CN106725507B - Wearable human body tripping detection system and detection method - Google Patents
Wearable human body tripping detection system and detection method Download PDFInfo
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- CN106725507B CN106725507B CN201611140459.7A CN201611140459A CN106725507B CN 106725507 B CN106725507 B CN 106725507B CN 201611140459 A CN201611140459 A CN 201611140459A CN 106725507 B CN106725507 B CN 106725507B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
- A61B5/1117—Fall detection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Abstract
The invention discloses a wearable human body stumbling detection system and a detection method. The power supply module is used for providing voltage for each module of the system; the distance sensor module is used for acquiring an original distance signal, namely the vertical distance from the ground to the infrared emission end face of the sensor; the microcontroller module is used for carrying out preprocessing such as calibration, filtering and sampling frequency setting on the measured original distance signals, and bringing the preprocessed signals into a geometric model for data analysis to obtain gait parameters such as heel ground clearance and toe ground clearance. The Bluetooth transmission module is used for wirelessly transmitting the final output result of the microprocessor module to an upper computer so as to detect the possibility of tripping. The detection system has the advantages of complete function, real-time reliability, compact module, convenient wearing, simple control and wide combination and application range with the detection system of the attitude angle and other gait parameters.
Description
Technical Field
The invention relates to the field of biomedical engineering, in particular to a wearable human tripping detection system and a wearable human tripping detection method.
Background
Wearable human tripping detection systems are always research hotspots in the field of biomedical engineering, and until now, no wearable tripping detection system can accurately measure gait parameters such as heel ground clearance, tiptoe ground clearance and minimum tiptoe ground clearance in a swing period in real time through only two distance sensors and detect tripping in real time. Researchers hope that the tripping detection system can be made small in size, low in power consumption, light in weight, free of influence on flexibility of human body actions, capable of simultaneously meeting requirements for accurately measuring gait parameters such as heel ground height, toe ground height and minimum toe ground height in a swing period in real time and detecting tripping occurrence.
The gait parameter measurement of early tripping detection and foot lifting height uses a motion capture system based on camera shooting at most, can completely and accurately record the three-dimensional motion trail of each mark point through the shooting of a plurality of cameras, and further analyzes and obtains the gait parameters such as heel ground clearance, toe ground clearance, minimum toe ground clearance in swing period and the like and detects tripping. Until now, three-dimensional motion capture systems have been developed completely, wherein more optical motion capture systems are used, infrared camera technology is adopted, special data analysis software is equipped, the operation tends to be simple, and the measurement accuracy is higher. However, the three-dimensional motion capture system has a limited range of use, is not wearable, and is as expensive as hundreds of thousands to millions, and the data measured by the system is considered as the gold standard for verifying the accuracy and precision of the wearable trip detection system.
The most used sensors for wearable trip detection systems today are inertial sensors. Because the inertial sensor has the advantages of small size, low energy consumption and low price, a plurality of researchers have proposed various wearable human trip detection systems based on the inertial sensor in sequence. However, since the inertial sensor can only output three-axis acceleration and three-axis angular velocity, to obtain the foot-lifting height, the three-axis acceleration measured by the accelerometer must be integrated twice with respect to time, and the angular velocity measured by the gyroscope must be integrated once with respect to time, which results in that the original error is continuously accumulated with time, and the accuracy of measurement is reduced.
Although many researchers have proposed correction algorithms based on distance sensor measurements, these algorithms do not completely eliminate the accumulation of raw errors over time during a gait cycle, and some correction algorithms add to the use of other types of sensors, increasing the size, power consumption and weight of the system.
Therefore, more and more researchers are looking for a new measurement algorithm by considering the use of the distance sensor. Because the distance sensor can directly acquire the distance signal, the initial error can not be accumulated along with the time, the correction and compensation are carried out through signal conditioning, the initial offset can be eliminated, and the accuracy of the measurement result is improved. At present, more distance sensors are adopted as ultrasonic sensors, but a complete ultrasonic ranging module comprises a transmitting end and a receiving end, so that the size is larger, and the wearability is poor. In order to improve the wearability of the trip detection system based on the ultrasonic sensor, researchers separate the transmitting end and the receiving end of the ultrasonic ranging module, fix only the transmitting end on the foot of the human body, and fix a plurality of receiving ends in the environment of the action of the human body. Although this method reduces the size of the trip detection system based on the ultrasonic sensor by half, the distance between the transmitting end and the receiving end cannot generally exceed 4m because of the limited range of the ultrasonic sensor, and the range of use is limited.
