CN102818913A - Detection device and detection method for human motion information - Google Patents
Detection device and detection method for human motion information Download PDFInfo
- Publication number
- CN102818913A CN102818913A CN2012102704749A CN201210270474A CN102818913A CN 102818913 A CN102818913 A CN 102818913A CN 2012102704749 A CN2012102704749 A CN 2012102704749A CN 201210270474 A CN201210270474 A CN 201210270474A CN 102818913 A CN102818913 A CN 102818913A
- Authority
- CN
- China
- Prior art keywords
- motion information
- motion
- human
- acceleration
- shoes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a detection device and a detection method for human motion information, belonging to the field of electronic information and mode identification. The detection device and the detection method of the human motion information are based on a single triaxial accelerometer and a Zigbee module; the detection method is based on a gait recognition technology and a statistical data modeling and can achieve detection of the human motion information by the triaxial accelerometer; the detection device comprises wireless sensing comprehensive modules arranged on a pair of shoes and an upper computer receiving module connected with a PC (Personal Computer) terminal; the device uses a trigger mode to perform wireless transmission for motion data in order to perform a human-computer interaction; due to a Zigbee low-power consumption design, a system can use batteries with smaller volume and capacity to reduce weight and volume of the whole system so as to be beneficial to be put at the bottom of the shoes; due to a voltage-stabilizing power supply design, an error of a quantized acceleration magnitude of an accelerometer after a working voltage drops can be avoided when the batteries are powered.
Description
Technical field
The present invention relates to a kind of body motion information pick-up unit and detection method thereof, belong to electronic information and area of pattern recognition based on sensor and electronic communication technology.
Background technology
Intelligent shoe is the cross products of an infotech and traditional shoe industry.The intelligent shoe that is occurred on the market at present has the nike+ of Nike and the micoach of Adidas.Wherein nike+ movement sequence footwear have adopted the piezoelectricity induction technology; The counting of running and the estimation of mileage have been realized through its patented technology; And the real-time Radio Transmission Technology of passing through is transferred to the exercise data of human body on the intelligent terminal of apple, like IPOD, IPHONE etc.; The micoach intelligent shoe of Adidas has adopted the technology of VTI Science and Technology Ltd., based on built-in accelerometer, and in conjunction with its correction technique, the mileage that can measure acceleration, speed and run.The micoach of Adidas can also be recorded in data in the built-in flash memory except real-time Transmission, and the exercise data off-line is transferred to intelligent terminals such as PC.
In the domestic patent of applying for; Application number is that 201020676320.6 patented claim discloses a kind of multifunctional intellectual footwear; Be based on that accelerometer realizes, " described airborne sensor can comprise 3-axis acceleration sensor, and the raw data of collection comprises locus, direction, acceleration, acceleration time etc.; data value is high " that it is mentioned, wherein the content statement for " raw data comprises " of gathering is unscientific.Accelerometer itself can only be exported three magnitudes of voltage representing the actual acceleration value, through the AD sample quantization, and after doing the test of partially zero and scale factor, can be reduced into actual accekeration through calculating based on selected accelerometer range.So-called " raw data " also just has only acceleration information a kind of naturally.And for utilizing the resulting information reverting of accelerometer " locus ", be impossible realize basically on the engineering, concrete reason has three:
1, all accelerometer all is based on the local coordinate system of itself; The acceleration that is to say each time to be gathered all is a relative value; The information that accelerometer is exported is the acceleration of three local coordinate systems on axially; And local coordinate system itself one constantly change, its origin position and attitude all are the variations at any time of moving along with the foot of human body.Depending merely on accelerometer is to restore the true bearing of acceleration in the space, also just can not realize the measurement of " locus " certainly;
2, its so-called " can be according to shoes of difference in functionality in the practical application; the design riding position " be huge defectives for calculating " locus "; Reason is if the placement location of accelerometer is arbitrarily; Such as so-called " airborne sensor " tied up on shoestring, the reference position of accelerometer is exactly indefinite (can acutely rocking in the motion process, cause attitude to change so.Even so, though tie up very solid, each human body position of tying up is different with attitude so; Three reference values of axially exporting of accelerometer also are different, that is to say stationary state constantly, and three axial output voltages of accelerometer are uncertain; Three axial static moment acceleration outputs of XYZ also have nothing in common with each other), generally speaking, for the accelerometer that lies in ground; If ground level is the XOY face, a day earth's axis is the Z axle, and it should be approaching through the actual output of calculating after quantizing; AX=0, aY=0, aZ=g (wherein g is an acceleration of gravity).Therefore; Want to measure " locus "; Calibration is absolutely necessary, even device is lain in sole, also is to measure three axial outputs of accelerometer under the stationary state; Benchmark as proofreading and correct just might measure so-called " locus " through raw data such as acceleration.
3, accelerometer need cooperate gyro (preferably also will add magnetoresistive transducer and carry out the course correction) at least; Just can survey sensor " locus " of place carrier; Because gyro (additional magnetoresistive transducer) can provide the travel direction data; Displacement under the relative coordinate system that degree of will speed up meter is calculated through the conversion of volume coordinate, is transformed under the absolute coordinate system; Constantly calculate through each computation period, just can calculate locus and attitude information.Therefore in practical application, only relying on three axis accelerometer, is possibly calculate so-called " locus " hardly.
In addition, in any powered battery process, voltage is all constantly descending, and for accelerometer, WV directly has influence on its three axial voltage outputs.Since in application of practical project,, the people is in motion faster; Therefore its foot's instantaneous acceleration absolute value can reach 5g, and the accelerometer with the range of ± 10g is an example, the 3.3V power supply; 2.5V under the reference voltage, zero inclined to one side 1.65V of actual output is as WV decline 0.05V; Then representing the acceleration of actual output is 10g*0.05/ (2.5-1.65)=0.588g with deviation; Mean that also error will reach more than acceleration of gravity half the, this will badly influence for actual acceleration and speed, and the calculating of information such as position.Therefore the system of measuring for any dependence accelerometer, stable operating voltage is absolutely necessary, otherwise accekeration itself mistake that institute quantizes to obtain, the follow-up speed of also just not knowing where to begin and apart from etc. calculating.
Can implant the inner wireless senser of shoes for a kind of; Must consider its power problems, otherwise can cause service time too short, perhaps because the too big jumbo battery of installation that needs of power consumption; Will bring volume and weight excessive, be unfavorable for the situation of installing and using.Therefore no matter be to select MCU or wireless telecommunications means, all will be according to the principles of selected of low-power consumption.To this gordian technique of wireless telecommunications, the so-called mechanics of communication that adopts WIFI and field of telecommunications is not possess feasibility fully in some patent documentation, and reason is that the power consumption of present WIFI and field of telecommunications mechanics of communication is excessive.At present, the low-power consumption Bluetooth technology, and the Zigbee technology is more practicable scheme in communication.
