CN112450916B - Motion state determination method, motion state determination system, foot detection device, and storage medium - Google Patents
Motion state determination method, motion state determination system, foot detection device, and storage medium Download PDFInfo
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Abstract
The invention discloses a motion state judgment method, a motion state judgment system, a foot detection device and a storage medium, wherein the motion state judgment method comprises the following steps: acquiring a data set to be processed in a current time period, and processing the data set to be processed to obtain a first data set, wherein the first data set comprises a plurality of numerical values of capacitance capacity or pressure; if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is smaller than a preset first threshold, extracting a first maximum value and a first minimum value in the preset first time threshold range in the first data set, and if the difference between the first maximum value and the first minimum value is larger than a preset second threshold, judging that the data set is in a motion state. The motion state judgment method can improve the judgment accuracy.
Description
Technical Field
The present invention relates to the field of motion detection, and in particular, to a motion state determination method, a determination system, a foot detection device, and a storage medium.
Background
In the fields of exoskeleton, prostheses, foot robots (e.g., humanoid robots, dogs), human motion detection, etc., it is necessary to detect the contact state (suspended or touchdown) of the foot with the ground. The current methods commonly used all adopt a pressure film or a sole pressure plate, and the manufacturing cost and the convenience are influenced. However, with the pressure sensor, generally, only one threshold value is set, and if the threshold value is larger than this value, it is determined as touchdown, and if the threshold value is smaller than this value, it is determined as liftoff. Therefore, the judgment is often made inaccurate due to instability at the time of touchdown.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a motion state judgment method which can improve the judgment accuracy.
The invention also provides a motion judgment system.
The invention further provides a foot detection device.
The invention also provides a computer readable storage medium.
According to the motion state judgment method of the embodiment of the first aspect of the invention, a data set to be processed of a current time period is obtained, and the data set to be processed is processed to obtain a first data set, wherein the first data set comprises a plurality of numerical values of capacitance capacity or pressure;
if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is smaller than a preset first threshold, extracting a first maximum value and a first minimum value in the preset first time threshold range in the first data set,
and if the difference value between the first maximum value and the first minimum value is greater than a preset second threshold value, judging the motion state.
The motion state judgment method provided by the embodiment of the invention at least has the following beneficial effects: and determining whether the value of the capacitance capacity or the pressure is changed slowly or jumpiness by judging the difference of the values in the first data set, if the value of the capacitance capacity or the pressure is changed slowly, determining that the walking mode is relatively fixed, and acquiring a first maximum value and a first minimum value, wherein when the difference between the first maximum value and the first minimum value is overlarge, the first maximum value is determined as a ground contact value, and the first minimum value is a suspension value, namely the motion state is realized. By such an arrangement, the accuracy of the judgment can be improved.
According to some embodiments of the invention, the first data set is filtered from the data set to be processed.
According to some embodiments of the invention, the motion state comprises: the determination method further comprises the following steps:
if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is larger than a preset first threshold;
and acquiring a numerical value of a preset first time threshold range in the first data set, and judging the state of grounding if the numerical value is larger than a preset third threshold.
According to some embodiments of the invention, the preset third threshold is determined by:
acquiring data of which the difference between any value and an adjacent value in a first data set in a previous time period is larger than the preset first threshold value to obtain a second data set, and determining a first touchdown value and a first suspension value according to the jumping condition of the values in the second data set;
acquiring a plurality of first ground contact values and a plurality of first suspension values within a preset second time threshold range in the second data set;
determining a second touchdown value and a second hover value based on calculating an average or median of a number of the first touchdowns and a number of the first hover values;
and determining the preset third threshold according to the second ground contact value and the second suspension value.
According to some embodiments of the present invention, the obtaining a value in a preset first time threshold range in the first data set, and if the value is greater than a preset third threshold, determining that the data set is in a touchdown state includes:
acquiring a plurality of continuous numerical values in a preset first time range in the first data set;
and if the continuous numerical values are all larger than the preset third threshold value, the grounding state is judged.
According to some embodiments of the invention the method of determining further comprises:
acquiring a plurality of first maximum values and a plurality of first minimum values within a plurality of preset first time threshold ranges in the first data set;
and acquiring the average value or median of a plurality of first maximum values to obtain a third touchdown value, and acquiring the average value or median of a plurality of first minimum values to obtain a third suspension value.
