CN112237426A - Method and device for detecting steps, detection equipment and computer storage medium - Google Patents
Method and device for detecting steps, detection equipment and computer storage medium Download PDFInfo
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- CN112237426A CN112237426A CN202011096214.5A CN202011096214A CN112237426A CN 112237426 A CN112237426 A CN 112237426A CN 202011096214 A CN202011096214 A CN 202011096214A CN 112237426 A CN112237426 A CN 112237426A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7253—Details of waveform analysis characterised by using transforms
- A61B5/7257—Details of waveform analysis characterised by using transforms using Fourier transforms
Abstract
The application provides a step detection method, a step detection device, a detection device and a computer storage medium, wherein in the step detection method, a plurality of angular velocity data in a current reading period are read firstly. Wherein the angular velocity data is obtained by detecting the motion of the object by the angular velocity detection device. And then calculating by using the angular velocity data to obtain an object accumulated action attitude value. And then, judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object. And if the motion of the object in the current reading period is judged to meet the requirement of walking motion, recording that the step is detected to be generated in the current reading period. Therefore, in the process of detecting the steps, whether the candidate steps are related to the violent hand motion or not can be detected through the object accumulation motion attitude values, and the false detection operation caused by the hand motion can be effectively prevented.
Description
Technical Field
The present application relates to the field of data detection technologies, and in particular, to a method and an apparatus for step detection, a detection device, and a computer storage medium.
Background
Along with the development of science and technology, a technique that carries out the step detection to the user through smart machine such as cell-phone, intelligent bracelet walks into people's field of vision gradually. Especially, as some application software launches the related functions of step detection, more and more users use the technology. The step detection can reflect the motion state of the user within a period of time, and the functions of health monitoring or position service and the like can be realized by utilizing the step data.
However, in the existing step detection method, when a user holds a smart device that can be used for step detection in his/her hands or wears the smart device on his/her hands to perform step detection, step detection errors are often caused due to interference of the motion of the user's hands, which results in a decrease in the accuracy of step detection data and an inability to accurately reflect the motion state of the user.
Disclosure of Invention
In view of this, the present application provides a method, an apparatus, a detection device and a computer storage medium for step detection, so as to solve the problem in the prior art that the step detection data accuracy is reduced and the motion state of the user cannot be accurately reflected due to the false detection of the step of the user caused by the interference of the motion of the hand of the user.
In order to achieve the above purpose, the present application provides the following technical solutions:
the first aspect of the present application discloses a step detection method, which includes:
reading a plurality of angular velocity data in a current reading period; wherein the angular velocity data is obtained by detecting the motion of an object by an angular velocity detection device;
calculating to obtain an object accumulated action attitude value by using the angular velocity data;
judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object;
and if the motion of the object in the current reading period is judged to meet the requirement of walking motion, recording that the step is detected to be generated in the current reading period.
Optionally, in the method, the calculating an object cumulative motion attitude value by using the angular velocity data includes:
calculating a pitch angle, a roll angle and an azimuth angle of the angular velocity detection equipment by using the angular velocity data;
and calculating the pitch angle, the roll angle and the azimuth angle to obtain the accumulated action attitude value of the object.
Optionally, in the method, the determining, by using the object accumulated motion posture value, whether the motion of the object in the current reading period meets the requirement of the walking motion includes:
judging whether the object accumulated motion attitude value is not greater than a first threshold value; wherein the first threshold value refers to the highest value of the object posture value in the walking movement;
and if the accumulated motion attitude value of the object is judged to be not larger than the first threshold, judging that the object moves in the current reading period and meets the requirement of walking movement.
Optionally, in the method, after the recording detects that the step is generated in the current reading period, the method further includes:
acquiring the time of detecting the current step and the time of detecting the last step;
the time of detecting the current step and the time of detecting the last step are subjected to subtraction to obtain a step cycle;
and multiplying the stepping period by a preset multiple factor to obtain a time length, and setting the time length as the reading period.
The second aspect of the present application discloses a method for detecting steps, comprising:
respectively reading a plurality of acceleration data in a current reading period and a plurality of angular velocity data in the current reading period; wherein the acceleration data is obtained by detecting the motion of an object by an acceleration detection device; the angular velocity data is obtained by detecting the motion of an object by angular velocity detection equipment;
calculating time domain data corresponding to the acceleration data in the current reading period aiming at the acceleration data in the current reading period; respectively judging whether the time domain data meet the time domain characteristics of the pace data or not, and judging whether the motion of the object in the current reading period meets the frequency requirement of the pace or not by utilizing the time domain data;
aiming at a plurality of angular velocity data in the current reading period, calculating by using the angular velocity data to obtain an object accumulative action attitude value; judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object;
and if the time domain data is judged to meet the time domain characteristics of the step data, judging that the motion of the object in the current reading period meets the frequency requirement of the step, judging that the motion of the object in the current reading period meets the requirement of the walking motion, and recording that the step is detected to be generated in the current reading period.
Optionally, in the method, the calculating an object cumulative motion attitude value by using the angular velocity data includes:
calculating a pitch angle, a roll angle and an azimuth angle of the angular velocity detection equipment by using the angular velocity data;
and calculating the pitch angle, the roll angle and the azimuth angle to obtain the accumulated action attitude value of the object.
