CN113925494A - Method and device for monitoring walking gait of individual walking badly - Google Patents
Method and device for monitoring walking gait of individual walking badly Download PDFInfo
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Abstract
The application relates to a gait monitoring method and a device for personal bad walking, wherein the method comprises the steps of acquiring gait detection data of a left foot and/or a right foot of a person to be detected by a sensor, wherein the gait detection data comprises pressure, acceleration and angular velocity detection data; then judging whether the person to be detected is in a walking state or not based on the gait detection data; after the person to be detected is in a walking state, judging the walking gait of the person to be detected according to the acceleration detection data and the angular velocity detection data; wherein the walking gait comprises normal, outward splayed and inward splayed walking gait; and when the walking gait of the person to be detected is judged to be the outward splayed or inward splayed walking gait, a prompt is sent. Therefore, whether the gait is normal, outer eight or inner eight is judged by detecting the pressure, the acceleration and the angular velocity of the foot when the person walks, and the person to be detected is reminded when the abnormal gait is detected, so that the person to be detected can adjust the walking gait in time, thereby gradually correcting the walking gait and avoiding the damage of the abnormal gait to the body for a long time.
Description
Technical Field
The application relates to the technical field of intelligent wearing, in particular to a method and a device for monitoring walking gait of individual walking badly.
Background
The walking gait of a person is a habit developed from childhood, and the walking posture is more solidified in the long-term habit process due to the fact that the outer splayed leg, the inner splayed leg and the O-shaped leg can be formed by different habits. In life, many people have slight splayfoot and inner splayfoot, and the harm caused by the long-term splayfoot and inner splayfoot is as follows:
the long-term splayfoot can concentrate the gravity center of a human body on the inner side of the foot, the heavier the weight of the human body, the greater the pressure on the inner side of the foot, and the foot inner side is easy to collapse in the past, so that the flat foot is easy to cause. People walking or standing with the splayfoot can also generate great pressure on the inner side of the knee joint, so that the knee joint of the human body is deformed, and the knee joint of the leg part is difficult to be a straight line when walking, thereby influencing the integral beauty of the people. In addition, the splayfoot can affect the running efficiency during running, and the foot is easy to be injured. The lateral splayfoot can cause severe abrasion of the lateral side of the knee joint, and the long-term lateral splayfoot can cause pain of the lateral side of the knee joint. The long-term splayfoot can increase the pressure on the knee joint due to the influence of gravity, so that the bone is deformed, the O-shaped leg is easily formed, the pelvis is inclined in severe cases, and the female fertility is adversely affected.
However, in the prior art, no related equipment or method is used for detecting the walking gait of the person, so that the person with abnormal walking gait comprising the outward splayed walking gait and the inward splayed walking gait cannot detect the walking gait of the person in time, the walking gait of the person is adjusted, the gait is corrected, the outward splayed gait or the inward splayed gait is more and more serious, and the body is damaged.
Disclosure of Invention
The application provides a method and a device for monitoring walking gait of individual poor walking, which aim to solve the problems that in the prior art, the walking gait of the individual cannot be detected, so that abnormal gait cannot be found, and further body damage is caused due to continuous aggravation.
The above object of the present application is achieved by the following technical solutions:
in a first aspect, an embodiment of the present application provides a method for monitoring a walking gait of an individual, including:
acquiring gait detection data of a left foot and/or a right foot of a person to be detected through a preset sensor; wherein the gait detection data comprises pressure detection data, acceleration detection data and angular velocity detection data;
judging whether the person to be detected is in a walking state or not based on the gait detection data;
after the person to be detected is judged to be in a walking state, judging the walking gait of the person to be detected according to the acceleration detection data and the angular velocity detection data; wherein the walking gaits comprise a normal walking gait, an outward splayed walking gait and an inward splayed walking gait;
and when the walking gait of the person to be detected is judged to be the splayed walking gait or the splayed walking gait, a prompt is sent.
Further, the acquiring gait detection data of the left foot and/or the right foot of the person to be detected by the preset sensor includes:
acquiring pressure detection data of the left foot and/or the right foot of a person to be detected through a preset sensor;
and determining a stepping period from the step of the foot of the person to be detected to the step of the ground again based on the pressure detection data, and acquiring acceleration detection data and angular velocity detection data of the left foot and/or the right foot of the person to be detected in the stepping period through a preset sensor.