According to some embodiments of the invention, the determining method further comprises:
if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is larger than a preset first threshold;
and acquiring a numerical value of a preset first time threshold range in the first data set, and judging that the first data set is in a suspended state if the numerical value is smaller than a preset third threshold.
The motion state judgment system according to the embodiment of the second aspect of the invention comprises a data acquisition module, a judgment module and a processing module. The data acquisition module is used for acquiring a data set to be processed in the current time period and processing the data set to be processed to obtain a first data set, wherein the first data set comprises a plurality of numerical values of capacitance capacity or pressure; the judging module is used for judging whether the difference between any value of the first data set and an adjacent value is smaller than a first preset value or not according to the first data set and outputting a first judging result; the processing module is used for extracting a first maximum value and a first minimum value of the first data set within a first time threshold according to the first judgment result and the first data set; the judging module is further configured to compare a difference value between the first maximum value and the first minimum value with a preset second threshold value, and output a second judgment result.
The motion state judgment system provided by the embodiment of the invention at least has the following beneficial effects: and determining whether the value of the capacitance capacity or the pressure is changed slowly or jumpiness by judging the difference of the values in the first data set, if the value of the capacitance capacity or the pressure is changed slowly, determining that the walking mode is relatively fixed, and acquiring a first maximum value and a first minimum value, wherein when the difference between the first maximum value and the first minimum value is overlarge, the first maximum value is determined as a ground contact value, and the first minimum value is a suspension value, namely the motion state is realized.
According to the foot detecting device of the embodiment of the third aspect of the present invention, the foot detecting device performs the exercise state judging method as the embodiment of the first aspect.
The foot detection device according to the embodiment of the invention has at least the following advantages: and determining whether the value of the capacitance capacity or the pressure is changed slowly or jumpiness by judging the difference of the values in the first data set, if the value of the capacitance capacity or the pressure is changed slowly, determining that the walking mode is relatively fixed, and acquiring a first maximum value and a first minimum value, wherein when the difference between the first maximum value and the first minimum value is overlarge, the first maximum value is determined as a ground contact value, and the first minimum value is a suspension value, namely the motion state is realized.
According to the fourth aspect of the present invention, the computer-readable storage medium stores computer-executable instructions for performing the motion state determination method according to the first aspect.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
fig. 1 is a flowchart of a motion state determination method according to some embodiments of the present invention;
fig. 2 is a flowchart of a motion state determination method according to some embodiments of the present invention;
fig. 3 is a block diagram of a motion state determination system according to some embodiments of the present invention.
Reference numerals: 310. a data acquisition module; 320. a judgment module; 330. and a processing module.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the embodiment of the present invention, the foot detecting device using the exercise state determining method according to the embodiment of the present invention is attached to the sole (sole). The design of the foot detection device can adopt a pressure sensor, a pressure film, a sole pressure plate or a capacitance switch and the like. If the pressure sensors are adopted, the pressure sensors arranged on the soles are different in pressure when the walking chair is in a walking state, and the pressure born by the pressure sensors reaches the maximum value when the walking chair is in a ground contact state; when the pressure sensor is in a suspended state, the pressure born by the pressure sensor is the minimum value. If a capacitive touch switch is adopted, the capacitance capacities of the grounding state and the suspension state are inconsistent because the medium between the two plates of the grounding state and the suspension state of the capacitor is changed. When the capacitor is in a grounding state, the capacitance reaches the maximum value because the medium is inserted between the two polar plates; when in the floating state, the capacitance reaches the minimum value.
Referring to fig. 1, in a first aspect, some embodiments of the present invention provide a motion state determination method, including but not limited to step S110 and step S120.
Step S110: acquiring a data set to be processed in the current time period, and processing the data set to be processed to obtain a first data set, wherein the first data set comprises a plurality of numerical values of capacitance capacity or pressure;
step S120: if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is smaller than a preset first threshold, extracting a first maximum value and a first minimum value in the preset first time threshold range in the first data set, and if the difference between the first maximum value and the first minimum value is larger than a preset second threshold, judging that the motion state is the motion state.
In step S110, if the device using the motion state determination method of the present application is a pressure sensor, a pressure value is obtained, and if the device using the motion state determination method of the present application is a capacitance switch, a capacitance value is obtained. And putting the obtained numerical value into a data set to be processed, and performing filtering processing (such as IIR filtering) on the data set to be processed to obtain a first data set. Wherein the first data set is a voltage value or a count value equivalently derived from a capacitance capacity (or a pressure value).
