CN110236896A - Walking assisting method and device and movable equipment - Google Patents
Walking assisting method and device and movable equipment Download PDFInfo
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- CN110236896A CN110236896A CN201910557163.2A CN201910557163A CN110236896A CN 110236896 A CN110236896 A CN 110236896A CN 201910557163 A CN201910557163 A CN 201910557163A CN 110236896 A CN110236896 A CN 110236896A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/001—Appliances for aiding patients or disabled persons to walk about on steps or stairways
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Abstract
The embodiment of the invention provides a walking assisting method, a walking assisting device and movable equipment, which are used for obtaining a current walking mode; acquiring vertical direction acceleration information of a user in real time; judging whether the vertical direction acceleration changes from 0 or not; if so, setting the current time as the starting time; determining the predicted arrival time when the user arrives at the next step according to the predicted walking time of the first step and the starting time; determining the current reminding time according to the predicted arrival time; the current reminding time is earlier than the predicted arrival time; and when the current reminding time is reached, triggering the reminding device to remind the user. In the embodiment of the invention, the user can be reminded before the user reaches the next step surface, so that the walking safety of the user is improved.
Description
Technical field
The present invention relates to application-development technologies field, more particularly to a kind of walking householder method, device and removable
Dynamic equipment.
Background technique
The special populations such as visually impaired person or the elderly are being walked, and especially during stair activity, are easy to appear and are stepped on
The fortuitous events such as sky.
Currently, the physics ancillary equipment for being used to help special population walking is had existed, and such as: walking auxiliary robot
Deng.
But above equipment mainly provides a supporting role for user, reduces the effort in user's walking process, and
User can not be reminded in advance when information of road surface changes, a possibility that sky etc. surprisingly occurs is stepped in reduction, improves user's walking
Safety.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of walking householder method, device and movable equipment, to improve use
The safety of family walking.Specific technical solution is as follows:
In a first aspect, the embodiment of the invention provides a kind of walking householder method, applied to including the removable of alarm set
Dynamic equipment, which comprises
Obtain current walking mode；The current walking mode includes: mode or downstairs mode upstairs；
The vertical direction acceleration information of user is obtained in real time；
Judge whether the vertical direction acceleration changes since 0；
If so, current time initial time will be set as；
According to the prediction of level-one step walking duration and the initial time, determine that the user reaches next stage step surface
When prediction arrival time；The prediction walking duration of the level-one step is according to the user under the current walking mode
The history speed of travel and the height of level-one step be calculated；
According to the prediction arrival time, the current prompting moment is determined；The current prompting moment predicts earlier than described
Up to the moment；
When reaching the current prompting moment, triggers the alarm set and the user is reminded.
Further, the user is determined according to the prediction of level-one step walking duration and the initial time described
Reach next stage step surface when prediction arrival time the step of before, the method also includes:
Judge whether the variation of the vertical direction acceleration meets the preset user under the current walking mode and open
The vertical direction acceleration change condition to begin away；
If the variation of the vertical direction acceleration meets the vertical direction acceleration change condition, described is executed
According to the prediction walking duration of level-one step and the initial time, the predicting when user reaches next stage step surface is determined
The step of up to the moment.
Further, whether the variation for judging the vertical direction acceleration meets preset in the current walking
User starts the step of vertical direction acceleration change condition of walking under mode, comprising:
Judge in the preset time period since the initial time, the variation tendency of the vertical direction acceleration,
Whether preset with the current walking mode corresponding acceleration change curve is met, if since the initial time
In preset time period, the variation tendency of the vertical direction acceleration meets preset corresponding with the current walking mode
Acceleration change curve determines that the variation of the vertical direction acceleration meets the preset user under the current walking mode
Start the vertical direction acceleration change condition of walking.
Further, in the preset time period since the initial time, the vertical direction accelerates for the judgement
The variation tendency of degree, if the step of meeting preset acceleration change curve corresponding with the current walking mode, comprising:
If the current walking mode is mode upstairs, judge in the preset time period since the initial time, institute
State whether vertical direction acceleration from 0 begins to change into the upward non-zero values in direction, and the variation of the vertical direction acceleration
Whether amount is more than the first variable quantity threshold value；If the vertical direction acceleration becomes the upward non-zero values in direction from 0, and described
The variable quantity of vertical direction acceleration is more than the first variable quantity threshold value, is determined in default since the initial time
Between in section, the variation tendency of the vertical direction acceleration meets preset acceleration change corresponding with the mode upstairs
Curve；
If the walking mode is mode of going downstairs, judge in the preset time period since the initial time, it is described perpendicular
Whether straight directional acceleration from 0 begins to change into the downward non-zero values in direction, and the variable quantity of the vertical direction acceleration is
It is no more than the second variable quantity threshold value；If the vertical direction acceleration becomes the downward non-zero values in direction from 0, and described vertical
The variable quantity of directional acceleration is more than the second variable quantity threshold value, determines the variation tendency of the vertical direction acceleration, is accorded with
Close preset acceleration change curve corresponding with the mode downstairs.