The third aspect of the present application discloses a step detection apparatus, comprising:
a first reading unit configured to read a plurality of angular velocity data in a current reading period; wherein the angular velocity data is obtained by detecting the motion of an object by an angular velocity detection device;
the first calculation unit is used for calculating an object accumulated action attitude value by using the angular velocity data;
a first judgment unit, configured to judge, by using the object accumulated motion attitude value, whether the motion of the object in the current reading period meets a requirement of a walking motion;
and the first recording unit is used for recording that the step generation is detected in the current reading period if the movement of the object in the current reading period is judged to meet the requirement of walking movement.
Optionally, in the foregoing apparatus, the first calculating unit includes:
the first calculating subunit is configured to calculate a pitch angle, a roll angle and an azimuth angle of the angular velocity detection device by using the angular velocity data;
and the second calculating subunit is used for calculating the pitch angle, the roll angle and the azimuth angle to obtain the accumulated motion attitude value of the object.
Optionally, in the foregoing apparatus, the first determining unit includes:
the first judgment subunit is used for judging whether the object accumulated motion attitude value is not greater than a first threshold value; wherein the first threshold value refers to the highest value of the object posture value in the walking movement;
and the second judging subunit is configured to judge that the object moves in the current reading period and meets the requirement of the walking movement if it is judged that the object cumulative motion attitude value is not greater than the first threshold.
Optionally, the above apparatus further includes:
the device comprises an acquisition unit, a detection unit and a control unit, wherein the acquisition unit is used for acquiring the time of detecting the current step and the time of detecting the last step;
the cycle calculating unit is used for carrying out subtraction on the time of detecting the current step and the time of detecting the previous step to obtain a stepping cycle;
and the setting unit is used for multiplying the stepping period by a preset multiple factor to obtain a time length, and setting the time length as the reading period.
The present application fourth aspect discloses a step detection device, including:
a second reading unit, configured to read a plurality of pieces of acceleration data in a current reading period and a plurality of pieces of angular velocity data in the current reading period, respectively; wherein the acceleration data is obtained by detecting the motion of an object by an acceleration detection device; the angular velocity data is obtained by detecting the motion of an object by angular velocity detection equipment;
the second calculation unit is used for calculating time domain data corresponding to the acceleration data in the current reading period according to the acceleration data in the current reading period; respectively judging whether the time domain data meet the time domain characteristics of the pace data or not, and judging whether the motion of the object in the current reading period meets the frequency requirement of the pace or not by utilizing the time domain data;
the second judgment unit is used for calculating an object accumulative action attitude value by utilizing the angular velocity data aiming at a plurality of angular velocity data in the current reading period; judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object;
and the second recording unit is used for judging that the motion of the object in the current reading period meets the frequency requirement of the step if the time domain data meets the time domain characteristic of the step data, judging that the motion of the object in the current reading period meets the requirement of the walking motion, and recording that the step is detected in the current reading period.
Optionally, in the foregoing apparatus, the second calculating unit includes:
the third calculation subunit is used for calculating a pitch angle, a roll angle and an azimuth angle of the angular velocity detection equipment by using the angular velocity data;
and the fourth calculating subunit is used for calculating the pitch angle, the roll angle and the azimuth angle to obtain the accumulated motion attitude value of the object.
The fifth aspect of the present application discloses a detection apparatus, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of the first and second aspects of the present application.
A sixth aspect of the present application discloses a computer readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method according to any one of the first and second aspects of the present application.
According to the technical scheme, in the step detection method provided by the application, a plurality of angular velocity data in the current reading period are read firstly. Wherein the angular velocity data is obtained by detecting the motion of the object by the angular velocity detection device. And then calculating by using the angular velocity data to obtain an object accumulated action attitude value. And then, judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object. And if the motion of the object in the current reading period is judged to meet the requirement of walking motion, recording that the step is detected to be generated in the current reading period. Therefore, in the process of detecting the steps, whether the candidate steps are related to the violent hand motion or not can be detected through the object accumulation motion attitude values, and the false detection operation caused by the hand motion can be effectively prevented. Therefore, the problem that the accuracy of step detection data is reduced and the motion state of the user cannot be accurately reflected due to the fact that the step of the user is wrongly detected due to the interference of the motion of the hand of the user in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method of step detection as disclosed in an embodiment of the present application;
FIG. 2 is a flow chart of another method of step detection as disclosed in another embodiment of the present application;
FIG. 3 is a flowchart of one implementation of step S202 disclosed in another embodiment of the present application;
FIG. 4 is a schematic view of a step detection apparatus according to another embodiment of the present disclosure;
FIG. 5 is a schematic view of another step detection apparatus disclosed in another embodiment of the present application;
fig. 6 is a schematic diagram of a detection apparatus according to another embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Moreover, in this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
It can be known from the background art that, in the existing step detection method, in the process of carrying out step detection by a user holding an intelligent device capable of being used for step detection or wearing the intelligent device on the hand, the step of the user is often detected by mistake due to the interference of the motion of the hand of the user, so that the accuracy of the step detection data is reduced, and the motion state of the user cannot be accurately reflected.