Disclosure of Invention
Aiming at the contradiction between the accuracy, the economy, the portability and the application range in the prior art, the invention provides the wearable tripping detection system which is high in accuracy, portability, high in integration level, simple to operate and wide in application range.
In order to realize the functions, the technical scheme adopted by the invention is as follows: a wearable trip detection system mountable on a shoe worn by a human body, the system comprising: the power supply module is used for providing energy for the whole system; the distance sensor module is used for acquiring an original distance signal; the microcontroller module is used for carrying out calibration, filtering and sampling frequency setting preprocessing on the measured original distance signals, substituting the preprocessed signals into a geometric model for data analysis, and obtaining gait parameters such as heel ground clearance, toe ground clearance and minimum toe ground clearance in a swing period; and the Bluetooth transmission module is used for wirelessly transmitting the final output result of the microprocessor module to an upper computer so as to detect the possibility of tripping.
Furthermore, the power module comprises a 9V lithium battery and a voltage stabilizing module, the voltage of 9V is directly output to supply power for the microcontroller module, and 2.8V voltage is output through the voltage stabilizing module to supply power for the distance sensor module.
Furthermore, the distance sensor module comprises two VL6180 modules, namely a proximity sensor and an ambient light sensor, communication ports of the two VL6180 modules are respectively connected with a clock line and a data line port of an Arduino Nano mainboard in the microcontroller module, enabling ends of the two VL6180 modules are respectively connected with two data ports of the microcontroller module, and after receiving enabling signals and triggering signals sent by the microcontroller, the distance sensor module starts to collect original distance signals, namely the vertical distance from the ground to an infrared emission end of the sensor, and transmits the distance signals to the Arduino Nano mainboard in real time;
further, the microcontroller module comprises an Arduino Nano mainboard and a switch module. The VCC end of the switch module is connected to the 3.3V output end of the Arduino Nano mainboard, the GND end is connected to the GND end of the Arduino Nano mainboard, and the OUT end is connected to the digital port D2 end of the Arduino Nano mainboard and used for controlling the start and the end of the whole system. The programmed algorithm is burnt to the Arduino Nano mainboard, the measured original distance signal can be subjected to calibration, filtering and sampling frequency setting preprocessing, the preprocessed signal is brought into a geometric model to carry out data analysis, and gait parameters such as heel ground clearance, toe ground clearance and minimum toe ground clearance in the swing period are obtained.
Furthermore, the Bluetooth transmission module comprises two master-slave integrated Bluetooth modules which are respectively set as a master machine and a slave machine, the master machine and the slave machine are set with the same baud rate for pairing, and after the pairing is successful, the master machine is connected with the Arduino Nano mainboard, and the slave machine is connected with the upper computer and used for wirelessly transmitting the final output result of the microprocessor module to the upper computer so as to detect the possibility of tripping.
The application also provides a detection method of the wearable human body stumbling detection system, which comprises the following steps:
(1) fixing two distance sensors on a shoe worn by a human body, ensuring that a connecting line of the two distance sensors is parallel to a connecting line of a heel and a tiptoe, determining a quadrangle according to projections of the two distance sensors, the heel and the tiptoe on a longitudinal section of the shoe, and measuring a distance a between the two distance sensors, a distance b from one distance sensor to the heel, a distance f from the heel to the tiptoe and an included angle alpha between the distance b and the distance f;
(2) the distance sensor module emits infrared rays perpendicular to the surface of the sensor through the infrared emitter, and the vertical distance d between the ground incident point of the infrared rays and the surface of the sensor is obtained through conversion by utilizing the TOF technology, namely by measuring the flight time of the infrared rays, calculating the time difference or phase difference between the emission and reflection of the light rays and converting the time difference or the phase differenceA、dB；
(3) According to the vertical distance dA、dBHeight h of lifting footheel、htoeDetermining the current real-time heel sumToe-off height: h isheel＝hA-b·sin(θ+α)，htoe＝hheel+ f.sin θ; wherein
hA＝dA·cosθ，hB＝dB·cosθ；
(4) The Bluetooth transmission module calculates the ground clearance h of the heel and the tiptoe finally obtained by the microcontroller module in a mode of converting Bluetooth into a serial portA、hBAnd wirelessly transmitting the data to an upper computer.
