CN110363959B - Tumble judging method based on plantar pressure and three-axis acceleration sensor - Google Patents

Tumble judging method based on plantar pressure and three-axis acceleration sensor Download PDF

Info

Publication number
CN110363959B
CN110363959B CN201910451127.8A CN201910451127A CN110363959B CN 110363959 B CN110363959 B CN 110363959B CN 201910451127 A CN201910451127 A CN 201910451127A CN 110363959 B CN110363959 B CN 110363959B
Authority
CN
China
Prior art keywords
plantar pressure
value
pressure
change rate
acceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910451127.8A
Other languages
Chinese (zh)
Other versions
CN110363959A (en
Inventor
薛楠
潘荣亮
王嘉卉
焦祥熙
由茗枫
王伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin penglu Intelligent Technology Co.,Ltd.
Original Assignee
Harbin University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin University of Science and Technology filed Critical Harbin University of Science and Technology
Priority to CN201910451127.8A priority Critical patent/CN110363959B/en
Publication of CN110363959A publication Critical patent/CN110363959A/en
Application granted granted Critical
Publication of CN110363959B publication Critical patent/CN110363959B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
    • G08B21/0407—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis
    • G08B21/043—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis detecting an emergency event, e.g. a fall
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
    • G08B21/0438—Sensor means for detecting
    • G08B21/0446—Sensor means for detecting worn on the body to detect changes of posture, e.g. a fall, inclination, acceleration, gait

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Gerontology & Geriatric Medicine (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Psychiatry (AREA)
  • Psychology (AREA)
  • Social Psychology (AREA)
  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The invention discloses a tumble judging method based on plantar pressure and a three-axis acceleration sensor, which comprises the following steps of: judging whether the sole pressure difference value reaches a set threshold value or not; acquiring plantar pressure and triaxial acceleration data once every 0.25 second; solving the mean value of the plantar pressure and the mean value of the three-axis acceleration within 0.25 second; calculating the change rate of the plantar pressure and the change rate of the triaxial acceleration within 0.5 second; judging whether the sole pressure change rates of the two feet of the user within 0.5 second are both negative values; judging whether the absolute values of the plantar pressure change rate and the triaxial acceleration change rate of the two feet of the user within 0.5 second reach respective set tumbling threshold values or not; and judging whether the sole pressure change rate within 3 seconds has a positive value or not. The invention realizes the tumble judgment of the user by utilizing the plantar pressure and the three-axis acceleration data change rate, and has the advantages of secondary tumble judgment and guarantee of the accuracy of the detection result.