Further, the preset sensor comprises a six-axis attitude sensor and a pressure sensor;
the six-axis attitude sensor comprises a three-axis acceleration sensor and a three-axis gyroscope sensor;
the three-axis acceleration sensor is used for detecting three axial acceleration data of a left foot and/or a right foot of a person to be detected to obtain three axial acceleration detection data; the three-axis gyroscope sensor is used for detecting three axial angular velocity data of a left foot and/or a right foot of a person to be detected to obtain three axial angular velocity detection data; the pressure sensor is used for detecting the pressure of the left foot and/or the right foot of a person to be detected in the vertical direction of the ground to obtain pressure detection data.
Further, the three axial directions are a first axial direction, a second axial direction and a third axial direction respectively;
the first axial direction is a direction which horizontally points to the face of the person to be detected from the front of the person to be detected, and the second axial direction is a direction which horizontally points to the right hand of the person to be detected by taking the center of the human body of the person to be detected as a starting point; the third axis is the direction of the vertical horizontal plane pointing to the sky.
Further, the determining whether the person to be detected is in a walking state based on the gait detection data includes:
when negative acceleration exists in the acceleration detection data along the first axial direction and the acceleration value is smaller than or equal to-0.5 gravity acceleration, judging that the person to be detected is in a walking state;
when positive angular speed exists along the third axial direction in the angular speed detection data, and the maximum angular speed is greater than or equal to a preset angular speed threshold value, judging that the person to be detected is in a walking state;
and when the acceleration which is smaller than the gravity acceleration exists in the acceleration detection data along the third axial direction, and then the acceleration which is larger than the gravity acceleration exists, judging that the person to be detected is in a walking state.
Further, when it is determined that the person to be detected is in a walking state, determining a walking gait of the person to be detected by the acceleration detection data and the angular velocity detection data includes:
when the gait detection data is the gait detection data of the right foot of the person to be detected:
when the maximum value of the absolute value of the second axial acceleration is smaller than or equal to the target value of the first axial acceleration in the acceleration detection data, judging that the walking gait of the person to be detected is normal walking gait; the first axial acceleration target value is the product of the maximum value of the absolute value of the first axial negative acceleration and a preset angle tangent value;
when the maximum value of the positive acceleration in the second axial direction is larger than the target value of the positive acceleration in the first axial direction in the acceleration detection data, judging that the walking gait of the person to be detected is a splayed walking gait;
and when the maximum value of the absolute value of the negative acceleration in the second axial direction is greater than the target value of the first axial acceleration in the acceleration detection data, judging that the walking gait of the person to be detected is a splayed walking gait.
Further, when it is determined that the person to be detected is in a walking state, the walking gait of the person to be detected is determined according to the acceleration detection data and the angular velocity detection data, and the method further includes:
calculating the angle of rotation in the third axial direction when the person to be detected walks each step based on the angular speed detection data to obtain a third axial rotation angle;
and judging the walking gait of the person to be detected based on the third axial rotation angle.
Further, the determining the walking gait of the person to be detected based on the third axial rotation angle includes:
when the gait detection data is the gait detection data of the right foot of the person to be detected:
when the third axial rotation angle is larger than a first preset angle and smaller than a second preset angle, judging the walking gait of the person to be detected as a normal walking gait;
when the third axial rotation angle is smaller than the first preset angle, judging that the walking gait of the person to be detected is a splayed walking gait;
and when the third axial rotation angle is larger than the second preset angle, judging that the walking gait of the person to be detected is a splayed walking gait.
Further, the method further comprises the steps of adjusting the numerical values of the first preset angle and the second preset angle and adjusting the preset angular speed threshold value based on personal characteristic data of a person to be detected.
