CN112274874A

CN112274874A - Human motion energy consumption evaluation system and method based on micro-inertial sensor

Info

Publication number: CN112274874A
Application number: CN202010530925.2A
Authority: CN
Inventors: 陈俊; 张洪波; 曹淑晨; 周磊; 张旭东; 殷瑞雪
Original assignee: Huashan Hospital of Fudan University
Current assignee: Huashan Hospital of Fudan University
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2021-01-29

Abstract

The invention discloses a human motion energy consumption evaluation system based on a micro inertial sensor, which comprises a motion parameter acquisition module, a wireless data transmission module, a heart rate monitoring module and an upper computer; the motion parameter acquisition module comprises at least one micro-inertia sensing unit, a power supply management unit and a single chip microcomputer processing unit, wherein the micro-inertia sensing unit comprises a voltage reduction and current stabilization module and a nine-axis inertia sensor; the nine-axis inertial sensor comprises a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, and is respectively used for acquiring the acceleration value of human body movement, the angular velocity value of limb rotation and the geomagnetic intensity; the upper computer comprises a human body movement energy consumption evaluation module. The human motion energy consumption evaluation system integrates the micro inertial sensor and the heart rate meter hardware, and integrates the algorithm to evaluate the motion energy consumption, so that the accuracy of energy collection is improved, and the human motion energy consumption evaluation system has the advantages of low cost, convenience in wearing, small space-time limit, comfort for users, high safety and the like.

Description

Human motion energy consumption evaluation system and method based on micro-inertial sensor

Technical Field

The invention relates to the technical field of human motion energy consumption assessment, human motion posture assessment and sports medicine, in particular to a human motion energy consumption assessment system and method based on a micro-inertial sensor.

Background

Lack of exercise is becoming an important problem for the health of our country and even the world, and 7-10% of all premature deaths worldwide are due to lack of exercise. There are many studies that indicate that the level of physical activity a person engages is inversely proportional to their risk of suffering from a range of chronic medical conditions, such as heart disease, e.g. obesity, coronary heart disease, type 2 diabetes and breast cancer; clinically, it is important to consider the energy expenditure and heart rate of the patient when making a rehabilitation plan for the patient, the energy expenditure for rehabilitation exercises in many evaluations far exceeds the measured energy expenditure, the plan design achieves 50% of the maximum exercise energy expenditure of the patient, rather than nearly 90% of the maximum exercise energy expenditure of the patient, which can present a considerable risk of myocardial infarction for coronary heart disease patients with undiagnosed diagnosis. Furthermore, these health problems will become more severe as the data of individuals who lack exercise increases with age. Statistically, the aging population (over 65 years) will increase from 5.2 billion in 2010 to 19 billion in 2050. Therefore, more accurate measures must be taken to evaluate the exercise energy consumption of the human body, maintain the necessary amount of exercise, improve the physical functions, reduce the incidence of chronic diseases, and delay the time to enter institutional care, which has led to increased attention and development of effective and reliable methods for monitoring the exercise energy consumption.

At present, common methods for detecting human body movement energy consumption in research include indirect calorimetry, cardiotachometer monitoring, pedometer estimation, accelerometer, and cardiotachometer combination, wherein indirect calorimetry is the most accurate in human body energy detection, but the requirements on the equipment use environment and cost are high, and the method does not reflect the consumption of human body movement energy in real time, and needs to be worn on the face all the time, and is highly invasive to human.

The heart rate and the respiration oxygen consumption are in a linear relation, the human body energy consumption can be indirectly calculated through heart rate detection, the equipment is simple and easy, the cost is low, the heart rate of a person can be reflected in real time, but the heart rate can be changed along with the mood of the person, the heart rate of different crowds is different from the proportional coefficient of the oxygen consumption, and therefore the method has certain limitation on the crowds and the environment.

The pedometer method can reflect the number of times of movement, cannot reflect the movement intensity and the movement mode, is limited in a one-dimensional space, can only detect the movement condition in one direction, and has poor measurement accuracy.