Description

Tumble judging method based on plantar pressure and three-axis acceleration sensor
Technical Field
The invention belongs to the field of tumble alarms, and particularly relates to a tumble judging method based on plantar pressure and a three-axis acceleration sensor.
Background
With the rapid development of economy and the continuous improvement of medical level in China, the life of the average population is correspondingly prolonged, the aging trend of the population is more serious, and the health and safety of the old become hot points of attention of people. Due to the hypofunction of the body, the elderly often suffer from chronic diseases such as hypertension, and the legs and feet are inconvenient, so that the probability of accidental falling is increased. If the old people cannot be treated in time after falling down accidentally, the old people will be likely to die indirectly. If shoes are used as carriers, a method for accurately detecting the falling of the old people in real time is researched, so that the old people can be found to fall in the first time, rescue workers are informed to rescue the old people in time, and the life safety of the old people can be guaranteed.
Common wearable fall detection devices such as one-key dial alarms, telephone watches, belts, wristbands, shoes, and the like. Wherein shoes are people's necessities, compare other wearing article, the old man can not have any conflict and can not forget to shoes, even do not combine other equipment, also be the best solution among the wearing formula tumble check out test set.
The existing fall detection footwear product mainly combines a plurality of sensors to acquire corresponding characteristic data to judge the fall, and comprises a multi-axis acceleration sensor, a pressure sensor, a heart rate sensor, a temperature sensor, a distance sensor and the like.
At present, the tumble detection shoes based on pressure and multi-axis acceleration sensors still have some defects in the aspect of tumble detection algorithms, on one hand, the alarm is triggered immediately as long as the acquired pressure or acceleration data reaches a tumble threshold value, and the misjudgment rate is high; on the other hand, the posture data of the similar fall and the real fall data cannot be well distinguished, and the posture data of the similar fall and the real fall data are misjudged as the fall such as sitting down, walking, jumping and getting up after the fall.
Disclosure of Invention
The invention aims to realize a tumble judging method based on plantar pressure and a three-axis acceleration sensor, which realizes tumble judgment of a user by utilizing plantar pressure and a three-axis acceleration data change rate, ensures the accuracy of a detection result by secondary tumble judgment and can solve the problem of tumble misjudgment of the existing tumble detection shoes.
The invention is realized by the following technical scheme: a falling judgment method based on plantar pressure and a three-axis acceleration sensor comprises the following steps:
step 1, judging whether the pressure difference value of the sole reaches a set threshold value, if so, executing step 2; otherwise, re-executing step 1;
step 2, acquiring plantar pressure and triaxial acceleration data once every 0.25 second;
step 3, solving the mean value of the plantar pressure and the mean value of the triaxial acceleration within 0.25 second according to the plantar pressure and the triaxial acceleration acquired in two adjacent times;
step 4, according to the mean value of the plantar pressure and the mean value of the three-axis acceleration of two adjacent sections within 0.25 second, the plantar pressure change rate and the three-axis acceleration change rate within 0.5 second are obtained;
step 5, judging whether the sole pressure change rates of the two feet of the user within 0.5 second are both negative values, if so, entering step 6; otherwise, re-executing step 5;
step 6, judging the plantar pressure change rate and the three-axis acceleration change rate k within 0.5 second of two feet of a userxi、kyi、kziIf the absolute value of (a) reaches the respective set tumbling threshold value, executing step 7; otherwise, re-executing step 6;
step 7, judging whether the sole pressure change rate within 3 seconds has a positive value, if so, returning to the step 1; otherwise, the user is judged to be in a tumbling state.
Further, in step 1, the pressure value of the sole of the foot is F when the shoe is not worn0Detecting the plantar pressure value F within 5 continuous secondsiJudgment of Fi-F0Whether or not the set threshold T is reached0。
Further, said T01/5 for the user's weight.
Further, in step 3, specifically,
averaging the current plantar pressure data with the historical plantar pressure data 0.25 seconds ago
Figure BDA0002075179480000021
Will be provided with
Figure BDA0002075179480000022
As the sole pressure value within this 0.25 second, as shown in equation 1:
Figure BDA0002075179480000023
Figure BDA0002075179480000024
is the mean plantar pressure value in each 0.25 second interval, Fi+1The sole pressure value at the current moment is acquired every 0.25 secondiThe collected historical plantar pressure value of 0.25 second before the current moment,