In a second aspect, an embodiment of the present application further provides a device for monitoring a walking gait of an individual, which includes a data collection unit, a data processing unit and a reminding unit;
the data collection unit comprises a three-axis acceleration sensor, a three-axis gyroscope sensor and a pressure sensor;
the three-axis acceleration sensor is used for detecting three axial acceleration data of a left foot and/or a right foot of a person to be detected to obtain three axial acceleration detection data; the three-axis gyroscope sensor is used for detecting three axial angular velocity data of a left foot and/or a right foot of a person to be detected to obtain three axial angular velocity detection data; the pressure sensor is used for detecting the pressure of the left foot and/or the right foot of a person to be detected in the vertical direction of the ground to obtain pressure detection data;
the data processing unit is respectively connected with the three-axis acceleration sensor, the three-axis gyroscope sensor and the pressure sensor and is used for judging whether the person to be detected is in a walking state or not based on the acceleration detection data, the angular velocity detection data and the pressure detection data;
the data processing unit is also used for judging the walking gait of the person to be detected according to the acceleration detection data and the angular velocity detection data when the person to be detected is judged to be in the walking state; wherein the walking gaits comprise a normal walking gait, an outward splayed walking gait and an inward splayed walking gait;
the data processing unit is also connected with the reminding unit and used for sending out a reminding through the reminding unit when the walking gait of the person to be detected is judged to be the splayed walking gait or the splayed walking gait.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the technical scheme provided by the embodiment of the application, gait detection data of the left foot and/or the right foot of a person to be detected are obtained through a preset sensor; the gait detection data comprises pressure detection data, acceleration detection data and angular velocity detection data; then judging whether the person to be detected is in a walking state or not based on the gait detection data; after the person to be detected is judged to be in a walking state, judging the walking gait of the person to be detected through the acceleration detection data and the angular velocity detection data; wherein the walking gait comprises a normal walking gait, an external splayed walking gait and an internal splayed walking gait; and when the walking gait of the person to be detected is judged to be the splayed walking gait or the splayed walking gait, a prompt is sent. Therefore, whether the gait is normal, outer eight or inner eight is judged by detecting the pressure, the acceleration and the angular speed of the feet when a person walks, and when the abnormal gait is detected, the person to be detected is reminded to adjust the gait in time, so that the walking gait is gradually corrected, and the body is prevented from being damaged by the long-term abnormal gait.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic flow chart of a method for monitoring an individual's walking gait according to an embodiment of the present application;
fig. 2 is a schematic diagram of a coordinate system in a method for monitoring an individual's walking gait according to an embodiment of the present application;
FIG. 3 is a schematic diagram of gait determination in a method for monitoring gait of an individual walking badly according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a method for monitoring an individual's gait of walking badly according to another embodiment of the present application;
fig. 5 is a schematic structural diagram of a device for monitoring gait of walking of an individual in accordance with an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
In order to solve the problems, the application provides a method and a device for monitoring individual bad walking gaits, so that the individual walking gaits are monitored, and when the bad walking gaits are found, a prompt is given, so that a person to be detected can find the bad gaits of the person in time and correct the walking gaits in time, and the damage of the bad walking gaits to the body of the person in a long term is avoided. Specific embodiments are illustrated in detail by the following examples.
Examples
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for monitoring an individual walking gait according to an embodiment of the present application, as shown in fig. 1, the method at least includes the following steps:
s101, acquiring gait detection data of the left foot and/or the right foot of a person to be detected through a preset sensor.
Wherein the gait detection data includes pressure detection data, acceleration detection data and angular velocity detection data.
Firstly, in the method for monitoring the gait of the walking of the individual in bad condition, the sensors can be arranged on the shoes, the sensors specifically comprise six-axis attitude sensors and pressure sensors, the six-axis attitude sensors comprise three-axis acceleration sensors and three-axis gyroscope sensors, and the pressure sensors can be arranged on the soles. The pressure detection data of the user on the foot or the shoe are respectively collected and detected through a sensor in the device, and the acceleration detection data and the angular velocity detection data are collected and detected to obtain basic data. In practical application, a user can set the monitoring device provided by the embodiment on the right foot, can also set the monitoring device on the left foot, and can also simultaneously mount the monitoring device on the left foot and the right foot, so that the accuracy is further improved.
When performing gait detection determination on a user, it is necessary to first establish a coordinate system and then perform calculation determination on data based on the coordinate system. Fig. 2 is a coordinate system established in the embodiment of the present application, and the coordinate system is as shown in fig. 2: the coordinate system includes three axes, namely a first axis, i.e., an X axis in the figure, a second axis, i.e., a Y axis in fig. 2, and a third axis, i.e., a Z axis in the figure. The X axis takes the direction from the front of the person to be detected to the face of the person to be detected as positive, the Y axis takes the center of the human body of the person to be detected as a starting point, the direction from which the Y axis horizontally points to the right hand of the person to be detected as positive, and the Z axis takes the direction from which the vertical horizontal plane points to the sky as positive. In addition, the three-axis gyroscope sensor and the three-axis acceleration sensor are both sensor chips with 3-degree-of-freedom directions, and three axes of the sensor correspond to three axes in the coordinate system in a consistent manner. An accelerometer, i.e. a triaxial acceleration sensor, is used for measuring the instantaneous acceleration of three axes, and a gyroscope, i.e. a triaxial gyroscope sensor, is used for measuring the angular velocity of three axes.