Further, the prediction walking duration of the level-one step is previously according to described under the current walking mode
The history speed of travel of user and the height of preset level-one step are calculated and are saved；
It is described to be walked duration and the initial time according to the prediction of level-one step, determine that the user reaches next stage platform
The step of prediction arrival time when terrace, comprising:
According to the prediction of the level-one step of preservation walking duration and the initial time, determine that the user reaches next stage
Prediction arrival time when step surface.
Further, the user is determined according to the prediction of level-one step walking duration and the initial time described
Reach next stage step surface when prediction arrival time the step of before, further includes:
Receive the height of the level-one step of user's input；
The level-one platform inputted according to the history speed of travel of the user under the current walking mode and the user
The prediction walking duration of level-one step is calculated in the height of rank.
Further, described when reaching the current prompting moment, trigger the alarm set to the user into
After the step of row is reminded, the method also includes:
Will be from the initial time, period until at the time of vertical direction acceleration third time becomes 0,
It is determined as the practical walking duration of level-one step；
By the ratio of the height of the level-one step and the practical walking duration of the level-one step, it is determined as the user
This speed of travel under the current walking mode；
By the average value of this described speed of travel and the history speed of travel of the user, it is determined as updated described
The history speed of travel of user.
Second aspect, the embodiment of the invention provides a kind of walk supporting device, applied to including the removable of alarm set
Dynamic equipment, described device include:
Mode obtains module, for obtaining current walking mode；The current walking mode include: upstairs mode or downstairs
Mode；
Acceleration information obtains module, for obtaining the vertical direction acceleration information of user in real time；
First judgment module, for judging whether the vertical direction acceleration changes since 0；
Initial time setup module will be set as at current time if changing since 0 for the vertical direction acceleration
Initial time；
Predict arrival time determining module, for walking duration and the initial time according to the prediction of level-one step, really
The fixed user reaches prediction arrival time when next stage step surface；The prediction walking duration of the level-one step is according to institute
What the height of the history speed of travel and level-one step of stating the user under current walking mode was calculated；
It is current to remind moment determining module, for determining and currently reminding the moment according to the prediction arrival time；It is described to work as
The preceding prompting moment is earlier than the prediction arrival time；
Reminding module carries out the user for when reaching the current prompting moment, triggering the alarm set
It reminds.
Further, described device further include:
Second judgment module, for, according to the prediction of level-one step walking duration and the initial time, being determined described
Before prediction arrival time when the user reaches next stage step surface, judge the vertical direction acceleration variation whether
Meet the vertical direction acceleration change condition that the preset user under the current walking mode starts walking；If so, triggering
The prediction arrival time determining module.
Further, second judgment module,
Specifically for judging in the preset time period since the initial time, the change of the vertical direction acceleration
Change trend, if meet preset acceleration change curve corresponding with the current walking mode, if when from the starting
It carves in the preset time period started, the variation tendency of the vertical direction acceleration, meets the preset and current walking mould
It is preset in the current walking mould to determine that the variation of the vertical direction acceleration meets for the corresponding acceleration change curve of formula
User starts the vertical direction acceleration change condition of walking under formula.
Further, second judgment module, is specifically used for:
If the current walking mode is mode upstairs, judge in the preset time period since the initial time, institute
State whether vertical direction acceleration from 0 begins to change into the upward non-zero values in direction, and the variation of the vertical direction acceleration
Whether amount is more than the first variable quantity threshold value；If the vertical direction acceleration becomes the upward non-zero values in direction from 0, and described
The variable quantity of vertical direction acceleration is more than the first variable quantity threshold value, is determined in default since the initial time
Between in section, the variation tendency of the vertical direction acceleration meets preset acceleration change corresponding with the mode upstairs
Curve；
If the walking mode is mode of going downstairs, judge in the preset time period since the initial time, it is described perpendicular
Whether straight directional acceleration from 0 begins to change into the downward non-zero values in direction, and the variable quantity of the vertical direction acceleration is
It is no more than the second variable quantity threshold value；If the vertical direction acceleration becomes the downward non-zero values in direction from 0, and described vertical
The variable quantity of directional acceleration is more than the second variable quantity threshold value, determines the variation tendency of the vertical direction acceleration, is accorded with
Close preset acceleration change curve corresponding with the mode downstairs.
Further, the prediction walking duration of the level-one step is previously according to described under the current walking mode
The history speed of travel of user and the height of preset level-one step are calculated and are saved；
The prediction arrival time determining module, specifically for according to the prediction walking duration of the level-one step of preservation and institute
Initial time is stated, determines the prediction arrival time when user reaches next stage step surface.
Further, described device further include:
Height receiving module, for, according to the prediction of level-one step walking duration and the initial time, being determined described
Before prediction arrival time when user's arrival next stage step surface, the height of the level-one step of user's input is received
Degree；
Prediction walking duration calculation module, it is fast for being walked according to the history of the user under the current walking mode
The prediction walking duration of level-one step is calculated in the height of degree and the level-one step of user input.