similarly, the acceleration data of the current X, Y and Z axes and the historical acceleration data before 0.25 second are respectively averaged every 0.25 second to be used as the respective acceleration values of the three axes in the time period
Figure BDA0002075179480000025
As shown in equation 2:
Figure BDA0002075179480000026
Figure BDA0002075179480000027
respectively X, Y, Z average acceleration values for three axes per 0.25 second interval, axi+1、ayi+1、azi+1Acceleration values of three axes of the sole X, Y, Z at the present time, a, collected every 0.25 secondsxi、ayi、aziThe acceleration history values of three axes of the sole X, Y, Z are collected 0.25 seconds before the current time.
Further, in step 4, specifically,
the obtained two adjacent plantar pressure data are differed every 0.5 second interval to obtain plantar pressure change
Figure BDA0002075179480000031
Dividing by the interval time of 0.5 second to obtain the change rate f of the plantar pressureiThe change rate has a positive and negative score, as shown in equation 3:
Figure BDA0002075179480000032
fithe rate of change of plantar pressure at 0.5 second intervals, at intervals of 0.5 seconds,
Figure BDA0002075179480000033
in order to be the current average plantar pressure,
Figure BDA0002075179480000034
the last historical value of the average plantar pressure value within the current 0.25 second interval,
similarly, the sole three-axis acceleration data just obtained are differentiated every 0.5 second to obtain X, Y, Z acceleration changes of three axes
Figure BDA0002075179480000035
Dividing by the interval time of 0.5 second to obtain X, Y, Z acceleration change rate k of three axesxi、kyi、kzi(the rate of change data has positive or negative), as shown in equation 4:
Figure BDA0002075179480000036
kxi、kyi、kzithe acceleration change rates of X, Y, Z are respectively, for three axes per 0.5 second interval, Δ t is 0.5,
Figure BDA0002075179480000037
Figure BDA0002075179480000038
respectively the average value of the accelerations in the current 0.25 second interval,
Figure BDA0002075179480000039
which are the average of the accelerations of X, Y, Z axes over the previous 0.25 second interval, respectively.
Further, step 5 includes:
step 51, reading the plantar pressure change rate of two feet;
step 52, judging whether the sole pressure change rates of the two feet are negative values within continuous 0.5 second, if so, executing step 6; otherwise, return to step 51.
Further, step 6 includes:
step 61, reading the change rate of the plantar pressure;
step 62 determines whether the absolute value of the negative plantar pressure rate of change is greater than or equal to the fall threshold TfIf yes, go to step 63; otherwise, returning to step 61;
step 63, reading the three-axis acceleration change rate of the foot;
step 64 of determining the three-axis acceleration rate kxi、kyi、kziWhether the absolute value of (A) reaches the respective set fall threshold value Tax、Tay、TazIf yes, executing step 7; otherwise, return to step 61.
Further, step 7 includes:
step 71, reading the change rate of the plantar pressure within continuous 3 seconds;
step 72, judging whether the change rate of the plantar pressure has a positive value within 3 seconds, if so, executing step 73; otherwise, judging that the user is in a tumbling state;
step 73 judges whether or not the rate of change of the positive plantar pressure occurring within 3 consecutive seconds is greater than or equal to a threshold value TpIf yes, returning to the step 1; otherwise, the user is judged to be in a tumbling state.
The invention has the beneficial effects that: a tumble judging method based on plantar pressure and a three-axis acceleration sensor selects shoes which are necessary for people to be taken as wearing equipment, and solves the problem that most users conflict with the wearing equipment or forget to wear the wearing equipment; the sole pressure change rate and the sole triaxial acceleration change rate are combined to judge the fall, secondary auxiliary judgment is combined, the fall and postures similar to the fall (sitting down, walking, jumping and not serious getting up of the fall) can be effectively distinguished, the fall judgment accuracy of the fall detection shoes is greatly improved, and the problem of frequent false alarm of the existing shoes with the fall alarm function is solved.
Drawings
Fig. 1 is a flow chart of a method of a fall determination method based on plantar pressure and a three-axis acceleration sensor according to the present invention;
FIG. 2 is a flow chart of step 1;
FIG. 3 is a flow chart of step 2;
FIG. 4 is a flowchart of step 5;
FIG. 5 is a flowchart of step 6;
fig. 6 is a flowchart of step 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a fall determination method based on plantar pressure and a three-axis acceleration sensor, including the steps of:
step 1, judging whether the pressure difference value of the sole reaches a set threshold value, if so, executing step 2; otherwise, re-executing step 1;
step 2, acquiring plantar pressure and triaxial acceleration data once every 0.25 second;