In view of this, the present application provides a method, an apparatus, a detection device and a computer storage medium for step detection, so as to solve the problem in the prior art that the step detection data accuracy is reduced and the motion state of the user cannot be accurately reflected due to the false detection of the step of the user caused by the interference of the motion of the hand of the user.
The embodiment of the application provides a method for detecting steps, as shown in fig. 1, specifically including:
s101, reading a plurality of angular velocity data in a current reading period; wherein the angular velocity data is obtained by detecting the motion of the object by the angular velocity detection device.
It should be noted that, when the step is detected, it is necessary to read the angular velocity data of the object at a certain time period, where the angular velocity data is obtained by detecting the motion of the object by the angular velocity detection device. For example, the length of the time period may be set to 1 second, and the angular velocity detection device may be an angular velocity sensor in a smart device such as a mobile phone and a smart band used by a user, for example, a gyroscope sensor in a smart phone. When the user moves, the intelligent device carried by the user can move along with the user, and at the moment, the angular velocity sensor in the intelligent device can detect the angular velocity data generated by the movement of the intelligent device.
The frequency for reading the angular velocity data can be set according to actual conditions, for the accuracy of the data, the frequency for reading the angular velocity data is generally not lower than 20HZ, and the system performance is affected because the frequency is lower than 20HZ, which is equivalent to sampling the walking process of people based on a sensor, the higher the sampling frequency is, the more original motion information can be restored, and the lower the frequency is, part of information can be lost. For convenience of data management, a plurality of angular velocity data in the current reading period may be stored in a queue according to the detection sequence of the angular velocity detection device, the time length of the queue is consistent with the preset time period for reading the angular velocity data, for example, if the length of the time period is set to 1 second, the time length of the queue is also one second. When data is stored into a queue, if the length from the first data to the last data in the queue is less than the time length of the queue, the data is directly added into the queue from the tail of the queue; and if the length from the first data to the last data in the queue reaches the time length of the queue, removing the corresponding data at the head of the queue and keeping the time length of the queue each time new data is added into the queue from the tail of the queue.
And S102, calculating to obtain an object accumulative motion attitude value by using the angular velocity data.
After a plurality of angular velocity data in the current reading period are read, the attitude value of the object cumulative motion is calculated by using the angular velocity data. And the object accumulated motion attitude value is an accumulated value of all hand motion attitude angles of the intelligent device in a reading period. When the user wears the smart device on handheld smart device or the hand that can be used to step detection, based on people's walking habit, normal walking seldom can have great action in hand simultaneously. When the hand motion is large, the object accumulated motion attitude value is relatively large, so that whether the current motion of the object is caused by the violent motion of the hand of the user can be judged through the calculated object accumulated motion attitude value.
Optionally, in another embodiment of the present application, an implementation manner of step S102 may include:
and calculating a pitch angle, a roll angle and an azimuth angle of the angular velocity detection equipment by using the angular velocity data, and calculating the pitch angle, the roll angle and the azimuth angle to obtain an accumulated motion attitude value of the object.
The angular velocity data [ w ] detected by the angular velocity sensorx,wy,wz]TSubstituting into the formula:
calculating three hand motion attitude angles]TWherein pitch is pitch angle, roll is roll angle, and yaw is azimuth angle. And then summing the pitch angle, the roll angle and the azimuth angle to obtain an accumulated action attitude value of the object.
S103, judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by using the object accumulated motion attitude value.
It should be noted that when a user wears a smart device for step detection in his/her hand or hand, normal walking is rarely performed while the hand has a large motion based on the walking habit of the person. When the hand motion is large, the object accumulated motion attitude value is relatively large, so that whether the current motion of the object is caused by the violent motion of the hand of the user can be judged through the calculated object accumulated motion attitude value, and whether the current motion of the object meets the requirement of the walking motion is judged.
Optionally, in another embodiment of the present application, an implementation manner of step S103 may include:
judging whether the attitude value of the accumulated motion of the object is not greater than a first threshold value; wherein, the first threshold value refers to the highest value of the object attitude value in the walking movement;
and if the accumulated motion attitude value of the object is judged to be not larger than the first threshold, judging the motion of the object in the current reading period, and meeting the requirement of walking motion.
It should be noted that a threshold value may be set according to actual conditions, and as long as the object cumulative motion posture value exceeds the threshold value, it indicates that the current motion of the object is a motion caused by a violent hand motion. Therefore, the accumulated motion attitude value of the object is compared with a preset threshold value, and if the accumulated motion attitude value of the object is not greater than the preset threshold value, the motion of the object in the current reading period is in accordance with the requirement of the walking motion. And if the accumulated motion attitude value of the object is larger than the preset threshold value, the motion of the object in the current reading period is not in accordance with the requirement of walking motion.
And S104, if the motion of the object in the current reading period is judged to meet the requirement of walking motion, recording that the step is detected to be generated in the current reading period.
It should be noted that, if it is determined that the object cumulative motion attitude value meets the object cumulative motion attitude value requirement of the walking motion, it indicates that the object moves in the current reading period, and meets the requirement of the walking motion, and the angular velocity data detected in the current period meets the data characteristic of the step, and it is recorded that the step is detected to be generated in the current reading period.