Summary of the invention
The present invention is directed to some deficiency that exists in the aforementioned background art; Designed a kind of body motion information pick-up unit and detection method thereof based on single three axis accelerometer and Zigbee wireless communication module; Described detection method is based on Gait Recognition technology and statistics modeling; Only rely on the detection that three axis accelerometer just can the implementation part body motion information, and filled up and utilized single three axis accelerometer to measure the human motion direction, use it for the blank that man-machine interaction is used.Rely on the single-chip microcomputer of low-power consumption to cooperate the Zigbee mechanics of communication, realized lower Overall Power Consumption, can adopt the battery than low capacity, help dwindling the volume and weight of total system, the system that makes can implant shoes inside very easily.
A kind of body motion information pick-up unit of the present invention based on three axis accelerometer and Zigbee wireless module; Mainly comprise the comprehensive module of the wireless sensing that is arranged on a pair of shoes and be connected the host computer receiver module at PC terminal that the comprehensive module of described wireless sensing comprises Three Degree Of Freedom sensor unit based on three axis accelerometer, CPU, wireless transport module A, based on the storage unit of flash memory, independently-powered discharged and recharged power supply unit and power supply control chip; Described power supply unit is Three Degree Of Freedom sensor unit, CPU, wireless transport module and storage unit power supply; The acceleration information that described Three Degree Of Freedom sensor unit is gathered gets into CPU through conditioning back, signal condition unit; CPU obtains body motion information after data are handled; A part is stored in the storage unit; Another part is sent to the host computer receiver module by wireless transport module A, realizes the mutual control to PC, mobile phone, TV and other intelligent terminals.
Described body motion information mainly comprises: the beginning and ending time Tstart of acceleration a, speed v, motion, Tend, motion each time apart from d, detect direction θ (with respect to the direction of local coordinate system) and the step number step that moves that motion initial time, human body go out pin.
The comprehensive module of wireless sensing that to gather body motion information among the present invention is placed on the arch of foot place of shoes, and reason has 2 points, and one of which is that the arch of foot place is stressed little, is beneficial to the protection of the comprehensive module of wireless sensing; It two is that shoes bottoms is comparatively smooth, and accelerometer under static state two axial output acceleration of surface level helps the later stage to calculate near 0.
Reeded footwear will be set as the carrier of depositing the comprehensive module of wireless sensing among the present invention.In design, every shoes arch of foot of left and right sides pin place is fluted, is convenient to the installation of the comprehensive module of wireless sensing and fixing; Why design in the shoes bottom; Its reason is that for human body under static state, sole is substantially parallel with ground; Two axial acceleration outputs are (because the existence and the quantization error of noise about 0 basically in ground level; Its output is definitely not to be 0), help the motion detection in later stage, and can adopt collimation technique to make measurement result more accurate; Shoes itself are separable with the comprehensive module of wireless sensing in addition, and purpose is to be convenient to the cleaning of shoes, and can not damage electronic equipment; In addition, be convenient to the comprehensive module charging of wireless sensing.
The present invention has designed a kind of body motion information acquisition system based on single three axis accelerometer and Zigbee wireless module; And a kind of method for testing motion based on mode identification technology proposed; And, provided a kind of improved move distance measuring method through the statistics modeling.The present invention sends to host computer with the message of body motion information as triggering property through wireless transmission method, carries out man-machine interaction and uses, and can be used for controlling intelligent terminals such as PC, mobile phone, in order to purposes such as to play games.Described detection method comprises the steps:
(1) under the human body stationary state, calibrate, the three axis accelerometer in the slave computer measures the acceleration reference value a under the stationary state
X0, a
Y0, a
Z0, host computer sends the instruction of beginning image data to slave computer, points out human body to move freely simultaneously;
(2) three axis accelerometer is gathered acceleration information; Acceleration information process signal condition gets into CPU behind the unit; CPU is resolved the data that collect according to preset clock period; Resolve and obtain body motion information, and with the body motion information data storage in data storage cell;
(3) the human motion start-stop detects constantly, is specially:
During current time T=k, through three axis accelerometer, the acceleration on three change in coordinate axis direction of acquisition shoes local coordinate system, note is made a respectively
x, a
y, a
zWhen human body has taken place when mobile, make us the body initial moment Tstart=k that moves, promptly to have accomplished the human motion initial time and detected, concrete mode is following:
Calculate the accekeration in this moment:
This accekeration and threshold value ThresholdA are compared; Think promptly that greater than threshold value ThresholdA human body exists foot to move if find T=k this accekeration of the moment; An if ensuing m cycle; Accekeration is all greater than threshold value ThresholdA, and current state is stationary state, thinks that promptly moving has appearred in the foot of human body;
When the movable information of human body satisfies two conditions, thinking that promptly motion stops: the continuous p of a first accekeration cycle is less than threshold value ThresholdA, and it two is that current state is a motion state; When satisfying these two conditions, promptly think the end of once moving, promptly when T=k, be carved into T=k+p constantly, have following two conditions to satisfy:
The record time this moment makes Tend=k+p, is the finish time of moving;
The human foot has mobile, changes (4) over to; If detect not motion of human foot, return step (2) and proceed data acquisition;
(4) detecting the human foot has motion, then in n the cycle after this, utilizes an integral operation to obtain shoes local coordinate system X
bY
bZ
bThree speed Vx (n) on axially, Vy (n), Vz (n), when n=N constantly; N is a natural number, promptly according to three of the local coordinate systems speed Vx on axially, Vy; The value of Vz obtains with respect to trivector (Vx, a Vy under the shoes local coordinate system; Vz), this vector is promptly represented the orientation of pin that human body goes out, and judges to obtain the direction that human body goes out pin;
(5) for the measurement of distance,,, make based on the Gait Recognition technology through detection to great amount of samples
Wherein K is a constant, and C is the benchmark constant, Axy
MaxBe in the motion process, the maximal value of the acceleration on the XOY plane,
The exercise data of the shoes that calculated will be stored in the buffer memory of slave computer, and pass to wireless transport module A transmission;
(6) the host computer receiver module receives the information that wireless transport module A sends, and the single-chip microcomputer in the host computer is transferred to the data buffer of host computer with human foot's mobile message, in order to system call.
Novelty of the present invention and advantage are:
1, relies on the comprehensive module of wireless sensing that is built in shoes arch of foot place, designed a kind of body movement detection method, have wide accommodation, the characteristics that accuracy rate is high based on mode identification technology;
2, proposed a kind of follow-on range observation algorithm, had and calculate easyly, need not to carry out all the time integration, but combine mode of motion to carry out mathematical modeling, realized a kind of approximate estimation through a kind of statistical law based on Gait Recognition technology.Compare through the quadratic integral computed range, this method has the advantages that there are not cumulative errors, obtains because the speed of human motion is continuous integral and calculating, and long-term calculating will cause cumulative errors.And computing method provided by the invention are in each period of motion, and rule of thumb formula is calculated through the raw data acceleration, do not relate to computing velocity and also need not to carry out once more integration calculation displacement, therefore do not have cumulative errors.