In step S120, the difference between any value and an adjacent value within the preset first time threshold range is compared, and when the difference between any value and the adjacent value is smaller than the preset first threshold, it indicates that the value at this time is slowly changed. In this case, a first maximum value and a first minimum value of a preset first time threshold range within the first data set are extracted, a difference between the first maximum value and the first minimum value is calculated, and it is compared with a preset second threshold value. If the difference value between the first maximum value and the first minimum value is greater than a preset second threshold value, the first maximum value is a ground contact value, and the first minimum value is a suspension value. That is, in this case, it can be judged that a device (e.g., a foot robot) using the motion state judgment method of the present application is in a motion state.
It should be noted that the preset first time threshold, the preset first threshold, and the preset second threshold may be changed, and may be set according to historical data.
The motion state judgment method provided by the embodiment of the invention can enhance the accuracy of judging the motion state.
In some embodiments of the present invention, the first data set is obtained by filtering the data set to be processed, such as by IIR filtering.
In some embodiments of the invention, the motion state comprises: a touchdown state and a floating state, and the determination method further includes, but is not limited to, step S210 and step S220.
Step S210: if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is larger than a preset first threshold;
step S220: and acquiring a numerical value of a preset first time threshold range in the first data set, and judging the state of touchdown if the numerical value is larger than a preset third threshold.
Specifically, in this embodiment, the difference between any value and an adjacent value within a preset first time threshold range is compared, and when the difference between any value and an adjacent value is greater than the preset first threshold, the value at this time is a jump change. In this case, it is judged that a device (e.g., a foot robot) using the motion state judgment method of the present application is in a motion state. Meanwhile, whether the numerical value in the first data set is larger than a preset third threshold value or not is judged, if the numerical value in the first data set is larger than the preset third threshold value, the numerical value is considered as a touchdown value, and at the moment, the numerical value is in a touchdown state.
By so arranging, the accuracy of judging the motion state can be enhanced.
Referring to fig. 2, in some embodiments of the present invention, the preset third threshold is determined through step S310, step S320, step S330, and step S340.
Step S310: acquiring data of which the difference between any value and an adjacent value in a first data set in a previous time period is larger than a first threshold value to obtain a second data set, and determining a first ground contact value and a first suspension value according to the jumping condition of the values in the second data set;
step S320: acquiring a plurality of first ground contact values and a plurality of first suspension values within a preset second time threshold range in a second data set;
step S330: determining a second touchdown value and a second hover value based on calculating an average or median of the first touchdown values and the first hover values;
step S340: and determining a preset third threshold according to the second ground contact value and the second suspension value.
In step S310, historical data of touchdown values and hover values, i.e., first touchdown values and second touchdown values, in the motion state are determined by acquiring a data set that was in motion for a previous period of time.
In step S320, all of the number of first touchdowns and all of the number of hovers within a preset second time threshold range are obtained. So that the calculation is performed in step S330 to make the determination result more accurate.
In step S330, an average or median of the first touchdowns and the first dangling values obtained in step S320 is calculated to obtain a second touchdown and a second dangling value. It should be noted that the second touchdown value and the second suspension value are both average values or median values, and only one of the average values and the median values can be selected during calculation. So as to ensure the accuracy of the calculation of the preset third threshold in step S340, thereby making the determination result more accurate.
In step S340, a preset third threshold is determined according to the second touchdown value and the second hover value. Such as: assuming that the preset third threshold is F, the second suspension value is a, the second touchdown value is b, and the scaling factor is K, then F = K × b + (1-K) × a; or take F = K (a-b). It should be noted that, in this embodiment, the second overhang value and the second touchdown value may be modified according to historical data, or may be selected according to actual specific situations; the proportion of the second suspension value and the second touchdown value in the preset third threshold value or other processing conditions can be selected according to actual specific conditions.
The method comprises the steps of selecting historical data of a plurality of touchdown values and suspension values to obtain average values or median values of the touchdown values and the suspension values, and determining a preset third threshold value according to the average values or median values of the touchdown values and the suspension values, so that the judgment result can be more accurate.
In some embodiments of the present invention, step S220 includes, but is not limited to, step S410, step S420.
Step S410: acquiring any value in a first time range preset in a first data set;
step S420: and if the continuous numerical values are all larger than a preset third threshold value, judging that the state is the touchdown state.
Specifically, in the present embodiment, the preset third threshold may be determined through step S310, step S320, step S330 and step S340, or may be determined according to actual situations. If it is determined that a certain value exceeds the preset third threshold multiple times or multiple values exceed the preset third threshold within a certain short period of time, the touchdown state may be considered. By means of the arrangement, accidental situations can be eliminated, and therefore accuracy of judgment is improved.
In some embodiments of the present invention, the motion state determination method further includes, but is not limited to, step S510 and step S520.
Step S510: acquiring a plurality of first maximum values and a plurality of first minimum values within a plurality of preset first time threshold ranges in a first data set;
step S520: and acquiring the average value or median of the first maximum values to obtain a third touchdown value, and acquiring the average value or median of the first minimum values to obtain a third suspension value.
Specifically, in the case where the value changes slowly, that is, the walking mode is relatively fixed at this time, a plurality of maximum values and a plurality of minimum values are obtained. And averaging or median the maximum and minimum values respectively to obtain a more stable third suspension value and a third touchdown value. Therefore, the judgment result can be more accurate.
Referring to fig. 1, in some embodiments of the present invention, the motion state determination method further includes, but is not limited to, step S130 and step S140.
Step S130: if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is larger than a preset first threshold;
step S140: and acquiring a numerical value of a preset first time threshold range in the first data set, and judging that the first data set is in a suspended state if the numerical value is smaller than a preset third threshold.
Specifically, in this embodiment, if the difference between any value and an adjacent value is greater than a preset first threshold, it indicates that a jump occurs, that is, in this case, it can be determined that a device (e.g., a foot robot) using the motion state determination method of the present application is in a motion state. And comparing the judgment value with a preset third threshold value to determine which values are values in a suspended state. When the contact is completely made, the numerical value is considered to be the maximum; when the suspension is completely empty, the numerical value is considered to be minimum; a floating state may be considered as long as the touchdown is not complete.
The following describes the motion state determination method according to an embodiment of the present invention in detail with reference to fig. 1 and fig. 2, and it should be noted that the present embodiment is only a detailed description of the motion state determination method, and is not to be construed as limiting the present invention.
In this embodiment, the motion states are divided into a touchdown state and a hover state. And, at full touchdown, the numerical value is considered to be maximum; when the suspension is completely empty, the numerical value is considered to be minimum; a floating state may be considered as long as the touchdown is not complete.
If the device using the motion state judgment method of the present application adopts a pressure sensor or the like, a pressure value is obtained, and if the device using the motion state judgment method of the present application adopts a capacitance switch or the like, a capacitance capacity value is obtained. And putting the obtained numerical value into a data set to be processed, and performing filtering processing (such as IIR filtering) on the data set to be processed to obtain a first data set. Wherein the first data set is a voltage value or a count value equivalently derived from a capacitance capacity (or a pressure value).
And comparing the difference between any value and the adjacent value in the preset first time threshold range, and when the difference between any value and the adjacent value is smaller than the preset first threshold, indicating that the value at the moment is slowly changed. In this case, a first maximum value and a first minimum value of a preset first time threshold range within the first data set are extracted, a difference between the first maximum value and the first minimum value is calculated, and it is compared with a preset second threshold value. If the difference value between the first maximum value and the first minimum value is greater than a preset second threshold value, the first maximum value is a ground contact value, and the first minimum value is a suspension value. That is, in this case, it can be judged that a device (e.g., a foot robot) using the motion state judgment method of the present application is in a motion state.
If the difference between any value and the adjacent value is greater than the preset first threshold, it indicates that a jump situation occurs, i.e., in such a situation, it can be determined that a device (e.g., a foot robot) using the motion state determination method of the present application is in a motion state. And comparing the judgment value with a preset third threshold value to determine which values are values in a suspended state.
It should be noted that the preset first time threshold, the preset first threshold, and the preset second threshold may be changed, and may be set according to historical data.
The preset third threshold is determined through step S310, step S320, step S330, and step S340.
