CN106530612A - Falling detection device and method - Google Patents
Falling detection device and method Download PDFInfo
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- CN106530612A CN106530612A CN201610883653.8A CN201610883653A CN106530612A CN 106530612 A CN106530612 A CN 106530612A CN 201610883653 A CN201610883653 A CN 201610883653A CN 106530612 A CN106530612 A CN 106530612A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0446—Sensor means for detecting worn on the body to detect changes of posture, e.g. a fall, inclination, acceleration, gait
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/08—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using communication transmission lines
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
Abstract
The invention discloses a falling detection device, comprising a signal receiving module, a primary judgment module and a processing module, wherein the signal receiving module is used for receiving a weightlessness interrupt signal, an impact interrupt signal and a static interrupt signal; the primary judgment module is used for judging whether a falling event occurs according to a sequential order of the received weightlessness interrupt signal, the impact interrupt signal and the static interrupt signal as well as time intervals among the different signals; and the processing module is used for transmitting falling alarm information to a mobile terminal when the primary judgment module judges that the falling event occurs. The invention further discloses a falling detection method. The falling detection device and the falling detection method improve the accuracy of judging the falling event.
Description
Technical field
The present invention relates to human body fall detection field, and in particular to a kind of falling detection device and method.
Background technology
China's elderly population are numerous, and tumble can cause the serious consequences such as senile fracture, soft tissue injury and psychic trauma,
It is one of major reason of the elderly's disability, disability and death.Meanwhile, injury that Falls in Old People brings and medical treatment cost are not only
It is relevant with the severe degree clashed into when falling, also it is largely dependent on the length of relief response time.Fast and effeciently find
The generation of tumble event, it is the effective means for reducing the elderly's casualty rate to implement treatment to old man.At present, usual employing will be sensed
To CPU, CPU judges whether tumble event to all real-time data transmissions that device is obtained to data processing, but, sensor
Volume of transmitted data between CPU is big, easily causes loss of data so as to there is erroneous judgement.
The content of the invention
The main object of the present invention is to provide a kind of falling detection device and method, it is intended to which raising judges the standard of tumble event
True property.
For achieving the above object, falling detection device proposed by the present invention includes：
Signal receiving module, for receiving weightless interrupt signal, the shock interrupt signal and static of sensor device transmission
Interrupt signal, wherein, weightless interrupt signal is accelerated less than default first according to the resultant acceleration for detecting by sensor device
Degree threshold triggers, clash into interrupt signal and exceed default second acceleration threshold by sensor device according to the resultant acceleration for detecting
Value triggering, static interrupt signal are less than the default 3rd by sensor device according to the adjacent resultant acceleration difference for detecting twice
Acceleration rate threshold is triggered, and the resultant acceleration is obtained by cycle sensor detection；
Judge module, receives the weightless interrupt signal for basis, clashes into interrupt signal and static interruption letter
Number sequencing and unlike signal between time interval judge whether occur tumble event；
Processing module, for when judging that tumble event occurs, sending tumble warning message to mobile terminal.
Preferably, a judge module is specifically for interrupting when the weightless interrupt signal, shock is sequentially received
When time interval between signal and static interrupt signal, and weightless interrupt signal and shock interrupt signal is less than default first
Between threshold value, the time interval after clashing into interrupt signal and clashing into interrupt signal between first static interrupt signal receiving is little
When default second time threshold, then judge that tumble event occurs.
Preferably, a judge module is additionally operable to, and obtains triggering first static interruption from sensor device
The human body three-dimensional acceleration A 1 of signalx, A1yAnd A1z, by the three-dimensional acceleration human body three-dimensional acceleration static with default human body
Degree a1x, a1yAnd a1zNumerical value in respective direction is compared, and determines whether that at least one party's numerical value upwards is unequal, if
It is then to judge that tumble event occurs.
Preferably, the falling detection device also includes：
Secondary judge module, for when the human body three-dimensional acceleration and the static three-dimensional acceleration respective party of default human body
When numerical value upwards is equal, the weightless interrupt signal of triggering is obtained from sensor device and static interrupt letter to triggering described first
The conjunction angular speed of number period, and whether have numerical value to exceed default angular speed threshold value in judging the conjunction angular speed, if so, then sentence
Disconnected tumble event occurs；
Wherein, the conjunction angular speed is obtained by sensor device detection.