In the step detection method provided by the embodiment of the application, a plurality of angular velocity data in a current reading period are read at first. Wherein the angular velocity data is obtained by detecting the motion of the object by the angular velocity detection device. And then calculating by using the angular velocity data to obtain an object accumulated action attitude value. And then, judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object. And if the motion of the object in the current reading period is judged to meet the requirement of walking motion, recording that the step is detected to be generated in the current reading period. Therefore, in the process of detecting the steps, whether the candidate steps are related to the violent hand motion or not can be detected through the object accumulation motion attitude values, and the false detection operation caused by the hand motion can be effectively prevented. Therefore, the problem that the accuracy of step detection data is reduced and the motion state of the user cannot be accurately reflected due to the fact that the step of the user is wrongly detected due to the interference of the motion of the hand of the user in the prior art is solved.
Optionally, in another embodiment of the present application, after performing step S104, the step detecting method may further include:
the time when the current step is detected and the time when the step was detected last time are obtained.
And (4) carrying out subtraction on the time of detecting the current step and the time of detecting the last step to obtain a stepping period.
And multiplying the stepping period by a preset multiple factor to obtain a time length, and setting the time length as a reading period.
It should be noted that, after the step is detected in the current reading period, the time when the current step is detected and the time when the step is detected last time are obtained, and the time when the current step is detected is subtracted from the time when the step is detected last time, so as to obtain the step cycle of the user. The step cycle is then multiplied by a predetermined multiple factor, which may be set according to practice, for example, between 1.2 and 1.8, to obtain a new time length, and the new time length is set as the new data reading cycle. The reading period of the data is updated according to the stepping period of the user, so that the step detection accuracy when the walking speed changes can be effectively improved.
In another embodiment of the present application, another step detection method is further disclosed, specifically as shown in fig. 2, including:
s201, respectively reading a plurality of acceleration data in a current reading period and a plurality of angular velocity data in the current reading period; the acceleration data is obtained by detecting the motion of an object by an acceleration detection device; the angular velocity data is obtained by detecting the movement of the object by an angular velocity detection device.
When the step is detected, it is necessary to read a plurality of pieces of acceleration data of the object and a plurality of pieces of angular velocity data of the object at a certain time period, and the length of the time period may be set according to actual conditions, for example, 1 second. The acceleration data is obtained by detecting the motion of an object by an acceleration detection device, and the speed detection device can be a speed sensor in intelligent devices such as a mobile phone and an intelligent bracelet used by a user. The angular velocity data is obtained by detecting the movement of an object by an angular velocity detection device, which may be a gyro sensor and a constant angular velocity sensor in a smartphone.
And for convenience of data management, a plurality of acceleration data in the current reading period may be stored in the acceleration data queue according to the detection order of the acceleration detection device, and a plurality of angular velocity data in the current reading period may be stored in the angular velocity data queue according to the detection order of the angular detection device, and the time lengths of the two queues may be set as the above-set time period. When data is stored into a queue, if the length from the first data to the last data in the queue is less than the time length of the queue, the data is directly added into the queue from the tail of the queue; and if the length from the first data to the last data in the queue reaches the time length of the queue, removing the corresponding data at the head of the queue and keeping the time length of the queue each time new data is added into the queue from the tail of the queue.
S202, calculating time domain data corresponding to the acceleration data in the current reading period according to the acceleration data in the current reading period; and respectively judging whether the time domain data meets the time domain characteristics of the pace data or not, and judging whether the motion of the object in the current reading period meets the frequency requirement of the pace or not by utilizing the time domain data.
It should be noted that, since the acceleration data generated when the user generates the step both conform to some specific rules in the time domain angle and the frequency domain angle, after reading the multiple acceleration data in the current reading period, the multiple acceleration data in the current reading period are calculated to obtain the corresponding time domain data. The time domain data can reflect the time domain characteristics of a plurality of acceleration data in the current reading period. And then, calculating and analyzing the time domain data to judge whether the time domain data meets the time domain characteristics of the pace data or not and whether the motion of the object in the current reading period meets the frequency requirement of the pace or not. Therefore, whether the acceleration data read by the intelligent device carried by the user in the current reading period meets the requirements of step generation in the time domain angle and the frequency domain angle can be judged.
Optionally, in another embodiment of the present application, an implementation manner of step S202, referring to fig. 3, specifically includes:
s301, calculating the modulus values of a plurality of acceleration data in the current reading period; wherein an order of the modulus values of the plurality of acceleration data corresponds to an order in which the plurality of acceleration data are detected by the acceleration detecting device.
For convenience, the following description is madeAnd data management, namely, optionally storing a plurality of acceleration data in the current reading period into a queue according to the detection sequence of the acceleration detection device, wherein the time length of the queue is a preset acceleration data reading period. And respectively calculating the module value of each acceleration data for a plurality of acceleration data in the current reading period, and storing the calculated module value of each acceleration into a queue with the same time length according to the sequence of the plurality of acceleration data in the current reading period. For example, the data read by the acceleration sensor of the smartphone used by the user is [ a ]x,ay,az]TThen the formula can be used:
and calculating to obtain the module value of each acceleration data, and storing the module value into a queue. Where i represents the i-th frame sensor data.