step 3, solving the mean value of the plantar pressure and the mean value of the triaxial acceleration within 0.25 second according to the plantar pressure and the triaxial acceleration acquired in two adjacent times;
step 4, according to the mean value of the plantar pressure and the mean value of the three-axis acceleration of two adjacent sections within 0.25 second, the plantar pressure change rate and the three-axis acceleration change rate within 0.5 second are obtained;
step 5, judging whether the sole pressure change rates of the two feet of the user within 0.5 second are both negative values, if so, entering step 6; otherwise, re-executing step 5;
step 6, judging the plantar pressure change rate and the three-axis acceleration change rate k within 0.5 second of two feet of a userxi、kyi、kziIf the absolute value of (a) reaches the respective set tumbling threshold value, executing step 7; otherwise, re-executing step 6;
step 7, judging whether the sole pressure change rate within 3 seconds has a positive value, if so, returning to the step 1; otherwise, the user is judged to be in a tumbling state.
Specifically, the fall detection method is based on the user plantar pressure and foot acceleration data acquired by the pressure sensor and the three-axis acceleration sensor, then the acquired pressure and acceleration data are calculated, the calculation result is used for fall judgment, and the judgment result is used for alarm notification.
As shown in FIG. 2, in the present preferred embodiment, in step 1, specifically, in step 1, the pressure value of sole is F when the shoe is not worn0Detecting the plantar pressure value F within 5 continuous secondsiJudgment of Fi-F0Whether or not the set threshold T is reached0。
Specifically, the step 1 is used for controlling the start and stop of the system, and before sole pressure and three-axis acceleration data of a user during activity are collected, the initial value of the sole pressure data of the system is a sole pressure value F when the user does not wear a shoe0X, Y, Z the initial acceleration values of three-axis acceleration are respectively ax0、ay0、az0. In order to ensure that the system is not started or stopped by mistake while the low energy consumption is ensured, the system is started or stopped in an interruption mode, and whether the plantar pressure reaches a set threshold value T or not is judged0As interruption source, when detecting the plantar pressure value F within 5 secondsi(i>0, i belongs to Z) and the initial value of the system plantar pressure is more than T0Then the system is started up to step 2.
In the preferred embodiments of this section, the T01/5 for the user's weight.
Referring to FIG. 3, in the present preferred embodiment, in step 2, specifically, according to the height of the average personAnd formula of free fall
Figure BDA0002075179480000061
The calculation shows that the time from the standing state to the falling of the person lasts about 0.6 second, and the time for the person to normally sit down is usually more than 1 second, so that the falling and the normal sitting down can be distinguished by acquiring plantar pressure and foot triaxial acceleration data once every 0.25 second after the system is started and acquiring data.
In the preferred embodiment of this section, in step 3, specifically,
averaging the current plantar pressure data with the historical plantar pressure data 0.25 seconds ago
Figure BDA0002075179480000062
Will be provided with
Figure BDA0002075179480000063
As the sole pressure value within this 0.25 second, as shown in equation 1:
Figure BDA0002075179480000064
Figure BDA0002075179480000065
is the mean plantar pressure value in each 0.25 second interval, Fi+1The sole pressure value at the current moment is acquired every 0.25 secondiThe collected historical plantar pressure value of 0.25 second before the current moment,
similarly, the acceleration data of the current X, Y and Z axes and the historical acceleration data before 0.25 second are respectively averaged every 0.25 second to be used as the respective acceleration values of the three axes in the time period
Figure BDA0002075179480000066
As shown in equation 2:
Figure BDA0002075179480000067
Figure BDA0002075179480000068
respectively X, Y, Z average acceleration values for three axes per 0.25 second interval, axi+1、ayi+1、azi+1Acceleration values of three axes of the sole X, Y, Z at the present time, a, collected every 0.25 secondsxi、ayi、aziThe acceleration history values of three axes of the sole X, Y, Z are collected 0.25 seconds before the current time.
In the preferred embodiment of this section, in step 4, specifically,
the obtained two adjacent plantar pressure data are differed every 0.5 second interval to obtain plantar pressure change
Figure BDA0002075179480000069
Dividing by the interval time of 0.5 second to obtain the change rate f of the plantar pressureiThe change rate has a positive and negative score, as shown in equation 3:
Figure BDA00020751794800000610
fithe rate of change of plantar pressure at 0.5 second intervals, at intervals of 0.5 seconds,
Figure BDA0002075179480000071