Preferably, the secondary judge module includes：
Secondary judging unit, for when the human body three-dimensional acceleration and the static three-dimensional acceleration respective party of default human body
When numerical value upwards is equal, the weightless interrupt signal of triggering is obtained from sensor device and static interrupt letter to triggering described first
The conjunction angular speed of number period every preset time interval, and whether have numerical value to exceed default angle speed in judging the conjunction angular speed
Degree threshold value, if so, then judges that tumble event occurs.
The present invention also provides a kind of fall detection method, and the fall detection method is comprised the following steps：
Weightless interrupt signal, shock interrupt signal and static interrupt signal that sensor device sends is received, it is wherein, weightless
Interrupt signal is triggered less than default first acceleration rate threshold according to the resultant acceleration for detecting by sensor device, is clashed into and is interrupted
Signal is triggered more than default second acceleration rate threshold according to the resultant acceleration for detecting by sensor device, static interrupt signal
Triggered less than default 3rd acceleration rate threshold according to the adjacent resultant acceleration difference for detecting twice by sensor device, it is described
Resultant acceleration is obtained by cycle sensor detection；
According to the sequencing and not for receiving the weightless interrupt signal, clashing into interrupt signal and static interrupt signal
Judge whether tumble event with the time interval between signal；
When judging that tumble event occurs, tumble warning message is sent to mobile terminal.
Preferably, the basis receives the weightless interrupt signal, clashes into the elder generation of interrupt signal and static interrupt signal
Time interval between order and unlike signal judges whether that tumble event occurs to be specially afterwards：
When being sequentially received the weightless interrupt signal, clash into interrupt signal and static interrupt signal, and weightless interrupt letter
Number and clash into interrupt signal between time interval be less than default very first time threshold value, clash into interrupt signal with clash into interrupt letter
When time interval between the first static interrupt signal received after number is less than default second time threshold, then judge to fall
The generation of falling event.
Preferably, it is described to be sequentially received the weightless interrupt signal, clash into interrupt signal and static interrupt signal, and
Weightless interrupt signal and clash into interrupt signal between time interval be less than default very first time threshold value, clash into interrupt signal with
Time interval between the first static interrupt signal received after clashing into interrupt signal is less than default second time threshold
When after, also include：
The human body three-dimensional acceleration A 1 of triggering first static interrupt signal is obtained from sensor devicex, A1yWith
A1z, by the human body three-dimensional acceleration and default human body static three-dimensional acceleration a1x, a1yAnd a1zNumerical value in respective direction
It is compared, determines whether that at least one party's numerical value upwards is unequal, if so, then judges that tumble event occurs.
Preferably, the fall detection method also includes：
When the numerical value in the static three-dimensional acceleration respective direction of the human body three-dimensional acceleration and default human body it is equal
When, the weightless interrupt signal of triggering is obtained to the conjunction angle speed triggered during first static interrupt signal from sensor device
Degree, and whether have numerical value to exceed default angular speed threshold value in judging the conjunction angular speed, if so, then judge that tumble event is sent out
It is raw；
Wherein, the conjunction angular speed is obtained by sensor device detection.
Preferably, it is described when in the static three-dimensional acceleration respective direction of the human body three-dimensional acceleration and default human body
When numerical value is equal, the weightless interrupt signal of triggering is obtained to during triggering first static interrupt signal from sensor device
Conjunction angular speed, and judge that whether the conjunction angular speed exceed default angular speed threshold value, if so, then judge the generation of tumble event
Including：
When judging that the first resultant acceleration is equal to the second resultant acceleration, the weightless interrupt signal of triggering is obtained from sensor device
To the conjunction angular speed during triggering first static interrupt signal every preset time interval, and judge the conjunction angular speed
In whether have numerical value exceed default angular speed threshold value, if so, then judge tumble event generation.
General tumble process can be decomposed into：Crank, fall down on the support surface and it is static on the support surface, this
There are three obvious features during individual：It is weightless, clash into and static, and have certain time interval between these three features,
If not triggering next interruption within a certain period of time, illustrate do not occur to fall.It is in technical solution of the present invention, weightless and hit
When hitting, sensor device is weightless with the comparison triggering of default acceleration rate threshold according to resultant acceleration and clashes into interrupt signal, quiet
When only, it is static that sensor is compared triggering according to the adjacent resultant acceleration difference for detecting twice and default acceleration rate threshold
Interrupt signal.Falling detection device need to only receive interrupt signal and record the corresponding time, by judging the interruption for receiving letter
Number order it is whether consistent from the situation that tumble process occurs and judge time interval between different interrupt signals whether just
Often, you can know whether tumble event.The data of falling detection device process are less, can improve and judge tumble event
Accuracy.