Further, described device further include:
Practical walking duration determining module, for, when reaching the current prompting moment, triggering the prompting described
It, will be from the initial time, until vertical direction acceleration third time becomes 0 after device reminds the user
At the time of until period, be determined as the practical walking duration of level-one step；
This speed of travel determining module, for by the practical walking of the height of the level-one step and the level-one step
The ratio of duration is determined as this speed of travel of the user under the current walking mode；
History speed of travel update module, for by the history speed of travel of this described speed of travel and the user
Average value is determined as the history speed of travel of the updated user.
The third aspect, the embodiment of the invention provides a kind of movable equipments, including processor, communication interface, memory
And communication bus, wherein processor, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor, when for executing the program stored on memory, realize any of the above-described walking householder method the step of.
Fourth aspect, it is described computer-readable to deposit the embodiment of the invention also provides a kind of computer readable storage medium
Computer program is stored in storage media, when run on a computer, so that computer executes any of the above-described walking auxiliary
Method.
A kind of walking householder method, device and movable equipment provided in an embodiment of the present invention, obtain current walking mode；
The current walking mode includes: mode or downstairs mode upstairs；The vertical direction acceleration information of user is obtained in real time；Judgement
Whether the vertical direction acceleration changes since 0；If so, current time initial time will be set as；According to level-one step
The prediction walking duration and initial time, determine the prediction arrival time when user reaches next stage step surface；Institute
That states level-one step predicts that walking duration is the history speed of travel and one according to the user under the current walking mode
What the height of grade step was calculated；According to the prediction arrival time, the current prompting moment is determined；The current prompting moment
Earlier than the prediction arrival time；When reaching the current prompting moment, triggers the alarm set and the user is carried out
It reminds.In the embodiment of the present invention, according to vertical direction acceleration change situation in user's walking process, initial time is determined, and
According to the prediction of level-one step walking duration and initial time, when determining that prediction when user reaches next stage step surface reaches
It carves, and then determines the current prompting moment earlier than prediction arrival time, before user reaches next stage step surface, to user
It is reminded, steps on a possibility that sky etc. surprisingly occurs to reduce user, this improves the safeties of user's walking.
Certainly, implement any of the products of the present invention or method it is not absolutely required at the same reach all the above excellent
Point.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of walking householder method provided in an embodiment of the present invention；
Fig. 2 is another flow diagram of walking householder method provided in an embodiment of the present invention；
Fig. 3 is that user walks the situation of change schematic diagram of vertical direction acceleration during level-one step under mode upstairs；
Fig. 4 is the situation of change schematic diagram of vertical direction acceleration during user's walking level-one step under mode of going downstairs；
Fig. 5 is a kind of structural schematic diagram of walk supporting device provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of movable equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
For the safety for improving user's walking, the embodiment of the invention provides a kind of walking householder methods, device and removable
Dynamic equipment.
Referring to Fig. 1, Fig. 1 is a kind of flow diagram of walking householder method provided in an embodiment of the present invention, and this method is answered
To contain the movable equipment of alarm set, such as: it can be mobile phone, the wearable devices such as wrist-watch, or it is auxiliary dedicated for walking
The equipment helped.Wherein, alarm set can be vibration motor, signal lamp etc., in the embodiment of the present invention, for movable equipment and
The concrete form of alarm set is not construed as limiting.
Method shown in FIG. 1 specifically comprises the following steps:
Step 101, current walking mode is obtained；Current walking mode includes: mode or downstairs mode upstairs.
In this step, obtain current walking mode mode can there are many, such as: can be expert at until then, by user
Current walking mode is set, walking mode is determining to be pressed for carrying out specifically, can be arranged in above-mentioned movable equipment
Current walking mode can be arranged by above-mentioned key in key, user, and current walking mode can be mode or downstairs mould upstairs
Formula；Can also by above-mentioned movable equipment to the information such as vertical direction acceleration, speed and displacement in user's walking process into
Row real time monitoring and analysis, so that the determination to the current walking mode of user is realized, for example, can be by the way that user walked
Vertical direction acceleration, speed and/or change in displacement image in journey whether with the vertical direction acceleration of default walking mode,
Speed and/or change in displacement image are matched, so that it is determined that the current walking mode of user, herein, for obtaining current line
The concrete mode of walking modes is not construed as limiting.
Step 102, the vertical direction acceleration information of user is obtained in real time.
Specifically, may include accelerometer in movable equipment, it is real when user wears the walking of above-mentioned movable equipment
When by accelerometer obtain user vertical direction acceleration information.
Step 103, judge whether vertical direction acceleration changes since 0.If so, executing step 14.
Step 104, current time initial time will be set as.
Step 105, according to the prediction of level-one step walking duration and initial time, determine that user reaches next stage step surface
When prediction arrival time；The prediction walking duration of level-one step is speed of being walked according to the history of the user under current walking mode
What the height of degree and level-one step was calculated.
It is determined as at the time of specifically, the prediction walking duration of above-mentioned level-one step from initial time, can will be spaced
User reaches prediction arrival time when next stage step surface, for example, if current time be initial time, set initial time as
t0=0, the prediction of level-one step a length of 2s when walking, then prediction arrival time when user's arrival next stage step surface is t1
=2s.