The basic principle of the acceleration sensor detection method is that human motion consumption is calculated by detecting human motion intensity and frequency, certain requirements are placed on wearing positions, most of researches are conducted by adopting single-node accelerometers, the human motion identification is poor, the detection precision is not accurate enough, and no good feedback exists for monitoring results.

The method combining the accelerometer and the heart rate meter has the advantages that the precision is improved compared with that of a method using the accelerometer and the heart rate meter singly, but the human body does not only do flexion and extension movements between certain joints in some movements, the energy consumption during the movement can be greatly increased due to the twisting and overturning movements of the limbs in the movements, the motion information of the linear acceleration provided by the accelerometer is inaccurate in estimation of the motion energy, high-risk actions which cannot be identified by the accelerometer are also greatly damaged for the bodies of some old people and orthopedic rehabilitation training users, the heart rate meter is only used for simply monitoring the heart rate in the past, and a comprehensive assessment method and a clear feedback relation between the heart rate and the motion energy consumption are not formed.

Disclosure of Invention

Aiming at the problems of single type, narrow use range, high price and the like of the existing human body movement energy consumption evaluation system, the invention provides the human body movement energy consumption evaluation system which is miniaturized, real-time, low in cost and wearable, the system carries out hardware integration and algorithm fusion on a micro inertial sensor and a cardiotachometer to evaluate movement energy consumption, the accuracy of energy collection is improved, and the system has the advantages of low cost, convenience in wearing, small space-time limit, comfort for users, high safety and the like, is modularly designed, and has strong universality and replaceability of products.

The invention provides a human motion energy consumption evaluation system based on a micro-inertial sensor, which comprises a motion parameter acquisition module, a wireless data transmission module, a heart rate monitoring module and an upper computer; the motion parameter acquisition module is used for acquiring posture information including acceleration, angular velocity, posture angle and/or roll angle of limbs, and comprises at least one micro inertial sensing unit, a power supply management unit and a single chip microcomputer processing unit, wherein the micro inertial sensing unit comprises a voltage reduction and current stabilization module and a nine-axis inertial sensor; the nine-axis inertial sensor comprises a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer and is respectively used for acquiring the acceleration value of human body movement, the angular velocity value of limb rotation and the geomagnetic intensity; the wireless data transmission module comprises a wireless transmitting device and a wireless receiving device, and the upper computer comprises a human body movement energy consumption evaluation module; and the single chip microcomputer processing unit sends the data acquired by the micro-inertia sensing unit and the heart rate monitoring module to the human motion energy consumption evaluation module in the upper computer through the wireless transmitting device.

As a preferred embodiment of the present invention, the human motion energy consumption evaluation system includes ten nodes respectively located on the head, the pelvis, the left thigh, the left calf, the right thigh, the right calf, the left upper arm, the left lower arm, the right upper arm and the right lower arm of the body; the node positioned on the right lower arm consists of the motion parameter acquisition module, the wireless data transmission module and the heart rate monitoring module, and other nodes consist of the motion parameter acquisition module and the wireless data transmission module.

As a preferred embodiment of the present invention, the lower right arm node further includes a photosensor and a photodiode; the right lower arm node adopts an MEMS packaging method, and the photoelectric sensor and the photodiode are arranged close to the skin of a user, so that the heart rate of the user can be conveniently acquired.

As a preferred embodiment of the present invention, the wireless transmitting apparatus is divided into ten slave modules and one master module, the ten slave modules are located on ten nodes, the slave modules and the master module follow the same communication channel, communication rate and verification mode, and the master module sets different receiving addresses to transmit data packets to the human body movement energy consumption evaluation system, so as to complete data interaction.

As a preferred embodiment of the invention, the single chip processing unit performs fusion calculation on the data acquired by the micro-inertia sensing unit and the heart rate monitoring module to obtain attitude data including a pitch angle, a yaw angle and/or a roll angle, and sends the attitude data to the wireless receiving device connected with the human motion energy consumption evaluation module in the upper computer through the wireless transmitting device; the wireless transmitting device is connected with the single chip microcomputer processing unit in an SPI communication mode and used for uploading the attitude data and receiving the instruction in real time.