3, adopt triggering mode to carry out the wireless transmission of exercise data and in order to man-machine interaction; Just detect when human body has motion to take place and just send data, make system power dissipation reduce greatly, during such as control recreation and other man-machine interactive application; Have only when human body is made action; Just movable information is sent to host computer, rather than transmission all the time, such Design Mode will reduce power consumption greatly.Further the raising system treats capabilities and service time.
4, system adopts low power dissipation design, and selected MCU is the single-chip microcomputer of low-power consumption, and the wireless transport module that is used for wireless receiving and transmission has adopted the closely wireless solution Zigbee of low-power consumption.The design of the low-power consumption system that also makes can use volume and the littler battery of capacity, to reduce the total system weight and volume, helps being placed on the bottom of shoes more.
5, adopt voltage stabilizing power supply design, avoided accelerometer in using the powered battery process, the error of the accekeration because WV descends after the quantification that brings.
Description of drawings
Fig. 1 is the footwear construction synoptic diagram that is provided with the comprehensive module of wireless sensing;
Fig. 2 is a local coordinate system synoptic diagram on the shoes;
Fig. 3 is the comprehensive module of wireless sensing among the present invention and the structural representation of host computer receiver module;
Fig. 4 is the workflow diagram that the comprehensive module of wireless sensing is gathered movable information;
The hardware of Fig. 5 host computer receiver module is formed structural representation.
Embodiment
To combine accompanying drawing and embodiment that the present invention is done further detailed description below.
The present invention proposes a kind of body motion information pick-up unit and its implementation based on three axis accelerometer and Zigbee wireless module.As shown in Figure 1, described shoes 1 are provided with the comprehensive module 2 of wireless sensing in the bottom, preferably the comprehensive module 2 of wireless sensing are arranged on the arch of foot place of shoes; Be connected based on wireless telecommunications between the comprehensive module 2 of described wireless sensing and the host computer receiver module 3, host computer receiver module 3 directly is connected with terminal device such as PC.
Body motion information pick-up unit provided by the invention comprises comprehensive module 2 of wireless sensing and host computer receiver module 3; The comprehensive module 2 of described wireless sensing is carried out radio communication with host computer receiver module 3; Host computer receiver module 3 is used to receive the movable information of shoes 1, and resulting movable information can be applied to data analysis, simulation virtual training or man-machine interaction.Adopt the processor of low-power scm as CPU on the comprehensive module 2 of wireless sensing, the process of resolving of human foot's exercise data all comprehensive module 2 inner completion of wireless sensing, has realized higher integrated level.The comprehensive module 2 of described wireless sensing is placed in the shoes bottom; And the barycenter of the comprehensive module 2 of wireless sensing is as the initial point of shoes local coordinate system; Setting up of shoes local coordinate system is as shown in Figure 2: initial point O is the barycenter of the comprehensive module 2 of wireless sensing on the shoes of the present invention, x
b, y
b, z
bThe longitudinal axis, transverse axis and vertical pivot that axle points to shoes respectively make progress.
Communication Realization between comprehensive module 2 of described wireless sensing and the host computer receiver module 3 is shown in accompanying drawing 3, and the two realizes communicating by letter through wireless transport module A and wireless transport module B.The comprehensive module 2 of wireless sensing wherein contains Three Degree Of Freedom sensor unit, signal condition unit, CPU, wireless transport module A, data storage cell, the power supply unit based on three axis accelerometer and is arranged on the power supply control chip of power supply unit output terminal, and described power supply unit is used to three axis accelerometer, signal condition unit, CPU, wireless transport module A and the data storage cell power supply in the Three Degree Of Freedom sensor unit; Described power supply control chip is used for the power supply unit output voltage stabilization to other module required voltages; Acceleration movement information and process signal condition unit that described three axis accelerometer is gathered on three axles of shoes are nursed one's health to behind the available signal; Send to CPU MCU; Process is based on the motion detection of collimation technique, and correlation computations, obtains the movable information of human body.Described body motion information mainly comprise beginning and ending time Tstart and the Tend of acceleration a, speed v, motion, motion each time apart from d and detect the direction θ (with respect to the direction of local coordinate system) that motion initial time, human body go out pin, and the step number step of motion.A body motion information part is stored in data storage cell, and a part sends to the host computer receiver module through the transmitting terminal of wireless transport module A.
Described host computer receiver module 3; The equipment that has USB interface towards PC etc.; It comprises single-chip microcomputer, wireless transport module B, USB/UART interface conversion chip, power supply chip and USB interface; As shown in Figure 5, the receiving end of described wireless transport module B receives the body motion information data of the transmitting terminal of wireless transport module A, and the signal type conversion chip is FT232R; FT232R is the USB/UART conversion chip, and its major function is under the internal hardware logical action, to realize the conversion of a USB and a step Serial Data Transport Interface.Chip internal inherited 1024 EEPROM and multi-frequency clock generator (6MHz, 12MHz, 24MHz, 48MHz).Power supply chip adopts AMS1117-3.3 mentioned above, provides 3.3V to be output as FT232R and Zigbee module for power supply.USB interface is used for linking to each other with terminal device such as PC, accomplishes data transmission and power supply function of supplying power.The body motion information data that wireless transport module B receives convert the form that can transmit into and output to device ends such as PC through after the interface conversion.Single-chip microcomputer in the host computer is used for human foot's mobile message is transferred to the data buffer of host computer, in order to system call.
CPU is selected the MCU that carries high-precision AD collection and house dog for use.AD gathers and is used to obtain the voltage output through the Three Degree Of Freedom sensor unit of signal condition unit conditioning; And be reduced to acceleration information; Obtain velocity information through an integration; Through mathematical modeling based on statistics, analyze for the acceleration in the whole motion state, calculate the distance that moves each time.House dog is used for when the processor program race flies or is in the deadlock state, and house dog will carry out forced resetting to processor from hardware, make processor get into normal mode of operation again.Special; Power supply control chip will be responsible for three axis accelerometer and single-chip microcomputer in the CPU in the Three Degree Of Freedom sensor unit etc. stable voltage will be provided; Be mainly this type of inertia device of solution accelerometer; To the tender subject of WV,, cause very big error will for the accekeration of the output of follow-up accelerometer if supply voltage constantly descends.
The host computer receiver module is as the module that receives and handle wireless sensing information that comprehensive module is sent in the shoes; Its core is through home control network communication protocol; Connect with the comprehensive module of wireless sensing and receive related data, and initialization mode of operation and running parameter constantly is set.
To the accelerometer of being selected for use, the demarcation before need using through the position experiment of national standard, is demarcated zero inclined to one side V0 of the accelerometer of selecting for use, and scale factor scale.Basis as subsequent calculations.The magnitude of voltage of calibrated three axial accelerations can convert actual acceleration into by formula, and computing formula does, is example with the X axis:
(this magnitude of voltage can be the integer after the AD sampling to magnitude of voltage through can degree of the will speed up original output of this formula; Also can be the real voltage after the reduction, corresponding scale factor scale dimension be also different) convert actual accekeration into, wherein Vx is the voltage output of the accelerometer of X axis; Vx0 is that X axis zero is inclined to one side; R is meant that the range of accelerometer is [R ,+R], scale
xBe meant scale factor.