Further, the distance sensor module includes two VL6180 modules, be close range sensor and environment light sensor promptly, their communication port links to each other with the clock line and the data line port of the Arduino Nano mainboard in the microcontroller module respectively, enable the end and link to each other with two data ports of microcontroller respectively, after receiving enable signal and the trigger signal that microcontroller sent, begin to gather original distance signal, ground is the perpendicular distance to sensor infrared emission end promptly, and give Arduino Nano mainboard with distance signal transfer in real time.
Compared with the prior art, the invention has the following beneficial results:
1) the distance sensor has the advantages of small size, low energy consumption, light weight and wearability, and compared with the distance obtained by twice integration of the inertial sensor, the measurement result is more accurate;
2) through the integration of the wireless communication module and the microcontroller, compared with the existing wired communication, the activity range of a user is expanded, and the action limit of the invention on the user is greatly reduced;
3) by means of real-time transmission of data, the upper computer can record, analyze and process the original distance data in real time, calculate and obtain important gait parameters of the user and further evaluate the tripping risk of the user;
4) the stumbling detection device is wearable and low in energy consumption, can record a large amount of gait original data, and can be used for diagnosing foot diseases and evaluating rehabilitation treatment effects through further analysis and processing;
5) the upper computer in the invention can be a computer or a mobile phone, and if the upper computer is the mobile phone, the indoor and outdoor real-time data acquisition, processing and analysis can be realized by compiling a specific application program, and the tripping risk can be detected in real time.
Drawings
FIG. 1 is a block diagram of a system of the present invention;
FIG. 2 is a schematic view of a geometric model structure of the measurement method of the present invention;
FIG. 3 is a flow of a foot raising height parameter calculation according to the present invention;
FIG. 4 is a flow chart of the operation of the present invention;
FIG. 5 is a graph of measurements of the present invention and VICON motion capture system measurements.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1, a wearable stumbling detection system that can be mounted on a shoe worn by a human body, the system comprising: the power supply module is used for providing energy for the whole system; the distance sensor module is used for acquiring an original distance signal; the microcontroller module is used for carrying out calibration, filtering and sampling frequency setting preprocessing on the measured original distance signals, substituting the preprocessed signals into a geometric model for data analysis, and obtaining gait parameters such as heel ground clearance, toe ground clearance and minimum toe ground clearance in a swing period; and the Bluetooth transmission module is used for wirelessly transmitting the final output result of the microprocessor module to an upper computer so as to detect the possibility of tripping.
The power module can adopt a 9V lithium battery, a voltage reduction module and a voltage stabilization module, wherein 9V of the lithium battery is converted into 5V through voltage reduction to supply power to the microcontroller module, and the microcontroller outputs 2.8V voltage through the voltage stabilization module to supply power to the distance sensor module; the voltage reduction module can adopt a product of type LM7805 of TI company, but is not limited to the product; the voltage stabilizing module can be made of a TI company TPS73701DRBR model, but is not limited to the model.
The distance sensor module comprises two VL6180 modules, namely a proximity sensor and an ambient light sensor, communication ports of the two VL6180 modules are respectively connected with a clock line and a data line port of an Arduino Nano mainboard in the microcontroller module, enabling ends of the two VL6180 modules are respectively connected with two data ports of the microcontroller, after an enabling signal and a triggering signal sent by the microcontroller are received, an original distance signal, namely the vertical distance from the ground to an infrared emission end of the sensor, is collected, and the distance signal is transmitted to the Arduino Nano mainboard in real time; the distance sensor module may be a product of model ST VL6180, but is not limited thereto.