Description of the drawings
Fig. 1 is the high-level schematic functional block diagram of falling detection device first embodiment of the present invention；
Fig. 2 is the high-level schematic functional block diagram of falling detection device second embodiment of the present invention；
Fig. 3 is the refinement high-level schematic functional block diagram of secondary judge module in falling detection device second embodiment of the present invention；
Fig. 4 is the schematic flow sheet of fall detection method first embodiment of the present invention；
Fig. 5 is the schematic flow sheet of fall detection method second embodiment of the present invention；
Fig. 6 is the schematic flow sheet of fall detection method 3rd embodiment of the present invention.
The realization of the object of the invention, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.
Specific embodiment
It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.
The present invention provides a kind of falling detection device and method.
With reference to Fig. 1, it is the first embodiment of falling detection device of the present invention, the falling detection device includes：
Signal receiving module 100, for receiving weightless interrupt signal, the shock interrupt signal and quiet of sensor device transmission
Only interrupt signal.
Wherein, weightless interrupt signal is less than default first acceleration by sensor device according to the resultant acceleration for detecting
Threshold triggers, clash into interrupt signal and exceed default second acceleration rate threshold by sensor device according to the resultant acceleration for detecting
Triggering, static interrupt signal are added less than the default 3rd according to the adjacent resultant acceleration difference for detecting twice by sensor device
Threshold speed is triggered, and the resultant acceleration is obtained by cycle sensor detection.
Sensor device is used for gathering human body three-dimensional acceleration, and calculates resultant acceleration according to the three-dimensional acceleration of collection,
Resultant acceleration is asked for using below equation：
A in formulax, Ay, AzThe acceleration on tri- axial directions of X, Y, Z of sensor device collection is represented, A represents resultant acceleration.
Sensor device can be worn on the elderly's waist, it is also possible to be encapsulated in shoes.First, second, third accelerates
Degree threshold value is set by the experiment of actual conditions and empirical value.Typically, the first acceleration rate threshold is 7-8m/s2, second accelerates
Degree threshold value is 15-20m/s2, the 3rd acceleration rate threshold is 2-5m/s2。
Judge module 200, receives the weightless interrupt signal, clashes into interrupt signal and static interruption for basis
Time interval between the sequencing and unlike signal of signal judges whether tumble event.
As general tumble process can be decomposed into：Crank, fall down on the support surface and be still in supporting surface
On, there are three obvious features during this：It is weightless, clash into and static, and have the regular hour between these three features
Interval, if not triggering next interruption within a certain period of time, illustrates do not occur to fall.The algorithm for judging of falling is stored in
In judge module 200,200 need of a judge module are carried out between order and time according to the three kinds of interrupt signals for receiving
Every judgement can analyse whether occur tumble event.It is illustrated below：
If the reception order of interrupt signal is as follows：It is firstly received weightless interrupt signal and then receives shock and interrupts
Signal, static interrupt signal is finally received, and weightless interrupt signal and time interval between interrupt signal is clashed into default
Time range in, clash into time interval between interrupt signal and static interrupt signal also within the default time, then illustrate
Whole tumble process is completed, and is judged that tumble event occurs, if any of which process is mismatched, is illustrated not complete entirely to fall
Process, judges that tumble event does not occur.
Processing module 300, for when judging that tumble event occurs, sending tumble warning message to mobile terminal.
Specifically, when a judge module 200 judges that tumble event occurs, processing module 300 then passes through wireless telecommunications
Agreement sends tumble warning message to mobile terminal, reminds household to rescue in time.Mobile terminal can for mobile phone, intelligent gateway,
Alarm etc.；Home control network communication protocol can be the conventional Internet of Things fidonetFido such as WIFI, GPRS, bluetooth, ZigBee.
In technical solution of the present invention, during weightless and shock, sensor device is according to resultant acceleration and default acceleration threshold
The comparison triggering weightlessness and shock interrupt signal of value, when static, sensor is according to the adjacent resultant acceleration difference for detecting twice
The static interrupt signal of triggering is compared with default acceleration rate threshold.Falling detection device need to only receive interrupt signal and record
The corresponding time, by whether the order for judging the interrupt signal for receiving consistent with the situation that tumble process occurs and judgement
Whether the time interval between different interrupt signals is normal, you can know whether tumble event.Falling detection device process
Data it is less, can improve the accuracy for judging tumble event, and processing speed is fast, it is low to the configuration requirement of device.