As a preferred embodiment of the present invention, the micro-inertia sensing unit of the motion parameter acquisition module and the single chip processing unit are in serial communication via I2C; the power management module supplies power to other components of the motion parameter acquisition module so as to provide charging and power-off functions.

As a preferred embodiment of the present invention, the human motion energy consumption evaluation module of the upper computer is configured to receive, store and process the human posture data acquired by the micro-inertial sensing unit and the heart rate monitoring module, and further extract the motion parameters to evaluate the human motion energy consumption on the basis of the human posture data.

The second purpose of the invention is to provide a human motion energy consumption evaluation method based on a micro inertial sensor, which comprises the following steps:

step (1), collecting human body posture data at a corresponding position of a human body by using the human body motion energy consumption evaluation system;

step (2), classifying and displaying the motion state by utilizing the human body posture data acquired in the step (1) and applying back propagation neural network analysis;

and (3) evaluating the health state of the user, combining the motion state of the user with the relative heart rate to analyze the motion energy of the human body, evaluating overhigh or overlow motion amount, and giving early warning to sudden heart rate change in stable motion.

Compared with the prior art, the invention has the beneficial effects that:

1) the system for evaluating the energy consumption of the human body movement solves the problems of large structural load, large size and high cost of most existing products, and packages the micro inertial sensor and the photoelectric sensor through a sensor packaging technology, so that a user does not need to wear complicated equipment for testing, and the body burden of the user is reduced.

2) The human body movement energy consumption evaluation system has important reference significance for evaluating the real-time health state and the rehabilitation effect of a user by strengthening the correlation between heart rate monitoring and the health state of the human body in clinical application, particularly for weak bodies, limb function damage, universal rehabilitation of plastic department, orthopedic rehabilitation, old people or human bodies with basic heart diseases.

3) According to the human body motion energy consumption evaluation system, the collected posture information further adopts the information of limb twisting and turning of the user in the motion process on the basis of limb joint flexion and extension, and the gyroscope and the magnetometer sensor can perform quantitative rotation motion, so that motion information exceeding linear acceleration can be provided only by using the accelerometer, and the motion energy consumption monitoring result has a better confidence interval.

4) The human body movement energy consumption evaluation system adopts ten data acquisition nodes, compared with an accelerometer energy consumption evaluation device with a single node arranged on a wrist and a waist, the human body movement energy consumption evaluation system can clearly monitor the inclination angle and the swing range of four limbs of a human body in the movement process, enhances the identification capability of the movement states of jogging, fast walking, straight walking, bending walking and the like, and simultaneously carries out early warning on high-risk actions which cannot be identified by accelerometers and have great damage to the body of a user.

5) The human motion energy consumption evaluation system adopts the modular design, improves the universality and the replaceability of products, reduces repeated design, reduces the production cost and is beneficial to technical popularization.

6) According to the human motion energy consumption assessment system, the wireless module is adopted for data transmission, so that the system is convenient to install and replace, the comfort of a user is improved, the equipment damage caused by actions is avoided, the action amplitude of the user is prevented from being limited due to the existence of a transmission line, and the user experience is improved.

Drawings

Fig. 1 is a schematic structural diagram of a human body exercise energy consumption evaluation system according to the present invention.

Fig. 2 is a schematic structural diagram of an embodiment of the human motion energy consumption evaluation system of the present invention.

Fig. 3 is a schematic structural diagram of a single motion parameter acquisition module of the human motion energy consumption evaluation system of the present invention.

Fig. 4 is a flowchart of the human body exercise energy consumption evaluation system of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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.