in order to be the current average plantar pressure,
Figure BDA0002075179480000072
the last historical value of the average plantar pressure value within the current 0.25 second interval,
similarly, the sole three-axis acceleration data just obtained are differentiated every 0.5 second to obtain X, Y, Z acceleration changes of three axes
Figure BDA0002075179480000073
Further divided by the interval time of 0.5 second to finally obtain X, Y, Z IIIAcceleration rate k of individual axisxi、kyi、kzi(the rate of change data has positive or negative), as shown in equation 4:
Figure BDA0002075179480000074
kxi、kyi、kzithe acceleration change rates of X, Y, Z are respectively, for three axes per 0.5 second interval, Δ t is 0.5,
Figure BDA0002075179480000075
Figure BDA0002075179480000076
respectively the average value of the accelerations in the current 0.25 second interval,
Figure BDA0002075179480000077
which are the average of the accelerations of X, Y, Z axes over the previous 0.25 second interval, respectively.
Referring to fig. 4, in this preferred embodiment, step 5 includes:
step 51, reading the plantar pressure change rate of two feet;
step 52, judging whether the sole pressure change rates of the two feet are negative values within continuous 0.5 second, if so, executing step 6; otherwise, return to step 51.
Specifically, after obtaining the change rate of the plantar pressure and the change rate of the acceleration degrees of the three axes, firstly, judging whether the change rate data of the plantar pressure of the two feet are negative values within 0.5 second continuously, wherein the plantar pressure of the two feet is reduced in the falling process, and the plantar pressure of the two feet is alternately positive and negative when the person normally walks, so that the falling trend and the normal walking of the person can be distinguished only by judging the negative value change rate of the two feet according to the change rate of the plantar pressure.
Referring to fig. 5, in this preferred embodiment, in step 6, step 6 further includes:
step 61, reading the change rate of the plantar pressure;
step 62 determines whether the absolute value of the negative plantar pressure rate of change is greater than or equal to the fall threshold TfIf yes, go to step 63; otherwise, returning to step 61;
step 63, reading the three-axis acceleration change rate of the foot;
step 64 of determining the three-axis acceleration rate kxi、kyi、kziWhether the absolute value of (A) reaches the respective set fall threshold value Tax、Tay、TazIf yes, executing step 7; otherwise, return to step 61.
Specifically, after the sole pressure change rates of the two feet are judged to be negative values, whether the absolute value of the sole pressure change rate data reaches the tumbling threshold value T or not is judgedfThe sitting and falling can be distinguished because the sole pressure change rate in normal sitting is not as great as the absolute value of the sole pressure change rate in falling. In order to distinguish the fast sitting and walking, the change rate k of the acceleration degree of the X, Y and Z axes is judged simultaneouslyxi、kyi、kziWhether the absolute value of (A) is greater than the respective set fall threshold Tax、Tay、TazThat is, since the absolute value of the rate of change of the three-axis acceleration of the sole when sitting down is almost 0, the rate of change of the acceleration of walking cannot reach the threshold value of falling, and when the rate of change of the sole pressure and the rate of change of the three-axis acceleration of the foot both reach the threshold values, it is determined that the user has a tendency of falling.
Referring to fig. 6, in this preferred embodiment, step 7 includes:
step 71, reading the change rate of the plantar pressure within continuous 3 seconds;
step 72, judging whether the change rate of the plantar pressure has a positive value within 3 seconds, if so, executing step 73; otherwise, judging that the user is in a tumbling state;
step 73 judges whether or not the rate of change of the positive plantar pressure occurring within 3 consecutive seconds is greater than or equal to a threshold value TpIf yes, returning to the step 1; otherwise, the user is judged to be in a tumbling state.
Specifically, in order to further ensure the accuracy of the judgment result, the method carries out twiceJudging, the secondary judgment can eliminate the rising action of the user without serious jumping or falling, judging whether the sole pressure has positive change rate within 3 seconds continuously after the moment after the falling trend is judged, judging whether the sole pressure has positive change rate if the sole pressure has no positive change rate, otherwise judging whether the change rate is larger than or equal to a threshold value T or notpIf the threshold condition is met, the shoes are judged to be not fallen and the step 1 is returned, otherwise, the shoes are judged to be fallen, the secondary judgment of the method can greatly reduce the misjudgment rate, and the method is a great advantage compared with the existing method for judging the falling of the shoes with the falling alarm function.