S302, peak data in the module values of all the acceleration data in the current reading period is found out, and whether the peak data is located in the middle position of the module values of all the acceleration data is judged.
And if the peak data is judged to be positioned in the middle position of the modulus values of all the acceleration data, judging that the time domain data meets the time domain characteristic of the pace data.
After calculating the modulus of each acceleration data, peak data in the moduli of all the acceleration data is found, and whether the modulus corresponding to the peak data is located at the middle position of the order of the moduli of the plurality of acceleration data is determined based on a peak detection method. It can be known from the above steps that a plurality of acceleration data in the current reading period can be stored in the queue according to the detection sequence of the acceleration detection device, and the calculated module value of each acceleration is also stored in the queue with the same time length according to the sequence of the plurality of acceleration data in the current reading period, and at this time, it is determined whether the module value corresponding to the peak data is located at the middle position of the queue.
In addition, as can be seen from the above steps, if the calculated modulus formula of each acceleration is stored in the queue of the same time length in the order of the plurality of acceleration data in the current reading period, in this case, the acceleration data is the same as the position of the modulus of the acceleration in the queue, and if the peak data in the modulus of the acceleration data is located at the middle position in the modulus queue, the acceleration data corresponding to the peak data is also located at the middle position in the queue of the plurality of acceleration data in the current reading period. Therefore, it is also possible to obtain a conclusion whether the mode value corresponding to the peak data is located at the middle position of the mode value queue of the acceleration data by determining whether the acceleration data corresponding to the peak data is located at the middle position of the queue of the acceleration data in the current reading period.
If the queue length is odd, the middle position is the position of the middle element. If the queue length is even, the middle position may be the position of any one of the middle two elements, for example, the middle two elements of the queue are divided into the position of the left element or the position of the right element, and the position of the left element may be selected as the middle position of the even queue. Meanwhile, once the position of the left element is selected as the middle position, the position of the left element in the middle two elements of the even queue is defaulted, and the same is true when the position of the right element is selected as the middle position. For example, a queue of 8 elements, and the position of the left element in the two middle elements is selected as the middle position of the queue, the middle position is the position of the fourth element.
It should be further noted that, because human walking is a sinusoidal fluctuation process with a basic rule, peak detection can preliminarily determine valid step candidates based on sinusoidal wave peaks. If the module value corresponding to the peak data is located at the middle position of the sequence of the module values of the acceleration data, it indicates that the candidate step is preliminarily determined in the time domain. Therefore, if it is determined that the peak data is located at the middle position of the modulus of all the acceleration data, it is determined that the time domain data meets the time domain characteristics of the step data.
Optionally, in another embodiment of the present application, after performing step S302, the method may further include:
and judging whether the peak data is smaller than a preset second threshold value.
If the peak data is located in the middle of the module values of all the acceleration data and the peak data is not smaller than the preset threshold value, the time domain data is judged to meet the time domain characteristics of the step data.
It should be noted that, in order to further verify the accuracy of the data, a threshold related to the peak data of the acceleration mode values may be set, and only when the mode value corresponding to the peak data is located at the middle position of the sequence of the mode values of the multiple acceleration data and the peak data is not less than the preset threshold, it indicates that there is a valid candidate step in the current reading time period. Therefore, after peak data in the module values of all the acceleration data are found out, whether the peak data are smaller than a preset second threshold value is judged, if the module values corresponding to the peak data are located at the middle positions of the sequence of the module values of the multiple acceleration data and the peak data are not smaller than the preset threshold value, the domain data are judged to be in accordance with the time domain characteristic of the step data, and the fact that effective candidate steps exist in the current reading time period is represented. Therefore, candidate steps can be screened out more accurately, and accuracy in step detection is prompted.
And S303, processing the modulus of each acceleration data in the current reading period to obtain the frequency corresponding to the modulus of each acceleration data.
In addition, the modulus values of a plurality of pieces of acceleration data in the current reading period are subjected to short-time fourier transform, and the frequency corresponding to the modulus value of each piece of acceleration data is obtained. The module values of a plurality of acceleration data in the current reading period are put into a queue, and the queue is obtained
Where seq represents the length of time of the queue. Then using the formula:
to queue
And carrying out short-time Fourier transformation to obtain the corresponding frequency fre _ main. Where STFT represents a short-time fourier change, and fre represents a sampling frequency of an acceleration sensor in a smart device carried by a user.
S304, finding out the main peak frequency in the frequencies corresponding to the modulus of the acceleration data.
It should be noted that after the frequency corresponding to the modulus of each acceleration data is obtained, the main peak frequency in the frequencies corresponding to the moduli of the acceleration data is found, and then it can be further determined whether the motion of the object in the current reading period belongs to the motion meeting the frequency requirement of the pace according to the main peak frequency.
S305, judging whether the main peak frequency is located in a preset step frequency interval.
Wherein: and if the main peak frequency is judged to be located in the preset step frequency interval, judging the motion of the object in the current reading period, and meeting the frequency requirement of the step.