The microcontroller module comprises an Arduino Nano mainboard and a switch module. The VCC end of the switch module is connected to the 3.3V output end of the Arduino Nano mainboard, the GND end is connected to the GND end of the Arduino Nano mainboard, and the OUT end is connected to the digital port D2 end of the Arduino Nano mainboard and used for controlling the start and the end of the whole system. The programmed algorithm is burnt to the Arduino Nano mainboard, the measured original distance signal can be subjected to calibration, filtering and sampling frequency setting preprocessing, the preprocessed signal is brought into a geometric model to carry out data analysis, and gait parameters such as heel ground clearance, toe ground clearance and minimum toe ground clearance in the swing period are obtained. The microcontroller module may employ an Arduino Nano motherboard and a YW-001 key module, but is not limited thereto.
The Bluetooth transmission module comprises two master-slave integrated Bluetooth modules which are respectively set as a master machine and a slave machine, the same baud rate is set for pairing, after the pairing is successful, the master machine is connected with the Arduino Nano mainboard, and the slave machine is connected with the upper computer and used for wirelessly transmitting the final output result of the microprocessor module to the upper computer so as to detect the possibility of tripping. The bluetooth transmission module may adopt an HC-05 wireless module, but is not limited thereto.
As shown in fig. 2 and 3, a method for realizing human body wearable tripping detection comprises the following steps:
(1) fixing two distance sensors on a shoe worn by a human body, ensuring that a connecting line of the two distance sensors is parallel to a connecting line of a heel and a tiptoe, determining a quadrangle according to projections of the two distance sensors, the heel and the tiptoe on a longitudinal section of the shoe, and measuring a distance a between the two distance sensors, a distance b from one distance sensor to the heel, a distance f from the heel to the tiptoe and an included angle alpha between the distance b and the distance f;
(2) the distance sensor module emits infrared rays perpendicular to the surface of the sensor through the infrared emitter, and the vertical distance d between the ground incident point of the infrared rays and the surface of the sensor is obtained through conversion by utilizing the TOF technology, namely by measuring the flight time of the infrared rays and calculating the time difference or phase difference between the light ray emission and the reflectionA、dB；
(3) According to the vertical distance dA、dBHeight h of lifting footheel、htoeDetermining the current real-time heel and toe off-ground height: h isheel＝hA-b·sin(θ+α)，htoe＝hheel+ f.sin θ; wherein
hA＝dA·cosθ，hB＝dB·cosθ；
(4) The Bluetooth transmission module converts the mode of Bluetooth to serial port, and the ground clearance h of the heel and the tiptoe obtained by the last calculation of the microcontroller moduleA、hBAnd wirelessly transmitting the data to an upper computer.
As shown in fig. 4, when the wearable human trip detection system proposed by the present invention is used, the specific implementation is as follows: firstly, turning on a power switch, and flashing an indicator light to indicate that the whole system is powered on and is in a standby state; then, stepping on a platform with a specific height by feet to ensure that the infrared emission end of the distance sensor module is 5cm away from the ground in a horizontal static state; then, pressing down a key, waiting for the system to automatically calibrate and compensate the initial offset, wherein the time consumption of the calibration process is less than 1s, the system can move freely after the calibration is finished, and the Bluetooth module transmits data to the upper computer in real time; and finally, pressing the key again, stopping the human body stumbling detection and turning off the power supply.
As shown in fig. 5, it is an experimental verification of the wearable human stumbling detection method proposed by the present invention, and the reliability of the geometric model algorithm and the accuracy of the distance sensor data are verified respectively by taking the measured value of the VICON optical motion capture system as the true value. Wherein, the graphs (a) and (b) are the height from the ground of the heel and the tiptoe obtained by the calculation of the geometric model disclosed by the invention, and the comparison with the real value shows that the average error and the root mean square error of the measured value and the real value are not more than 3mm, the graphs (c) and (d) are the height from the ground of the heel and the tiptoe output by the wearable human body detection system disclosed by the invention, and the comparison with the real value shows that the average error and the root mean square error of the measured value and the real value are not more than 10 mm.
Claims (5)
1. The utility model provides a wearable human stumble detecting system, stumble detecting system installs on human shoes its characterized in that: the system comprises a power supply module, a power supply module and a control module, wherein the power supply module is used for supplying energy to the whole system; the distance sensor module comprises two distance sensors which are fixed on shoes worn by a human body and are connected with a line parallel to the connecting line of the heel and the tiptoe, and the distance sensor module is used for acquiring original distance signals; the microcontroller module is used for calibrating, filtering and sampling frequency preprocessing the measured original distance signal, substituting the preprocessed signal into the geometric model for data analysis, and obtaining gait parameters of heel ground clearance, tiptoe ground clearance and tiptoe minimum ground clearance in the swing period, and specifically comprises the following steps:
determining a quadrangle according to projections of two distance sensors, a heel and a tiptoe on a longitudinal section of the shoe, and measuring to obtain a distance a between the two distance sensors, a distance b from one distance sensor to the heel, a distance f from the heel to the tiptoe and an included angle alpha between the b and the f;
the vertical distance d from the ground incident point to the sensor surface is calculated by two distance sensorsA、dB；
According to the vertical distance dA、dBHeight h of lifting footheel、htoeDetermining the current real-time heel and toe off-ground height: h isheel＝hA-b·sin(θ+α)，htoe＝hheel+ f.sin θ; wherein
hA＝dA·cosθ，hB＝dB·cosθ；
And the Bluetooth transmission module is used for wirelessly transmitting the final output result of the microprocessor module to an upper computer so as to detect the possibility of tripping.
2. The wearable human trip detection system of claim 1, wherein the power module comprises a 9V lithium battery and a voltage regulation module, and the power module directly outputs a 9V voltage to power the microcontroller module and outputs a 2.8V voltage to power the distance sensor module via the voltage regulation module.
3. The wearable human trip detection system of claim 1, wherein the distance sensor module comprises two VL6180 modules, namely a proximity sensor and an ambient light sensor, the communication ports of which are connected to the clock line and data line ports of the microcontroller module, respectively, and the enable port of which is connected to the two data ports of the microcontroller module, respectively.
4. The wearable human trip detection system of claim 1, wherein said microcontroller module comprises an Arduino Nano motherboard and a switch module; the VCC end of the switch module is connected to the 3.3V output end of the Arduino Nano mainboard, the GND end is connected to the GND end of the Arduino Nano mainboard, and the OUT end is connected to the digital port D2 end of the Arduino Nano mainboard and used for controlling the start and the end of the whole system.
5. The wearable human trip detection system of claim 1, wherein the bluetooth transmission module comprises two master-slave integrated bluetooth modules, the master-slave integrated bluetooth modules are respectively set as a master and a slave, the master and the slave are paired with each other at the same baud rate, and after the pairing is successful, the master is connected with the Arduino Nano mainboard, and the slave is connected with the upper computer, so that wireless transmission between the microcontroller module and the upper computer can be realized.
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| CN107411753A (en) * | 2017-06-06 | 2017-12-01 | 深圳市科迈爱康科技有限公司 | A kind of wearable device for identifying gait |
| CN107334205A (en) * | 2017-07-19 | 2017-11-10 | 防城港市港口区晶通科技有限公司 | One kind is based on the anti-lost hole chemical industry Labor protection shoes of sonic detection |
| CN109567812B (en) * | 2017-09-29 | 2021-11-26 | 大连恒锐科技股份有限公司 | Gait analysis system based on intelligent insole |
| CN108903947B (en) * | 2018-05-18 | 2020-07-17 | 深圳市丞辉威世智能科技有限公司 | Gait analysis method, gait analysis device, and readable storage medium |
| US11450192B2 (en) | 2020-01-06 | 2022-09-20 | National Cheng Kung University | Fall detection system |
| TWI786478B (en) * | 2020-01-06 | 2022-12-11 | 國立成功大學 | Fall detection system |
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