As shown in FIG. 1, the human motion energy consumption evaluation system based on the micro inertial sensor comprises a motion parameter acquisition module 11, a wireless data transmission module 12, a heart rate monitoring module 13 and an upper computer 14. The motion parameter collecting module 11 is configured to collect posture information including acceleration, angular velocity, posture angle, and/or roll angle of the limb, and includes at least one micro-inertia sensing unit 111, a power management unit 112, and a single-chip processing unit 113. The micro inertial sensing unit 111 comprises a voltage reduction and current stabilization module and a nine-axis inertial sensor; the voltage reduction and current stabilization module is used for filtering clutter and stabilizing voltage of each unit of the motion parameter acquisition module, and the nine-axis inertial sensor comprises a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer and is respectively used for acquiring the acceleration value of human motion, the angular velocity value of limb rotation and the geomagnetic intensity. The wireless data transmission module 12 includes a wireless transmitting device 121 and a wireless receiving device 122. The upper computer 14 comprises a human body movement energy consumption evaluation module 141. The single chip microcomputer processing unit 113 sends the data acquired by the micro-inertia sensing unit 111 and the heart rate monitoring module 13 to the human motion energy consumption evaluation module 141 in the upper computer 14 through the wireless transmitting device 121.

In one embodiment, the single chip processing unit 113 performs fusion calculation on data collected by the micro-inertia sensing unit 111 and the heart rate monitoring module 13 to obtain attitude data including a pitch angle, a yaw angle and/or a roll angle, and sends the attitude data to the wireless receiving device 122 connected to the human motion energy consumption evaluation module 141 in the upper computer 14 through the wireless transmitting device 121. The wireless transmitting device 121 is connected with the single chip microcomputer processing unit 113 in an SPI communication manner, and is used for uploading the attitude data and receiving the instruction in real time.

In one embodiment, the micro-inertia sensing unit 111 of the motion parameter acquisition module 11 is in serial communication with the single-chip microcomputer processing unit 113 through I2C.

In one embodiment, power management module 112 provides power to other components of athletic parameter acquisition module 11 to provide charging and powering down functions. The human motion energy consumption evaluation module 141 of the upper computer 14 is used for receiving, storing and processing human posture data acquired from the micro-inertia sensing unit 111 and the heart rate monitoring module 13, and further extracting motion parameters for human motion energy consumption evaluation on the basis of the human posture data.

In a preferred embodiment, as shown in fig. 2, the human motion energy consumption evaluation system comprises ten nodes respectively located on the head, pelvis, left thigh, left calf, right thigh, right calf, left upper arm, left lower arm, right upper arm and right lower arm of the body. The node 102 positioned at the lower right arm adopts an individualized design and consists of the motion parameter acquisition module, the wireless data transmission module and the heart rate monitoring module; the other nine nodes 101 adopt a modular design and are composed of the motion parameter acquisition module and the wireless data transmission module. The ten nodes of the system are all fixed on corresponding limbs of a human body through telescopic belts, the

nodes

101 and 102 transmit collected motion parameters and heart rate parameters to the human body motion energy consumption evaluation module 104 through the wireless receiver 103, and the human body motion energy consumption evaluation module 104 monitors and evaluates the received data for human body motion energy consumption through the energy consumption model.

In a preferred embodiment, as shown in fig. 3, the node 102 includes a power supply unit 201, a single chip 202, a micro inertial sensor 203, a photo sensor and a photodiode 204, an NRF wireless transmitting device 205, a filter voltage regulator module 206, a Bootloader burn pad 207, and a program loading pad 208. The power supply unit 201 is composed of a CR2032 type button cell, the micro inertial sensor 203 includes a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, the micro inertial sensor 203 and the single chip microcomputer 202 adopt I2C serial communication, wherein an AD0 pin of the micro inertial sensor 203 is connected to 3V3 to be pulled up, so that the single chip microcomputer 202 reads the address micro 0x69 of the micro inertial sensor 203. The power supply unit 201 comprises a power switch, a tantalum capacitor and a Schottky diode, the functions of rectification and voltage stabilization are mainly achieved, and the power supply unit 201 is limited to be connected with a micro CR2032 type 3.3V button battery. The NRF wireless transmission device 205 and the wireless receiver 103 follow the same communication channel, communication rate, and verification pattern, and automatically remain connected when the power is turned on. The single chip 202 is a main control chip of the present invention, and is responsible for allocating and scheduling system resources, completing fusion filtering on the initial data of the micro inertial sensor 203, and meanwhile, receiving instructions and uploading data. The Bootloader burning pad 207 is used when a brand-new chip burning Bootloader is used, and is connected with the USBISP pin for burning, and the program loading pad 208 is used for burning part of the hardware system program of the invention and is matched with the USB-to-TTL interface for use.

