end), echo (receiving terminal), GND
(3) method for using:
The high level signal of a control mouthful 10us; The square wave of the signal trigger emission 40k hertz of module; Wait for that at receiving terminal high level exports to detect and whether have signal to return, open the intervalometer timing, when receiving terminal becomes low level, read the value of intervalometer once output is arranged; This time is the time of range finding, detects distance=(the high level time * velocity of sound (340m/s))/2.
Four road ultrasound wave acquisition system structure Design: ultrasound wave position range data is to design according to the physical distance of omnirange rehabilitation assistant robot is big or small; And through the optimum position designed of test experience repeatedly repeatedly, can make the Data Detection of getting rid of to greatest extent when detecting between two lower limbs in system disturb with car body to detecting the interference of generation.Data when 1,2 tunnel ultrasound examinations left side lower limb is walked, the data when the right lower limb of 3,4 tunnel ultrasound examinations is walked.
For better realizing the object of the invention, described single-chip data acquisition and transmitting device
Adopt the PIC16F877A single-chip microcomputer, the maximum push-and-pull current capacity 20mA of each I/O mouth is enough to reach the quiescent current requirement of each ultrasound wave 2mA.Four I/O mouths with single-chip microcomputer are done triggering signal, with making four I/O receive inverse signal.Eliminate the interference between the ultrasound wave through cycle detection four road ultrasound datas, be set hyperacoustic sampling time of single channel, obtain the ultrasound examination time with intervalometer 1 with intervalometer 0; In the sampling time of regulation, carry out ultrasound examination; So the setting in sampling time is greater than hyperacoustic detection time, in the sampling period, to sample, these are different with sampling in the past; Reduce the sampling time to a great extent, in the unit interval, obtain more data.
The ultrasound examination distance limit; The detection range of ultrasonic emitting receiving system is 2cm-450cm, and the ultimate range that this cover detection system need detect is 70cm, after calculating; The value of the TMR1H depositor through detecting intervalometer; Judge whether the value of TMR1H surpasses the detected value of 70cm, surveys detection of end if surpass, and carries out next road ultrasound examination.
Single channel ultrasound examination process; Trigger high trigger signal through the single-chip processor i/o pin to one 20 microsecond of ultrasound wave control end trig; With turning off intervalometer 1 after intervalometer 1 timing 20 microseconds; The ultrasound wave receiving terminal is got involved the single-chip processor i/o pin, wait for that receiving terminal returns high level signal, calculate the time that high level signal continues of returning with intervalometer 1.
Detect data compression, intervalometer 1 is 16 bit timing devices, under the situation that does not influence the gait data analysis; 16 bit data are compressed to can reduce detection time after 8 bit data and reduce the date processing difficulty, the maximum through 70cm detects distance, and the intervalometer 1 required maximum numerical digit of depositing is 11; Omit three thereafter, compress data into 8, so just guaranteed to transmit with the eight bit data of a byte; Saved the data upload time; But the precision of data has become the distance of 8 microseconds simultaneously, and just 1.36 millimeters, this precision can satisfy the requirement of gait data check and analysis.The data that detect are imported in the computer through serial ports, again sampled data is handled.
For better realizing the object of the invention, the described gait data that is installed within the computer handles and analytic unit is according to the data of four tunnel ultrasound examinations, and data are merged; Denoising, filtering, peak value detects; The cycle division waits processing, and the two paths of data after the merging is respectively the distance between left lower limb and right lower limb and the detection platform, confirms the ultimate range between the both legs in each gait cycle through peak value; Calculating actual step size through transformation of scale, calculate the average of all step-lengths again, just can calculate average step length; Extraction and peak value according to the sampling time detect, and just can calculate average leg speed and step frequency.
Through to after treatment range data and the differential of time, just can calculate the instantaneous velocity value of each sampled point.
Can also through to the left and right sides lower limb data that detect with the diverse location in one-period, speed, and the difference of periodic phase were analyzed experimenter's gait symmetry in the later stage.
Gait parameter through calculating compares analysis with actual gait parameter, judges the degree of accuracy of ultrasound wave gait checkout gear.
Compared with prior art, beneficial effect of the present invention is:
(1) based on assistant robot platform building ultrasound wave gait detection system, the experimenter is not installed any equipment on one's body additional, can the experimenter not had any gait data that restrictedly carries out and detects.Improved the quality of experimenter in testing process so to a great extent, increased confidence patient's rehabilitation that the lower extremity motor function obstacle is arranged, and can be frequently, efficiently different experimenters are carried out gait and detect.