Preferably, a judge module 200 is specifically for when being sequentially received the weightless interrupt signal, shock
Interrupt signal and static interrupt signal, and weightless interrupt signal and time interval between interrupt signal is clashed into less than default the
One time threshold, between the time between the first static interrupt signal received after clashing into interrupt signal and shock interrupt signal
When less than default second time threshold, then judge that tumble event occurs.
Because general tumble process can be decomposed into：Crank, fall down on the support surface and be still in supporting surface
On, there are three obvious features during this：It is weightless, clash into and static, and have the regular hour between these three features
Interval, if not triggering next interruption within a certain period of time, illustrates do not occur to fall, so work as being sequentially received weightlessness
Illustrate that whole tumble process is complete when interrupt signal, shock interrupt signal and static interrupt signal.But as interrupt signal is
Triggering is compared according to resultant acceleration and acceleration rate threshold by sensor device, special circumstances can occur so as to cause
Erroneous judgement, such as due to special action triggers weightless interrupt signal, has spent ten minutes afterwards again as another special action is triggered
Shock interrupt signal, has spent 20 minutes and has triggered first static interrupt signal afterwards, although weightless interrupt signal, shock
The order of interrupt signal and static interrupt signal is correct, but weightless and between shock the time interval during falling is general
It will not be ten minutes, the time interval between clashing into and being static will not typically be 20 minutes, so needing generalized time to be spaced
Finally to judge whether tumble event.
Different scenes can be directed to, very first time threshold value and the second time threshold are preset.Such as, fall in bathroom
During, the situation from high falling is less, therefore can trigger shock interruption letter after triggering weightless interrupt signal quickly
Number, illustrate that weightless interrupt signal and the time interval clashed between interrupt signal are shorter, i.e., default very first time threshold value also compared with
It is little.
Preferably, a judge module 200 is additionally operable to, from sensor device obtain triggering it is described first it is static in
The human body three-dimensional acceleration A 1 of break signalx, A1yAnd A1z, the three-dimensional human body three-dimensional acceleration static with default human body is added
Speed a1x, a1yAnd a1zNumerical value in respective direction is compared, and determines whether that at least one party's numerical value upwards is unequal, if
It is then to judge that tumble event occurs.
Generally, during tumble, inactive state is inconsistent with the normal stationary position of human body before falling, in order to
The accuracy for judging that tumble event occurs is further ensured that, the human body three-dimensional acceleration of first static interrupt signal will be triggered
A1x, A1yAnd A1zThree-dimensional acceleration a1 static with default human bodyx, a1yAnd a1zNumerical value in respective direction is compared, if
At least one party's numerical value upwards is unequal, then judge that tumble event occurs.Wherein, the static three-dimensional acceleration a1 of default human bodyx,
a1yAnd a1zCan set when sensor device is started every time, expression is posture when human body is general static, such as
Standing state.
Further, with reference to Fig. 2, it is the second embodiment of falling detection device of the present invention, in above-mentioned first embodiment
On the basis of, the falling detection device also includes：
Secondary judge module 400, for when the human body three-dimensional acceleration and the static three-dimensional acceleration phase of default human body
When answering the numerical value on direction equal, from sensor device obtain the weightless interrupt signal of triggering to trigger described first it is static in
Conjunction angular speed during break signal, and whether have numerical value to exceed default angular speed threshold value in judging the conjunction angular speed, if so,
Then judge that tumble event occurs；
Wherein, the conjunction angular speed is obtained by sensor device detection.
When special circumstances are run into, the inactive state during tumble is possible with the normal stationary position of human body before falling
Unanimously, now human body three-dimensional acceleration is equal with the numerical value in the static three-dimensional acceleration respective direction of default human body, in order to
Failing to judge for such case is avoided, increases the judgement for closing angular speed in this embodiment, be because during whole tumble, close angle
Speed has a limit value, as long as finding that having one to close angular speed exceedes default angular speed threshold value, then illustrate that tumble event occurs.
It is also setting, generally, to close angular speed threshold value and be set as 1.5-2deg/s by experiment and empirical value to close angular speed.
Wherein, close angular speed to be measured by sensor device, specifically asked for using below equation：
W in formulax, Wy, WzThe angular speed on tri- axial directions of X, Y, Z of sensor device collection is represented, W represents conjunction angular speed.