It can be understood that the method used by other coordinate systems is the same, and the calculation method corresponding to the left and right feet is also the same, but the axial direction for calculation is different, or the judgment conditions when judging the inner and outer eight characters are different, in practical application, the establishment method of the coordinate system can be changed according to the actual situation, and the left and right feet can be calculated together according to the monitoring method provided by the embodiment of the application, so that the gait recognition rate is further improved.
In practical application, the step of acquiring the gait detection data of the left foot and/or the right foot of the person to be detected through the preset sensor specifically comprises the following steps: firstly, acquiring pressure detection data of a left foot and/or a right foot of a person to be detected through a preset sensor; and then determining a stepping period from the time when the foot of the person to be detected leaves the ground to the time when the person to be detected steps on the ground again based on the pressure detection data, and acquiring acceleration detection data and angular velocity detection data of the left foot and/or the right foot of the person to be detected in the stepping period through a preset sensor.
That is, the acceleration detection data and the angular velocity detection data are detected and collected during the step taken by the user determined based on the pressure detection data. In practical applications, the user may be in a sitting or lying position before the detection, and the pressure sensor detects a small pressure value, even O, so in the embodiment of the present application, different weight thresholds can be set for the shoes of children and adults. Such as: when the weight measured by the pressure sensor is larger than 10KG, the children shoes start posture detection, and acquire acceleration detection data and angular velocity detection data. When the weight measured by the pressure sensor is more than 30KG, the adult shoes start posture detection. And can be through bluetooth communication module, with cell-phone end interconnection, then go to set up the threshold value through the cell-phone end. In addition, in daily life, in addition to normal walking, recognition interference may be caused by postures or actions such as dancing or fitness. The user also can be manual when the abnormal walking, closes the gesture through the bluetooth communication and detects, opens when normally walking, and the person of facilitating the use controls to detect according to actual conditions and goes on.
And S102, judging whether the person to be detected is in a walking state or not based on the gait detection data.
First, it can be understood that in the above coordinate system, the value of the accelerometer should be 1g after conversion in the horizontal static state in the Z-axis, and 0g after conversion in the X-axis and the Y-axis. The gyroscope has the same coordinate system as the accelerometer and the output of the gyroscope in three axes should be 0 degrees/second. The output description of the static state is based on the fact that the gyroscope sensor and the accelerometer sensor are subjected to zero point calibration.
In specific application, the method for judging whether the user, i.e. the person to be detected is in the walking state can be various, for example, through acceleration detection data in gait data, when negative acceleration exists along an X axis in the acceleration detection data, and the acceleration value is less than or equal to-0.5 gravity acceleration (or can be changed according to actual conditions), the person to be detected is judged to be in the walking state; when positive angular velocity exists along the Z-axis direction in the angular velocity detection data, and the maximum angular velocity is greater than or equal to a preset angular velocity threshold (such as 20 degrees per second), judging that the person to be detected is in a walking state; in the acceleration detection data, the acceleration smaller than the gravity acceleration (the acceleration due to the reverse gravity when the user lifts the foot) exists in the Z-axis direction, and then the acceleration larger than the gravity acceleration (the acceleration when the user falls the foot plus the gravity acceleration) exists, and the condition that the user to be detected is in the walking state is judged.
It should be noted that, the three methods for judging whether the user is in a walking state, i.e. whether the user is walking, may be selected from one or more methods, and when multiple methods are adopted, the sequence may be adjusted, so as to realize multiple conditions for judging whether the user is walking, and make the judgment result more accurate.
And S103, judging the walking gait of the person to be detected according to the acceleration detection data and the angular velocity detection data after judging that the person to be detected is in a walking state.
Wherein the walking gaits comprise a normal walking gait, an outward splayed walking gait and an inward splayed walking gait.