Three axis accelerometer in the described Three Degree Of Freedom sensor unit adopts the KXD94 accelerometer chip, and KXD94 is the three axis accelerometer that Kionix company produces.This device measurement range is maximum ± 13g, and sensitivity coefficient is 200mV/g (5V power supply), and WV is 2.5～5.25V; This accelerometer power consumption is very low, and the about 0.9-1.5mA of electric current can satisfy the low-power consumption requirement of global design.KXD94 three tunnel exports and represents the output of X axle, the output of Y axle, the output of Z axle respectively, offers follow-up signal conditioning unit afterwards finally by the Chip Microcomputer A collection of CPU.
Described CPU adopts the MSP430F247 single-chip microcomputer of TI company, can satisfy the real-time collection of information and carry out the online requirement that calculates displacement information.MSP430 series is the single-chip microcomputer kind of super low-power consumption, is well suited for the battery powered occasion that works long hours.MSP430 chip activity mode current 225uA, holding state is 0.8uA only, power-down mode 0.1uA.Adopt numerically-controlled oscillator, be no more than 6us from standby to the awakening mode response time.The RAM capacity of 4K, 8 tunnel 12 AD gather I2C/SPI interface, UART/USART etc.MSP430 can effectively realize the high and low power consumption of integrated level that the present invention requires, Embedded Application cheaply.
Wireless transport module A and wireless transport module B adopt the ZigBee module.The ZigBee wireless communication technology is a kind of low rate, low-power consumption, low complex degree, two-way wireless communication network technology cheaply, can be widely used in fields such as industrial monitoring, security system, sensor network, Smart Home.The advantage of ZigBee is low-power consumption, compares bluetooth or WiFi stand-by time and can improve tens times; Low cost has reduced the requirement to communication controller, and the agreement patent is free; High power capacity, a host node can be managed a plurality of child nodes, can reach 254 node at most; Have in short-term in addition and prolong, high safety, advantages such as unlicensed band.The Zigbee module can satisfy the requirement that design is used.Wireless transport module A or wireless transport module B include and send and reception two parts, are installed in respectively in comprehensive module 2 of wireless sensing and the host computer receiver module 3, are used for data radio communication.
Power supply unit adopts lithium battery power supply, and battery adopts chargeable ultra-thin lithium cell, capacity 300-500mAh, and WV 6V discharges and recharges number of times and can reach 500 times, very frequently also can guarantee the service time at least one year even use.
Power supply control chip can use AMS1117-3.3 as power supply voltage stabilizing chip, makes power supply unit output stabilize to 3.3V, can be ARM, three axis accelerometer, and wireless transport module A stable power-supplying.AMS1117-3.3 chip input voltage scope 4.75～12V, output voltage 3.267～3.333V, output current 1A, working temperature-40～125 ℃.
Shown in accompanying drawing 4, the workflow that adopts above-mentioned comprehensive module of wireless sensing and host computer receiver module to gather the body motion information data can be described as:
(1) (the comprehensive module of wireless sensing is parallel to the ground) calibrates under the human body stationary state, and the three axis accelerometer in the slave computer measures the acceleration reference value a under the stationary state
X0, a
Y0, a
Z0, also can measure in advance, obtain one can be for reference the universal reference value, perhaps place under the comparatively horizontal situation in the comprehensive module of wireless sensing, approximately think a
X0=0, a
Y0=0, a
Z0=g looks different occasions and accuracy requirement and decides.Host computer sends acquisition start command to slave computer, and the software application prompting human body through host computer can move freely simultaneously.
(2) get into CPU behind the acceleration information of the three axis accelerometer process signal condition unit; CPU is resolved the data that collect according to preset clock period; Resolve and obtain body motion information, and with the body motion information data storage in flash memory (data storage cell).
Through three axis accelerometer, the acceleration on three change in coordinate axis direction of acquisition shoes local coordinate system, note is made a respectively
x, a
y, a
z, whether human body moves, and adopting acceleration rate threshold is set in advance is ThresholdA, when
The time, it is mobile to think that promptly the human foot has, and threshold value ThresholdA can adjust according to different occasions.If detect human body motion is arranged, change (5) over to; If detect not motion of human body, proceed data acquisition.
(3) detect the human foot motion is arranged; Then (n typical case value can be set according to the SF of three axis accelerometer, like the SF of 100HZ in n the cycle after this; The typical value of n can for as 10 natural number), utilize an integral operation to obtain shoes local coordinate system X
bY
bZ
bThree speed Vx (n) on axially, Vy (n), Vz (n) notes, the acceleration of the integration that be used for this moment is to consider reference value under static, that is to say through overcorrect.When n=N constantly, can be according to three of the local coordinate systems speed Vx on axially, Vy, the value of Vz is judged to obtain the direction (with respect to local coordinate system) that human body goes out pin.
(4) for the measurement of distance; The present invention proposes a kind of method based on the statistics modeling; Through detection to great amount of samples; Based on the Gait Recognition technology; Improved a kind of experimental formula, make
wherein K be constant, can measure through a large amount of samples.C is the benchmark constant, is an amendable value, and is relevant with concrete motion state, and initial value can directly be set to 0, can approach actual value through the lot of data test.Axy
MaxBe (from the pin of single motion in the time period of stopping over) in the motion process, the maximal value of the acceleration on the XOY plane,
Can be in concrete the application according to the Demand Design of reality different K, the value of C is to improve the accuracy of measuring.The body motion information data that calculated will be stored in the buffer memory of slave computer, and pass to wireless transport module A transmission.
(5) the host computer receiver module receives the information that the wireless transport module A in the shoes sends.Single-chip microcomputer in the host computer is transferred to the data buffer of host computer with human foot's mobile message, in order to system call.
After detecting end of message (EOM), if host computer through directly control transmission END instruction, is then gathered with the communication workflow stop, and quit a program; Perhaps directly quit a program and close the shoes power supply.
In above-mentioned human body operation information testing process, can before detecting, carry out MANET work, that is:
(a) open the shoes power supply.The slave computer initialization, and power on for the comprehensive module of wireless sensing.
(b) open the host computer receiver module, carry out wireless search, the comprehensive module of wireless sensing that exists around the coupling, the work of beginning MANET.If search the equipment of protocol compliant, then connect automatically; If surpass threshold time T second (can establish), still do not search the relevant device that can mate, then change the connection failure handling procedure automatically over to; If search the comprehensive module of slave computer wireless sensing that can mate, connect automatically, realize the automatic networking of child node, and set up the communication connection.