Claims (8)

1. A falling judgment method based on plantar pressure and a three-axis acceleration sensor is characterized by comprising the following steps:
step 1, judging whether the pressure difference value of the sole reaches a set threshold value, if so, executing step 2; otherwise, re-executing step 1;
step 2, acquiring plantar pressure and triaxial acceleration data once every 0.25 second;
step 3, solving the mean value of the plantar pressure and the mean value of the triaxial acceleration within 0.25 second according to the plantar pressure and the triaxial acceleration acquired in two adjacent times;
step 4, according to the mean value of the plantar pressure and the mean value of the three-axis acceleration of two adjacent sections within 0.25 second, the plantar pressure change rate and the three-axis acceleration change rate within 0.5 second are obtained;
step 5, judging whether the sole pressure change rates of the two feet of the user within 0.5 second are both negative values, if so, entering step 6; otherwise, re-executing step 5;
step 6, judging the plantar pressure change rate and the three-axis acceleration change rate k within 0.5 second of two feet of a userxi、kyi、kziIf the absolute value of (a) reaches the respective set tumbling threshold value, executing step 7; otherwise, re-executing step 6;
step 7, judging whether the sole pressure change rate within 3 seconds has a positive value, if so, returning to the step 1; otherwise, the user is judged to be in a tumbling state.
2. A fall determination method based on plantar pressure and three-axis acceleration sensors as claimed in claim 1, wherein in step 1, the plantar pressure value is F, specifically, when the shoe is not worn0Detecting the plantar pressure value F within 5 continuous secondsiJudgment of Fi-F0Whether or not the set threshold T is reached0。
3. The method of claim 2, wherein the T is the pressure of the sole and the acceleration of the three axes sensor01/5 for the user's weight.
4. The method for determining a fall based on plantar pressure and a three-axis acceleration sensor according to claim 1, wherein in step 3, specifically,
averaging the current plantar pressure data with the historical plantar pressure data 0.25 seconds ago
Figure FDA0002785347350000011
Will be provided with
Figure FDA0002785347350000012
As the sole pressure value within this 0.25 second, as shown in equation 1:
Figure FDA0002785347350000013
Figure FDA0002785347350000014
is the mean plantar pressure value in each 0.25 second interval, Fi+1The sole pressure value at the current moment is acquired every 0.25 secondiThe collected historical plantar pressure value of 0.25 second before the current moment,
similarly, the acceleration of the current X, Y and Z axes is performed every 0.25 secondAveraging the degree data with the historical acceleration data before 0.25 second to obtain the acceleration value of each of the three axes in the time period
Figure FDA0002785347350000015
As shown in equation 2:
Figure FDA0002785347350000021
Figure FDA0002785347350000022
respectively X, Y, Z average acceleration values for three axes per 0.25 second interval, axi+1、ayi+1、azi+1Acceleration values of three axes of the sole X, Y, Z at the present time, a, collected every 0.25 secondsxi、ayi、aziThe acceleration history values of three axes of the sole X, Y, Z are collected 0.25 seconds before the current time.
5. The method for determining a fall based on plantar pressure and a three-axis acceleration sensor according to claim 1, characterized in that, in step 4, specifically,
the obtained two adjacent plantar pressure data are differed every 0.5 second interval to obtain plantar pressure change
Figure FDA0002785347350000027
Dividing by the interval time of 0.5 second to obtain the change rate f of the plantar pressureiThe change rate has a positive and negative score, as shown in equation 3:
Figure FDA0002785347350000023
fithe rate of change of plantar pressure at 0.5 second intervals, at intervals of 0.5 seconds,
Figure FDA0002785347350000024
in order to be the current average plantar pressure,
Figure FDA0002785347350000025
the last historical value of the average plantar pressure value within the current 0.25 second interval,
similarly, the sole three-axis acceleration data just obtained are differentiated every 0.5 second to obtain X, Y, Z acceleration changes of three axes
Figure FDA0002785347350000026
Dividing by the interval time of 0.5 second to obtain X, Y, Z acceleration change rate k of three axesxi、kyi、kziThe rate of change data has positive and negative values, as shown in equation 4:
Figure FDA0002785347350000031
kxi、kyi、kzithe acceleration change rates of X, Y, Z are respectively, for three axes per 0.5 second interval, Δ t is 0.5,
Figure FDA0002785347350000032
Figure FDA0002785347350000033
respectively the average value of the accelerations in the current 0.25 second interval,
Figure FDA0002785347350000034
which are the average of the accelerations of X, Y, Z axes over the previous 0.25 second interval, respectively.
6. The method for determining a fall based on plantar pressure and a three-axis acceleration sensor according to claim 1, wherein the step 5 comprises:
step 51, reading the plantar pressure change rate of two feet;
step 52, judging whether the sole pressure change rates of the two feet are negative values within continuous 0.5 second, if so, executing step 6; otherwise, return to step 51.
7. The method for determining a fall based on plantar pressure and a three-axis acceleration sensor according to claim 1, wherein the step 6 includes:
step 61, reading the change rate of the plantar pressure;
step 62 determines whether the absolute value of the negative plantar pressure rate of change is greater than or equal to the fall threshold TfIf yes, go to step 63; otherwise, returning to step 61;
step 63, reading the three-axis acceleration change rate of the foot;
step 64 of determining the three-axis acceleration rate kxi、kyi、kziWhether the absolute value of (A) reaches the respective set fall threshold value Tax、Tay、TazIf yes, executing step 7; otherwise, return to step 61.
8. The method for determining a fall based on plantar pressure and a three-axis acceleration sensor according to claim 1, wherein the step 7 comprises:
step 71, reading the change rate of the plantar pressure within continuous 3 seconds;
step 72, judging whether the change rate of the plantar pressure has a positive value within 3 seconds, if so, executing step 73; otherwise, judging that the user is in a tumbling state;
step 73 judges whether or not the rate of change of the positive plantar pressure occurring within 3 consecutive seconds is greater than or equal to a threshold value TpIf yes, returning to the step 1; otherwise, the user is judged to be in a tumbling state.
CN201910451127.8A 2019-05-28 2019-05-28 Tumble judging method based on plantar pressure and three-axis acceleration sensor Active CN110363959B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910451127.8A CN110363959B (en) 2019-05-28 2019-05-28 Tumble judging method based on plantar pressure and three-axis acceleration sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910451127.8A CN110363959B (en) 2019-05-28 2019-05-28 Tumble judging method based on plantar pressure and three-axis acceleration sensor

