CN112754476B - Beidou intelligent positioning shoe and identification method of foot motion form thereof - Google Patents
Beidou intelligent positioning shoe and identification method of foot motion form thereof Download PDFInfo
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- CN112754476B CN112754476B CN202110128689.6A CN202110128689A CN112754476B CN 112754476 B CN112754476 B CN 112754476B CN 202110128689 A CN202110128689 A CN 202110128689A CN 112754476 B CN112754476 B CN 112754476B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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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
Abstract
The invention relates to the technical field of positioning shoes, in particular to a Beidou intelligent positioning shoe and a method for identifying the foot motion form of the Beidou intelligent positioning shoe, wherein the Beidou intelligent positioning shoe comprises an MCU (microprogrammed control Unit) processor, a positioning module, a wireless communication module, a storage battery module for supplying power to the Beidou intelligent positioning shoe, an attitude sensor and a kinetic energy conversion power supply system, wherein the attitude sensor comprises a built-in accelerometer and a built-in gyroscope and is used for monitoring the foot motion form of a user; the kinetic energy conversion power supply system consists of a power generation mechanism and a charging circuit, wherein the power generation mechanism charges the storage battery module through the charging circuit; according to the invention, through a mode of fusing the induced electrical change of the kinetic energy conversion power supply system and the multiple sources of the attitude sensor, after the estimated result deviates, the confidence error of the attitude sensor is corrected through the step frequency identification result identified by the induced electrical change curve of the kinetic energy conversion power supply system, so that the identification of the step motion form and the analysis of the walking posture health condition of the user are more reliable.
Description
Technical Field
The invention relates to the technical field of positioning shoes, in particular to a Beidou intelligent positioning shoe and a method for identifying a step motion form of the Beidou intelligent positioning shoe.
Background
The existing identification mode of the foot motion form has poor reliability for identifying and analyzing the foot motion form of the user. For example, in gait detection based on the inertia of a limb, an inertial measurement unit (imu) is used to capture the acceleration and posture change of each limb of a person during walking. The whole system is sensitive in response, good in following performance relative to gait movement, poor in stability performance and difficult to overcome signal drift. The gait detection with the foot pressure is to acquire the foot pressure information in the walking process through related pressure acquisition equipment, and the pressure acquisition equipment is provided with different types of pressure sensor elements. The acquired information is simple and visual, but in the phase of ground-off swing, the sole of the foot has no contact pressure, so that information blank in a gait cycle is generated, and the subsequent overall analysis is difficult.
Therefore, the method effectively improves the estimation confidence of the attitude sensor and improves the reliability of the identification of the footstep motion form by the mode of fusing the induced electrical change of the kinetic energy conversion power supply system and the multi-source of the attitude sensor.
Disclosure of Invention
In order to solve the problems, the invention provides Beidou intelligent positioning shoes and a method for identifying the foot motion form of the Beidou intelligent positioning shoes.
The invention is realized by the following technical scheme:
a Beidou intelligent positioning shoe comprises an MCU (microprogrammed control Unit) processor, a positioning module, a wireless communication module, a storage battery module for supplying power to the Beidou intelligent positioning shoe, an attitude sensor and a kinetic energy conversion power supply system, wherein the attitude sensor comprises an accelerometer and a gyroscope which are arranged in the attitude sensor and is used for monitoring the foot motion form of a user; the kinetic energy conversion power supply system is composed of a power generation mechanism and a charging circuit, the power generation mechanism charges the storage battery module through the charging circuit, and the attitude sensor, the kinetic energy conversion power supply system, the positioning module and the wireless communication module are all electrically connected with the MCU processor.
Further, the power generation mechanism comprises a box body, the box body consists of a detachable upper cover body and a detachable lower cover body, a limiting ring is fixedly installed in the box body, pressure balls are installed in the limiting ring, an opening is formed in the position, corresponding to the limiting ring, of the upper cover body, the upper end of each pressure ball penetrates out of the opening, the size of the opening in the upper cover body is smaller than the diameter of the pressure ball, a swinging arm is arranged on the side portion of the limiting ring and hinged in the box body, a torsion spring is arranged at the hinged position of the swinging arm and used for driving the swinging arm to rotate towards the limiting ring, an opening is formed in the side wall, facing the swinging arm, of the limiting ring, a gasket is arranged at the opening of the limiting ring and is connected with the opening of the limiting ring in a sliding manner, a telescopic spring is connected between the gasket and the side wall of the swinging arm, and a permanent magnet is further arranged in the box body, the permanent magnet rotates and connects in the box body, the inside of permanent magnet is equipped with generator stator, generator stator is fixed in the box body, the upper end of permanent magnet is fixed with the gear, it rotates to sway the armed lever through change gear drive permanent magnet, change gear rotates and connects in the box body.
Preferably, the change gear is composed of a large gear and a small gear, wherein the large gear and the small gear are coaxially arranged, gear teeth are arranged on the inner wall of the arc-shaped section of the swing arm rod, the small gear on the change gear is meshed with the gear teeth on the arc-shaped section of the swing arm rod, and the large gear on the change gear is meshed with the gear on the upper end of the permanent magnet.
Preferably, a limiting column is further installed in the box body.
The invention further provides a method for identifying the step motion form of the Beidou intelligent positioning shoe, and particularly relates to a method for identifying stride, step frequency and course monitoring based on an anchor point by using an attitude sensor and a kinetic energy conversion power supply system to induce a voltage change curve;
an inductive electric change curve of the attitude sensor and the kinetic energy conversion power supply system is applied, and the monitoring is carried out based on the stride, the stride frequency and the course of an anchor point: obtaining v ═ s/t to obtain v ═ adt;
v: velocity vector, s: displacement vector, t: time, a: an acceleration vector;
the direction of the change speed vector of the acceleration vector changes along with the change of the acceleration vector, and the advancing direction is estimated and judged through the attitude of the anchor point; estimating the stride, the step frequency and the course through the track of the anchor point, the change of the extreme points and the direction;
obtaining a treading induction voltage change curve of the kinetic energy conversion power supply system, and judging the landing time and the suspension time through the periodic change of the induction voltage change curve;
correcting the confidence error of the attitude sensor through a step frequency recognition result recognized by an induced electrical variation curve of a kinetic energy conversion power supply system, and combining EKF error state vector delta X (delta p, delta v, delta psi) measurement estimation errors into new measurement errors to estimate the future attitude sensor step induction error;
the collected data are transmitted to a back-end service center gateway through a wireless communication module.
Furthermore, the induced voltage change curve is obtained by detecting the A/D voltage through the front end node of the MCU-connected bridge type rectifying circuit to obtain the treading induced voltage change curve.
Further, the attitude sensor monitors a moving or static state through a built-in accelerometer and a built-in gyroscope, and the state variable update equation is as follows:
the state variable updating error variables are respectively gyro drift, speed error, attitude error, accelerometer zero offset and angular velocity meter zero offset, the attitude sensor is kept horizontal after being electrified, gyro/accelerometer automatic calibration is used for removing the zero offset of the gyro and the accelerometer, and if the gyro drift, the speed error, the attitude error and the accelerometer zero offset are all 0, the gyro angular rate updating matrix equation is as follows:
H3x15＝[03x3 03x3 03x3 03x3 I3x3]
after calibration, the zero-offset data is automatically stored in Flash inside the MCU processor module so as to be stored in a power-down mode. In the quiescent state, the output of the gyroscope will return to near 0/s.
Furthermore, the walking posture condition of the user is judged by monitoring the change of the rolling angle and the pitching angle of the posture sensor; a quaternion is constructed by the rotation axis of the attitude sensor and the angle of rotation around the rotation axis, and the quaternion defines the formula as follows:
q＝[wxyz]T
|q|2＝w2+x2+y2+z2＝1
w＝cos(α/2)
x＝sin(α/2)cos(βx)
y＝sin(α/2)cos(βy)
z＝sin(α/2)cos(βz)
where α is the angle of rotation about the axis of rotation, cos (. beta.)x)、cos(βy)、cos(βz) For the components of the rotation axis in x, y, z directions to determine the rotation axis, the quaternion is converted into a three-dimensional attitude angle (euler angle) as follows:
in the formula, theta is the elevation angle of the attitude sensor, phi is the roll angle of the attitude sensor, and psi is the azimuth angle of the attitude sensor;
the main foot motion forms in the motion process are as follows: coordinating phi is less than or equal to | n |, turning phi is greater than | n |, and predicting the optimal value of n to be 2 degrees;
the step rise and fall coordination type phi is less than or equal to | n |, and the step rise and fall coordination type phi is judged to be normal pronation; the step rise-fall turnover type phi is greater than | n | and n is a positive value and is judged to be insufficient internal rotation; the step rise and fall overturn type phi > | n | is negative value, and is judged as excessive internal rotation.
The invention has the beneficial effects that:
according to the invention, through a mode of fusing the induced electrical change of the kinetic energy conversion power supply system and the multiple sources of the attitude sensor, after the estimated result deviates, the confidence error of the attitude sensor is corrected through the step frequency identification result identified by the induced electrical change curve of the kinetic energy conversion power supply system, so that the identification of the step motion form and the analysis of the walking posture health condition of the user are more reliable. In addition, the invention can estimate the foot step motion form through the anchor point posture of the posture sensor, can judge the sole abrasion part, and helps the shoe and clothes industry design different shoe money aiming at different foot step motion forms.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural view of a power generating mechanism (without an upper cover) according to the present invention;
FIG. 2 is a top view of the power generation mechanism (without the upper cover);
FIG. 3 is a bottom view of the power generation mechanism (without the lower cover);
FIG. 4 is an axial view of the power generation mechanism;
fig. 5 is a schematic diagram of a charging circuit in accordance with the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
A Beidou intelligent positioning shoe comprises an MCU (microprogrammed control Unit) processor, a positioning module, a wireless communication module, a storage battery module for supplying power to the Beidou intelligent positioning shoe, an attitude sensor and a kinetic energy conversion power supply system, wherein the attitude sensor comprises an accelerometer and a gyroscope which are arranged in the attitude sensor and is used for monitoring the foot motion form of a user; the kinetic energy conversion power supply system is composed of a power generation mechanism and a charging circuit, the power generation mechanism charges the storage battery module through the charging circuit, and the attitude sensor, the kinetic energy conversion power supply system, the positioning module and the wireless communication module are all electrically connected with the MCU processor. The collected data are transmitted to a back-end service center gateway through a wireless communication module. The back-end service center comprises a server gateway, a database and a service center (a comprehensive data analysis platform, a WeChat applet, an APP and other clients). The wireless communication module is transmitted to a back-end service center gateway through a communication network 4G/IOT, and the back-end service center stores data, classifies services and displays functions.
The operation mode of the positioning module is as follows: the equipment is started, power consumption is reduced through single-mode positioning according to the priority of wifi positioning, Beidou/GPS positioning and LBS positioning, background mode switching is supported, and after a tracking instruction is received, the mode is switched to multi-mode positioning to improve positioning accuracy. (2) And (3) intelligently reporting frequency: the position can be manually updated in a normal mode for 1 time after 15 minutes, the position can be automatically updated in a normal mode for 5 minutes, the position can be automatically updated in an emergency mode for 30 seconds, and the reporting frequency can be set remotely. (3) The switching state is detected through the motion/static state, the current position is reported when the switching state is switched, the static state enters the intelligent power saving mode and is reported for 1 time in 1 hour, the frequency can be modified remotely, a platform mounting mode is adopted, and the equipment can take effect after receiving a modification instruction after the equipment is on line.
Referring to the attached figures 1-4, the power generation mechanism comprises a box body 1, the box body 1 is composed of a detachable upper cover body and a detachable lower cover body, the upper cover body is detachably connected with the lower cover body, a limiting ring 2 is fixedly installed in the box body 1, pressure balls 3 are all installed in the limiting ring 2, an opening is arranged at the position of the upper cover body corresponding to the limiting ring 2, the upper end of each pressure ball 3 penetrates out of the opening, a swinging arm 4 is arranged at the side part of the limiting ring 2, the tail end of each swinging arm 4 is hinged in the box body 1 through a rotating shaft, a torsion spring 5 is arranged at the hinged part of each swinging arm 4 and used for driving each swinging arm 4 to rotate towards the limiting ring 2, an opening is formed in the side wall of the limiting ring 2, a gasket 6 is arranged at the opening of the limiting ring 2, the gasket 6 is slidably connected with the opening of the limiting ring 2, and a telescopic spring 7 is connected between the gasket 6 and the side wall of the swinging arm 4, still be equipped with permanent magnet 9 in the box body 1, wherein permanent magnet 9 is the cavity lid form, and permanent magnet 9 rotates to be connected in box body 1, and the inside of permanent magnet 9 is equipped with generator stator 10, and generator stator 10 is fixed in box body 1, and the upper end of permanent magnet 9 is fixed with the gear, and swing armed lever 4 rotates through change gear 8 drive permanent magnet 9, and change gear 8 rotates to be connected in box body 1. In which the generator stator 10 is connected to the accumulator module via a charging circuit 11. The charging circuit 11 is of a conventional design, and the layout of the charging circuit is shown in fig. 5, which is not further described.
Furthermore, the speed change gear 8 is composed of a big gear and a small gear (the number of times of the big gear is greater than that of the small gear), wherein the big gear and the small gear are coaxially arranged, gear teeth are arranged on the inner wall of the arc-shaped section of the swing arm rod 4, the small gear on the speed change gear 8 is meshed with the gear teeth on the arc-shaped section of the swing arm rod 4, and the big gear on the speed change gear 8 is meshed with the gear on the upper end of the permanent magnet 9; the number of rotations of the permanent magnet 9 can be increased by the arrangement of the speed change gear 8.
Furthermore, a limiting column 12 is further installed in the box body 1 and used for preventing the non-gear tooth section on the arc edge of the swing arm rod 4 from colliding with the speed change gear 8 due to the fact that the swing arm rod 4 is too large in rotation amplitude.
When the walking and treading process is carried out, the pressure ball 3 is elastically deformed by the gravity of a human body, the swinging arm rod 4 is pushed by the gasket 6 and the telescopic spring 7, and the swinging arm rod 4 drives the permanent magnet 9 to rotate through the speed change gear 8 and the gear at the upper end of the permanent magnet 9; when the sole breaks away from and ground contact, the human gravity that receives disappears on the pressure ball 3, and the pressure ball 3 takes place the deformation of recovering oneself at once, and rocking arm 4 receives torsion spring 5's resilience to promote gasket 6 and expanding spring 7 and resets, and rocking arm 4 reset process simultaneously also can drive permanent magnet 9 through change gear 8 and rotate. When the permanent magnet 9 rotates for generator stator 10, can produce induced current (Faraday electromagnetic induction principle) in generator stator 10's the coil, the induced current is derived to the battery module in through charging circuit 11, and then realizes the charging of battery module, has promoted the continuation of the journey of big dipper intelligence location shoes.
The invention further provides a method for identifying the step motion form of the Beidou intelligent positioning shoes, and particularly relates to a method for monitoring the motion or static state of an attitude sensor through an accelerometer and a gyroscope which are arranged in the Beidou intelligent positioning shoes. The gesture sensor and the kinetic energy conversion power supply system are used for sensing a voltage change curve, and based on the stride, the step frequency and the course monitoring of an anchor point and an EKF filter model error correction algorithm, the landing mode, the grounding time and the suspension time are effectively evaluated, and the walking posture conditions of a user, including the landing mode, the grounding time, the balance monitoring, the foot pronation and other foot motion states, are judged.
Identifying stride, step frequency and course monitoring based on an anchor point through an attitude sensor and a kinetic energy conversion power supply system induction voltage change curve;
the attitude sensor monitors the motion or static state through a built-in accelerometer and a built-in gyroscope, and the state variable updating equation is as follows:
the state variable updating error variables are respectively gyro drift, speed error, attitude error, accelerometer zero offset and angular velocity meter zero offset, the attitude sensor is kept horizontal after being electrified, automatic calibration of the gyro/accelerometer is used for removing the zero offset of the gyro and the accelerometer, and if the gyro drift, the speed error, the attitude error and the accelerometer zero offset are all 0, the gyro angular rate updating matrix equation is as follows:
H3x15＝[03x3 03x3 03x3 03x3 I3x3]
after calibration, the zero-offset data is automatically stored in Flash inside the MCU processor module so as to be stored in a power-down mode. In the quiescent state, the output of the gyroscope will return to near 0/s.
An inductive electric change curve of the attitude sensor and the kinetic energy conversion power supply system is applied, and the monitoring is carried out based on the stride, the stride frequency and the course of an anchor point: obtaining v ═ s/t, and ═ adt;
v: velocity vector, s: displacement vector, t: time, a: an acceleration vector;
the direction of the change speed vector of the acceleration vector changes along with the change of the acceleration vector, and the advancing direction is estimated and judged through the attitude of the anchor point; estimating the stride, the step frequency and the course through the track of the anchor point, the change of the extreme points and the direction;
the estimation confidence of the attitude sensor on the motion footsteps is verified through the induced electrical variation curve of the kinetic energy conversion power supply system, and normalization processing is carried out after the estimation result deviates. Obtaining a treading induction voltage change curve of the kinetic energy conversion power supply system, and judging the landing time and the suspension time through the periodic change of the induction voltage change curve; the acquisition mode of the induced voltage change curve is that the front end node of the MCU bridge rectifier circuit is used for A/D voltage detection to obtain a treading induced voltage change curve, and the landing and suspension time is judged according to the periodic signal change of the induced voltage change curve;
recursion the step course and step correction constraint of the kth step is as follows:
(q) course of strides(k))：
Step size (SL (k)):
③ step course error (delta theta):
dq(k)＝qS(k)-qR
because the system device adopts the double-pressure-ball sensing and the two-way identification of the treading process, and can obtain relatively high treading sensing precision by simply filtering the sensing voltage, the direction and the maintaining time. Therefore, the system can directly correct the confidence error of the attitude sensor through the treading sensing step frequency recognition result, combines the EKF error state vector delta X (delta p, delta v, delta psi) measurement estimation error with the new measurement error to estimate the future attitude sensor step sensing error, and more accurately recognizes the step, step frequency and course; the change of the rolling angle and the pitching angle of the attitude sensor is further accurately monitored, and the walking posture condition of the user is judged, wherein the walking posture condition comprises the foot motion forms such as a landing mode, a ground contact time, balance monitoring, foot pronation and the like.
Furthermore, considering that confidence degrees of treading induction step frequency recognition and gesture sensor recognition are different, the accuracy of the treading induction step frequency recognition and the accuracy of the gesture sensor recognition can be judged by utilizing covariance.
The wireless communication module transmits the acquired data to a back-end service center gateway through a communication network 4G/IOT.
Furthermore, the walking posture condition of the user is judged by monitoring the change of the rolling angle and the pitching angle of the posture sensor; a quaternion is constructed by the rotation axis of the attitude sensor and the angle of rotation around the rotation axis, and the quaternion defines the formula as follows:
q＝[wxyz]T
|q|2＝w2+x2+y2+z2＝1
w＝cos(α/2)
x＝sin(α/2)cos(βx)
y＝sin(α/2)cos(βy)
z＝sin(α/2)cos(βz)
where α is the angle of rotation about the axis of rotation, cos (. beta.)x)、cos(βy)、cos(βz) For the components of the rotation axis in x, y, z directions to determine the rotation axis, the quaternion is converted into a three-dimensional attitude angle (euler angle) as follows:
in the formula, theta is the elevation angle of the attitude sensor, phi is the roll angle of the attitude sensor, and psi is the azimuth angle of the attitude sensor;
the data are acquired through the experience of the intelligent positioning shoe user and serve as data samples (the number of users a is more than or equal to 100), and the device is completely embedded in one side (the right foot) of the intelligent positioning shoe so as to facilitate data analysis, and the data samples are recorded according to the time axis and the postures theta,
And psi monitoring value drawing process change curve, and obtaining the main footstep motion form in the motion process: coordinating type phi is less than or equal to | n |, overturning type phi is greater than | n |, and estimating the optimal value of n to be 2 degrees;
the study of foot motion patterns is mainly divided into 3 patterns, as follows:
firstly, the heel leans to the outer side to land firstly, then forwards along the outer side of the foot, then slightly overturns inwards, and then the sole is used for stepping on the ground to obtain the force to lift the foot, namely the rising and falling coordination type of the foot step phi is less than or equal to | n |, and the normal internal rotation is judged.
Secondly, after the shoes are landed, the foot plates are not turned inwards, and the feet are lifted only shortly after the outer sides of the foot plates are landed, namely the foot step rising and falling turning type phi > n, n is a positive value and is judged to be insufficient in-rotation, so that the shoes can form the condition that the heel is worn more and the outer sides of the half soles are worn more.
And thirdly, if the shoe is turned too much, the foot is not lifted when the front sole is evenly pressed on the ground, the shoe continues to rotate inwards, the foot is lifted after the foot sole is used for internally treading the ground to obtain force, namely the foot step rising and falling turning type phi is greater than | n | and n is a negative value and is judged to be excessively rotated inwards, so that the shoe can form the condition that the heel is worn more and the inner side of the front sole is worn more.
The motion form of the footsteps is estimated through the anchor point postures of the posture sensors, and the big data analysis of the worn parts of the soles is carried out, so that the shoe and clothes industry is helped to design different shoe styles according to different motion forms of the footsteps. Meanwhile, the collected foot motion form data is transmitted to a back-end service center gateway through a communication network 4G/IOT. The user can look over the motion form of oneself step through APP, according to report analysis suggestion or independently select customization shoe money.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for identifying the step motion form based on Beidou intelligent positioning shoes is characterized in that stride, step frequency and course monitoring based on anchor points are identified through an induction voltage change curve of an attitude sensor and a kinetic energy conversion power supply system;
an inductive electric change curve of the attitude sensor and the kinetic energy conversion power supply system is applied, and the monitoring is carried out based on the stride, the stride frequency and the course of an anchor point:
obtaining v ═ s/t, and ═ adt;
v: velocity vector, s: displacement vector, t: time, a: an acceleration vector;
the direction of the change speed vector of the acceleration vector changes along with the change of the acceleration vector, and the advancing direction is estimated and judged through the attitude of the anchor point; estimating the stride, the step frequency and the course through the track of the anchor point, the change of the extreme points and the direction;
obtaining a treading induction voltage change curve of the kinetic energy conversion power supply system, and judging the landing time and the suspension time through the periodic change of the induction voltage change curve;
correcting the confidence coefficient error of the attitude sensor through a step frequency recognition result recognized by an induction electrical variation curve of a kinetic energy conversion power supply system, and combining an EKF error state vector delta X (delta p, delta v, delta psi) measurement estimation error and a new measurement error to estimate a future attitude sensor step induction error;
the collected data are transmitted to a back-end service center gateway through a wireless communication module.
2. The method for identifying the form of the foot movement based on the Beidou intelligent positioning shoes according to claim 1, wherein the induced voltage change curve is obtained by performing A/D voltage detection through a front end node of an MCU (microprogrammed control Unit) bridge type rectifying circuit.
3. The method for identifying foot motion forms based on Beidou intelligent positioning shoes according to claim 1, wherein the attitude sensor monitors motion or static state through a built-in accelerometer and a built-in gyroscope, and the state variable update equation is as follows:
the state variable updating error variables are respectively gyro drift, speed error, attitude error, accelerometer zero offset and angular velocity meter zero offset, the attitude sensor is kept horizontal after being electrified, gyro/accelerometer automatic calibration is used for removing the zero offset of the gyro and the accelerometer, and if the gyro drift, the speed error, the attitude error and the accelerometer zero offset are all 0, the gyro angular rate updating matrix equation is as follows:
H3x15＝[03x3 03x3 03x3 03x3 I3x3]
after calibration, the zero-offset data is automatically stored in Flash inside the MCU processor module for power-down storage, so that the output of the gyroscope returns to near 0 DEG/s in a static state.
4. The method for identifying the foot motion form based on the Beidou intelligent positioning shoes according to claim 1, wherein the walking posture condition of a user is judged by monitoring the changes of rolling angles and pitching angles of a posture sensor; a quaternion is constructed by the rotation axis of the attitude sensor and the angle of rotation around the rotation axis, and the quaternion defines the formula as follows:
q＝[w x y z]T
|q|2＝w2+x2+y2+z2＝1
w＝cos(α/2)
x＝sin(α/2)cos(βx)
y＝sin(α/2)cos(βy)
z＝sin(α/2)cos(βz)
where α is the angle of rotation about the axis of rotation, cos (. beta.)x)、cos(βy)、cos(βz) For the components of the rotation axis in the x, y and z directions to determine the rotation axis, the quaternion is converted into a three-dimensional attitude angle, and the transformation formula is as follows:
in the formula, theta is the elevation angle of the attitude sensor, phi is the roll angle of the attitude sensor, and psi is the azimuth angle of the attitude sensor;
the main foot motion forms in the motion process are as follows: coordinating phi is less than or equal to | n |, turning phi > | n |, and predicting the optimal value of n to be 2 degrees;
the step rise and fall coordination type phi is less than or equal to | n |, and the step rise and fall coordination type phi is judged to be normal pronation; the step rising and falling turnover type phi > | n | is positive, and the inner rotation is judged to be insufficient; the step rise-fall turnover phi > n < n >, n is a negative value, and the result is judged to be excessive internal rotation.
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| US6239501B1 (en) * | 1998-05-26 | 2001-05-29 | Robert Komarechka | Footwear with hydroelectric generator assembly |
| CA2370248A1 (en) * | 2002-01-31 | 2003-07-31 | Florencio Neto Palma | Foot powered generator |
| CN103054256A (en) * | 2011-10-18 | 2013-04-24 | 刘依宁 | Self-generating electric locating supervision shoe |
| WO2017079887A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Multifunctional self-generating wireless charging shoe |
| CN108577011A (en) * | 2018-04-13 | 2018-09-28 | 郑州檀乐科技有限公司 | A kind of intelligent shoe based on space orientation pattern-recognition |
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| US20020008661A1 (en) * | 2000-07-20 | 2002-01-24 | Mccall Hiram | Micro integrated global positioning system/inertial measurement unit system |
| CN106705968B (en) * | 2016-12-09 | 2020-11-27 | 北京工业大学 | Indoor inertial navigation algorithm based on attitude identification and step size model |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6239501B1 (en) * | 1998-05-26 | 2001-05-29 | Robert Komarechka | Footwear with hydroelectric generator assembly |
| CA2370248A1 (en) * | 2002-01-31 | 2003-07-31 | Florencio Neto Palma | Foot powered generator |
| CN103054256A (en) * | 2011-10-18 | 2013-04-24 | 刘依宁 | Self-generating electric locating supervision shoe |
| WO2017079887A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Multifunctional self-generating wireless charging shoe |
| CN108577011A (en) * | 2018-04-13 | 2018-09-28 | 郑州檀乐科技有限公司 | A kind of intelligent shoe based on space orientation pattern-recognition |
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