In order to reduce the quantity of sensor and reduce the volume of sensor, six axle sensors used in the present invention can be same
When collection acceleration and angular speed, the model of selection is MPU6050, but is not limited to MPU6050, as long as have it is related to tumble in
Six axle sensors of disconnected triggering, are suitable for this sets of plan.
Further, with reference to Fig. 3, it is the 3rd embodiment of falling detection device of the present invention, in above-mentioned second embodiment
On the basis of, the secondary judge module 400 also includes：
Secondary judging unit 410, for when the human body three-dimensional acceleration and the static three-dimensional acceleration phase of default human body
When answering the numerical value on direction equal, from sensor device obtain the weightless interrupt signal of triggering to trigger described first it is static in
During break signal every preset time interval conjunction angular speed, whether and there have numerical value to exceed in judging the conjunction angular speed to be pre-
If angular speed threshold value, if so, then judge tumble event occur.
In order to further reduce the data transfer between sensor device and falling detection device, sensor device is being obtained
In conjunction angular speed when, in the weightless interrupt signal of triggering to during triggering first static interrupt signal, every between preset time
Angular speed is closed every obtaining, rather than obtains whole conjunction angular speed.
With reference to Fig. 4, the fall detection method that first embodiment of the invention is proposed is comprised the following steps：
Step S100, receives weightless interrupt signal, shock interrupt signal and static interrupt signal that sensor device sends.
Wherein, weightless interrupt signal is less than default first acceleration by sensor device according to the resultant acceleration for detecting
Threshold triggers, clash into interrupt signal and exceed default second acceleration rate threshold by sensor device according to the resultant acceleration for detecting
Triggering, static interrupt signal are added less than the default 3rd according to the adjacent resultant acceleration difference for detecting twice by sensor device
Threshold speed is triggered, and the resultant acceleration is obtained by cycle sensor detection.
Sensor device is used for gathering human body three-dimensional acceleration, and calculates resultant acceleration according to the three-dimensional acceleration of collection,
Resultant acceleration is asked for using below equation：
A in formulax, Ay, AzThe acceleration on tri- axial directions of X, Y, Z of sensor device collection is represented, A represents resultant acceleration.
Sensor device can be worn on the elderly's waist, it is also possible to be encapsulated in shoes.First, second, third accelerates
Degree threshold value is set by the experiment of actual conditions and empirical value.Typically, the first acceleration rate threshold is 7-8m/s2, second accelerates
Degree threshold value is 15-20m/s2, the 3rd acceleration rate threshold is 2-5m/s2。
Step S200, according to the priority for receiving the weightless interrupt signal, clashing into interrupt signal and static interrupt signal
Time interval between order and unlike signal judges whether tumble event.
As general tumble process can be decomposed into：Crank, fall down on the support surface and be still in supporting surface
On, there are three obvious features during this：It is weightless, clash into and static, and have the regular hour between these three features
Interval, if not triggering next interruption within a certain period of time, illustrates do not occur to fall.Only need according to three kinds for receiving
Interrupt signal is carried out sequentially and analyses whether tumble event by the judgement of time interval.It is illustrated below：
If the reception order of interrupt signal is as follows：It is firstly received weightless interrupt signal and then receives shock and interrupts
Signal, static interrupt signal is finally received, and weightless interrupt signal and time interval between interrupt signal is clashed into default
Time range in, clash into time interval between interrupt signal and static interrupt signal also within the default time, then illustrate
Whole tumble process is completed, and is judged that tumble event occurs, if any of which process is mismatched, is illustrated not complete entirely to fall
Process, judges that tumble event does not occur.
Step S300, when judging that tumble event occurs, sends tumble warning message to mobile terminal.
Specifically, when judging that tumble event occurs, then send to fall to mobile terminal by home control network communication protocol and report to the police
Information, reminds household to rescue in time.Mobile terminal can be mobile phone, intelligent gateway, alarm etc.；Home control network communication protocol can be
WIFI, GPRS, bluetooth, ZigBee etc. conventional Internet of Things fidonetFido.
In technical solution of the present invention, during weightless and shock, sensor device is according to resultant acceleration and default acceleration threshold
The comparison triggering weightlessness and shock interrupt signal of value, when static, sensor is according to the adjacent resultant acceleration difference for detecting twice
The static interrupt signal of triggering is compared with default acceleration rate threshold.Falling detection device need to only receive interrupt signal and record
The corresponding time, by whether the order for judging the interrupt signal for receiving consistent with the situation that tumble process occurs and judgement
Whether the time interval between different interrupt signals is normal, you can know whether tumble event.Falling detection device process
Data it is less, can improve the accuracy for judging tumble event, and processing speed is fast, it is low to the configuration requirement of device.
Preferably, above-mentioned basis receives the weightless interrupt signal, clashes into the elder generation of interrupt signal and static interrupt signal
Time interval between order and unlike signal judges whether that the step of tumble event occurs is specially afterwards：
When being sequentially received the weightless interrupt signal, clash into interrupt signal and static interrupt signal, and weightless interrupt letter
Number and clash into interrupt signal between time interval be less than default very first time threshold value, clash into interrupt signal with clash into interrupt letter
When time interval between the first static interrupt signal received after number is less than default second time threshold, then judge to fall
The generation of falling event.
Because general tumble process can be decomposed into：Crank, fall down on the support surface and be still in supporting surface
On, there are three obvious features during this：It is weightless, clash into and static, and have the regular hour between these three features
Interval, if not triggering next interruption within a certain period of time, illustrates do not occur to fall, so work as being sequentially received weightlessness
Illustrate that whole tumble process is complete when interrupt signal, shock interrupt signal and static interrupt signal.But as interrupt signal is
Triggering is compared according to resultant acceleration and acceleration rate threshold by sensor device, special circumstances can occur so as to cause
Erroneous judgement, such as due to special action triggers weightless interrupt signal, has spent ten minutes afterwards again as another special action is triggered
Shock interrupt signal, has spent 20 minutes and has triggered first static interrupt signal afterwards, although weightless interrupt signal, shock
The order of interrupt signal and static interrupt signal is correct, but weightless and between shock the time interval during falling is general
It will not be ten minutes, the time interval between clashing into and being static will not typically be 20 minutes, so needing generalized time to be spaced
Finally to judge whether tumble event.
Different scenes can be directed to, very first time threshold value and the second time threshold are preset.Such as, fall in bathroom
During, the situation from high falling is less, therefore can trigger shock interruption letter after triggering weightless interrupt signal quickly
Number, illustrate that weightless interrupt signal and the time interval clashed between interrupt signal are shorter, i.e., default very first time threshold value also compared with
It is little.
Further, with reference to Fig. 5, it is the second embodiment of fall detection method of the present invention, in above-mentioned first embodiment
On the basis of, above-mentioned steps S200 include：
Step S210, when being sequentially received the weightless interrupt signal, clash into interrupt signal and static interrupt signal, and loses
Weight interrupt signal and clash into interrupt signal between time interval be less than default very first time threshold value, clash into interrupt signal with it is quiet
When only the time interval between interrupt signal is less than default second time threshold, then triggering described the is obtained from sensor device
The human body three-dimensional acceleration A 1 of one static interrupt signalx, A1yAnd A1z, by the human body three-dimensional acceleration and default human body
Static three-dimensional acceleration a1x, a1yAnd a1zNumerical value in respective direction is compared, and determines whether at least one party's number upwards
Value is unequal, if so, then execution step S220, judges the generation of tumble event.
Generally, during tumble, inactive state is inconsistent with the normal stationary position of human body before falling, in order to
The accuracy for judging that tumble event occurs is further ensured that, the human body three-dimensional acceleration of first static interrupt signal will be triggered
A1x, A1yAnd A1zThree-dimensional acceleration a1 static with default human bodyx, a1yAnd a1zNumerical value in respective direction is compared, if
At least one party's numerical value upwards is unequal, then judge that tumble event occurs.Wherein, the static three-dimensional acceleration a1 of default human bodyx,
a1yAnd a1zCan set when sensor device is started every time, expression is posture when human body is general static, such as
Standing state.
Further, with reference to Fig. 6, it is the 3rd embodiment of fall detection method of the present invention, in above-mentioned second embodiment
On the basis of, the fall detection method also includes：
Step S230, the number in the static three-dimensional acceleration respective direction of the human body three-dimensional acceleration and default human body
When value is equal, the weightless interrupt signal of triggering is obtained to during triggering first static interrupt signal from sensor device
Angular speed is closed, and whether has numerical value to exceed default angular speed threshold value in judging the conjunction angular speed, if so, then execution step
S220, judges that tumble event occurs；
Wherein, the conjunction angular speed is obtained by sensor device detection.