Body motion information detection method based on mode identification technology and statistics modeling of the present invention comprises that human motion start-stop detection, human body constantly goes out the detection of pin direction, the measurement of speed, the measurement of move distance and the measurement of step number, and is specific as follows:
1, human body motion start-stop is constantly:
(k is a natural number, is representing the clock period, can be 5ms during current time T=k; 10ms etc. can select different clocks and cycle according to different application), through three axis accelerometer; Acceleration on three change in coordinate axis direction of acquisition shoes local coordinate system, note is made a respectively
x, a
y, a
zWhen human body has taken place when mobile, make us the body initial moment Tstart=k that moves, promptly accomplished the human motion initial time and detected.Concrete mode is following:
Calculate the accekeration in this moment
This accekeration and threshold value ThresholdA are compared; Think promptly that greater than threshold value ThresholdA human body possibly exist foot to move if find T=k this accekeration of the moment; Further investigate an ensuing m cycle,, get final product (m=0 also calculates one-period) accekeration of continuous 4 cycles all greater than threshold value ThresholdA as getting m=3 among the present invention; And current state is a stationary state, thinks that promptly moving has appearred in the foot of human body.
Similarly, when the movable information of human body satisfied two conditions, thinking that promptly motion stops: the continuous p of a first accekeration cycle was provided with p=7 less than threshold value ThresholdA in the present embodiment, and it two is that current state is a motion state.When satisfying these two conditions, promptly think the end of once moving.Promptly when T=k, be carved into T=k+p constantly, have following two conditions to satisfy:
The record time this moment makes Tend=k+p, is the finish time of moving.
The advantage of this method is, utilizes the information in continuous several cycles, has strengthened the effect of removing noise, has strengthened the robustness of system, has also effectively avoided erroneous detection.
2, human body goes out pin direction detection (with respect to the shoes local coordinate system):
After detecting human body and moving, in n the cycle after this, in the present embodiment, SF is 100HZ, and promptly the clock cycle is 10ms, chooses natural number N=10, in n=N cycle, utilizes integral operation to obtain shoes local coordinate system X
bY
bZ
bThree speed Vx (n) on axially, Vy (n), Vz (n) notes, this moment, the acceleration of the integration that is used for was what to calibrate.When the n=N moment, can be according to Vx, Vy, the value of Vz; Can obtain with respect to a trivector under the shoes local coordinate system (Vx, Vy, Vz); This vector can roughly be represented the orientation θ of pin that human body goes out, and the trivector of being made up of speed in the whole process is in the interval variation of 360 degree, still for general man-machine interaction is used; Only need know that general orientation is just passable, such as we can utilize human foot's the pin direction that goes out probably to be divided into four direction all around; It is mapped as the key of four direction up and down on the keyboard,, can accomplishes the control of this man-machine interaction as long as probably know the orientation that pin of human body.This computing method belong to prediction type, and advantage is that following property is good, and human body has just been made action, can dope its direction, for control recreation and the demanding occasion of other real-times, are very favorable.If judge direction based on the displacement of moving again after adopting motion to finish, will bring very big delay and hysteresis quality, cause experience sense to be had a greatly reduced quality.
3, the measurement of speed:
The measurement of speed V; Be through human body at the pin Tstart zero hour that moved up to the Tend constantly that stops over; Axially carry out integrated acceleration and calculate along three, what particularly point out is; Three axial acceleration that are used for integration are a that considered three the axial benchmark outputs in reference position (the static moment)
X0, a
Y0, a
Z0, rather than directly utilize the output valve of three axis accelerometer.Obtain three axial velocity information Vx (n), Vy (n), Vz (n), then n constantly,
4, the measurement of move distance:
Measurement for distance; The present invention proposes a kind of method based on the statistics modeling; Through detection,, improved a kind of experimental formula based on the Gait Recognition technology to great amount of samples; Make
wherein K be constant, can measure through a large amount of samples.C is the benchmark constant, is an amendable value, and is relevant with concrete motion state; Specifically choose process, can shilling C=0, measure through actual gait then; Must contrast through experimental formula calculated value and true step value, constantly revise C, can approach end value.Axy
MaxBe in the motion process, the maximal value of the acceleration on the XOY plane,
Can be in concrete the application according to the Demand Design of reality different K, the value of C is to improve the accuracy of measuring.This measuring technique is carved constantly when not required and is carried out rate integrating, and then quadratic integral calculates each displacement constantly, the distance that adds up and once moved; And be based on the Gait Recognition technology, and improve, utilize the maximal value Axy of acceleration in the plane
MaxAnd the relation between the benchmark constant C, add the constant K of a correction.Can directly calculate the move distance on plane X OY, in the practical application, effect is better than integral operation.Reason is that the constant K of this method, C obtain according to a large amount of sample statistics, and can adopt the online correction of adaptive technique, and does not have cumulative errors.The quadratic integral computing then is adding up of not stopping, and the time has been grown cumulative errors can be very big.
5, the measurement of step number:
According to the start-stop moment of aforementioned measurement human motion, each start-stop cycles can add 1 with step number step, has promptly accomplished the function of passometer.
The body motion information that the present invention calculates can send to host computer and carry out uses such as man-machine interaction.As passing through to gather human body movement data; Can realization and intelligent terminals such as mobile phone, PC, panel computer and TV mutual; Obtaining and relevant demonstration of the distance of realization exercise data information such as acceleration, speed and motion, and be used for playing games and carrying out man-machine interaction application of virtual reality or the like.
The present invention in practical project test, 100HZ computation period, the about 6ma of Overall Power Consumption; For the detection of human motion direction, the rate of accuracy reached of normal gait identification is to 100%, and the rate of accuracy reached of motor-driven Gait Recognition is to 97.4% at random; Measure for displacement: clocklike the displacement measuring accuracy can reach 98%, random motion accumulative total precision about 95%; Minimum distinguishable displacement is about 4cm.In the test of reality, be used for human-computer interactive control, have experience sense preferably, control PC recreation does not have the sense of delay accurately fast.
The foregoing description only is used to explain the present invention, and wherein the structure of each parts, connected mode etc. all can change, and every equivalents of on the basis of technical scheme of the present invention, carrying out and improvement all should not got rid of outside protection scope of the present invention.
