CN109381191A - The system and method for human motion behavior judgement is carried out based on intelligent shoe - Google Patents
The system and method for human motion behavior judgement is carried out based on intelligent shoe Download PDFInfo
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- CN109381191A CN109381191A CN201811050099.0A CN201811050099A CN109381191A CN 109381191 A CN109381191 A CN 109381191A CN 201811050099 A CN201811050099 A CN 201811050099A CN 109381191 A CN109381191 A CN 109381191A
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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
- A61B5/1123—Discriminating type of movement, e.g. walking or running
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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
- A61B5/112—Gait analysis
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Abstract
The invention discloses a kind of system and method for carrying out human motion behavior judgement based on intelligent shoe, system includes intelligent shoe and data processing module；Intelligent shoe includes sole, insole, inertia measuring module, pressure measuring module, power module and wireless micro-control module；Inertia measuring module includes first to fourth Inertial Measurement Unit being arranged in sole；Pressure measuring module includes the first to the tenth pressure sensor being arranged in insole.When work, wireless micro-control module provides clock signal, by first to fourth 6 axis Inertial Measurement Units, the first to the tenth pressure sensor measurement data by being wirelessly transmitted to data processing centre；Data processing centre extracts mechanics of human motion's data according to the data received, and judges human motion behavior.The gait parameters such as posture, the pressure in vola of foot measure when the present invention can be to human motion, and can analyze gait data, are detected and are identified to motor behavior.
Description
Technical field
The present invention relates to mechanics of human motion's detection, intelligence sensor and machine learning field more particularly to a kind of bases
The system and method for human motion behavior judgement is carried out in intelligent shoe.
Background technique
Currently, there is more and more wearable devices to come out, which includes intelligent shoes.The appearance of intelligent shoe is health pipe
The fields problem encountered such as reason, medical monitoring, indoor positioning, sports, human motion behavioral study provide new solution
Certainly thinking.
Carry out the largely research about intelligent shoe both at home and abroad, also there is portioned product to put into production.As Li Ning is released
" red rabbit " intelligent shoe, the product are one sensor modules of insertion in right shoes, are communicated and are carried out with mobile phone by bluetooth
Step counting.Existing intelligent shoe mostly uses single Inertial Measurement Unit, rarely has and has both inertia measuring module and pressure measuring module or packet
The Multi-sensor intelligent shoes of the module containing other sensors.In addition, existing intelligent shoe is looked through inside and outside step counting, foot under survey, human body
Limb attitude detection etc. is calculated using software algorithm to realize, there are comparable error count or erroneous judgement machines
Rate.In addition, their manner of walking and majority healthy populations have for old group and because of the group of dysbasia caused by disease
Relatively big difference, therefore acquire the extremely limited universal intelligent shoes of exercise data and often its gait can not accurately be identified.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of based on intelligence for defect involved in background technique
Energy shoes carry out the system and method for human motion behavior judgement.
The present invention uses following technical scheme to solve above-mentioned technical problem:
It include intelligent shoe and data processing module based on the system that intelligent shoe carries out human motion behavior judgement；
The intelligent shoe includes sole, insole, inertia measuring module, pressure measuring module, power module and wireless micro-control molding
Block；
The inertia measuring module includes first to fourth Inertial Measurement Unit being arranged in sole, is located in forefoot
Side, forefoot outside, rear heel inside, rear heel outside；First to fourth Inertial Measurement Unit includes that three axis add
Velocity sensor and three shaft angle speed sensors, wherein the 3-axis acceleration sensor is used to measure the acceleration of its position
Degree, the three shaft angles speed sensor are used to measure the angular speed at its place；
The pressure measuring module includes the first to the tenth pressure sensor for being arranged in insole, be located at ossa suffraginis,
Second phalanx, the first toe plantar joint, second toe plantar joint, third toe plantar joint, fifth metatarsal bone, arch of foot inside, arch of foot outside, foot
At inside, outside of heel, for measuring the pressure at its place；
The power module, wireless micro-control module are arranged in sole, and the power module is for powering；
The wireless micro-control module respectively with first to fourth 6 axis Inertial Measurement Units, the first to the tenth pressure sensor,
Power module is electrically connected, and presses for providing clock signal, and by first to fourth 6 axis Inertial Measurement Units, first to the tenth
The measurement data of force snesor is by being wirelessly transmitted to the data processing centre；
The data processing centre is used to extract mechanics of human motion's data according to the data received, and judges human motion
Behavior, wherein mechanics of human motion's data include the degree, plantar nervous arch of turning up in step-length, cadence, leg speed, foot
With single support phase time；The human motion behavior includes standing behavior, walking behavior and tumble behavior.