In the embodiment of the present invention, level-one step prediction walking duration method of determination can there are two types of:
A kind of mode is: the history speed of travel previously according to the user under the current walking mode and preset
The height of level-one step calculates the prediction walking duration of level-one step, it may be assumed that by the height of preset level-one step and user
The prediction walking duration that the ratio of the history speed of travel is determined as level-one step is stored in movable equipment later, works as needs
When determining prediction arrival time, the prediction walking duration of the level-one step of above-mentioned preservation is directly acquired.Wherein, preset one
Grade step height can according to stair construction criteria set height value, such as: 20cm.
Another way is: after receiving the height of level-one step of user's input, according to the current walking mould
The height of the history speed of travel of the user under formula and the level-one step of user input, is calculated level-one step
Prediction walking duration.
Using user input level-one step height carry out prediction walking duration determination, can to avoid because user it is current
When the step height and the preset step height of equipment of walking differ greatly, caused prediction walking duration calculation inaccuracy is asked
Topic.
Further, even if walking in the plane, since height of C.G. also can constantly occur user during taking a step
Variation, and then will appear the case where vertical direction acceleration change since 0, and when user walks in the plane, be not necessarily into
The subsequent auxiliary prompting of row, it therefore, can be when detecting that vertical direction acceleration changes since 0, and by current time
It is set as after initial time, according to the prediction of level-one step walking duration and initial time, determines that user reaches next stage
Before prediction arrival time when step surface, vertical direction acceleration change situation is judged, to exclude due to planar row
The case where vertical direction acceleration caused by walking changes since 0, determines that user indeed is in mode upstairs or downstairs mode,
Specific step is as follows:
Judge whether the variation of the vertical direction acceleration meets the preset user under the current walking mode and open
The vertical direction acceleration change condition to begin away；
If the variation of the vertical direction acceleration meets the vertical direction acceleration change condition, described is executed
According to the prediction walking duration of level-one step and the initial time, the predicting when user reaches next stage step surface is determined
The step of up to the moment.
Referring to Fig. 3 and Fig. 4, user is when upstairs or downstairs, during level-one step of walking, vertical direction acceleration
Variation have certain rule, wherein direction straight up is set in Fig. 3 and Fig. 4 as positive direction.
Specifically, situation of change of the Fig. 3 for vertical direction acceleration during user's walking level-one step under mode upstairs
Schematic diagram, wherein horizontal axis indicates that time t, the longitudinal axis indicate acceleration value a, from figure 3, it can be seen that user when upstairs, walks
During level-one step, vertical direction acceleration first becomes the upward non-zero values in direction from 0, and then gradually reducing again is 0,
And become the downward non-zero values in direction from 0, finally gradually smaller again is 0, vertical direction acceleration third time become 0 when
Carve is to be actually reached the moment when user reaches next stage step surface；Fig. 4 is user's walking level-one step mistake under mode of going downstairs
The situation of change schematic diagram of vertical direction acceleration in journey, wherein horizontal axis indicates time t, and the longitudinal axis indicates acceleration value a, from Fig. 4
In as can be seen that user when downstairs, walks during level-one step, it is downward that vertical direction acceleration first becomes direction from 0
Non-zero values, then gradually reducing again is 0, and becomes the upward non-zero values in direction from 0, and finally gradually smaller again is 0,
The moment is actually reached when as user reaches next stage step surface at the time of vertical direction acceleration third time becomes 0.
Therefore, further, it is pre- can to judge whether the variation of the vertical direction acceleration meets in the following way
If the user under the current walking mode start walking vertical direction acceleration change condition:
Judge in the preset time period since the initial time, the variation tendency of the vertical direction acceleration,
Whether preset with the current walking mode corresponding acceleration change curve is met, if since the initial time
In preset time period, the variation tendency of the vertical direction acceleration meets preset corresponding with the current walking mode
Acceleration change curve determines that the variation of the vertical direction acceleration meets the preset user under the current walking mode
Start the vertical direction acceleration change condition of walking.
Further, referring to Fig. 3 and Fig. 4, due to vertical direction acceleration change curve and mode downstairs under mode upstairs
Lower vertical direction acceleration change curve is not identical, therefore, if current walking mode be upstairs mode when, can be according to Fig. 3
In vertical direction accelerating curve feature, judge in the preset time period since the initial time, it is described vertical
The variation tendency of directional acceleration, if meet shown in Fig. 3 the acceleration change curve under mode upstairs；If current walking mode
For go downstairs mode when, can be judged according to the feature of the vertical direction accelerating curve in Fig. 4 since the initial time
Preset time period in, the variation tendency of the vertical direction acceleration, if meet shown in Fig. 4 the acceleration under mode downstairs
Change curve.
Specifically, deterministic process may include:
If the current walking mode is mode upstairs, judge in the preset time period since the initial time, institute
State whether vertical direction acceleration from 0 begins to change into the upward non-zero values in direction, and the variation of the vertical direction acceleration
Whether amount is more than the first variable quantity threshold value；If the vertical direction acceleration becomes the upward non-zero values in direction from 0, and described
The variable quantity of vertical direction acceleration is more than the first variable quantity threshold value, is determined in default since the initial time
Between in section, the variation tendency of the vertical direction acceleration meets preset acceleration change corresponding with the mode upstairs
Curve；
If the current walking mode is mode of going downstairs, judge in the preset time period since the initial time, institute
State whether vertical direction acceleration from 0 begins to change into the downward non-zero values in direction, and the variation of the vertical direction acceleration
Whether amount is more than the second variable quantity threshold value；If the vertical direction acceleration becomes the downward non-zero values in direction from 0, and described
The variable quantity of vertical direction acceleration is more than the second variable quantity threshold value, determines that the variation of the vertical direction acceleration becomes
Gesture meets preset acceleration change curve corresponding with the mode downstairs.