Claims (7)
1. body motion information detection method is characterized in that:
(1) under the human body stationary state, calibrate, the three axis accelerometer in the slave computer measures the acceleration reference value a under the stationary state
X0, a
Y0, a
Z0, host computer sends the instruction of beginning image data to slave computer, points out human body to move freely simultaneously;
(2) three axis accelerometer is gathered acceleration information; Acceleration information process signal condition gets into CPU behind the unit; CPU is resolved the data that collect according to preset clock period; Resolve and obtain body motion information, and with the body motion information data storage in data storage cell;
(3) the human motion start-stop detects constantly, is specially:
During current time T=k, through three axis accelerometer, the acceleration on three change in coordinate axis direction of acquisition shoes local coordinate system, note is made a respectively
x, a
y, a
zWhen human body has taken place when mobile, make us the body initial moment Tstart=k that moves, promptly to have accomplished the human motion initial time and detected, concrete mode is following:
Calculate the accekeration in this moment:
This accekeration and threshold value ThresholdA are compared; Think promptly that greater than threshold value ThresholdA human body exists foot to move if find T=k this accekeration of the moment; An if ensuing m cycle; Accekeration is all greater than threshold value ThresholdA, and current state is stationary state, thinks that promptly moving has appearred in the foot of human body;
When the movable information of human body satisfies two conditions, thinking that promptly motion stops: the continuous p of a first accekeration cycle is less than threshold value ThresholdA, and it two is that current state is a motion state; When satisfying these two conditions, promptly think the end of once moving, promptly when T=k, be carved into T=k+p constantly, have following two conditions to satisfy:
The record time this moment makes Tend=k+p, is the finish time of moving;
The human foot has mobile, changes (4) over to; If detect not motion of human foot, return step (2) and proceed data acquisition;
(4) detecting the human foot has motion, then in n the cycle after this, utilizes an integral operation to obtain shoes local coordinate system X
bY
bZ
bThree speed Vx (n) on axially, Vy (n), Vz (n), when n=N constantly; N is a natural number, promptly according to three of the local coordinate systems speed Vx on axially, Vy; The value of Vz obtains with respect to trivector (Vx, a Vy under the shoes local coordinate system; Vz), this vector is promptly represented the orientation of pin that human body goes out, and judges to obtain the direction that human body goes out pin;
(5) for the measurement of distance,,, make based on the Gait Recognition technology through detection to great amount of samples
Wherein K is a constant, and C is the benchmark constant, Axy
MaxBe in the motion process, the maximal value of the acceleration on the XOY plane,
The exercise data of the shoes that calculated will be stored in the buffer memory of slave computer, and pass to wireless transport module A transmission;
(6) the host computer receiver module receives the information that the wireless transport module A in the shoes sends, and the single-chip microcomputer in the host computer is transferred to the data buffer of host computer with human foot's mobile message, in order to system call.
2. a kind of body motion information detection method according to claim 1, it is characterized in that: described detection method also comprises the measurement of human foot's movement velocity, the measurement of speed V; Be through human body at the pin Tstart zero hour that moved up to the Tend constantly that stops over, axially carry out integrated acceleration along three and calculate, obtain three axial velocity information Vx (n); Vy (n); Vz (n), then n constantly
3. a kind of body motion information detection method according to claim 1; It is characterized in that: described detection method also comprises the measurement of step number, according to the start-stop of measuring human motion constantly, and each start-stop cycles; Step adds 1 with step number, has promptly accomplished the function of passometer.
4. body motion information pick-up unit; It is characterized in that: comprise the comprehensive module of the wireless sensing that is arranged on a pair of shoes and be connected the host computer receiver module at PC terminal that the comprehensive module of described wireless sensing comprises Three Degree Of Freedom sensor unit based on three axis accelerometer, CPU, wireless transport module A, based on the storage unit of flash memory, independently-powered discharged and recharged power supply unit and power supply control chip; Described power supply unit is Three Degree Of Freedom sensor unit, CPU, wireless transport module and storage unit power supply; The acceleration information that described Three Degree Of Freedom sensor unit is gathered gets into CPU through conditioning back, signal condition unit; CPU obtains body motion information after data are handled; A part is stored in the storage unit; Another part is sent to the host computer receiver module by wireless transport module A, realizes the mutual control to PC, mobile phone, TV and other intelligent terminals.
5. a kind of body motion information pick-up unit according to claim 4, it is characterized in that: described body motion information comprises: the beginning and ending time Tstart of acceleration a, speed v, motion, Tend, motion each time apart from d, detect the motion initial time, human body goes out the direction of pin and the step number step of motion.
6. a kind of body motion information pick-up unit according to claim 4; It is characterized in that: described host computer receiver module is towards the PC equipment that has USB interface; It comprises single-chip microcomputer, wireless transport module B, USB/UART interface conversion chip, power supply chip and USB interface; The receiving end of described wireless transport module B receives the body motion information data of the transmitting terminal of wireless transport module A, after interface conversion, converts the form that can transmit into and outputs to the PC device end; Single-chip microcomputer in the host computer is used for human foot's mobile message is transferred to the data buffer of host computer, in order to system call.
7. a kind of body motion information pick-up unit according to claim 4 is characterized in that: described wireless transport module A and wireless transport module B adopt the Zigbee module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102704749A CN102818913B (en) | 2012-07-31 | 2012-07-31 | Detection device and detection method for hummotion information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102704749A CN102818913B (en) | 2012-07-31 | 2012-07-31 | Detection device and detection method for hummotion information |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102818913A true CN102818913A (en) | 2012-12-12 |