Step S310: acquiring data of which the difference between any value and an adjacent value in a first data set in a previous time period is larger than a first threshold value to obtain a second data set, and determining a first ground contact value and a first suspension value according to the jumping condition of the values in the second data set;
step S320: acquiring a plurality of first ground contact values and a plurality of first suspension values within a preset second time threshold range in a second data set;
step S330: determining a second touchdown value and a second hover value based on calculating an average or median of the first touchdown values and the first hover values;
step S340: and determining a preset third threshold according to the second ground contact value and the second suspension value.
In step S310, historical data of touchdown values and hover values, i.e., first touchdown values and second touchdown values, in the motion state are determined by acquiring a data set that was in motion for a previous period of time.
In step S320, all of the number of first touchdowns and all of the number of hovers within a preset second time threshold range are obtained. So that the calculation is performed in step S330 to make the determination result more accurate.
In step S330, an average or median of the first touchdowns and the first dangling values obtained in step S320 is calculated to obtain a second touchdown and a second dangling value. It should be noted that the second touchdown value and the second suspension value are both average values or median values, and only one of the average values and the median values can be selected during calculation. So as to ensure the accuracy of the calculation of the preset third threshold in step S340, thereby making the determination result more accurate.
In step S340, a preset third threshold is determined according to the second touchdown value and the second hover value. Such as: assuming that the preset third threshold is F, the second suspension value is a, the second touchdown value is b, and the scaling factor is K, then F = K × b + (1-K) × a; or take F = K (a-b). It should be noted that, in this embodiment, the second overhang value and the second touchdown value may be modified according to historical data, or may be selected according to actual specific situations; the proportion of the second suspension value and the second touchdown value in the preset third threshold value or other processing conditions can be selected according to actual specific conditions.
The method comprises the steps of selecting historical data of a plurality of touchdown values and suspension values to obtain average values or median values of the touchdown values and the suspension values, and determining a preset third threshold value according to the average values or median values of the touchdown values and the suspension values, so that the judgment result can be more accurate.
Referring to fig. 3, in a second aspect, some embodiments of the present invention further provide a motion state determination system, which includes a data acquisition module 310, a determination module 320, and a processing module 330. The data acquisition module 310 is configured to acquire a to-be-processed data set of a current time period, and process the to-be-processed data set to obtain a first data set, where the first data set includes a plurality of capacitance capacity or pressure values; the judging module 320 is configured to judge whether a difference between any value of the first data set and an adjacent value is smaller than a first preset value according to the first data set, and output a first judgment result; the first judgment result is output according to the comparison result between the first maximum value and the first minimum value and a preset first threshold; the processing module 330 is configured to extract a first maximum value and a first minimum value of the first data set within a first time threshold according to the first determination result and the first data set.
Specifically, in this embodiment, the data acquisition module 310 acquires a to-be-processed data set, and performs IIR filtering on the to-be-processed data set to obtain a first data set. The determining module 320 obtains the value in the first data set, compares the value in the first data set with an adjacent value, and determines that a jumping change occurs if a difference between the value and the adjacent value is greater than a preset first threshold, and may directly determine that the movement state is present, that is, the first determination result may be directly the movement state. If the difference between the value and the adjacent value is smaller than the preset first threshold, the change is indicated as slow change, in this case, the first maximum value and the first minimum value of the first data set need to be obtained, and then comparison is performed, so that whether the motion state is determined. If the difference value between the first maximum value and the first minimum value is larger than a preset second threshold value, the motion state is judged; and if the difference value of the first maximum value and the first minimum value is smaller than a preset second threshold value, the situation is a fluctuation situation, and no movement occurs. The motion state judgment system provided by the embodiment of the invention can enhance the accuracy of judging the motion state.
In a third aspect, in some embodiments of the present invention, there is also provided a foot detecting device for performing the exercise state judging method according to the first aspect.
Specifically, in this embodiment, the foot detection device may be mounted on a prosthesis, exoskeleton or other robot. The foot detection device acquires the signals of touchdown and liftoff to control. The artificial limb ground contact signal acquisition device is used for controlling, swinging, supporting and the like of the artificial limb by acquiring the ground contact signal and the ground contact signal when being installed on the artificial limb. If the exoskeleton is installed on the exoskeleton, auxiliary control of the exoskeleton is carried out by acquiring a ground contact signal and a ground lift signal. For example, for human body, big dog and other robots, the foot detection device is mounted at the foot end, and response control and walking control are performed according to the detected ground contact and ground separation signal. The foot detection device according to the embodiment of the present invention may be designed as a capacitive touch switch or a pressure plate such as a pressure sensor.