It should be noted that, after the main peak frequency is obtained, it is determined whether the main peak frequency is in a frequency interval of the step frequency range, which may be set according to actual conditions, for example, 0.5HZ to 6 HZ. This frequency range represents a step frequency range in which the person is restricted from walking, and is the step detection of the person from the frequency domain. If the main peak frequency is judged to be in accordance with the preset step frequency interval, the motion of the object in the current reading period is in accordance with the frequency requirement of the step, and the step can be generated at the moment. And if the main peak frequency is judged not to accord with the preset frequency interval, the motion of the object in the current reading period is not the motion which accords with the frequency requirement of the step.
S203, calculating to obtain an object accumulative motion attitude value by utilizing angular velocity data aiming at a plurality of angular velocity data in the current reading period; and judging whether the motion of the object in the current reading period meets the requirement of the walking motion or not by utilizing the accumulated motion attitude value of the object.
The object cumulative motion attitude value is calculated using the angular velocity data. And the object accumulated motion attitude value is an accumulated value of all hand motion attitude angles of the intelligent device in a reading period. When the user wears the smart device on handheld smart device or the hand that can be used to step detection, based on people's walking habit, normal walking seldom can have great action in hand simultaneously. When the hand motion is large, the object accumulated motion attitude value is relatively large, so that whether the current motion of the object is caused by the violent motion of the hand of the user can be judged through the calculated object accumulated motion attitude value, and whether the current motion of the object meets the requirement of the walking motion is judged.
S204, if the time domain data are judged to meet the time domain characteristics of the step data, the motion of the object in the current reading period is judged to meet the frequency requirement of the step, the motion of the object in the current reading period is judged to meet the requirement of the walking motion, and then the step generation is detected in the current reading period.
It should be noted that, if it is determined that the time domain data meets the time domain characteristic of the step data, it is determined that the motion of the object in the current reading period meets the frequency requirement of the step, which indicates that the acceleration data detected in the current period meets the data characteristic of the step in both the time domain and the frequency domain. And judging the motion of the object in the current reading period, meeting the requirements of walking motion, and showing that the angular speed data detected in the current period also meets the data characteristics of the step. Then step generation is detected during the current read cycle at this time.
In the step detection method provided by the embodiment of the application, a plurality of acceleration data in a current reading period and a plurality of angular velocity data in the current reading period are respectively read, wherein the acceleration data are obtained by detecting the motion of an object by an acceleration detection device; the angular velocity data is obtained by detecting the movement of the object by an angular velocity detection device. Then, calculating to obtain time domain data corresponding to the acceleration data in the current reading period aiming at the acceleration data in the current reading period; and respectively judging whether the time domain data meets the time domain characteristics of the pace data or not, and judging whether the motion of the object in the current reading period meets the frequency requirement of the pace or not by utilizing the time domain data. Calculating to obtain an object accumulative action attitude value by utilizing the angular velocity data aiming at a plurality of angular velocity data in the current reading period; and judging whether the motion of the object in the current reading period meets the requirement of the walking motion or not by utilizing the accumulated motion attitude value of the object. If the time domain data are judged to meet the time domain characteristics of the step data, the motion of the object in the current reading period is judged to meet the frequency requirement of the step, the motion of the object in the current reading period is judged to meet the requirement of the walking motion, and the step generation is detected in the current reading period. In the method, the acceleration data of the object is detected in the time domain and the frequency domain, and the angular velocity of the object is detected, so that the false detection operation caused by the hand motion can be effectively prevented, and the generation of the step can be detected more accurately.
In another embodiment of the present application, there is also disclosed a step detection apparatus, as shown in fig. 4, including:
a first reading unit 401 configured to read a plurality of angular velocity data in a current reading period; wherein the angular velocity data is obtained by detecting the motion of the object by the angular velocity detection device.
A first calculating unit 402, configured to calculate an object cumulative motion attitude value by using the angular velocity data.
A first judging unit 403, configured to judge whether the motion of the object in the current reading period meets the requirement of the walking motion by using the object accumulated motion attitude value.
The first recording unit 404 is configured to record that a step is detected in the current reading period if it is determined that the movement of the object in the current reading period meets the requirement of the walking movement.
In the apparatus for detecting steps provided in the embodiment of the present application, first, the first reading unit 401 reads a plurality of angular velocity data in a current reading period. Wherein the angular velocity data is obtained by detecting the motion of the object by the angular velocity detection device. The first calculation unit 402 calculates an object cumulative motion attitude value using the angular velocity data. The first judgment unit 403 then judges whether the movement of the object in the current reading cycle meets the requirement of the walking movement, using the object accumulated motion attitude value. If it is determined that the movement of the object in the current reading period meets the requirement of the walking movement, the first recording unit 404 records that the step generation is detected in the current reading period. Therefore, in the process of detecting the steps, whether the candidate steps are related to the violent hand motion or not can be detected through the object accumulation motion attitude values, and the false detection operation caused by the hand motion can be effectively prevented. Therefore, the problem that the accuracy of step detection data is reduced and the motion state of the user cannot be accurately reflected due to the fact that the step of the user is wrongly detected due to the interference of the motion of the hand of the user in the prior art is solved.
In this embodiment, for specific implementation processes of the first reading unit 401, the first calculating unit 402, the first determining unit 403, and the first recording unit 404, reference may be made to the contents of the method embodiment corresponding to fig. 1, and details are not described herein again.
Optionally, in another embodiment of the present application, an implementation manner of the first computing unit 402 includes:
and the first calculating subunit is used for calculating the pitch angle, the roll angle and the azimuth angle of the angular velocity detection equipment by using the angular velocity data.
And the second calculating subunit is used for calculating a pitch angle, a roll angle and an azimuth angle to obtain an object accumulated action attitude value.
In this embodiment, for the specific execution process of the first calculating subunit and the second calculating subunit, reference may be made to the contents of the above method embodiments, and details are not described here again.
Optionally, in another embodiment of the present application, an implementation manner of the first determining unit 403 includes:
the first judgment subunit is used for judging whether the object accumulated motion attitude value is not greater than a first threshold value; wherein the first threshold value refers to the highest value of the object posture value in the walking movement.
And the second judging subunit is used for judging the movement of the object in the current reading period to meet the requirement of the walking movement if the accumulated motion attitude value of the object is judged to be not larger than the first threshold value.
In this embodiment, for the specific execution process of the first determining subunit and the second determining subunit, reference may be made to the contents of the above method embodiments, which are not described herein again.
Optionally, in another embodiment of the present application, the step detecting apparatus further includes:
and the acquisition unit is used for acquiring the time of detecting the current step and the time of detecting the last step.
And the period calculating unit is used for carrying out subtraction on the time of detecting the current step and the time of detecting the previous step to obtain a stepping period.
And the setting unit is used for multiplying the stepping period by a preset multiple factor to obtain a time length, and setting the time length as a reading period.
In this embodiment, for the specific execution processes of the obtaining unit, the period calculating unit, and the setting unit, reference may be made to the contents of the above method embodiments, and details are not described here.
In another embodiment of the present application, there is also disclosed a step detection apparatus, as shown in fig. 5, including:
a second reading unit 501, configured to read a plurality of pieces of acceleration data in a current reading period and a plurality of pieces of angular velocity data in the current reading period, respectively; the acceleration data is obtained by detecting the motion of an object by an acceleration detection device; the angular velocity data is obtained by detecting the movement of the object by an angular velocity detection device.
A second calculating unit 502, configured to calculate, for multiple pieces of acceleration data in a current reading period, time domain data corresponding to the multiple pieces of acceleration data in the current reading period; and respectively judging whether the time domain data meets the time domain characteristics of the pace data or not, and judging whether the motion of the object in the current reading period meets the frequency requirement of the pace or not by utilizing the time domain data.
A second determination unit 503, configured to calculate, according to multiple angular velocity data in a current reading period, an object cumulative motion attitude value using the angular velocity data; and judging whether the motion of the object in the current reading period meets the requirement of the walking motion or not by utilizing the accumulated motion attitude value of the object.
The second recording unit 504 is configured to record that the step is detected in the current reading period if it is determined that the time domain data meets the time domain characteristic of the step data, it is determined that the motion of the object in the current reading period meets the frequency requirement of the step, and it is determined that the motion of the object in the current reading period meets the requirement of the walking motion.
In the device for detecting steps provided by the embodiment of the application, the second reading unit 501 respectively reads a plurality of acceleration data in a current reading period and a plurality of angular velocity data in the current reading period, wherein the acceleration data is obtained by detecting the motion of an object by an acceleration detecting device; the angular velocity data is obtained by detecting the movement of the object by an angular velocity detection device. Then, the second calculating unit 502 calculates, for the multiple pieces of acceleration data in the current reading period, time domain data corresponding to the multiple pieces of acceleration data in the current reading period; and respectively judges whether the time domain data meets the time domain characteristics of the pace data, and the second judging unit 503 judges whether the motion of the object in the current reading period meets the frequency requirement of the pace by using the time domain data. Calculating to obtain an object accumulative action attitude value by utilizing the angular velocity data aiming at a plurality of angular velocity data in the current reading period; and judging whether the motion of the object in the current reading period meets the requirement of the walking motion or not by utilizing the accumulated motion attitude value of the object. If the time domain data is judged to meet the time domain characteristics of the step data, the motion of the object in the current reading period is judged to meet the frequency requirement of the step, and the motion of the object in the current reading period is judged to meet the requirement of the walking motion, the second recording unit 504 records that the step is detected to be generated in the current reading period. In the method, the acceleration data of the object is detected in the time domain and the frequency domain, and the angular velocity of the object is detected, so that the false detection operation caused by the hand motion can be effectively prevented, and the generation of the step can be detected more accurately.
In this embodiment, the specific implementation processes of the second reading unit 501, the second calculating unit 502, the second determining unit 503 and the second recording unit 504 can refer to the contents of the method embodiment corresponding to fig. 2, and are not described herein again.
Optionally, in another embodiment of the present application, an implementation manner of the second computing unit 502 includes:
the third calculation subunit is used for calculating a pitch angle, a roll angle and an azimuth angle of the angular velocity detection equipment by using the angular velocity data;
and the fourth calculating subunit is used for calculating a pitch angle, a roll angle and an azimuth angle to obtain an object accumulated action attitude value.