It should be noted that we preset the state of the shoe when the ground is still as the initial state, and the acceleration of the accelerometer X and Y axes is parallel to the ground and 0 g. The Z-axis is perpendicular to the ground with an acceleration of 1 g. The gyroscope is in a static state at the moment, and the angular speeds of 3 axes are all 0 degree/second; when we start walking, we must have a step of kicking forward. The acceleration and angular velocity values of different magnitudes can be reflected by different walking speeds, different walking forces and different habits of different people. Furthermore, we need to define what walking gesture belongs to the outer or inner figure eight. Fig. 3 is a schematic view of the present application illustrating the determination of abnormal gait for the right foot, and as shown in fig. 3, the first line a and the second line B are both straight lines with an angle in opposite directions along the X-axis. The judgment standard of the outer eight and inner eight angle threshold values of the toe when the right foot walks along the X-axis negative direction can be changed correspondingly through a mobile phone and other equipment connected with the Bluetooth module according to actual conditions, the angle threshold values of the outer eight and the inner eight are judged to be 10 degrees, taking the right foot as an example, A is the inner eight, and B is the outer eight. The left foot is reversed, but the calculation method is unchanged.
In the monitoring method provided by the embodiment of the present application, the abnormal gait determination process may include determining based on acceleration detection data and determining based on angular velocity detection data. First, a process of determining based on acceleration detection data will be described:
when the maximum value of the absolute value of the Y-axis acceleration in the acceleration detection data is less than or equal to the target value of the X-axis acceleration, judging that the walking gait of the person to be detected is normal walking gait; the first axial acceleration target value is the product of the maximum value of the absolute value of the first axial negative acceleration and the preset angle tangent value. That is, the maximum value of the absolute value of the acceleration of the Y axis should be less than or equal to (the maximum value of the absolute value of the acceleration of the X axis minus tan (10)), and the gait of the user is determined to be normal.
When the maximum value of the positive acceleration of the Y axis is larger than the target value of the acceleration of the X axis in the acceleration detection data, judging that the walking gait of the person to be detected is a splayed walking gait; i.e. the positive acceleration maximum of the Y-axis should be greater than (maximum of the absolute value of the negative acceleration of the X-axis tan (10)).
And when the maximum value of the absolute value of the negative acceleration in the Y-axis direction is greater than the target value of the acceleration in the X-axis direction in the acceleration detection data, judging that the walking gait of the person to be detected is a splayed walking gait. I.e. the maximum of the absolute value of the negative acceleration of the Y axis should be greater than (maximum of the absolute value of the negative acceleration of the X axis tan (10)).
In the embodiment of the present application, the acceleration in three directions of the right foot X, Y and Z of the user is detected by the acceleration sensor, and when | Y (the maximum value of the absolute value of the acceleration) | < | X negative maximum value of the absolute value of the acceleration | × (10), the gait of the user is determined to be the normal gait; when Y (positive acceleration maximum value) > | X negative acceleration absolute value maximum value | tan (10), judging that the gait of the user is a splayed gait; and when the absolute value of the acceleration of the I Y (the maximum value of the absolute value of the negative acceleration of the I Y) | > | X negative maximum value | tan (10), judging that the gait of the user is a splayed gait, and realizing the detection and judgment of the gait of the user.
On the other hand, the gait of the user can be judged through the angular velocity detection data, and the specific calculation and judgment process is as follows:
firstly, the rotating angle of the person to be detected on the Z axis is calculated on the basis of the angular velocity detection data when the person walks each step, and the rotating angle of the Z axis is obtained. In particular, the method comprises the following steps of,
first, the angular velocity of the Z axis of the gyroscope and the time stamp of each acquisition of the angular velocity (the time when the angular velocity was acquired last time is subtracted by the time when the angular velocity was acquired this time) are acquired, and then the angle is calculated by the integral of the angular velocity, as shown in the following formula:
angle of rotation
Angular velocity (degrees/second) time stamp (seconds);
wherein j is the angular velocity acquisition times of each step, and the calculated angle X is the angle of the right foot rotating around the Z axis, namely the Z axis rotation angle.
Then, the walking gait of the user is judged based on the Z-axis rotation angle, and the specific judgment comprises the following steps: when the angle X is 10, judging the gait of the user to be normal; when the angle X < -10 >, judging the gait of the user to be a splayed gait; and when the angle X is larger than 10, judging the gait of the user to be a splayed gait.
And S104, when the walking gait of the person to be detected is judged to be the outward splayed walking gait or the inward splayed walking gait, reminding is given.
Specifically, the method can comprise a vibration reminding and a voice reminding.
In the technical scheme provided by the embodiment of the application, gait detection data of the left foot and/or the right foot of a person to be detected are obtained through a preset sensor; the gait detection data comprises pressure detection data, acceleration detection data and angular velocity detection data; then judging whether the person to be detected is in a walking state or not based on the gait detection data; after the person to be detected is judged to be in a walking state, judging the walking gait of the person to be detected through the acceleration detection data and the angular velocity detection data; wherein the walking gait comprises a normal walking gait, an external splayed walking gait and an internal splayed walking gait; and when the walking gait of the person to be detected is judged to be the splayed walking gait or the splayed walking gait, a prompt is sent. Therefore, whether the gait is normal, outer eight or inner eight is judged by detecting the pressure, the acceleration and the angular speed of the feet when a person walks, and when the abnormal gait is detected, the person to be detected is reminded to adjust the gait in time, so that the gait is gradually corrected, and the body is prevented from being damaged by the long-term abnormal gait.
Further, the method for monitoring the walking gait of the individual with poor walking provided by the application further comprises the step of adjusting the judgment threshold value based on the individual characteristic data of the person to be detected. In practical application, the individual walking gait monitoring device provided by the application is in communication connection with other external devices through the Bluetooth module, and a user can judge the threshold value to preset angle threshold values and preset angular velocity and acceleration through devices such as a mobile phone and the like to change the adaptability, so that the monitoring accuracy is further ensured for different people.
Fig. 4 is a schematic flow chart of a method for monitoring an individual walking gait according to another embodiment of the present application, it should be noted that the process is also based on the right foot or the right shoe of the user and the coordinate system in fig. 2, as shown in fig. 4, the method for monitoring an individual walking gait according to the embodiment of the present application includes:
firstly, gait analysis is started, whether gait data exist is judged, if no gait data exist, the current gait data are stored, acceleration three-axis data and gyroscope three-axis data when the pressure sensor detects that the right foot of a user is off the ground and treads the ground again are stored, and characteristic value comparison is carried out on the stored gait data; judging whether the gait data meet the characteristic 1, namely judging whether the X axis of the accelerometer has negative acceleration which is less than or equal to a preset threshold value, if not, emptying the gait data of the step, and waiting for the next step to start, namely waiting for the next step of the user to start; if the feature 1 is met, determining that the user is in a walking state, continuously judging whether the feature 4 is met, namely judging whether the Y axis has positive angular velocity or not, and the maximum angular velocity is greater than or equal to a preset threshold value, if the feature does not exist, emptying the gait data of the step, and waiting for the next step to start; if the acceleration of the Z axis is not satisfied, emptying the gait data of the step and waiting for the start of the next step; if the gait is normal, determining that the user is in a walking state, then carrying out acceleration gait analysis, and judging whether the gait of the user is normal or not; if the gait data is normal, emptying the gait data of the step, waiting for the next step to start, and if the gait of the user is judged to be abnormal, namely the user appears in a shape of a Chinese character 'Zhu' or a Chinese character 'Zhu', continuously judging based on the angular velocity; judging whether the gait of the user is normal or not through the angular velocity, emptying the gait data of the step if the gait is normal, waiting for the next step to start, determining that the abnormal gait exists in the user if the gait is abnormal, emptying the gait data of the step after reminding, and waiting for the next step to start.
It should be noted that, in the process of determining that the user is in the walking state, the determination is performed through a plurality of conditions, in practical application, when one condition is met, that is, the user is determined to be in the walking state through one condition, the determination of whether the subsequent user is in the walking state is stopped, the analysis and the determination of the normal gait and the abnormal gait are directly performed, or the subsequent process of determining the normal gait and the abnormal gait can be performed only after a plurality of conditions are met simultaneously, that is, after multiple determinations are performed; similarly, in the process of analyzing and judging the abnormal gait of the normal gait, because two judgment processes based on acceleration and angular velocity are provided, the step can be reminded when only one process judges and determines that the abnormal gait exists in the user, and then the data of the step is cleared, or the step can be reminded only when two judgment processes judge that the abnormal gait exists and then the data of the step is cleared.
Fig. 5 is a schematic structural view of a device for monitoring gait of walking of an individual in an embodiment of the present application, and as shown in fig. 5, the device for monitoring gait of walking of an individual in an embodiment of the present application includes: the device comprises a data collection unit, a data processing unit and a reminding unit.
The data collection unit comprises a three-axis acceleration sensor, a three-axis gyroscope sensor and a pressure sensor; the three-axis acceleration sensor is used for detecting three axial acceleration data of a left foot and/or a right foot of a person to be detected to obtain three axial acceleration detection data; the three-axis gyroscope sensor is used for detecting three axial angular velocity data of a left foot and/or a right foot of a person to be detected to obtain three axial angular velocity detection data; the pressure sensor is used for detecting the pressure of the left foot and/or the right foot of the person to be detected in the vertical direction of the ground to obtain pressure detection data.
The data processing unit can be an MCU, is respectively connected with the triaxial acceleration sensor, the triaxial gyroscope sensor and the pressure sensor, and is used for judging whether the person to be detected is in a walking state or not based on the acceleration detection data, the angular velocity detection data and the pressure detection data.
The data processing unit is also used for judging the walking gait of the person to be detected through the acceleration detection data and the angular velocity detection data when judging that the person to be detected is in the walking state; wherein the walking gait comprises a normal walking gait, an external splayed walking gait and an internal splayed walking gait;
the data processing unit is further connected with the reminding unit, specifically, the reminding module can be a vibrator or a voice reminding module, and the data processing unit is used for sending out reminding through the reminding unit when judging that the walking gait of the person to be detected is a splayed walking gait or a splayed walking gait.
Furthermore, the gait monitoring device for the individual walking with bad pace provided by the embodiment of the application further comprises a data communication unit, such as a bluetooth module, which is connected with external equipment, such as a mobile phone, through the bluetooth module to transmit data, and a user or a maintenance person can adjust various judgment thresholds in the device through the external equipment.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "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 application. 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.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method of monitoring gait of an individual during poor walking, comprising:
acquiring gait detection data of a left foot and/or a right foot of a person to be detected through a preset sensor; wherein the gait detection data comprises pressure detection data, acceleration detection data and angular velocity detection data;
judging whether the person to be detected is in a walking state or not based on the gait detection data;
after the person to be detected is judged to be in a walking state, judging the walking gait of the person to be detected according to the acceleration detection data and the angular velocity detection data; wherein the walking gaits comprise a normal walking gait, an outward splayed walking gait and an inward splayed walking gait;
and when the walking gait of the person to be detected is judged to be the splayed walking gait or the splayed walking gait, a prompt is sent.
2. The method for monitoring gait of walking badly by person as claimed in claim 1, wherein the step of obtaining the gait detection data of the left foot and/or the right foot of the person to be detected by the preset sensor comprises:
acquiring pressure detection data of the left foot and/or the right foot of a person to be detected through a preset sensor;
and determining a stepping period from the step of the foot of the person to be detected to the step of the ground again based on the pressure detection data, and acquiring acceleration detection data and angular velocity detection data of the left foot and/or the right foot of the person to be detected in the stepping period through a preset sensor.
3. The method of monitoring gait of an individual walking poorly according to claim 2, characterized in that the preset sensors comprise six-axis attitude sensors and pressure sensors;
the six-axis attitude sensor comprises a three-axis acceleration sensor and a three-axis gyroscope sensor;
the three-axis acceleration sensor is used for detecting three axial acceleration data of a left foot and/or a right foot of a person to be detected to obtain three axial acceleration detection data; the three-axis gyroscope sensor is used for detecting three axial angular velocity data of a left foot and/or a right foot of a person to be detected to obtain three axial angular velocity detection data; the pressure sensor is used for detecting the pressure of the left foot and/or the right foot of a person to be detected in the vertical direction of the ground to obtain pressure detection data.
4. The method of monitoring poor walking gait of an individual according to claim 3,
the three axial directions are respectively a first axial direction, a second axial direction and a third axial direction;
the first axial direction is a direction which horizontally points to the face of the person to be detected from the front of the person to be detected, and the second axial direction is a direction which horizontally points to the right hand of the person to be detected by taking the center of the human body of the person to be detected as a starting point; the third axis is the direction of the vertical horizontal plane pointing to the sky.
5. The method of claim 4, wherein determining whether the subject is in a walking state based on the gait detection data comprises:
when negative acceleration exists in the acceleration detection data along the first axial direction and the acceleration value is smaller than or equal to-0.5 gravity acceleration, judging that the person to be detected is in a walking state;
when positive angular speed exists along the third axial direction in the angular speed detection data, and the maximum angular speed is greater than or equal to a preset angular speed threshold value, judging that the person to be detected is in a walking state;
and when the acceleration which is smaller than the gravity acceleration exists in the acceleration detection data along the third axial direction, and then the acceleration which is larger than the gravity acceleration exists, judging that the person to be detected is in a walking state.
6. The method for monitoring walking gait of person as claimed in claim 4, wherein the step of determining the walking gait of the person to be detected from the acceleration detection data and the angular velocity detection data when determining that the person to be detected is in a walking state comprises:
when the gait detection data is the gait detection data of the right foot of the person to be detected:
when the maximum value of the absolute value of the second axial acceleration is smaller than or equal to the target value of the first axial acceleration in the acceleration detection data, judging that the walking gait of the person to be detected is normal walking gait; the first axial acceleration target value is the product of the maximum value of the absolute value of the first axial negative acceleration and a preset angle tangent value;
when the maximum value of the positive acceleration in the second axial direction is larger than the target value of the positive acceleration in the first axial direction in the acceleration detection data, judging that the walking gait of the person to be detected is a splayed walking gait;
and when the maximum value of the absolute value of the negative acceleration in the second axial direction is greater than the target value of the first axial acceleration in the acceleration detection data, judging that the walking gait of the person to be detected is a splayed walking gait.
7. The method for monitoring walking gait of a person in poor health according to claim 5, wherein when the person to be detected is determined to be in a walking state, the method for monitoring walking gait of the person to be detected is determined according to the acceleration detection data and the angular velocity detection data, further comprising:
calculating the angle of rotation in the third axial direction when the person to be detected walks each step based on the angular speed detection data to obtain a third axial rotation angle;
and judging the walking gait of the person to be detected based on the third axial rotation angle.
8. The method for monitoring walking gait of a person in poor condition according to claim 7, wherein the step of determining the walking gait of the person to be detected based on the third axial rotation angle comprises:
when the gait detection data is the gait detection data of the right foot of the person to be detected:
when the third axial rotation angle is larger than a first preset angle and smaller than a second preset angle, judging the walking gait of the person to be detected as a normal walking gait;
when the third axial rotation angle is smaller than the first preset angle, judging that the walking gait of the person to be detected is a splayed walking gait;
and when the third axial rotation angle is larger than the second preset angle, judging that the walking gait of the person to be detected is a splayed walking gait.
9. The method of monitoring gait of walking in poor personal status according to claim 8, characterized in that it further comprises adjusting the values of the first preset angle and the second preset angle and adjusting the preset angular velocity threshold value based on the personal characteristic data of the person to be detected.
10. A gait device for monitoring the bad walking of an individual is characterized by comprising a data collection unit, a data processing unit and a reminding unit;
the data collection unit comprises a three-axis acceleration sensor, a three-axis gyroscope sensor and a pressure sensor;
the three-axis acceleration sensor is used for detecting three axial acceleration data of a left foot and/or a right foot of a person to be detected to obtain three axial acceleration detection data; the three-axis gyroscope sensor is used for detecting three axial angular velocity data of a left foot and/or a right foot of a person to be detected to obtain three axial angular velocity detection data; the pressure sensor is used for detecting the pressure of the left foot and/or the right foot of a person to be detected in the vertical direction of the ground to obtain pressure detection data;
the data processing unit is respectively connected with the three-axis acceleration sensor, the three-axis gyroscope sensor and the pressure sensor and is used for judging whether the person to be detected is in a walking state or not based on the acceleration detection data, the angular velocity detection data and the pressure detection data;
the data processing unit is also used for judging the walking gait of the person to be detected according to the acceleration detection data and the angular velocity detection data when the person to be detected is judged to be in the walking state; wherein the walking gaits comprise a normal walking gait, an outward splayed walking gait and an inward splayed walking gait;
the data processing unit is also connected with the reminding unit and used for sending out a reminding through the reminding unit when the walking gait of the person to be detected is judged to be the splayed walking gait or the splayed walking gait.
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