The node 102 of the lower right arm adopts an MEMS packaging method to package the power supply unit 201, the single chip microcomputer 202, the micro inertial sensor 203, the photoelectric sensor and photodiode 204 and the NRF wireless transmitting device 205, and in the packaging design, the photoelectric sensor and photodiode 204 are arranged close to the skin of a user, so that the heart rate of the user can be conveniently acquired.

As shown in fig. 4, a working flow chart of the system for estimating energy consumption in human body exercise of the present invention includes the following steps:

step 301: ten nodes of the energy consumption evaluation system are all powered on to complete system initialization;

step 302: the system automatically sends a synchronous clock instruction to enable the system time of each module to be uniform;

step 303: setting a wireless communication channel so that the NRF wireless transmitting device 205 of the ten nodes and the wireless receiver 103 are in a communication network of the same communication channel, communication rate and verification mode;

step 304: judging whether a starting instruction is received, if so, entering

steps

305 and 306, and otherwise, continuing to wait;

step 305: the single chip microcomputer 202 accesses nine registers from 0x3B to 0x45 of the micro inertial sensor 203, and respectively reads acceleration values, angular velocity values and magnetic field intensity in the lower X, Y, Z three directions;

step 306: and performing data fusion filtering on the read acceleration value, angular velocity value and magnetic field intensity, and calculating to obtain an attitude angle of each node, namely: pitch angle, roll angle, deflection angle;

step 307: the heart rate monitoring module starts to monitor the heart rate of the user, a time period is taken every 20s, and the heart rate values in the two time periods are averaged;

step 308/309: if the statistical data are suddenly changed in the heart rate monitoring process, such as sudden stop, sudden rise and other relatively violent abnormal changes, the evaluation interface is stopped and a strong prompt is sent;

step 310: sending the attitude angle and heart rate data to the wireless receiver 103 through the NRF wireless transmitting device 205;

step 311: the wireless receiver 103 is connected with the human body movement energy consumption evaluation module, reads attitude angle data in real time and processes the received data;

step 312: the human motion energy consumption evaluation module evaluates the human motion energy consumption and outputs the result;

step 313: comparing data transmitted by a heart rate meter with the age of a user and standard data, evaluating the heart rate level, taking an evaluation result as feedback of human body exercise energy consumption evaluation, and if the feedback heart rate is high, prompting the user that the exercise energy consumption is high and prompting the user to reduce exercise appropriately; if both the heart rate and energy consumption are at low levels, the user is prompted to increase the amount of exercise.

The application example is as follows:

the user uses the embodiment in human motion energy consumption evaluation, the user can evaluate the whole body health and rehabilitation status, the user only needs to fix the ten nodes of the invention on the corresponding body parts respectively, the wireless receiver 103 is inserted into the USB port of the upper computer, the human motion energy consumption evaluation system is opened on the upper computer, the USB port number of the wireless receiver 103 is scanned, the corresponding port number is clicked and selected, then the ten nodes are electrified, the system is initialized firstly, the user makes a test action, the motion parameters and the heart rate value generated by the action change are continuously sent to the wireless receiver 103, the human motion energy consumption evaluation unit evaluates the motion energy consumption in real time according to the posture angle data and the heart rate data, and stores the data in real time for subsequent evaluation and analysis, and the heart rate monitoring module evaluates the detected heart rate according to the age, the health and the rehabilitation status of the user, And (4) performing heart rate evaluation under conditions such as gender and the like, feeding back the heart rate evaluation result to the energy consumption evaluation, and providing a rationalization suggestion for the exercise amount of the user.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A human motion energy consumption evaluation system based on a micro inertial sensor is characterized by comprising a motion parameter acquisition module, a wireless data transmission module, a heart rate monitoring module and an upper computer; the motion parameter acquisition module is used for acquiring posture information including acceleration, angular velocity, posture angle and/or roll angle of limbs, and comprises at least one micro inertial sensing unit, a power supply management unit and a single chip microcomputer processing unit, wherein the micro inertial sensing unit comprises a voltage reduction and current stabilization module and a nine-axis inertial sensor; the nine-axis inertial sensor comprises a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer and is respectively used for acquiring the acceleration value of human body movement, the angular velocity value of limb rotation and the geomagnetic intensity; the wireless data transmission module comprises a wireless transmitting device and a wireless receiving device, and the upper computer comprises a human body movement energy consumption evaluation module; and the single chip microcomputer processing unit sends the data acquired by the micro-inertia sensing unit and the heart rate monitoring module to the human motion energy consumption evaluation module in the upper computer through the wireless transmitting device.

2. The micro inertial sensor-based human motion energy consumption assessment system according to claim 1, wherein said human motion energy consumption assessment system comprises ten nodes respectively located on the head, pelvis, left thigh, left calf, right thigh, right calf, left upper arm, left lower arm, right upper arm and right lower arm of the body; the node positioned on the right lower arm consists of the motion parameter acquisition module, the wireless data transmission module and the heart rate monitoring module, and other nodes consist of the motion parameter acquisition module and the wireless data transmission module.

3. The micro inertial sensor-based human motion energy consumption assessment system according to claim 2, wherein said lower right arm node further comprises a photosensor and a photodiode; the right lower arm node adopts an MEMS packaging method, and the photoelectric sensor and the photodiode are arranged close to the skin of a user, so that the heart rate of the user can be conveniently acquired.

4. The system for evaluating human motion energy consumption based on micro inertial sensors according to claim 2, wherein the wireless transmitting device is divided into ten slave modules and one master module, the ten slave modules are located on ten nodes, the slave modules and the master module follow the same communication channel, communication rate and verification mode, and the master module transmits data packets to the system for evaluating human motion energy consumption by setting different receiving addresses, so as to complete data interaction.

5. The system for evaluating the energy consumption of human body movement based on the micro inertial sensor according to claim 1, wherein the single chip microcomputer processing unit performs fusion calculation on the data collected by the micro inertial sensing unit and the heart rate monitoring module to obtain attitude data including a pitch angle, a yaw angle and/or a roll angle, and sends the attitude data to the wireless receiving device connected with the module for evaluating the energy consumption of human body movement in the upper computer through the wireless transmitting device; the wireless transmitting device is connected with the single chip microcomputer processing unit in an SPI communication mode and used for uploading the attitude data and receiving the instruction in real time.

6. The system for evaluating the energy consumption of human body movement based on the micro inertial sensor of claim 1, wherein the micro inertial sensing unit of the movement parameter acquisition module is in serial communication with the single chip microcomputer processing unit through I2C; the power management module supplies power to other components of the motion parameter acquisition module so as to provide charging and power-off functions.

7. The micro inertial sensor-based human motion energy consumption assessment system according to claim 1, wherein the human motion energy consumption assessment module of the upper computer is configured to receive, store and process the human posture data collected by the micro inertial sensor unit and the heart rate monitoring module, and further extract motion parameters for human motion energy consumption assessment based on the human posture data.

8. A human motion energy consumption assessment method based on a micro inertial sensor is characterized by comprising the following steps:

step (1), collecting human body posture data at a corresponding position of a body by using the human body motion energy consumption evaluation system of any one of claims 1 to 7;