(2) multiplex ultrasonic sensor is installed in omnirange assistant robot front, detection range is defined in a fixed test zone of experimenter's walking.Eliminate through cycle detection that echo disturbs between the ultrasound wave, again through the frame for movement of checkout gear being carried out the reasonable optimizing design, the interference when between the both legs data being sampled when reducing the experimenter and walking.
(3) the mode sample mode different from the past in sampling period is set, samples, wait for and sampling after adopting end cycle next time, increased the density of sampled data like this in the sampling period inside that is provided with.
Range data when the data that (4) detect are human body walking between both legs and the detection platform, each state constantly in the time of confirming walking through data also can calculate each instantaneous velocity constantly.Data according to detecting are handled calculating accordingly, can extract the gait feature parameter very easily, comprise the extraction of average step length, average leg speed, step frequency and instantaneous velocity, also can analyze the gait symmetry and the stability in later stage.
(5) other method relatively, this method is easily understood to the extraction of gait parameter, and cost is lower, and is easy to install and use, and data processing speed is fast.But the multiple interference that the maximum deficiency of this method produces when being ultrasound examination can reduce these interference in a large number through the optimization of detection algorithm and the design of checkout gear frame for movement.
Description of drawings
Fig. 1 is the ultrasound wave gait detection system sketch map based on assistant robot, and wherein 1 is assistant robot, and 2 is ultrasonic wave detecting system, and 3 is the experimenter.
Fig. 2 is the ultrasound examination theory diagram.
Fig. 3 is a ultrasound wave gait detection system structural design drawing, and wherein 4,5,6,7 is four ultrasonic sensors.
Fig. 4 is a basic gait pattern parameter-definition sketch map, and wherein 8 is step-length, and 9 are the length that strides, and 10 is gait cycle, and 11 is that the interior step is wide, and 12 is that the outer step is wide.
Fig. 5 is one group of gait data curve behind the process date processing, and wherein A is the right lower limb gait data curve of detection, the left lower limb gait data curve of B for detecting.
Fig. 6 is each parameter sketch map of step size computation, and wherein 13 is ultrasonic sensor.
The specific embodiment
Below in conjunction with accompanying drawing and instance technical scheme of the present invention is explained further details.
One gait checkout gear
As shown in Figure 1, ultrasonic wave detecting system is installed in assistant robot platform front, is positioned at the gait data of sustained height when detecting person walks with ultrasound wave, carries out corresponding transformation of scale to the data of detection again, thereby calculates step value.
Ultrasound wave is accepted transmitter module and is detected principle such as Fig. 2; Through the ultrasound wave control end being triggered 20 microsecond high level signals, module is modulated signal, produces 40 kilo hertzs of oscillation pulse signals; The emission ultrasound wave; Ultrasonic signal returns after running into barrier, after amplification that signal is gained, is sent to the timing of return terminal intervalometer, and repeated transmission is delivered to control end.
Ultrasonic wave detecting system structural design such as Fig. 3, wherein unit is centimetre.The maximum induction of each ultrasound wave angle 15 degree, maximum detection distance is 70cm.Dash area is hyperacoustic surveyed area, and the black housing is the inner boundary of assistant robot.Data when 1,2 two-way ultrasound examinations left side lower limb is walked among the figure, the data when the right lower limb of 3,4 two-way ultrasound examinations is walked.Distance between 1 road and 2 tunnel, 3 road and 4 road ultrasound wave is 9cm.The interior step of normal person's walking is wide to be 5cm-10cm; The outer step is wide to be 25cm-30cm, and the definition of basic gait pattern kinematic parameter is as shown in Figure 4, and the ultrasound examination when detecting the walking of two lower limbs respectively in order to reduce is disturbed; And through experimental verification, 2,3 road sensor times distance is set to 17cm.Interference to detecting between the ultrasound wave when removing the walking of left and right sides lower limb, the 2 tunnel become 7.5 degree angles with 3 road ultrasound wave with detection platform, the 1 tunnel with the parallel placement of 4 road ultrasound wave with detection platform.
Ultrasonic sensor is connected with single-chip microcomputer, and four road I/O mouths provide triggering signal, and other four road I/O mouths receive inverse signal.Use laptop computer USB mouth power supply to be provided, change the USB device with serial ports and single-chip microcomputer is connected, make single-chip microcomputer and computer carry out asynchronous serial communication with Serial Port Line as single-chip microcomputer.
Two date processing
Obtain the mean difference of each road ultrasound wave neighbouring sample point data; If wherein certain data is greater than more than 3 times of mean difference; Just think that these data are trip point; If before and after these trip points 10 data points derivatives be on the occasion of or negative value, then these trip points replace with the average of 10 data points of front and back, if the front of these trip points perhaps the derivative of back have appearance on the occasion of and negative value; Then this data point uses its derivative to replace as the data point average of jack per line, the error when having avoided gait parameter to calculate like this.Carry out peak value with same principle and detect, if 10 data points derivative contrary signs before and after a certain data point think that then this data point is a peak point.1,2 road and 3,4 road data of adhering to are merged into one road ultrasound wave respectively, 1,2 tunnel ultrasound examinations left side lower limb data, and the two paths of data difference is very little; Obtain the meansigma methods of two-way difference, if the two-way difference greater than 3 times of mean difference, the comparatively level and smooth data value of the value of fetching data then; That little circuit-switched data of adjacent data difference just; If the two paths of data difference is very little, then get the larger data value of two-way ultrasound examination, got rid of the abnormal data when detecting so to greatest extent; And in the prerequisite that does not influence gait analysis the two-way ultrasound wave is merged, 3,4 road ultrasound wave also merge according to same principle.Afterwards each data is carried out 5 secondary smothing filterings, it is defined as:
X wherein
iBe the i data values, y
iBe x
iThrough the data value after the smothing filtering.
Three gait feature calculation of parameter
Gait data through to detection carries out denoising, after the filtering, with 1; 2 and 3; The synthetic left and right sides of 4 tunnel hyperacoustic data characteristics lower limb gait data curve utilizes smooth filtering method that data are handled the back it is carried out the peak value detection, calculates Wave crest and wave trough data and time.Be illustrated in figure 5 as one group through the data and curves sketch map behind the date processing; Wherein solid line and dotted line are represented the distance and time relation curve between right lower limb and left lower limb and the ultrasound examination platform respectively, and two data and curves differ 180 degree phase place and cyclically-varyings.
Fig. 6 is for concerning sketch map, wherein H between some calculating parameters when detecting data fetch gait information and the step-length
1And H
2Be respectively experimenter's hip joint and the distance between ultrasonic sensor and the ground.D
1And D
2Be respectively the left and right sides lower limb of ultrasonic sensor detection and the range data between the pick off.L
VStep value for to be asked is provided with L
1Be experimenter's leg length, then above each parameter has following two relations,
Can obtain step-length L through above two relational expressions
VValue.In like manner can obtain all step values, obtain average step-length again, establish S and be the n total distance in step of walking from the first step, then
L wherein
i(i=1 ..., n) be the step value of i gait cycle, establish the total time that T is a testing process, then the value of average step length L, average leg speed V and step frequency F can draw through following formula respectively so:
Average step length, leg speed, step frequency value is respectively:
L＝S/n (5)
V＝S/T (6)
F＝60/(T/n) (7)
Four experiment and data analysiss
Respectively 10 healthy subjects have been carried out the gait test experience, and calculated average step length, average leg speed and the step frequency value that principle calculates every group of data respectively according to gait parameter.Compare with the gait parameter value of reality again and calculate the relative error value.Result of calculation is as shown in table 1.Wherein the Data Source of actual step size, leg speed and step frequency is: actual step-length L
Real: the merchant of the actual range of detected person's walking and the actual step size number of cycles of walking.Actual leg speed V
Real: the speed of omnirange lower limb rehabilitation robot.The actual step is F frequently
Real: the step-length number of cycles of walking in a minute, the time of record and the merchant of step number obtain the actual step size cycle during with detection, obtain the step-length number of cycles in a minute again.E wherein
L, E
VAnd E
FBe respectively through the gait parameter value of detection computations and the relative error of the gait parameter value of reality.From table 1, can find out the relative error E of step-length
LAll be no more than 4%, the relative error E of leg speed
VAll be no more than 3%, step relative error E frequently
FBe no more than 2%, explain that ultrasound wave gait detection system can detect experimenter's gait parameter accurately.
Table 1 is the data contrast of the gait parameter and the actual parameter of extraction.
Claims (8)
1. ultrasound wave gait detection method adopts the gait feature of ultrasonic sensor human body walking, it is characterized in that ultrasonic detection device is installed in assistant robot platform the place ahead; On experimenter's health, do not install any checkout equipment additional; When detecting the walking of experimenter left and right sides lower limb respectively and the distance between the ultrasound examination platform through multiplex ultrasonic sensor, the gait information when extracting human body walking, analytical calculation gait parameter; Comprise average step length; Average leg speed, step frequency, parameters such as instantaneous velocity.
2. a kind ultrasound wave gait detection method according to claim 1; The ultrasonic detection device and the experimenter that it is characterized in that being arranged on the assistant robot platform move simultaneously; Multiplex ultrasonic detects experimenter's relative distance data between left and right sides lower limb and the ultrasound examination platform in the process of walking; Analyze experimenter's gait information through the range data that detects, multichannel is ultrasound wave and its emission receiving device independently, through ultrasonic emitting to experimenter's shank and turn back to receiving terminal.
3. a kind of ultrasound wave gait detection method according to claim 1 is characterized in that it is to carry out the loop-around data detection through multiplex ultrasonic during the relative distance data between left and right sides lower limb and the ultrasound examination platform in the process of walking that said multiplex ultrasonic detects the experimenter.
4. a kind of ultrasound wave gait detection method according to claim 1 is characterized in that the setting of detection system to the surveyed area scope, comprising:
(1) the ultrasonic wave detecting system platform is vertical with experimenter's direction of travel.
(2) increase the width of surveyed area through increasing ultrasonic sensor quantity.
(3) maximum that through software each road ultrasonic sensor is set detects distance, avoids assistant robot with other barriers data to be detected to produce and disturbs.
(4) change the angle between ultrasonic sensor and the detection platform, the interference that produces when reducing ultrasound examination through structural design.
5. the ultrasound wave gait checkout gear that uses in the described ultrasound wave gait of claim 1 detection method; It is characterized in that: include ultrasound wave gait checkout gear based on the assistant robot platform; Multichannel is ultrasound wave and its sending and receiving apparatus independently; Single-chip data acquisition and transmitting device are installed in gait data processing unit, gait feature calculation of parameter and analytic unit within the computer.
6. ultrasound wave gait checkout gear according to claim 5; It is characterized in that: described ultrasound wave adopts ultrasonic distance measuring module with its sending and receiving apparatus; This module is integrated with: ultrasonic signal trigger, ultrasonic emitting, receiving circuit, and through triggering signal control ultrasonic emitting signal, the transducer through piezoelectric effect again; It is voltage that the ultrasound wave that receives is received conversion of signals, through detecting the distance and position of return voltage time detecting barrier.
7. ultrasound wave gait checkout gear according to claim 5 is characterized in that: described single-chip data acquisition and transmitting device adopt PIC16F877A single-chip microcomputer, the maximum push-and-pull current capacity 20mA of each I/O mouth; Four I/O mouths with single-chip microcomputer are done triggering signal; Receive inverse signal with other four I/O,, be arranged on the mode of inner sampling of sampling period through the Single-chip Controlling ultrasound wave; In the sampling time of regulation, carry out ultrasound examination; Cycle detection four tunnel range data are carried out serial communication through single-chip microcomputer and computer, import the data of gathering back into computer.
8. ultrasound wave gait checkout gear according to claim 5 is characterized in that: described gait data is handled and analytic unit is according to the data of four tunnel ultrasound examinations, and data are merged; Denoising, filtering, peak value detects; The cycle division waits processing, and the two paths of data after the merging is respectively the distance between left lower limb and right lower limb and the detection platform, confirms the ultimate range between the both legs in each gait cycle through peak value; Calculating actual step size through transformation of scale, calculate the average of all step-lengths again, just can calculate average step length; Extraction and peak value according to the sampling time detect, and just can calculate average leg speed and step frequency.
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| CN106166071A (en) * | 2016-07-04 | 2016-11-30 | 中国科学院计算技术研究所 | The acquisition method of a kind of gait parameter and equipment |
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| CN106980321A (en) * | 2017-05-18 | 2017-07-25 | 中国科学院合肥物质科学研究院 | A kind of six foot carries out the top bar gait planning system and method for formula Unmanned Ground Vehicle |
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