When special circumstances are run into, the inactive state during tumble is possible with the normal stationary position of human body before falling
Unanimously, now human body three-dimensional acceleration is equal with the numerical value in the static three-dimensional acceleration respective direction of default human body, in order to
Failing to judge for such case is avoided, increases the judgement for closing angular speed in this embodiment, be because during whole tumble, close angle
Speed has a limit value, as long as finding that having one to close angular speed exceedes default angular speed threshold value, then illustrate that tumble event occurs.
It is also setting, generally, to close angular speed threshold value and be set as 1.5-2deg/s by experiment and empirical value to close angular speed.
Wherein, close angular speed to be measured by sensor device, specifically asked for using below equation：
W in formulax, Wy, WzThe angular speed on tri- axial directions of X, Y, Z of sensor device collection is represented, W represents conjunction angular speed.
In order to reduce the quantity of sensor and reduce the volume of sensor, six axle sensors used in the present invention can be same
When collection acceleration and angular speed, the model of selection is MPU6050, but is not limited to MPU6050, as long as have it is related to tumble in
Six axle sensors of disconnected triggering, are suitable for this sets of plan.
Preferably, it is described when in the static three-dimensional acceleration respective direction of the human body three-dimensional acceleration and default human body
When numerical value is equal, the weightless interrupt signal of triggering is obtained to during triggering first static interrupt signal from sensor device
Conjunction angular speed, and judge that whether the conjunction angular speed exceed default angular speed threshold value, if so, then judge the generation of tumble event
Including：
When the numerical value in the static three-dimensional acceleration respective direction of the human body three-dimensional acceleration and default human body it is equal
When, from sensor device obtain the weightless interrupt signal of triggering to during triggering first static interrupt signal when preset
Between the conjunction angular speed that is spaced, and whether have numerical value to exceed default angular speed threshold value in judging the conjunction angular speed, if so, then sentence
Disconnected tumble event occurs.
In order to further reduce the data transfer between sensor device and falling detection device, sensor device is being obtained
In conjunction angular speed when, in the weightless interrupt signal of triggering to during triggering first static interrupt signal, every between preset time
Angular speed is closed every obtaining, rather than obtains whole conjunction angular speed.
The preferred embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every at this
Under the inventive concept of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/use indirectly
It is included in the scope of patent protection of the present invention in other related technical fields.
Claims (10)
1. a kind of falling detection device, it is characterised in that the falling detection device includes：
Signal receiving module, for receiving the weightless interrupt signal of sensor device transmission, clashing into interrupt signal and static interruption
Signal, wherein, weightless interrupt signal is less than default first acceleration threshold by sensor device according to the resultant acceleration for detecting
Value triggering, clashes into interrupt signal and is touched more than default second acceleration rate threshold according to the resultant acceleration for detecting by sensor device
Send out, static interrupt signal is less than default 3rd acceleration by sensor device according to the adjacent resultant acceleration difference for detecting twice
Degree threshold triggers, the resultant acceleration are obtained by cycle sensor detection；
Judge module, receives the weightless interrupt signal, shock interrupt signal and static interrupt signal for basis
Time interval between sequencing and unlike signal judges whether tumble event；
Processing module, for when judging that tumble event occurs, sending tumble warning message to mobile terminal.
2. falling detection device as claimed in claim 1, it is characterised in that a judge module specifically for, when according to
It is secondary to receive the weightless interrupt signal, clash into interrupt signal and static interrupt signal, and weightless interrupt signal and shock interruption
Time interval between signal is less than default very first time threshold value, receives after clashing into interrupt signal and clashing into interrupt signal
When time interval between first static interrupt signal is less than default second time threshold, then judge that tumble event occurs.
3. falling detection device as claimed in claim 2 a, it is characterised in that judge module is additionally operable to, from sensing
Device device obtains the human body three-dimensional acceleration A 1 of triggering first static interrupt signalx, A1yAnd A1z, by the human body three
Dimension acceleration three-dimensional acceleration a1 static with default human bodyx, a1yAnd a1zNumerical value in respective direction is compared, and judgement is
It is no to have at least one party's numerical value upwards unequal, if so, then judge that tumble event occurs.
4. falling detection device as claimed in claim 3, it is characterised in that the falling detection device also includes：
Secondary judge module, for when the human body three-dimensional acceleration and the static three-dimensional acceleration respective direction of default human body
Numerical value it is equal when, obtain the weightless interrupt signal of triggering to triggering first static interrupt signal phase from sensor device
Between conjunction angular speed, and judge it is described conjunction angular speed in whether have numerical value exceed default angular speed threshold value, if so, then judge fall
The generation of falling event；
Wherein, the conjunction angular speed is obtained by sensor device detection.
5. falling detection device as claimed in claim 4, it is characterised in that the secondary judge module includes：
Secondary judging unit, for when the human body three-dimensional acceleration and the static three-dimensional acceleration respective direction of default human body
Numerical value it is equal when, obtain the weightless interrupt signal of triggering to triggering first static interrupt signal phase from sensor device
Between every preset time interval conjunction angular speed, and judge it is described conjunction angular speed in whether have numerical value exceed default angular speed threshold
Value, if so, then judges that tumble event occurs.
6. a kind of fall detection method, it is characterised in that the fall detection method is comprised the following steps：
Weightless interrupt signal, shock interrupt signal and static interrupt signal that sensor device sends is received, it is wherein, weightless to interrupt
Signal is triggered less than default first acceleration rate threshold according to the resultant acceleration for detecting by sensor device, clashes into interrupt signal
Triggered more than default second acceleration rate threshold according to the resultant acceleration for detecting by sensor device, static interrupt signal is by passing
Sensor arrangement is triggered less than default 3rd acceleration rate threshold according to the adjacent resultant acceleration difference for detecting twice, and described conjunction adds
Speed is obtained by cycle sensor detection；
Believe according to the weightless interrupt signal, the sequencing of shock interrupt signal and static interrupt signal and difference is received
Time interval between number judges whether tumble event；
When judging that tumble event occurs, tumble warning message is sent to mobile terminal.
7. fall detection method as claimed in claim 6, it is characterised in that the basis is received described weightless interrupts letter
Number, clash into interrupt signal and the time interval between the sequencing and unlike signal of static interrupt signal and judge whether occur
Tumble event is specially：
When being sequentially received the weightless interrupt signal, clash into interrupt signal and static interrupt signal, and weightless interrupt signal with
The time interval clashed between interrupt signal is less than default very first time threshold value, clashes into interrupt signal and clashes into after interrupt signal
When time interval between the first static interrupt signal for receiving is less than default second time threshold, then tumble thing is judged
Part occurs.
8. fall detection method as claimed in claim 7, it is characterised in that described described weightless to interrupt letter when being sequentially received
Number, clash into interrupt signal and static interrupt signal, and weightless interrupt signal and the time interval clashed between interrupt signal are less than
Default very first time threshold value, between the first static interrupt signal received after clashing into interrupt signal and shock interrupt signal
Time interval be less than default second time threshold when after, also include：
The human body three-dimensional acceleration A 1 of triggering first static interrupt signal is obtained from sensor devicex, A1yAnd A1z, will
Human body three-dimensional acceleration three-dimensional acceleration a1 static with default human bodyx, a1yAnd a1zNumerical value in respective direction is compared
Compared with, determine whether that at least one party's numerical value upwards is unequal, if so, then judge tumble event occur.
9. fall detection method as claimed in claim 8, it is characterised in that the fall detection method also includes：
When the numerical value in the static three-dimensional acceleration respective direction of the human body three-dimensional acceleration and default human body is equal, from
Sensor device obtains the weightless interrupt signal of triggering to the conjunction angular speed triggered during first static interrupt signal, and sentences
Whether there is numerical value to exceed default angular speed threshold value in the disconnected conjunction angular speed, if so, then judge that tumble event occurs；
Wherein, the conjunction angular speed is obtained by sensor device detection.
10. fall detection method as claimed in claim 9, it is characterised in that it is described when the human body three-dimensional acceleration with it is pre-
If the static three-dimensional acceleration respective direction of human body on numerical value it is equal when, obtain from sensor device that triggering is weightless to interrupt letter
Number to the conjunction angular speed triggered during first static interrupt signal, and it is default to judge whether the conjunction angular speed exceedes
Angular speed threshold value, if so, then judges that tumble event includes：
When judging that the first resultant acceleration is equal to the second resultant acceleration, the weightless interrupt signal of triggering is obtained to touching from sensor device
During sending out first static interrupt signal described every preset time interval conjunction angular speed, and in judging the conjunction angular speed be
It is no to have numerical value to exceed default angular speed threshold value, if so, then judge that tumble event occurs.
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| CN108734921A (en) * | 2018-03-30 | 2018-11-02 | 北京医健保健康管理有限公司 | Fall detection algorithm and its detection device |
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