Publications (2)

Publication Number Publication Date
CN110363959A CN110363959A (en) 2019-10-22
CN110363959B true CN110363959B (en) 2021-01-22

Family

ID=68215160

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910451127.8A Active CN110363959B (en) 2019-05-28 2019-05-28 Tumble judging method based on plantar pressure and three-axis acceleration sensor

Country Status (1)

Country Link
CN (1) CN110363959B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111158512B (en) * 2019-12-30 2023-05-23 深圳市千分一智能技术有限公司 Electronic pen control method, device, equipment and readable storage medium
CN112233374B (en) * 2020-09-21 2022-06-21 中国科学院深圳先进技术研究院 Fall detection method, system, terminal and storage medium
CN117576857B (en) * 2024-01-16 2024-04-02 四川并济科技有限公司 Intelligent safety monitoring system and method based on neural network model

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101950464A (en) * 2010-09-17 2011-01-19 中国科学院深圳先进技术研究院 Method and system for fall monitoring and warning
CN104464190A (en) * 2014-11-27 2015-03-25 华南理工大学 Falling alarm device and method based on pressure and accelerated speed detection
CN105030260A (en) * 2015-07-27 2015-11-11 深圳市豪恩声学股份有限公司 Judgment method for motion state and footwear
US9402568B2 (en) * 2011-08-29 2016-08-02 Verizon Telematics Inc. Method and system for detecting a fall based on comparing data to criteria derived from multiple fall data sets
CN106327799A (en) * 2016-09-30 2017-01-11 福建工程学院 Trip monitoring method and system in walking state
CN106408870A (en) * 2016-09-30 2017-02-15 福建工程学院 State recognition method and system based on intelligent shoes
CN106971502A (en) * 2017-03-15 2017-07-21 上海工程技术大学 One kind is based on the united quick fall detection system of multisensor and method
CN107067651A (en) * 2017-06-29 2017-08-18 深圳市沃特沃德股份有限公司 Detect method, device and the shoes of falling over of human body