As the present invention is based on the further prioritization scheme of system that intelligent shoe carries out human motion behavior judgement, the numbers
Mobile phone or server are used according to processing center.
As the present invention is based on the further prioritization scheme of system that intelligent shoe carries out human motion behavior judgement, the electricity
Source module includes rechargeable battery and charge coil, wherein the charge coil is used for by way of wireless charging to described
Rechargeable battery charges.
As the present invention is based on the further prioritization scheme of system that intelligent shoe carries out human motion behavior judgement, the nothings
Line micro-control module uses the CC2640R2F model wireless microcontroller of Texas Instruments company.
A kind of human motion power of system that human motion behavior judgement should be carried out based on intelligent shoe is also disclosed in the present invention
Learn the extracting method of data, in which:
Specific step is as follows for step-length measurement:
Step 1.1) obtains the pressure value of the first, second pressure sensor, when the pressure value of the first, second pressure sensor is equal
When being zero, it is determined as that toe is liftoff, starts according to the preset time interval acceleration of the record intelligent shoe on walking direction in real time
Degree, wherein the calculation method of acceleration of the intelligent shoe on walking direction are as follows: calculate first to fourth Inertial Measurement Unit and measure
Acceleration, angular speed average value after, carry out attitude algorithm, obtain the acceleration on walking direction；
Step 1.2), obtain the nine, the tenth pressure sensors pressure value, when the nine, the tenth pressure sensors pressure value not
When being zero, it is determined as heel contact, terminates the record of intelligent shoe acceleration on walking direction at this time；
Step 1.3), acceleration of the wireless micro-control module according to the record of intelligent shoe acceleration on walking direction, to being recorded
Degree is integrated in time, obtains the step-length of single stride；
Specific step is as follows for cadence measurement:
Step 2.1) carries out step-length measurement, the toe liftoff time is subtracted to the time of heel contact, obtains single step walking consumption
Time；
Step 2.2), it is inverted to the time of single step walking consumption, obtain cadence parameter；
Specific step is as follows for walking speed measurement:
Step-length measurement and cadence measurement are carried out, Stride length and frequency is obtained, is multiplied to Stride length and frequency, obtains leg speed；
Turning up in foot, specific step is as follows for judgement:
Step 3.1), the acceleration and angular speed for obtaining first to fourth Inertial Measurement Unit simultaneously carry out attitude algorithm, obtain the
First to fourth acceleration of acceleration of one to the 4th Inertial Measurement Unit in the vertical direction；
Step 3.2), the average value for calculating the first, second acceleration are denoted as the first mean value, calculate being averaged for third and fourth acceleration
Value is denoted as the second mean value；
When the first mean value be greater than the second mean value, and the first mean value, the difference of the second mean value be greater than preset first acceleration rate threshold
When, foot outside is higher than the inner side of the foot, determines that the strephexopodia occurs；
When the first mean value is less than the second mean value, and the first mean value, the difference of the second mean value are greater than preset second acceleration rate threshold
When, foot outside is lower than the inner side of the foot, determines that strephenopodia occurs；
Specific step is as follows for plantar nervous arch measurement:
The pressure value of the first to the tenth pressure sensor is obtained to get plantar nervous arch situation is arrived；
Specific step is as follows for single support phase time measurement:
Step-length measurement is carried out, the toe liftoff time is subtracted to the time of heel contact, obtains single support phase time.
A kind of human motion row of system that human motion behavior judgement should be carried out based on intelligent shoe is also disclosed in the present invention
For judgment method, in which:
Specific step is as follows for standing behavior judgement:
Step is A.1), the angular speed of first to fourth Inertial Measurement Unit is obtained, carries out that the survey of first to fourth inertia is calculated
Measure the mean angular velocity of unit；
Step is A.2), the pressure value of the first to the tenth pressure sensor is obtained, carries out that the first to the tenth pressure sensing is calculated
The average pressure value of device；
Step is A.3), in preset time threshold, if the fluctuation width of first to fourth Inertial Measurement Unit mean angular velocity
Degree is less than preset angular speed error threshold, and the fluctuating range of the first to the tenth pressure sensor average pressure value is less than default
Pressure error threshold value, be determined as the behavior of standing；
Specific step is as follows for walking behavior judgement:
Step is B.1), the pressure value of the first to the tenth pressure sensor is obtained in real time, records the maximum pressure sensing of pressure value
Device；
Step is B.2), if the sequence that the maximum pressure sensor of pressure value occurs are as follows: the tenth pressure sensor, the 8th pressure
Sensor, the 6th pressure sensor, third pressure sensor, first pressure sensor, are determined as walking behavior；
Specific step is as follows for tumble behavior judgement:
Step is C.1), the acceleration and angular speed of first to fourth Inertial Measurement Unit is obtained, first to fourth inertia is calculated and surveys
Average acceleration, the mean angular velocity of unit are measured, and according to the average acceleration of first to fourth Inertial Measurement Unit, average angle
Speed carries out attitude algorithm, obtains the pitch attitude angle of human body；
Step is C.2), the pressure value of the first to the tenth pressure sensor is obtained, the first to the tenth pressure sensor is calculated
Average pressure value；
Step is C.3), if the pitch attitude angle is all larger than preset pitch attitude angle threshold value and first in 2 seconds
The average pressure value of ten pressure sensors is zero, is determined as the behavior of falling.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
The gait parameters such as posture, the pressure in vola of foot measure when can be to human motion, and can to gait data into
Row analysis, detects motor behavior and is identified.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention；
Fig. 2 is the explosive view of the right shoes sole composition of the present invention；
Fig. 3 is the explosive view of the right shoes insole composition of the present invention；
In figure, 1. data processing centres；2 two intelligent shoes；3. wireless micro-control module；4. inertia measuring module；5. pressure is surveyed
Measure module；6. power module；7. sole；8. sole upper surface；9. the first Inertial Measurement Unit；10. the second Inertial Measurement Unit；
11. third Inertial Measurement Unit；12. the 4th Inertial Measurement Unit；13. the mounting box of wireless micro-control module and power module
Body；14. Wireless charging coil；15. first pressure sensor；16. second pressure sensor；17. third pressure sensor；18.
4th pressure sensor；19. the 5th pressure sensor；20. the 6th pressure sensor；21. the 7th pressure sensor；22. the 8th
Pressure sensor；23. the 9th pressure sensor；24. the tenth pressure sensor；25. insole top layer；26. mat bottom.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, being system architecture block diagram of the invention, the present invention includes data processing centre and intelligent shoe, intelligence
Shoes can use one, can also be using left and right two, using two in figure.The data processing processing center have compared with
Strong processing capacity is capable of the intelligent algorithm of complicated movement, rapidly carries out storage and processing analysis and right to exercise data
Special exercise behavior is classified or is predicted.The intelligent shoe of the left and right two includes shoes for being acquired to exercise data
Bottom, insole, inertia measuring module, pressure measuring module, power module and wireless micro-control module.Data processing centre and left and right
Two intelligent shoes carry out the transmission of networking and a large amount of exercise datas using radio frequency network.Data processing centre using mobile phone or
Person's server.
As shown in Fig. 2, for the explosive view of right shoes sole composition.The upper surface of sole be embedded in the first Inertial Measurement Unit,
Second Inertial Measurement Unit, third Inertial Measurement Unit, the 4th Inertial Measurement Unit, wireless micro-control module, power module and
Wireless charging coil.First Inertial Measurement Unit, the second Inertial Measurement Unit, third Inertial Measurement Unit, the first inertia measurement
Unit is located on the outside of forefoot, on the outside of rear heel, on the inside of forefoot, on the outside of rear heel；
The wireless micro-control module uses the CC2640R2F model wireless microcontroller of Texas Instruments company.
Include a general microcontroller core inside CC2640R2F model wireless microcontroller, can be used for simply controlling and calculating and appoint
Business；One special-purpose radio-frequency core realizes wireless communication function；One sensor special control core, can be used for controlling specific biography
Sensor.The necessary peripheral circuit includes but is not limited to electric source filter circuit, crystal oscillating circuit, reset circuit, onboard antenna electricity
Road, sensor interface circuitry.
Wireless micro-control module and power module are fixed at together by installing box body, are located at below arch of foot；Wirelessly
Installation box body of the charge coil around wireless micro-control module and power module.All collect in first to fourth Inertial Measurement Unit
At having 3-axis acceleration sensor and three shaft angle speed sensors, for measuring the acceleration of the Inertial Measurement Unit position
And angular speed.The wireless micro-control module is acquired exercise data for controlling each sensor module, and has radio frequency
Function realizes networking and wireless communication；The power module includes rechargeable battery and Wireless charging coil, passes through wireless charging
Coil realizes wireless charging function, removes the trouble of disassembly battery charging from.
As shown in figure 3, for the explosive view of right shoes insole composition.Insole includes two layers, insole top layer and mat bottom.Insole
Pressure measuring module is accompanied between top layer and mat bottom.The pressure measuring module is made of ten pressure sensors, including
First pressure sensor, second pressure sensor, third pressure sensor, the 4th pressure sensor, the 5th pressure sensor,
Six pressure sensors, the 7th pressure sensor, the 8th pressure sensor, the 9th pressure sensor, the tenth pressure sensor, respectively
Positioned at right sufficient ossa suffraginis, the second phalanx, the first toe plantar joint, second toe plantar joint, third toe plantar joint, fifth metatarsal bone,
Arch of foot inside, arch of foot outside, heel medial and outside of heel.Described ten pressure sensors are used for the pressure in induction region
Power size measures, to obtain the distribution situation of plantar pressure.
Wireless micro-control module respectively with first to fourth 6 axis Inertial Measurement Units, the first to the tenth pressure sensor,
Power module is electrically connected, and presses for providing clock signal, and by first to fourth 6 axis Inertial Measurement Units, first to the tenth
The measurement data of force snesor is by being wirelessly transmitted to the data processing centre；
Data processing centre extracts mechanics of human motion's data according to the data received, and judges human motion behavior,
In, mechanics of human motion's data include degree of turning up in step-length, cadence, leg speed, foot, plantar nervous arch and single support
The phase time；The human motion behavior includes standing behavior, walking behavior and tumble behavior.
A kind of mechanics of human motion of system that human motion behavior judgement is carried out based on intelligent shoe is also disclosed in the present invention
The extracting method of data, specific as follows:
Specific step is as follows for step-length measurement:
Step 1.1) obtains the pressure value of the first, second pressure sensor, when the pressure value of the first, second pressure sensor is equal
When being zero, it is determined as that toe is liftoff, starts according to the preset time interval acceleration of the record intelligent shoe on walking direction in real time
Degree, wherein the calculation method of acceleration of the intelligent shoe on walking direction are as follows: calculate first to fourth Inertial Measurement Unit and measure
Acceleration, angular speed average value after, carry out attitude algorithm, obtain the acceleration on walking direction；
Step 1.2), obtain the nine, the tenth pressure sensors pressure value, when the nine, the tenth pressure sensors pressure value not
When being zero, it is determined as heel contact, terminates the record of intelligent shoe acceleration on walking direction at this time；
Step 1.3), acceleration of the wireless micro-control module according to the record of intelligent shoe acceleration on walking direction, to being recorded
Degree is integrated in time, obtains the step-length of single stride；
Specific step is as follows for cadence measurement:
Step 2.1) carries out step-length measurement, the toe liftoff time is subtracted to the time of heel contact, obtains single step walking consumption
Time；
Step 2.2), it is inverted to the time of single step walking consumption, obtain cadence parameter；
Specific step is as follows for walking speed measurement:
Step-length measurement and cadence measurement are carried out, Stride length and frequency is obtained, is multiplied to Stride length and frequency, obtains leg speed；
Turning up in foot, specific step is as follows for judgement:
Step 3.1), the acceleration and angular speed for obtaining first to fourth Inertial Measurement Unit simultaneously carry out attitude algorithm, obtain the
First to fourth acceleration of acceleration of one to the 4th Inertial Measurement Unit in the vertical direction；
Step 3.2), the average value for calculating the first, second acceleration are denoted as the first mean value, calculate being averaged for third and fourth acceleration
Value is denoted as the second mean value；
When the first mean value be greater than the second mean value, and the first mean value, the difference of the second mean value be greater than preset first acceleration rate threshold
When, foot outside is higher than the inner side of the foot, determines that the strephexopodia occurs；
When the first mean value is less than the second mean value, and the first mean value, the difference of the second mean value are greater than preset second acceleration rate threshold
When, foot outside is lower than the inner side of the foot, determines that strephenopodia occurs；
Specific step is as follows for plantar nervous arch measurement:
The pressure value of the first to the tenth pressure sensor is obtained to get plantar nervous arch situation is arrived；
Specific step is as follows for single support phase time measurement:
Step-length measurement is carried out, the toe liftoff time is subtracted to the time of heel contact, obtains single support phase time.
A kind of human motion row of system that human motion behavior judgement should be carried out based on intelligent shoe is also disclosed in the present invention
It is specific as follows for judgment method:
Specific step is as follows for standing behavior judgement:
Step is A.1), the angular speed of first to fourth Inertial Measurement Unit is obtained, carries out that the survey of first to fourth inertia is calculated
Measure the mean angular velocity of unit；
Step is A.2), the pressure value of the first to the tenth pressure sensor is obtained, carries out that the first to the tenth pressure sensing is calculated
The average pressure value of device；
Step is A.3), in preset time threshold, if the fluctuation width of first to fourth Inertial Measurement Unit mean angular velocity
Degree is less than preset angular speed error threshold, and the fluctuating range of the first to the tenth pressure sensor average pressure value is less than default
Pressure error threshold value, be determined as the behavior of standing；
Specific step is as follows for walking behavior judgement:
Step is B.1), the pressure value of the first to the tenth pressure sensor is obtained in real time, records the maximum pressure sensing of pressure value
Device；
Step is B.2), if the sequence that the maximum pressure sensor of pressure value occurs are as follows: the tenth pressure sensor, the 8th pressure
Sensor, the 6th pressure sensor, third pressure sensor, first pressure sensor, are determined as walking behavior；
Specific step is as follows for tumble behavior judgement:
Step is C.1), the acceleration and angular speed of first to fourth Inertial Measurement Unit is obtained, first to fourth inertia is calculated and surveys
Average acceleration, the mean angular velocity of unit are measured, and according to the average acceleration of first to fourth Inertial Measurement Unit, average angle
Speed carries out attitude algorithm, obtains the pitch attitude angle of human body；
Step is C.2), the pressure value of the first to the tenth pressure sensor is obtained, the first to the tenth pressure sensor is calculated
Average pressure value；
Step is C.3), if the pitch attitude angle is all larger than preset pitch attitude angle threshold value and first in 2 seconds
The average pressure value of ten pressure sensors is zero, is determined as the behavior of falling.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (6)
1. the system for carrying out human motion behavior judgement based on intelligent shoe, which is characterized in that include intelligent shoe and data processing mould
Block；
The intelligent shoe includes sole, insole, inertia measuring module, pressure measuring module, power module and wireless micro-control molding
Block；
The inertia measuring module includes first to fourth Inertial Measurement Unit being arranged in sole, is located in forefoot
Side, forefoot outside, rear heel inside, rear heel outside；First to fourth Inertial Measurement Unit includes that three axis add
Velocity sensor and three shaft angle speed sensors, wherein the 3-axis acceleration sensor is used to measure the acceleration of its position
Degree, the three shaft angles speed sensor are used to measure the angular speed at its place；
The pressure measuring module includes the first to the tenth pressure sensor for being arranged in insole, be located at ossa suffraginis,
Second phalanx, the first toe plantar joint, second toe plantar joint, third toe plantar joint, fifth metatarsal bone, arch of foot inside, arch of foot outside, foot
At inside, outside of heel, for measuring the pressure at its place；
The power module, wireless micro-control module are arranged in sole, and the power module is for powering；
The wireless micro-control module respectively with first to fourth 6 axis Inertial Measurement Units, the first to the tenth pressure sensor,
Power module is electrically connected, and presses for providing clock signal, and by first to fourth 6 axis Inertial Measurement Units, first to the tenth
The measurement data of force snesor is by being wirelessly transmitted to the data processing centre；
The data processing centre is used to extract mechanics of human motion's data according to the data received, and judges human motion
Behavior, wherein mechanics of human motion's data include the degree, plantar nervous arch of turning up in step-length, cadence, leg speed, foot
With single support phase time；The human motion behavior includes standing behavior, walking behavior and tumble behavior.
2. the system according to claim 1 for carrying out human motion behavior judgement based on intelligent shoe, which is characterized in that described
Data processing centre uses mobile phone or server.
3. the system according to claim 1 for carrying out human motion behavior judgement based on intelligent shoe, which is characterized in that described
Power module includes rechargeable battery and charge coil, wherein the charge coil is used for by way of wireless charging to institute
Rechargeable battery is stated to charge.
4. the system according to claim 1 for carrying out human motion behavior judgement based on intelligent shoe, which is characterized in that institute
State the CC2640R2F model wireless microcontroller that wireless micro-control module uses Texas Instruments company.
5. mechanics of human motion's number based on the system described in claim 1 for carrying out human motion behavior judgement based on intelligent shoe
According to extracting method, it is characterised in that:
Specific step is as follows for step-length measurement:
Step 1.1) obtains the pressure value of the first, second pressure sensor, when the pressure value of the first, second pressure sensor is equal
When being zero, it is determined as that toe is liftoff, starts according to the preset time interval acceleration of the record intelligent shoe on walking direction in real time
Degree, wherein the calculation method of acceleration of the intelligent shoe on walking direction are as follows: calculate first to fourth Inertial Measurement Unit and measure
Acceleration, angular speed average value after, carry out attitude algorithm, obtain the acceleration on walking direction；
Step 1.2), obtain the nine, the tenth pressure sensors pressure value, when the nine, the tenth pressure sensors pressure value not
When being zero, it is determined as heel contact, terminates the record of intelligent shoe acceleration on walking direction at this time；
Step 1.3), acceleration of the wireless micro-control module according to the record of intelligent shoe acceleration on walking direction, to being recorded
Degree is integrated in time, obtains the step-length of single stride；
Specific step is as follows for cadence measurement:
Step 2.1) carries out step-length measurement, the toe liftoff time is subtracted to the time of heel contact, obtains single step walking consumption
Time；
Step 2.2), it is inverted to the time of single step walking consumption, obtain cadence parameter；
Specific step is as follows for walking speed measurement:
Step-length measurement and cadence measurement are carried out, Stride length and frequency is obtained, is multiplied to Stride length and frequency, obtains leg speed；
Turning up in foot, specific step is as follows for judgement:
Step 3.1), the acceleration and angular speed for obtaining first to fourth Inertial Measurement Unit simultaneously carry out attitude algorithm, obtain the
First to fourth acceleration of acceleration of one to the 4th Inertial Measurement Unit in the vertical direction；
Step 3.2), the average value for calculating the first, second acceleration are denoted as the first mean value, calculate being averaged for third and fourth acceleration
Value is denoted as the second mean value；
When the first mean value be greater than the second mean value, and the first mean value, the difference of the second mean value be greater than preset first acceleration rate threshold
When, foot outside is higher than the inner side of the foot, determines that the strephexopodia occurs；
When the first mean value is less than the second mean value, and the first mean value, the difference of the second mean value are greater than preset second acceleration rate threshold
When, foot outside is lower than the inner side of the foot, determines that strephenopodia occurs；
Specific step is as follows for plantar nervous arch measurement:
The pressure value of the first to the tenth pressure sensor is obtained to get plantar nervous arch situation is arrived；
Specific step is as follows for single support phase time measurement:
Step-length measurement is carried out, the toe liftoff time is subtracted to the time of heel contact, obtains single support phase time.
6. the human motion behavior based on the system as claimed in claim 3 for being carried out human motion behavior judgement based on intelligent shoe is sentenced
Disconnected method, it is characterised in that:
Specific step is as follows for standing behavior judgement:
Step is A.1), the angular speed of first to fourth Inertial Measurement Unit is obtained, carries out that the survey of first to fourth inertia is calculated
Measure the mean angular velocity of unit；
Step is A.2), the pressure value of the first to the tenth pressure sensor is obtained, carries out that the first to the tenth pressure sensing is calculated
The average pressure value of device；
Step is A.3), in preset time threshold, if the fluctuation width of first to fourth Inertial Measurement Unit mean angular velocity
Degree is less than preset angular speed error threshold, and the fluctuating range of the first to the tenth pressure sensor average pressure value is less than default
Pressure error threshold value, be determined as the behavior of standing；
Specific step is as follows for walking behavior judgement:
Step is B.1), the pressure value of the first to the tenth pressure sensor is obtained in real time, records the maximum pressure sensing of pressure value
Device；
Step is B.2), if the sequence that the maximum pressure sensor of pressure value occurs are as follows: the tenth pressure sensor, the 8th pressure
Sensor, the 6th pressure sensor, third pressure sensor, first pressure sensor, are determined as walking behavior；
Specific step is as follows for tumble behavior judgement:
Step is C.1), the acceleration and angular speed of first to fourth Inertial Measurement Unit is obtained, first to fourth inertia is calculated and surveys
Average acceleration, the mean angular velocity of unit are measured, and according to the average acceleration of first to fourth Inertial Measurement Unit, average angle
Speed carries out attitude algorithm, obtains the pitch attitude angle of human body；
Step is C.2), the pressure value of the first to the tenth pressure sensor is obtained, the first to the tenth pressure sensor is calculated
Average pressure value；
Step is C.3), if the pitch attitude angle is all larger than preset pitch attitude angle threshold value and first in 2 seconds
The average pressure value of ten pressure sensors is zero, is determined as the behavior of falling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811050099.0A CN109381191A (en) | 2018-09-10 | 2018-09-10 | The system and method for human motion behavior judgement is carried out based on intelligent shoe |
Applications Claiming Priority (1)
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| CN110946585A (en) * | 2019-11-21 | 2020-04-03 | 上海理工大学 | Fall detection system and method based on data fusion and BP neural network |
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