In this step, the history speed of travel of the user under current walking mode is to user in history certain time period
It is interior, when current walking mode downlink is walked, single speed of travel when traveling level-one step obtains after being counted and being calculated
, wherein single speed of travel when user's traveling level-one step can be calculated by following process:
Will be from the initial time, period until at the time of vertical direction acceleration third time becomes 0,
It is determined as the practical walking duration of level-one step；
By the ratio of the height of the level-one step and the practical walking duration of the level-one step, it is determined as the user
This speed of travel under the current walking mode.
Further, the average value of this described speed of travel and the history speed of travel of the user can be determined
For the history speed of travel of the updated user.
In the embodiment of the present invention, when user is walked using the auxiliary that movable equipment carries out first order step, Ke Yixian
The history speed of travel of user is set as a certain default initial values, or that the history speed of travel of user is set as user is defeated
The a certain velocity original value entered, later, with the increase of user's walking step series, then the use that will be determined by the above method
The single speed of travel and above-mentioned default initial values or velocity original value when family traveling level-one step are averaged, and then are obtained more
The history speed of travel of the user after new.
Step 106, according to prediction arrival time, the current prompting moment is determined；It is current that the moment is reminded to predict earlier than described
Up to the moment.
Specifically, the moment can be reminded to be set as certain a period of time earlier than prediction arrival time prefixed time interval by current
It carves, wherein prefixed time interval can be set according to the actual situation, herein, be not construed as limiting.
Step 107, when reaching the current prompting moment, triggering alarm set reminds user.
By the above embodiments as it can be seen that in embodiments of the present invention, can be added according to vertical direction in user's walking process
Velocity variations situation determines initial time, and according to the prediction of level-one step walking duration and initial time, determines that user arrives
Prediction arrival time when up to next stage step surface, and then determine the current prompting moment earlier than prediction arrival time, with
Before family reaches next stage step surface, user is reminded, steps on a possibility that sky etc. surprisingly occurs to reduce user, therefore,
Improve the safety of user's walking.
Referring to fig. 2, Fig. 2 is another flow diagram of walking householder method provided in an embodiment of the present invention, specific to walk
Suddenly include:
Step 201, current walking mode is obtained；Current walking mode includes: mode or downstairs mode upstairs.
Step 202, the vertical direction acceleration information of user is obtained in real time.
Step 203, judge whether vertical direction acceleration changes since 0.If so, executing step 14.If it is not, then returning
Step 202.
Step 204, current time initial time will be set as.
The content of step 201- step 204, it is identical as the content of step 101- step 104, herein, repeat no more.
Step 205, if current walking mode is mode upstairs, judge in the preset time period since initial time, erect
Whether straight directional acceleration from 0 begins to change into the upward non-zero values in direction, and whether the variable quantity of vertical direction acceleration surpasses
Cross the first variable quantity threshold value.If so, executing step 207；If it is not, return step 202.
Step 206, if current walking mode is mode of going downstairs, judge in the preset time period since initial time, erect
Whether straight directional acceleration from 0 begins to change into the downward non-zero values in direction, and whether the variable quantity of vertical direction acceleration surpasses
Cross the second variable quantity threshold value.If so, executing step 207；If it is not, return step 202.
Step 207, the height of the level-one step of user's input is received.
Step 208, the level-one step inputted according to the history speed of travel of the user under current walking mode and user
The prediction walking duration of level-one step is calculated in height.
Specifically, the height for the level-one step that user can be inputted and the history of the user under current walking mode
The ratio of the speed of travel is determined as the prediction walking duration of level-one step.
Step 209, according to the prediction of level-one step walking duration and initial time, determine that user reaches next stage step surface
When prediction arrival time.
It is determined as at the time of specifically, the prediction walking duration of above-mentioned level-one step from initial time, can will be spaced
User reaches prediction arrival time when next stage step surface, for example, if current time be initial time, set initial time as
t0=0, the prediction of level-one step a length of 2s when walking, then prediction arrival time when user's arrival next stage step surface is t1
=2s.
Step 210, according to prediction arrival time, the current prompting moment is determined；When the current prompting moment reaches earlier than prediction
It carves.
Specifically, the moment can be reminded to be set as certain a period of time earlier than prediction arrival time prefixed time interval by current
It carves, wherein prefixed time interval can be set according to the actual situation, herein, be not construed as limiting.
Step 211, when reaching the current prompting moment, triggering alarm set reminds user.
Step 212, will be from initial time, period until at the time of vertical direction acceleration third time becomes 0,
It is determined as the practical walking duration of level-one step.
Step 213, by the ratio of the height of level-one step and the practical walking duration of level-one step, it is determined as user in institute
State this speed of travel under current walking mode.
Step 214, by the average value of this speed of travel and the history speed of travel of user, it is determined as updated user
The history speed of travel.
In the embodiment depicted in figure 2, it can be determined according to vertical direction acceleration change situation in user's walking process
Begin the moment, and according to the prediction of level-one step walking duration and initial time, determines when user reaches next stage step surface
It predicts arrival time, and then determines the current prompting moment earlier than prediction arrival time, reach next stage step surface in user
Before, user is reminded, steps on a possibility that sky etc. surprisingly occurs to reduce user, this improves the peaces of user's walking
Quan Xing.Meanwhile after reminding user, according to the situation of change of vertical direction acceleration, level-one step is determined
Practical walking duration obtains this speed of travel of user under current walking mode, and then according to this speed of travel, updates
The history speed of travel of user, so as in subsequent walking supporting process, according to the history speed of travel of updated user, really
Fixed prediction reaches the moment and reminds the moment, it is thus possible to improve reminding the counting accuracy at moment.
Based on the same inventive concept, the walking householder method provided according to that above embodiment of the present invention, correspondingly, the present invention
Embodiment additionally provides a kind of walk supporting device, applied to the movable equipment comprising alarm set；The structure of the device is shown
It is intended to as shown in Figure 5, comprising:
Mode obtains module 501, for obtaining current walking mode；The current walking mode include: upstairs mode or
Mode downstairs；
Acceleration information obtains module 502, for obtaining the vertical direction acceleration information of the user in real time；
First judgment module 503, for judging whether the vertical direction acceleration changes since 0；
Initial time setup module 504 will be set at current time if changing since 0 for the vertical direction acceleration
It is set to initial time；
Predict arrival time determining module 505, for being walked duration and the initial time according to the prediction of level-one step,
Determine the prediction arrival time when user reaches next stage step surface；The prediction walking duration of the level-one step is basis
What the history speed of travel of the user under the current walking mode and the height of level-one step were calculated；
It is current to remind moment determining module 506, for determining and currently reminding the moment according to the prediction arrival time；Institute
The current prompting moment is stated earlier than the prediction arrival time；
Reminding module 507, for when reaching the current prompting moment, trigger the alarm set to the user into
Row is reminded.
Further, described device further include:
Second judgment module, for, according to the prediction of level-one step walking duration and the initial time, being determined described
Before prediction arrival time when the user reaches next stage step surface, judge the vertical direction acceleration variation whether
Meet the vertical direction acceleration change condition that the preset user under the current walking mode starts walking；If so, triggering
The prediction arrival time determining module.
Further, second judgment module, specifically for judging in the preset time since the initial time
In section, the variation tendency of the vertical direction acceleration, if meet preset acceleration corresponding with the current walking mode
Change curve is spent, if in the preset time period since the initial time, the variation tendency of the vertical direction acceleration,
Meet preset acceleration change curve corresponding with the current walking mode, determines the variation of the vertical direction acceleration
Meet the vertical direction acceleration change condition that the preset user under the current walking mode starts walking.
Further, second judgment module, is specifically used for:
If the current walking mode is mode upstairs, judge in the preset time period since the initial time, institute
State whether vertical direction acceleration from 0 begins to change into the upward non-zero values in direction, and the variation of the vertical direction acceleration
Whether amount is more than the first variable quantity threshold value；If the vertical direction acceleration becomes the upward non-zero values in direction from 0, and described
The variable quantity of vertical direction acceleration is more than the first variable quantity threshold value, is determined in default since the initial time
Between in section, the variation tendency of the vertical direction acceleration meets preset acceleration change corresponding with the mode upstairs
Curve；
If the walking mode is mode of going downstairs, judge in the preset time period since the initial time, it is described perpendicular
Whether straight directional acceleration from 0 begins to change into the downward non-zero values in direction, and the variable quantity of the vertical direction acceleration is
It is no more than the second variable quantity threshold value；If the vertical direction acceleration becomes the downward non-zero values in direction from 0, and described vertical
The variable quantity of directional acceleration is more than the second variable quantity threshold value, determines the variation tendency of the vertical direction acceleration, is accorded with
Close preset acceleration change curve corresponding with the mode downstairs.
Further, the prediction walking duration of the level-one step is previously according to described under the current walking mode
The history speed of travel of user and the height of preset level-one step are calculated and are saved；
The prediction arrival time determining module, specifically for according to the prediction walking duration of the level-one step of preservation and institute
Initial time is stated, determines the prediction arrival time when user reaches next stage step surface.
Further, described device further include:
Height receiving module, for, according to the prediction of level-one step walking duration and the initial time, being determined described
Before prediction arrival time when user's arrival next stage step surface, the height of the level-one step of user's input is received
Degree；
Prediction walking duration calculation module, it is fast for being walked according to the history of the user under the current walking mode
The prediction walking duration of level-one step is calculated in the height of degree and the level-one step of user input.
Further, described device further include:
Practical walking duration determining module, for, when reaching the current prompting moment, triggering the prompting described
It, will be from the initial time, until vertical direction acceleration third time becomes 0 after device reminds the user
At the time of until period, be determined as the practical walking duration of level-one step；
This speed of travel determining module, for by the practical walking of the height of the level-one step and the level-one step
The ratio of duration is determined as this speed of travel of the user under the current walking mode；
History speed of travel update module, for by the history speed of travel of this described speed of travel and the user
Average value is determined as the history speed of travel of the updated user.
In embodiment illustrated in fig. 5 of the present invention, initial time setup module 504 is according to vertical direction in user's walking process
Acceleration change situation, determines initial time, it is predicted that up to moment determining module 505 according to the prediction of level-one step walking duration
And initial time, determine prediction arrival time when user reaches next stage step surface, it is current to remind moment determining module 506
And then determine the current prompting moment earlier than prediction arrival time, and before user reaches next stage step surface, reminding module
507 couples of users remind, and step on a possibility that sky etc. surprisingly occurs to reduce user, this improves the safety of user's walking
Property.
The embodiment of the invention also provides a kind of movable equipments, as shown in fig. 6, including processor 601, communication interface
602, memory 603 and communication bus 604, wherein processor 601, communication interface 602, memory 603 pass through communication bus
604 complete mutual communication,
Memory 603, for storing computer program；
Processor 601 when for executing the program stored on memory 603, realizes following steps:
Obtain current walking mode；The current walking mode includes: mode or downstairs mode upstairs；
The vertical direction acceleration information of user is obtained in real time；
Judge whether the vertical direction acceleration changes since 0；
If so, current time initial time will be set as；
According to the prediction of level-one step walking duration and the initial time, determine that the user reaches next stage step surface
When prediction arrival time；The prediction walking duration of the level-one step is according to the user under the current walking mode
The history speed of travel and the height of level-one step be calculated；
According to the prediction arrival time, the current prompting moment is determined；The current prompting moment predicts earlier than described
Up to the moment；
When reaching the current prompting moment, triggers the alarm set and the user is reminded.
It further, can also be including other processing streams in above-mentioned walking householder method provided in an embodiment of the present invention
Journey is no longer described in detail herein.
The communication bus that above-mentioned movable equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral
Component Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (Extended Industry
Standard Architecture, abbreviation EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control
Bus processed etc..Only to be indicated with a thick line in figure convenient for indicating, it is not intended that an only bus or a type of total
Line.
Communication interface is for the communication between above-mentioned movable equipment and other equipment.
Memory may include random access memory (Random Access Memory, abbreviation RAM), also may include
Nonvolatile memory (Non-Volatile Memory, abbreviation NVM), for example, at least a magnetic disk storage.Further,
Memory can also be that at least one is located remotely from the storage device of aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
Abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor
(Digital Signal Processor, abbreviation DSP), specific integrated circuit (Application Specific
Integrated Circuit, abbreviation ASIC), field programmable gate array (Field-Programmable Gate Array,
Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.
In another embodiment provided by the invention, a kind of computer readable storage medium is additionally provided, which can
It reads to be stored with instruction in storage medium, when run on a computer, so that computer executes on any in above-described embodiment
The walking householder method stated.
In another embodiment provided by the invention, a kind of computer program product comprising instruction is additionally provided, when it
When running on computers, so that computer executes any above-mentioned walking householder method in above-described embodiment.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.Computer program product
Including one or more computer instructions.It is all or part of when loading on computers and executing above-mentioned computer program instructions
Ground generates the process or function above-mentioned according to the embodiment of the present invention.Computer can be general purpose computer, special purpose computer, calculating
Machine network or other programmable devices.Computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, computer instruction can be from a net
Website, computer, server or data center by it is wired (such as coaxial cable, optical fiber, Digital Subscriber Line (English:
Digital Subscriber Line, referred to as: DSL)) or wireless (such as infrared, wireless, microwave etc.) mode is to another net
Website, computer, server or data center are transmitted.Above-mentioned computer readable storage medium can be computer can
Any usable medium of access either includes the data storage such as one or more usable mediums integrated server, data center
Equipment.Above-mentioned usable medium can be magnetic medium, and (for example, floppy disk, hard disk, tape), optical medium are (for example, digital video light
Disk (English: Digital Video Disc, referred to as: DVD)) or semiconductor medium (such as solid state hard disk (English: Solid
State Disk, referred to as: SSD)) etc..
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
For movable equipment and storage medium embodiment, since it is substantially similar to the method embodiment, so the comparison of description is simple
Single, the relevent part can refer to the partial explaination of embodiments of method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of walking householder method, which is characterized in that applied to the movable equipment comprising alarm set, comprising:
Obtain current walking mode；The current walking mode includes: mode or downstairs mode upstairs；
The vertical direction acceleration information of user is obtained in real time；
Judge whether the vertical direction acceleration changes since 0；
If so, current time initial time will be set as；
According to the prediction of level-one step walking duration and the initial time, determine when the user reaches next stage step surface
Predict arrival time；The prediction walking duration of the level-one step is going through according to the user under the current walking mode
What the history speed of travel and the height of level-one step were calculated；
According to the prediction arrival time, the current prompting moment is determined；When the current prompting moment reaches earlier than the prediction
It carves；
When reaching the current prompting moment, triggers the alarm set and the user is reminded.
2. the method according to claim 1, wherein described according to the prediction of level-one step walking duration and institute
Before the step of stating initial time, determining the prediction arrival time when user reaches next stage step surface, the method is also
Include:
Judge whether the variation of the vertical direction acceleration meets preset user's starting row under the current walking mode
The vertical direction acceleration change condition walked；
If the variation of the vertical direction acceleration meets the vertical direction acceleration change condition, execute described according to one
The prediction walking duration of grade step and the initial time, when determining that the prediction when user reaches next stage step surface reaches
The step of quarter.
3. according to the method described in claim 2, it is characterized in that, the variation for judging the vertical direction acceleration whether
Meet the step of preset user under the current walking mode starts the vertical direction acceleration change condition of walking, packet
It includes:
Judge in the preset time period since the initial time, the variation tendency of the vertical direction acceleration, if
Meet preset acceleration change curve corresponding with the current walking mode, if default since the initial time
In period, the variation tendency of the vertical direction acceleration meets preset acceleration corresponding with the current walking mode
Change curve is spent, determines that the variation of the vertical direction acceleration meets the preset user under the current walking mode and starts
The vertical direction acceleration change condition of walking.
4. according to the method described in claim 3, it is characterized in that, the judgement is in default since the initial time
Between in section, the variation tendency of the vertical direction acceleration, if meet it is preset corresponding with the current walking mode plus
The step of speed change curves, comprising:
If the current walking mode is mode upstairs, judge in the preset time period since the initial time, it is described perpendicular
Whether straight directional acceleration from 0 begins to change into the upward non-zero values in direction, and the variable quantity of the vertical direction acceleration is
It is no more than the first variable quantity threshold value；If the vertical direction acceleration becomes the upward non-zero values in direction from 0, and described vertical
The variable quantity of directional acceleration is more than the first variable quantity threshold value, is determined in the preset time period since the initial time
Interior, the variation tendency of the vertical direction acceleration meets preset acceleration change curve corresponding with the mode upstairs；
If the walking mode is mode of going downstairs, judge in the preset time period since the initial time, the vertical side
Whether from 0 the downward non-zero values in direction are begun to change into acceleration, and whether the variable quantity of the vertical direction acceleration surpasses
Cross the second variable quantity threshold value；If the vertical direction acceleration becomes the downward non-zero values in direction, and the vertical direction from 0
The variable quantity of acceleration is more than the second variable quantity threshold value, determines the variation tendency of the vertical direction acceleration, meets pre-
If with the corresponding acceleration change curve of mode downstairs.
5. the method according to claim 1, wherein the level-one step prediction walking duration be previously according to
The history speed of travel of the user under the current walking mode and the height of preset level-one step are calculated and are saved；
It is described to be walked duration and the initial time according to the prediction of level-one step, determine that the user reaches next stage step surface
When prediction arrival time the step of, comprising:
According to the prediction of the level-one step of preservation walking duration and the initial time, determine that the user reaches next stage step
Prediction arrival time when face.
6. the method according to claim 1, wherein
Described according to the prediction of level-one step walking duration and the initial time, determine that the user reaches next stage step
Before the step of prediction arrival time when face, further includes:
Receive the height of the level-one step of user's input；
The level-one step inputted according to the history speed of travel of the user under the current walking mode and the user
The prediction walking duration of level-one step is calculated in height.
7. method according to claim 5 or 6, which is characterized in that described when reaching the current prompting moment, touching
After sending out alarm set described the step of prompting the user, the method also includes:
Will be from the initial time, it period until at the time of vertical direction acceleration third time becomes 0, determines
For the practical walking duration of level-one step；
By the ratio of the height of the level-one step and the practical walking duration of the level-one step, it is determined as the user in institute
State this speed of travel under current walking mode；
By the average value of this described speed of travel and the history speed of travel of the user, it is determined as the updated user
The history speed of travel.
8. a kind of walk supporting device, which is characterized in that applied to the movable equipment comprising alarm set, comprising:
Mode obtains module, for obtaining current walking mode；The current walking mode includes: mode or downstairs mould upstairs
Formula；
Acceleration information obtains module, for obtaining the vertical direction acceleration information of user in real time；
First judgment module, for judging whether the vertical direction acceleration changes since 0；
Initial time setup module will be set as originating at current time if changing since 0 for the vertical direction acceleration
Moment；
Arrival time determining module is predicted, for determining institute according to the prediction of level-one step walking duration and the initial time
State prediction arrival time when user reaches next stage step surface；The prediction walking duration of the level-one step is worked as according to
What the history speed of travel of the user under preceding walking mode and the height of level-one step were calculated；
It is current to remind moment determining module, for determining and currently reminding the moment according to the prediction arrival time；It is described to work as premise
The moment wake up earlier than the prediction arrival time；
Reminding module, for triggering the alarm set and reminding the user when reaching the current prompting moment.
9. a kind of movable equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein place
Device, communication interface are managed, memory completes mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes method and step as claimed in claim 1 to 7.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program, the computer program realize method and step as claimed in claim 1 to 7 when being executed by processor.
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