The foot detection device provided by the embodiment of the invention can enhance the accuracy of judging the motion state.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium.
In some embodiments, the computer-readable storage medium stores computer-executable instructions for performing the method for determining a motion state mentioned in the first aspect embodiment.
In some embodiments, the storage medium stores computer-executable instructions that, when executed by one or more control processors, for example, by a processor in the electronic device, cause the one or more processors to perform the motion state determination method.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. 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 will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. The motion state judgment method is characterized by comprising the following steps:
acquiring a data set to be processed in a current time period, and processing the data set to be processed to obtain a first data set, wherein the first data set comprises a plurality of numerical values of capacitance capacity or pressure;
if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is smaller than a preset first threshold, extracting a first maximum value and a first minimum value in the preset first time threshold range in the first data set, and if the difference between the first maximum value and the first minimum value is larger than a preset second threshold, judging that the data set is in a motion state;
the preset first threshold is used for judging whether the capacitance capacity or the pressure value changes in a jumping mode or in a slow mode.
2. The method of claim 1, wherein the first data set is filtered from the data set to be processed.
3. The method according to claim 1, wherein the motion state includes: the determination method further comprises the following steps:
if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is larger than a preset first threshold;
and acquiring a numerical value of a preset first time threshold range in the first data set, and judging the state of grounding if the numerical value is larger than a preset third threshold.
4. The judgment method according to claim 3, wherein the preset third threshold is determined by:
acquiring data of which the difference between any value and an adjacent value in a first data set in a previous time period is larger than the preset first threshold value to obtain a second data set, and determining a first touchdown value and a first suspension value according to the jumping condition of the values in the second data set;
acquiring a plurality of first ground contact values and a plurality of first suspension values within a preset second time threshold range in the second data set;
determining a second touchdown value and a second hover value based on calculating an average or median of a number of the first touchdowns and a number of the first hover values;
and determining the preset third threshold according to the second ground contact value and the second suspension value.
5. The method according to claim 3 or 4, wherein the obtaining of the value of the first data set in the preset first time threshold range, and if the value is greater than a preset third threshold, determining that the state is the touchdown state includes:
acquiring a plurality of continuous numerical values in a preset first time range in the first data set;
and if the continuous numerical values are all larger than the preset third threshold value, judging that the state is in a grounding state.
6. The method according to claim 1, further comprising:
acquiring a plurality of first maximum values and a plurality of first minimum values within a plurality of preset first time threshold ranges in the first data set;
and acquiring the average value or median of a plurality of first maximum values to obtain a third touchdown value, and acquiring the average value or median of a plurality of first minimum values to obtain a third suspension value.
7. The method according to claim 1, further comprising:
if the difference between any value in a preset first time threshold range in the first data set and an adjacent value is larger than a preset first threshold;
and acquiring a numerical value of a preset first time threshold range in the first data set, and judging that the first data set is in a suspended state if the numerical value is smaller than a preset third threshold.
8. Motion state judgment system, characterized by comprising:
the data acquisition module is used for acquiring a data set to be processed in the current time period and processing the data set to be processed to obtain a first data set, wherein the first data set comprises a plurality of numerical values of capacitance capacity or pressure;
the judging module is used for judging whether the difference between any value of the first data set and an adjacent value is smaller than a first preset value or not according to the first data set and outputting a first judging result;
the processing module is used for extracting a first maximum value and a first minimum value of the first data set within a first time threshold according to the first judgment result and the first data set;
the judging module is further configured to compare a difference value between the first maximum value and the first minimum value with a preset second threshold value, and output a second judgment result.
9. A foot detection device characterized by executing the exercise state judgment method according to any one of claims 1 to 7.
10. A computer-readable storage medium storing computer-executable instructions for performing the method of determining a motion state according to any one of claims 1 to 7.
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| CN102670207B (en) * | 2012-05-15 | 2013-09-04 | 北京大学 | Gait analysis method based on plantar pressure |
| CN106491139A (en) * | 2016-11-29 | 2017-03-15 | 广州体育学院 | The monitoring instrument on tiptoe gait to the monitoring method of on tiptoe gait, device and for being located in shoes |
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