In this embodiment, for the specific execution process of the third calculating subunit and the fourth calculating subunit, reference may be made to the contents of the above method embodiments, and details are not described here.
Another embodiment of the present application further provides a detection device, as shown in fig. 6, specifically including:
one or more processors 601.
A storage device 602 having one or more programs stored thereon.
The one or more programs, when executed by the one or more processors 601, cause the one or more processors 601 to implement the method as in any one of the embodiments described above.
Another embodiment of the present application also provides a computer readable medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method according to any one of the above embodiments.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of step detection, comprising:
reading a plurality of angular velocity data in a current reading period; wherein the angular velocity data is obtained by detecting the motion of an object by an angular velocity detection device;
calculating to obtain an object accumulated action attitude value by using the angular velocity data;
judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object;
and if the motion of the object in the current reading period is judged to meet the requirement of walking motion, recording that the step is detected to be generated in the current reading period.
2. The method of claim 1, wherein said calculating an object cumulative motion pose value using said angular velocity data comprises:
calculating a pitch angle, a roll angle and an azimuth angle of the angular velocity detection equipment by using the angular velocity data;
and calculating the pitch angle, the roll angle and the azimuth angle to obtain the accumulated action attitude value of the object.
3. The method of claim 1, wherein the determining whether the motion of the object in the current reading period meets the requirement of walking motion by using the object accumulated motion attitude value comprises:
judging whether the object accumulated motion attitude value is not greater than a first threshold value; wherein the first threshold value refers to the highest value of the object posture value in the walking movement;
and if the accumulated motion attitude value of the object is judged to be not larger than the first threshold, judging that the object moves in the current reading period and meets the requirement of walking movement.
4. The method of claim 1, wherein the recording further comprises, after detecting step generation within the current read cycle:
acquiring the time of detecting the current step and the time of detecting the last step;
the time of detecting the current step and the time of detecting the last step are subjected to subtraction to obtain a step cycle;
and multiplying the stepping period by a preset multiple factor to obtain a time length, and setting the time length as the reading period.
5. A method of step detection, comprising:
respectively reading a plurality of acceleration data in a current reading period and a plurality of angular velocity data in the current reading period; wherein the acceleration data is obtained by detecting the motion of an object by an acceleration detection device; the angular velocity data is obtained by detecting the motion of an object by angular velocity detection equipment;
calculating time domain data corresponding to the acceleration data in the current reading period aiming at the acceleration data in the current reading period; respectively judging whether the time domain data meet the time domain characteristics of the pace data or not, and judging whether the motion of the object in the current reading period meets the frequency requirement of the pace or not by utilizing the time domain data;
aiming at a plurality of angular velocity data in the current reading period, calculating by using the angular velocity data to obtain an object accumulative action attitude value; judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object;
and if the time domain data is judged to meet the time domain characteristics of the step data, judging that the motion of the object in the current reading period meets the frequency requirement of the step, judging that the motion of the object in the current reading period meets the requirement of the walking motion, and recording that the step is detected to be generated in the current reading period.
6. The method of claim 5, wherein said calculating an object cumulative motion pose value using said angular velocity data comprises:
calculating a pitch angle, a roll angle and an azimuth angle of the angular velocity detection equipment by using the angular velocity data;
and calculating the pitch angle, the roll angle and the azimuth angle to obtain the accumulated action attitude value of the object.
7. An apparatus for step detection, comprising:
a first reading unit configured to read a plurality of angular velocity data in a current reading period; wherein the angular velocity data is obtained by detecting the motion of an object by an angular velocity detection device;
the first calculation unit is used for calculating an object accumulated action attitude value by using the angular velocity data;
a first judgment unit, configured to judge, by using the object accumulated motion attitude value, whether the motion of the object in the current reading period meets a requirement of a walking motion;
and the first recording unit is used for recording that the step generation is detected in the current reading period if the movement of the object in the current reading period is judged to meet the requirement of walking movement.
8. An apparatus for step detection, comprising:
a second reading unit, configured to read a plurality of pieces of acceleration data in a current reading period and a plurality of pieces of angular velocity data in the current reading period, respectively; wherein the acceleration data is obtained by detecting the motion of an object by an acceleration detection device; the angular velocity data is obtained by detecting the motion of an object by angular velocity detection equipment;
the second calculation unit is used for calculating time domain data corresponding to the acceleration data in the current reading period according to the acceleration data in the current reading period; respectively judging whether the time domain data meet the time domain characteristics of the pace data or not, and judging whether the motion of the object in the current reading period meets the frequency requirement of the pace or not by utilizing the time domain data;
the second judgment unit is used for calculating an object accumulative action attitude value by utilizing the angular velocity data aiming at a plurality of angular velocity data in the current reading period; judging whether the motion of the object in the current reading period meets the requirement of walking motion or not by utilizing the accumulated motion attitude value of the object;
and the second recording unit is used for judging that the motion of the object in the current reading period meets the frequency requirement of the step if the time domain data meets the time domain characteristic of the step data, judging that the motion of the object in the current reading period meets the requirement of the walking motion, and recording that the step is detected in the current reading period.
9. A detection apparatus, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-6.
10. A computer-readable medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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