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2763510B2 (en) * 1995-08-02 1998-06-11 株式会社プロップ Height drop impact absorption aid
CN102866640B (en) * 2012-08-23 2014-11-19 中国科学院深圳先进技术研究院 Falling control system and rehabilitation shoe using same
CN102783766B (en) * 2012-08-28 2014-11-19 中国科学院深圳先进技术研究院 Fall prevention device
CN106389074A (en) * 2016-01-27 2017-02-15 北京航空航天大学 Falling process stability predicting device and method based on plantar pressure sensing
CN106217352A (en) * 2016-08-17 2016-12-14 尖叫智能科技（上海）有限公司 Exoskeleton robot gait control method based on pressure transducer
CN108389363A (en) * 2018-05-07 2018-08-10 广东技术师范学院 A kind of tumble early warning system based on foot pressure distribution

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101950464A (en) * 2010-09-17 2011-01-19 中国科学院深圳先进技术研究院 Method and system for fall monitoring and warning
US9402568B2 (en) * 2011-08-29 2016-08-02 Verizon Telematics Inc. Method and system for detecting a fall based on comparing data to criteria derived from multiple fall data sets
CN104464190A (en) * 2014-11-27 2015-03-25 华南理工大学 Falling alarm device and method based on pressure and accelerated speed detection
CN105030260A (en) * 2015-07-27 2015-11-11 深圳市豪恩声学股份有限公司 Judgment method for motion state and footwear
CN106327799A (en) * 2016-09-30 2017-01-11 福建工程学院 Trip monitoring method and system in walking state
CN106408870A (en) * 2016-09-30 2017-02-15 福建工程学院 State recognition method and system based on intelligent shoes
CN106971502A (en) * 2017-03-15 2017-07-21 上海工程技术大学 One kind is based on the united quick fall detection system of multisensor and method
CN107067651A (en) * 2017-06-29 2017-08-18 深圳市沃特沃德股份有限公司 Detect method, device and the shoes of falling over of human body

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
基于离散特征的跌倒检测智能方法及应用;涂亚庆;《仪器仪表学报》;20170315;第38卷(第3期);第629-634页 *

Also Published As

Publication number Publication date
CN110363959A (en) 2019-10-22

Similar Documents

Publication Publication Date Title
CN110363959B (en) Tumble judging method based on plantar pressure and three-axis acceleration sensor
US10670621B2 (en) Fall prevention
CN101950464B (en) Method and system for fall monitoring and warning
US9392966B2 (en) Fall prevention system
US20170372582A1 (en) Device for monitoring and preventing slump and processing method thereof
EP2323551B1 (en) Fall detection systems and method
ES2744423T3 (en) Fall detection method and system
US20120123277A1 (en) Method for detecting an extraordinary situation
CN105865671B (en) Foot pressure monitoring insole and monitoring system thereof
JP2016512777A (en) Method for detecting fall and fall detector
CN104504854B (en) Alarming method for detecting fall over of human body
US20140142460A1 (en) Method for detecting potential falls and a fall detector
CN109528209A (en) Motion state reminding method, device, equipment and storage medium of wearable equipment
Zitouni et al. Design of a smart sole with advanced fall detection algorithm
JP2000245713A (en) Behavior recognizing device
KR101754576B1 (en) Biological signal analysis system and method
CN113367439A (en) Intelligent shoe capable of identifying shoe slipping and identification method
US20150313481A1 (en) Cardiovascular screening diagnostic and monitoring system and method
CN205510416U (en) Wearable device of foot with fall detection function
CN115500823A (en) Fall-down state and anti-lost position information real-time monitoring system
US11887458B2 (en) Fall detection system
CN108939514B (en) Exercise reminding system and method
TWI786478B (en) Fall detection system
CN209749965U (en) Intelligent insole
CN111466673A (en) Tumble alarm detection equipment and tumble prevention detection method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20210722

Address after: Room 521-9, Science Park, Harbin University of technology, No. 52 Xuefu Road, Nangang District, Harbin City, Heilongjiang Province

Patentee after: Harbin penglu Intelligent Technology Co.,Ltd.

Address before: 150080 No. 52, Xuefu Road, Nangang District, Heilongjiang, Harbin

Patentee before: HARBIN University OF SCIENCE AND TECHNOLOGY