| CN102818913B CN102818913B (en) | 2013-11-27 |
Family
ID=47303151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012102704749A Expired - Fee Related CN102818913B (en) | 2012-07-31 | 2012-07-31 | Detection device and detection method for hummotion information |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102818913B (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103150036A (en) * | 2013-02-06 | 2013-06-12 | 宋子健 | Information acquisition system and method, man-machine interaction system and method, and shoes |
| CN103175540A (en) * | 2013-03-10 | 2013-06-26 | 南京中科盟联信息科技有限公司 | High-precision walking speed and distance calculation method |
| CN103604441A (en) * | 2013-11-15 | 2014-02-26 | 中国科学院深圳先进技术研究院 | System and method for measuring number of paces and mobile terminal |
| CN103598888A (en) * | 2013-10-16 | 2014-02-26 | 东北大学 | Wearable human body motion state data monitoring system and method |
| CN103674025A (en) * | 2013-12-26 | 2014-03-26 | 深圳超多维光电子有限公司 | Displacement computing method and device for intelligent terminal |
| CN103714500A (en) * | 2013-12-06 | 2014-04-09 | 广西科技大学 | ZigBee network and CAN bus protocol switching-based running fitness system |
| CN103727959A (en) * | 2013-12-31 | 2014-04-16 | 歌尔声学股份有限公司 | Step counting method and step counting device |
| CN104197957A (en) * | 2014-08-25 | 2014-12-10 | 哈尔滨工业大学 | Micro-gyroscope measurement system and method for measuring zero-bias stability by using system |
| CN104207784A (en) * | 2014-09-11 | 2014-12-17 | 青岛永通电梯工程有限公司 | GPRS (General Packet Radio Service)-based monitoring wristband for actions of the old |
| CN104436597A (en) * | 2013-09-19 | 2015-03-25 | 卡西欧计算机株式会社 | Exercise support device and exercise support method |
| CN104596537A (en) * | 2015-02-02 | 2015-05-06 | 成都星炫科技有限公司 | Step calculation method |
| CN104679552A (en) * | 2013-11-26 | 2015-06-03 | 联想（新加坡）私人有限公司 | Selectively disabling sensors and associated functions |
| CN105890619A (en) * | 2014-12-25 | 2016-08-24 | 陆婷 | Pedometer design based on three-axis acceleration sensor |
| CN106225803A (en) * | 2016-07-20 | 2016-12-14 | 浪潮软件集团有限公司 | Step counting method based on three-axis accelerator |
| CN106595696A (en) * | 2016-12-08 | 2017-04-26 | 杭州育动科技有限公司 | Anti-cheating step-counting device and method |
| CN106595697A (en) * | 2016-12-15 | 2017-04-26 | 宁夏农垦贺兰山奶业有限公司 | Piezoelectric pedometer and step counting method |
| CN107063291A (en) * | 2017-03-06 | 2017-08-18 | 建荣半导体（深圳）有限公司 | Step-recording method, step count set, meter step chip and mobile terminal |
| CN107153454A (en) * | 2016-03-02 | 2017-09-12 | 曦恩体感科技股份有限公司 | The method and mobile device calibrated with sensor time |
| CN107343789A (en) * | 2017-05-17 | 2017-11-14 | 浙江利尔达物联网技术有限公司 | A kind of step motion recognition method based on 3-axis acceleration sensor |
| CN108888918A (en) * | 2018-05-09 | 2018-11-27 | 国家体育总局体育科学研究所 | One kind is for multiple target movement velocity measuring system and method under pahtfinder hard |
| CN109619762A (en) * | 2017-04-12 | 2019-04-16 | 佛山市丈量科技有限公司 | A kind of physiology sign analysis method and system based on step information |
| CN110543290A (en) * | 2018-09-04 | 2019-12-06 | 谷歌有限责任公司 | Multimodal response |
| CN110636793A (en) * | 2017-11-02 | 2019-12-31 | 株式会社万代 | Exercise amount measurement system, shoe, and program |
| US10551211B2 (en) | 2013-05-08 | 2020-02-04 | Cm Hk Limited | Methods and devices with sensor time calibration |
| CN111428690A (en) * | 2020-04-21 | 2020-07-17 | 桂林电子科技大学 | Identity authentication method based on gait signal topology analysis |
| TWI711395B (en) * | 2018-07-17 | 2020-12-01 | 長庚大學 | Walking assist device |
| TWI788721B (en) * | 2018-07-17 | 2023-01-01 | 長庚大學 | Walking assist device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003006608A (en) * | 2001-06-19 | 2003-01-10 | Seiko Instruments Inc | Walk detector |
| CN101394787A (en) * | 2006-03-14 | 2009-03-25 | 索尼株式会社 | Body movement detector, body movement detection method and body movement detection program |
| CN101419078A (en) * | 2008-12-01 | 2009-04-29 | 深圳职业技术学院 | Moving displacement wireless detecting system and operation method thereof |
| CN101695444A (en) * | 2009-10-16 | 2010-04-21 | 中国科学院合肥物质科学研究院 | Foot acceleration information acquisition system and acceleration information acquisition method thereof |
| CN101894252A (en) * | 2010-03-29 | 2010-11-24 | 天津大学 | Walking movement classification method based on triaxial acceleration transducer signals |
| CN201978444U (en) * | 2010-12-22 | 2011-09-21 | 福建物联天下信息科技有限公司 | Motion detecting and analyzing system |
| CN202235378U (en) * | 2011-09-16 | 2012-05-30 | 北京农业信息技术研究中心 | Animal behavior monitoring system based on acceleration sensor |
-
2012
- 2012-07-31 CN CN2012102704749A patent/CN102818913B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003006608A (en) * | 2001-06-19 | 2003-01-10 | Seiko Instruments Inc | Walk detector |
| CN101394787A (en) * | 2006-03-14 | 2009-03-25 | 索尼株式会社 | Body movement detector, body movement detection method and body movement detection program |
| CN101419078A (en) * | 2008-12-01 | 2009-04-29 | 深圳职业技术学院 | Moving displacement wireless detecting system and operation method thereof |
| CN101695444A (en) * | 2009-10-16 | 2010-04-21 | 中国科学院合肥物质科学研究院 | Foot acceleration information acquisition system and acceleration information acquisition method thereof |
| CN101894252A (en) * | 2010-03-29 | 2010-11-24 | 天津大学 | Walking movement classification method based on triaxial acceleration transducer signals |
| CN201978444U (en) * | 2010-12-22 | 2011-09-21 | 福建物联天下信息科技有限公司 | Motion detecting and analyzing system |
| CN202235378U (en) * | 2011-09-16 | 2012-05-30 | 北京农业信息技术研究中心 | Animal behavior monitoring system based on acceleration sensor |
Cited By (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103150036B (en) * | 2013-02-06 | 2016-01-20 | 宋子健 | A kind of information acquisition system and method, man-machine interactive system and method and a kind of footwear |
| CN105214296A (en) * | 2013-02-06 | 2016-01-06 | 宋子健 | A kind of method obtaining movable information |
| CN103150036A (en) * | 2013-02-06 | 2013-06-12 | 宋子健 | Information acquisition system and method, man-machine interaction system and method, and shoes |
| CN103175540A (en) * | 2013-03-10 | 2013-06-26 | 南京中科盟联信息科技有限公司 | High-precision walking speed and distance calculation method |
| CN103175540B (en) * | 2013-03-10 | 2015-08-05 | 南京中科盟联信息科技有限公司 | The computing method of a kind of high precision walking speed and distance |
| US10551211B2 (en) | 2013-05-08 | 2020-02-04 | Cm Hk Limited | Methods and devices with sensor time calibration |
| CN104436597A (en) * | 2013-09-19 | 2015-03-25 | 卡西欧计算机株式会社 | Exercise support device and exercise support method |
| CN104436597B (en) * | 2013-09-19 | 2017-04-12 | 卡西欧计算机株式会社 | Exercise support device and exercise support method |
| CN103598888B (en) * | 2013-10-16 | 2015-04-22 | 东北大学 | Wearable human body motion state data monitoring system and method |
| CN103598888A (en) * | 2013-10-16 | 2014-02-26 | 东北大学 | Wearable human body motion state data monitoring system and method |
| CN103604441A (en) * | 2013-11-15 | 2014-02-26 | 中国科学院深圳先进技术研究院 | System and method for measuring number of paces and mobile terminal |
| CN104679552A (en) * | 2013-11-26 | 2015-06-03 | 联想（新加坡）私人有限公司 | Selectively disabling sensors and associated functions |
| US9939874B2 (en) | 2013-11-26 | 2018-04-10 | Lenovo (Singapore) Pte. Ltd. | Selectively disabling sensors and associated functions |
| CN104679552B (en) * | 2013-11-26 | 2018-10-30 | 联想（新加坡）私人有限公司 | Selectively disable sensor and associated function |
| CN103714500A (en) * | 2013-12-06 | 2014-04-09 | 广西科技大学 | ZigBee network and CAN bus protocol switching-based running fitness system |
| CN103674025A (en) * | 2013-12-26 | 2014-03-26 | 深圳超多维光电子有限公司 | Displacement computing method and device for intelligent terminal |
| CN103727959A (en) * | 2013-12-31 | 2014-04-16 | 歌尔声学股份有限公司 | Step counting method and step counting device |
| CN103727959B (en) * | 2013-12-31 | 2016-09-14 | 歌尔声学股份有限公司 | Step-recording method and device |
| US10302449B2 (en) | 2013-12-31 | 2019-05-28 | Goertek Inc. | Step counting method and device |
| CN104197957A (en) * | 2014-08-25 | 2014-12-10 | 哈尔滨工业大学 | Micro-gyroscope measurement system and method for measuring zero-bias stability by using system |
| CN104207784A (en) * | 2014-09-11 | 2014-12-17 | 青岛永通电梯工程有限公司 | GPRS (General Packet Radio Service)-based monitoring wristband for actions of the old |
| CN105890619A (en) * | 2014-12-25 | 2016-08-24 | 陆婷 | Pedometer design based on three-axis acceleration sensor |
| CN104596537A (en) * | 2015-02-02 | 2015-05-06 | 成都星炫科技有限公司 | Step calculation method |
| CN104596537B (en) * | 2015-02-02 | 2017-12-29 | 林联华 | A kind of step-recording method |
| CN107153454A (en) * | 2016-03-02 | 2017-09-12 | 曦恩体感科技股份有限公司 | The method and mobile device calibrated with sensor time |
| CN107153454B (en) * | 2016-03-02 | 2020-10-09 | 曦恩体感科技股份有限公司 | Method and mobile device with sensor time calibration |
| CN106225803A (en) * | 2016-07-20 | 2016-12-14 | 浪潮软件集团有限公司 | Step counting method based on three-axis accelerator |
| CN106595696B (en) * | 2016-12-08 | 2023-12-08 | 臻鼎云智能科技(深圳)有限公司 | Step counting method of anti-cheating step counting device |
| CN106595696A (en) * | 2016-12-08 | 2017-04-26 | 杭州育动科技有限公司 | Anti-cheating step-counting device and method |
| CN106595697A (en) * | 2016-12-15 | 2017-04-26 | 宁夏农垦贺兰山奶业有限公司 | Piezoelectric pedometer and step counting method |
| CN107063291A (en) * | 2017-03-06 | 2017-08-18 | 建荣半导体（深圳）有限公司 | Step-recording method, step count set, meter step chip and mobile terminal |
| CN109619762B (en) * | 2017-04-12 | 2021-05-28 | 佛山市丈量科技有限公司 | Physiological sign analysis method and system based on step length information |
| CN109619762A (en) * | 2017-04-12 | 2019-04-16 | 佛山市丈量科技有限公司 | A kind of physiology sign analysis method and system based on step information |
| CN107343789B (en) * | 2017-05-17 | 2020-04-14 | 浙江利尔达物芯科技有限公司 | Step motion identification method based on three-axis acceleration sensor |
| CN107343789A (en) * | 2017-05-17 | 2017-11-14 | 浙江利尔达物联网技术有限公司 | A kind of step motion recognition method based on 3-axis acceleration sensor |
| CN110636793A (en) * | 2017-11-02 | 2019-12-31 | 株式会社万代 | Exercise amount measurement system, shoe, and program |
| CN108888918A (en) * | 2018-05-09 | 2018-11-27 | 国家体育总局体育科学研究所 | One kind is for multiple target movement velocity measuring system and method under pahtfinder hard |
| TWI711395B (en) * | 2018-07-17 | 2020-12-01 | 長庚大學 | Walking assist device |
| TWI788721B (en) * | 2018-07-17 | 2023-01-01 | 長庚大學 | Walking assist device |
| CN110543290A (en) * | 2018-09-04 | 2019-12-06 | 谷歌有限责任公司 | Multimodal response |
| CN110543290B (en) * | 2018-09-04 | 2024-03-05 | 谷歌有限责任公司 | Multimodal response |
| US11935530B2 (en) | 2018-09-04 | 2024-03-19 | Google Llc | Multimodal responses |
| CN111428690A (en) * | 2020-04-21 | 2020-07-17 | 桂林电子科技大学 | Identity authentication method based on gait signal topology analysis |
| CN111428690B (en) * | 2020-04-21 | 2022-08-09 | 桂林电子科技大学 | Identity authentication method based on gait signal topology analysis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102818913B (en) | 2013-11-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102818913B (en) | Detection device and detection method for hummotion information | |
| CN202710598U (en) | Human motion information detection device | |
| CN103150036B (en) | A kind of information acquisition system and method, man-machine interactive system and method and a kind of footwear | |
| CN103933722B (en) | A kind of dumb-bell motion detection apparatus and dumb-bell method for testing motion | |
| KR102424528B1 (en) | Method and device to estimate state of battery | |
| US10267646B2 (en) | Method and system for varying step length estimation using nonlinear system identification | |
| CN103024663B (en) | A kind of Mine Personnel Positioning System | |
| CN103598888B (en) | Wearable human body motion state data monitoring system and method | |
| CN104296750A (en) | Zero speed detecting method, zero speed detecting device, and pedestrian navigation method as well as pedestrian navigation system | |
| CN101907467A (en) | Method and device for personal location based on motion measurement information | |
| CN104505894A (en) | Power management system and state estimation method based on mining lithium ion batteries | |
| US11237017B2 (en) | Stride length calibration method and system, and related device | |
| CN107367268A (en) | A kind of intelligent fish lead dynamic depth of water measuring circuit and method based on 3 d pose | |
| US10436629B2 (en) | Measurement system for measuring weight | |
| CN106267781A (en) | Water proof type motion capture system for athletic training | |
| CN103542843A (en) | Apparatus and system for measuring swinging velocity of racket | |
| CN101695444A (en) | Foot acceleration information acquisition system and acceleration information acquisition method thereof | |
| CN103018711B (en) | Underground personnel positioning method based field intensity and step-mounting distance measurement | |
| WO2019228417A1 (en) | System and method for pedestrian navigation and positioning | |
| CN106037151A (en) | Intelligent shoelace | |
| CN113229806A (en) | Wearable human body gait detection and navigation system and operation method thereof | |
| CN206043624U (en) | A kind of intelligent shoe band | |
| CN216647176U (en) | STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiment | |
| CN203350813U (en) | Information collection system, man-machine interactive system and shoes | |
| CN203424396U (en) | Exercise index measurement insole |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Song Zijian Inventor after: Liu Gaofeng Inventor after: Jin Hui Inventor after: Lv Jianxun Inventor after: Xu Qinghua Inventor before: Song Zijian Inventor before: Liu Gaofeng Inventor before: Jin Hui Inventor before: Lv Jianxun |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: SONG ZIJIAN LIU GAOFENG JIN HUI LV JIANXUN TO: SONG ZIJIAN LIU GAOFENG JIN HUI LV JIANXUN XU QINGHUA |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131127 Termination date: 20190731 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |