CN114145540A

CN114145540A - Human gait monitoring shoe-pad based on wireless communication

Info

Publication number: CN114145540A
Application number: CN202111005167.3A
Authority: CN
Inventors: 周世通; 刘家伦; 尹业成; 闫国栋; 何程函; 赵哲
Original assignee: Beijing Research Institute of Precise Mechatronic Controls
Current assignee: Beijing Research Institute of Precise Mechatronic Controls
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2022-03-08

Abstract

The invention provides a human body gait monitoring insole based on wireless communication, which comprises an electrical unit, a pressure acquisition insole, a buffering and anti-skidding insole, wherein the electrical unit comprises a main control board and a battery, and the main control board comprises an MCU (microprogrammed control unit) and a wireless radio frequency module; the pressure acquisition insole is provided with a film pressure sensor which is used for converting pressure signals of different parts of the sole to the ground into analog voltage signals; the MCU is electrically connected with the wireless radio frequency module, an AD conversion module in the MCU starts to receive an analog voltage signal, converts the analog voltage signal into a digital voltage signal and then sends the digital voltage signal to an upper computer through the wireless radio frequency module; the buffering and anti-skidding insoles comprise upper buffering insoles and lower buffering insoles which are positioned on two sides of the pressure acquisition insoles and the electrical units and used for wrapping the pressure acquisition insoles and the electrical units and buffering the gravity load of a human body. The gait monitoring insole has the advantages of simple structure, high transmission rate, long endurance time and convenience and quickness in wearing, and can accurately identify the gait in the human motion process.

Description

Human gait monitoring shoe-pad based on wireless communication

Technical Field

The invention belongs to the technical field of gait recognition, and particularly relates to a human body gait monitoring insole based on wireless communication.

Background

At present, the common gait analysis insoles are mainly divided into two types, namely wired transmission and wireless transmission. Shoe-pad based on wired transmission can realize the transmission of electric energy supply and data through connecting at the terminal power cord of shoe-pad and data line, though transmission has guaranteed transmission rate and time of endurance, but this kind of intelligent shoe-pad wearing process is loaded down with trivial details, still need draw forth the dedicated line at the sole after the completion of dressing, seriously influences the expert and dresses the travelling comfort and dress the motion flexibility after accomplishing. Most of gait analysis insoles based on wireless transmission adopt Bluetooth to transmit data, and due to the low Bluetooth transmission rate and the need of a complex handshake mechanism, the real-time performance and the rapidity of human gait perception are limited; the volume of the built-in battery is limited by the size of the insole, and the high power consumption of Bluetooth transmission is difficult to meet the long-time endurance requirement of the insole; the conventional power generation device (such as a pedal rotating mechanism, a transmission mechanism and a micro generator) is complex in structure, large in size, high in cost, low in power generation efficiency, large in deformation of a sole, prone to discomfort during walking and difficult to apply to the exoskeleton-assisted robot sensing system.

Therefore, it is necessary to provide an intelligent insole for monitoring human gait, which has the advantages of simple structure, high transmission rate, long endurance time and convenient and quick wearing.

Disclosure of Invention

The invention aims to solve the technical problem of providing an insole which can detect the gait of a human body in real time in the motion process and transmit the detection data to an upper computer in a wireless communication mode to ensure the transmission rate; the invention aims to solve another technical problem of reasonably arranging the positions of pressure points of the insoles and accurately identifying four gaits in the process of human body movement: a support state early stage, a support state middle stage, a support state later stage and a swing state; the invention also aims to solve the technical problem of realizing long-term endurance of the human gait monitoring insole.

In order to overcome the defects in the prior art, the inventor of the invention carries out intensive research and provides a human body gait monitoring insole integrating pressure acquisition, wireless transmission, pressure buffering and power supply, wherein the insole comprises an electrical unit (comprising a main control board and a battery, wherein the main control board comprises a Micro Control Unit (MCU) and a wireless radio frequency module), a pressure acquisition insole, a buffering insole and an anti-skidding insole. When the pressure acquisition insole works, the pressure acquisition insole is worn at the bottom of the sole of a human body, pressure signals of different parts of the sole contacting the ground are converted into analog voltage signals, the low-power consumption MCU acquires the analog voltage signals according to a set period and converts the analog voltage signals into digital voltage signals, and then the wireless radio frequency module is controlled to transmit the acquired digital voltage signals to the upper computer. In order to solve the problem of gait recognition, according to a contour map of pressure changes of different parts of the sole of a human body in the walking process, the positions of pressure collecting points of a pressure collecting insole are arranged at five positions, namely, a heel bone of a sole rear area, a wedge-shaped bone of a sole middle area, a toe bone tail end of a forefoot little toe, a toe bone front end of a forefoot big toe and a toe bone tail end of a forefoot big toe. In order to solve the problem of long-term endurance of the insole, the MCU and the wireless radio frequency module are both low-power-consumption products. In addition, a remote wake-up protocol is customized: after the insole switch is turned on, the MCU is electrified to initialize the wireless radio frequency module and enable the wireless radio frequency module to enter a low-power-consumption monitoring state, at the moment, the MCU controller does not collect pressure data but waits for a starting command of the upper computer, and if the starting command of the upper computer is received, the wireless radio frequency module enters a working mode and sends the pressure data at regular time.

The technical scheme provided by the invention is as follows:

a human body gait monitoring insole based on wireless communication comprises an electrical unit, a pressure acquisition insole and a buffering and anti-skidding insole, wherein the electrical unit comprises a main control board and a battery, and the main control board comprises a Micro Control Unit (MCU) and a wireless radio frequency module;

the pressure acquisition insole is provided with a film pressure sensor for converting pressure signals of different parts of the sole to the ground into analog voltage signals;

the MCU is electrically connected with the wireless radio frequency module, the MCU is electrified to initialize the wireless radio frequency module, when the MCU does not establish communication with the upper computer, the wireless radio frequency module enters a low-power consumption monitoring state, and in the state, an AD conversion module in the MCU does not carry out acquisition and conversion of analog voltage signals; after receiving a starting instruction of the upper computer, the wireless radio frequency module enters a timing transmission state, an AD conversion module in the MCU starts to receive an analog voltage signal, converts the analog voltage signal into a digital voltage signal and then transmits the digital voltage signal to the upper computer through the wireless radio frequency module;

the battery supplies power to electric appliances of the whole gait monitoring insole;

the buffering and anti-skidding insoles comprise upper buffering insoles and lower buffering insoles which are positioned on two sides of the pressure acquisition insoles and the electrical units and used for wrapping the pressure acquisition insoles and the electrical units and buffering the gravity load of a human body.

The human body gait monitoring insole based on wireless communication provided by the invention has the following beneficial effects:

(1) compared with the traditional domestic monolithic wired pressure acquisition insoles, the human body gait monitoring insoles provided by the invention do not need an external power supply bus and a data transmission bus, can realize the functions of real-time acquisition and wireless transmission of sole pressure data, have no difference with the common insoles in the whole size and have strong system integration;

(2) according to the human body gait monitoring insole based on wireless communication, the wireless radio frequency module with specific frequency is adopted, and a transmission protocol meeting the control requirement is compiled, so that compared with a Bluetooth transmission mode and a WIFI transmission mode, a complex handshake mechanism and a complex transmission protocol are not needed, the real-time performance and the rapidity of pressure data transmission are ensured, and the data delay transmission performance of 3ms at the lowest can be realized;

(3) the invention provides a human body gait monitoring insole based on wireless communication, which optimizes the arrangement position and size of pressure acquisition points of a pressure acquisition insole according to a contour distribution map of sole pressure change in the walking process, and can accurately identify four gait phases in the walking process of lower limbs of a human body by the determination method set by the invention: a support state early stage, a support state middle stage, a support state later stage and a swing state; meanwhile, the special support state of the arch as a stress point can be identified through the pressure collection point of the wedge-shaped bone area in the sole midfoot area;

(4) the human body gait monitoring insole based on wireless communication provided by the invention adopts a low-power consumption MCU controller, a low-power consumption wireless radio frequency module and a logic mechanism or a sleep mode of remote awakening, so that the standby time and the working time of the human body gait monitoring insole designed by the invention can respectively reach 48 hours and 24 hours.

Drawings

FIG. 1 is a schematic structural diagram of a human gait monitoring insole based on wireless communication provided by the invention;

FIG. 2 is a schematic diagram of the components of the electrical unit;

FIG. 3 is a flow chart of mode conversion of the radio frequency module;

FIG. 4 is a diagram of the distribution of the membrane pressure sensors (pressure collection points) on the pressure collection insole;

FIG. 5 is a graph of pressure at an acquisition point as a function of step;

fig. 6 is a schematic view of a flexible antenna installation.

Fig. 7 is a gait monitoring insole with a flexible antenna installed.

Description of the reference numerals

1-upper layer buffer insole; 2-pressure collection insole; 3-middle layer buffer insole; 4-main control board upper shell; 5-waterproof Micro USB interface; 6-a battery; 7-a main control board; 8-a lower main control board shell; 9-lower layer buffer insole; 10-a charging circuit; 11-a protection circuit; 12-waterproof touch switch; 13-a switching circuit; 14-a power conversion circuit; 15-a pressure acquisition circuit; 16-a microconnector; 17-MCU; 18-a wireless radio frequency module; 19-flexible antenna.

Detailed Description

The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The invention provides a human body gait monitoring insole based on wireless communication, which comprises an electrical unit, a pressure acquisition insole 2 and a buffering and anti-skidding insole as shown in figures 1 and 2, wherein the electrical unit comprises a main control board 7 and a battery 6, and the main control board 7 comprises a Micro Control Unit (MCU) and a wireless radio frequency module;

the pressure acquisition insole 2 is provided with a film pressure sensor for converting pressure signals of different parts of the sole to the ground into analog voltage signals;

the MCU is electrically connected with the wireless radio frequency module, the MCU is electrified to initialize the wireless radio frequency module, when the MCU does not establish communication with the upper computer, the wireless radio frequency module enters a low-power consumption monitoring state, and in the state, an AD conversion module in the MCU does not carry out acquisition and conversion of analog voltage signals; after receiving a starting instruction of the upper computer, the wireless radio frequency module enters a timing transmission state, an AD conversion module in the MCU starts to receive an analog voltage signal, converts the analog voltage signal into a digital voltage signal and then transmits the digital voltage signal to the upper computer through the wireless radio frequency module, and the figure 3 shows that the wireless radio frequency module is in a timing transmission state; the user-defined remote awakening protocol is matched with the selection of low-power consumption types of all devices, so that the long-term endurance problem of the human gait monitoring insole is solved;

the battery 6 supplies power for electric appliances of the whole gait monitoring insole;

buffering and anti-skidding shoe-pad is including the upper buffer shoe-pad and the lower floor's buffer shoe-pad that are located pressure acquisition shoe-pad 2 and electric unit both sides for 2 and electric unit are gathered to the cladding pressure, avoid pressure acquisition shoe-pad 2 and electric unit to expose outside the gait monitoring shoe-pad, and avoid receiving the direct oppression of human gravity load so that damage.

In the invention, the gait monitoring insole is used for assisting the exoskeleton operation, and four states of a wearer in a support state early stage, a support state middle stage, a support state later stage and a swing state need to be identified in the exoskeleton control process. The positions of the film pressure sensors on the pressure acquisition insoles, namely the pressure acquisition points, are optimally set in consideration of uneven distribution of stress points of all parts of the soles of the feet in the walking process of the lower limbs of the human body.

The positions of the film pressure sensors on the pressure acquisition insole 2 are arranged according to a contour map of pressure change of a sole part in the walking process of a human body, as shown in fig. 4, the film pressure sensors are distributed on a heel bone (I) of a foot sole rear area, a wedge-shaped bone (II) of a foot sole middle area, a toe bone tail end (III) of a little toe of a forefoot area, a toe bone front end (IV) of a big toe of the forefoot area and a toe bone tail end (V) of the big toe of the forefoot area and respectively correspond to pressure acquisition points I-V; the pressure acquisition point I is responsible for acquiring the pressure of the calcaneus position of the hind area of the sole, the pressure acquisition point II is responsible for acquiring the pressure of the cuniform bone position of the midfoot area of the sole, the pressure acquisition point III is responsible for acquiring the pressure of the tail end position of the phalanx of the little toe of the forefoot area, the pressure acquisition point IV is responsible for acquiring the pressure of the front end position of the phalanx of the big toe of the forefoot area, and the pressure acquisition point V is responsible for acquiring the pressure of the tail end position of the phalanx of the big toe of the forefoot area; the pressure acquisition points I, IV and V are located on the contour line of high value of pressure change of the sole part, the pressure acquisition points II and III are located on the contour line of low value of pressure change of the sole part, and the four required asynchronous states can be accurately identified through the arrangement of at least five pressure acquisition points and the pressure change. Meanwhile, the special supporting state of the arch as a stress point can be identified through the pressure collection point of the wedge-shaped bone area in the sole midfoot area. Preferably, the diameter of the pressure collecting area of the thin film pressure sensor is not less than 10mm in consideration of the width between the contour lines of the pressure variation at the sole portion.

The inventor performed corresponding analyses of pressure acquisition points and gait, as shown in fig. 5, F1 represents pressure at pressure acquisition point I, F2 represents pressure at pressure acquisition point II, F3 represents pressure at pressure acquisition point III, F4 represents pressure at pressure acquisition point IV, and F5 represents pressure at pressure acquisition point V.

(1) The method comprises the following steps that a support state is established at an initial stage, in the walking process of a human body, the support state is established from a pendulum state to the initial stage, the heel of a foot falls to the ground first, the pressure value of the calcaneus (I) part of the foot sole rear area starts to rise from an initial value, and the pressure values of the other four pressure acquisition points are kept at the initial value basically;

(2) in the middle stage of the supporting state, as the gravity center of the human body moves to the middle part of the sole, the pressure value of a collecting point of a calcaneus (I) part of the rear foot area of the sole starts to fall after rising to the maximum value, the pressure values of a cuneiform bone (II) part of the foot sole middle area, the tail end (V) of a thumb phalanx of the forefoot area, the tail end (III) of a little toe bone of the forefoot area and the front end (IV) of the thumb phalanx of the forefoot area start to rise, and when the gravity center of the human body moves to the center position of the sole, the pressure value of the cuneiform bone (II) part of the foot sole middle area reaches the peak value.

(3) In the final stage of the supporting state, as the gravity center of the human body continuously moves forwards from the center position of the sole, the pressure value of the position of the wedge-shaped bone (II) in the foot sole middle area continuously drops from the peak value, the pressure value of the position of the wedge-shaped bone (II) in the foot sole middle area becomes an initial value (close to 0), the pressure values of the positions of the phalanges of the big toe (V), the little toe bone (III) and the big toe (IV) in the foot front area continuously increase, when the gravity center moves to the front sole position, the heel is lifted off, and the pressure values of the positions of the phalanges of the big toe (V), the little toe (III) and the big toe (IV) in the foot sole front area sequentially reach the peak values.

(4) The swing is dynamic, the sole of the foot is suspended above the ground, and the pressure values of the five pressure acquisition points are smaller.

In conclusion, through a large number of analysis summaries, the pressure is divided into five grades, five pressure thresholds are set, and each gait is identified;

(a) for the support state earlier stage

F1 is more than or equal to a third threshold value, F2 is more than or equal to the third threshold value, F3 is more than or equal to the third threshold value, F4 is more than or equal to the third threshold value, F5 is more than or equal to the third threshold value, except that F1 is more than the third threshold value, the pressure values of the other four points are less than the third threshold value, and F1 does not reach the peak value;

(b) for the middle period of the support state

F2 is more than or equal to the second threshold, F5 is less than or equal to the third threshold, F3 is more than or equal to the second threshold, F3, F4 and F5 do not reach the peak value, and F1 reaches the peak value;

(c) for end of propped state

F1 is less than or equal to a first threshold, F2 is less than or equal to a second threshold, F3 is more than or equal to a third threshold, F4 is more than or equal to a fifth threshold, and F5 is more than or equal to a fourth threshold; f3, F4, and F5 are about to reach a peak, and F1 has reached a peak;

(d) for the swing state

F1 is less than or equal to a first threshold value, F2 is less than or equal to a first threshold value, F3 is less than or equal to a first threshold value, F4 is less than or equal to a first threshold value, and F5 is less than or equal to a first threshold value;

wherein, the fifth threshold value is larger than the fourth threshold value, the third threshold value is larger than the second threshold value, and the first threshold value is larger than the third threshold value; for example, for adult males (170-185 cm, 60-90 kg in height), the fifth, fourth, third, second and first thresholds may be 250, 150, 125, 75 and 50N, respectively.

In a preferred embodiment, the pressure collection insole 2 is a PCB pressure collection insole which is soft and can withstand deformation of a human body during walking.

In the invention, besides the problem of long endurance of the human gait monitoring insole is solved by the low-power monitoring mode of the wireless radio frequency module, the MCU and the wireless radio frequency module can be set in a sleep mode, so that the power consumption is reduced, and the endurance is prolonged. Specifically, the MCU is powered on and then initializes the wireless radio frequency module, the MCU and the wireless radio frequency module both enter a sleep mode, the wireless radio frequency module is set to enter a receiving mode from the sleep mode every B milliseconds, the duration of the receiving mode is 2A milliseconds, and the sleep mode is resumed if an upper computer starting instruction is not received; if a starting instruction is received, a signal is sent to the MCU to enable the MCU to recover to a working mode, the AD module is started, the wireless radio frequency module also recovers to the working mode, and a digital voltage signal is sent to the upper computer at regular time.

In a preferred embodiment, in the working mode, if the signal collected by the AD module is continuously lower than the minimum pressure threshold value within a set time, the MCU and the radio frequency module re-enter the sleep mode until being awakened again to enter the working mode, thereby achieving the ultra-low power operation.

In a preferred embodiment, in the working mode, the time length of the digital voltage signal sent by the wireless radio frequency module to the upper computer is a millisecond, and in order to take standby endurance and wake-up real-time into consideration, the interval time length B of the wireless radio frequency module from the sleep mode to the receiving mode is determined to be 50-100 times of the time length a.

In the present invention, as shown in fig. 6, the main control board 7 in the electrical unit further includes: the waterproof Micro USB interface 5, the charging circuit 10, the protection circuit 11, the waterproof touch switch 12, the switch circuit 13, the power conversion circuit 14 and the Micro connector 16, and the pressure acquisition insole 2 further comprises a pressure acquisition circuit 15;

the waterproof Micro USB interface 5 is the only external interface of the gait monitoring insole, a power supply is connected through a standard Micro USB plug, a product battery is charged like 5V, and a debugging program can be downloaded into the MCU as an interface in a debugging stage; the charging circuit 10 is connected with the waterproof Micro USB interface 5, the protection circuit 11 is connected with the charging circuit 10, the battery 6 and the switch circuit 13 and used for forming a battery charging path, and the charging circuit 10 and the protection circuit 11 can be a conventional 4.25V lithium battery charging circuit and a protection circuit; the waterproof touch switch 12 is connected with the switch circuit 13 and is used for controlling the power-on and power-off of the electrical unit in the insole for monitoring gait, if the waterproof touch switch 12 is pressed for a short time, the electrical unit in the insole is powered on, and if the waterproof touch switch 12 is pressed for a long time (more than two seconds) in the power-on state, the electrical unit in the insole is powered off; two ends of the power supply conversion circuit 14 are respectively connected with the switch circuit 13 and the MCU 17 and are used for converting the battery voltage (such as 3.6-4.2V) into the stable voltage (such as 3.3V) required by the MCU; the MCU 17 is connected with the power conversion circuit 14, the pressure acquisition circuit 15 and the wireless radio frequency module 18 and is an STM32 low-power-consumption series product, such as an STM32L0, so as to realize low power consumption in normal work; the wireless radio frequency module 18 selects a wireless radio frequency module which is common in tire pressure monitoring, and preferably has a low-power sleep function; the pressure acquisition circuit 15 is a resistance voltage division circuit, and an AD module of the MCU 17 acquires an analog voltage signal of the film pressure sensor and converts the analog voltage signal into a digital pressure signal by reasonably setting a voltage division resistor; the pressure acquisition circuit 15 is connected with the film pressure sensor 1 through the miniature connector 16, so that the AD module obtains the pressure value of the corresponding pressure acquisition point in the film pressure sensor 1.

The inventor also finds that the exoskeleton foot pressure acquisition system using the wireless pressure transmission function has the problem that data loss is caused seriously by shielding of a human body or a metal object on a radio frequency signal, so that the gait recognition accuracy is influenced. Therefore, the inventor creatively designs through a special wireless communication mode, improves the signal diffraction capability, and can realize that the wireless data signals can overcome human body shielding and transmit foot pressure data in real time under the state that a human body normally walks.

Specifically, as shown in fig. 7, a flexible antenna 19 is installed on the gait monitoring insole, an antenna interface is arranged on the wireless radio frequency module 18, one end of the flexible antenna 19 is connected to the antenna interface on the wireless radio frequency module 18, and the flexible antenna extends out of the main control board shell (main control board lower shell 8) and is arranged along the edge of the insole body, for example, the flexible antenna is arranged on the left side or the right side of the insole, so that the signal transmission capability is maximized, and the wireless radio frequency module realizes wireless communication with an upper computer through the flexible antenna.

In the invention, the transmitting frequency of the wireless radio frequency module is selected to be 433MHz or 868MHz in consideration of signal diffraction capability and real-time communication capability.

In the invention, the main control board realizes the integrated design of the MCU, the wireless radio frequency module, the switch and other components, and is placed in a metal main control board shell in consideration of the use environment requirements, the main control board shell comprises a main control board upper shell 4 and a main control board lower shell 8, the main control board shell is placed at the heel of the intelligent insole, and the metal shell is made of light aluminum alloy, so that the electric part can be protected from the gravity and impact force of a wearer in the movement process.

In the invention, for the buffering and anti-skidding insoles, the wearing comfort of human bodies and the protection performance of the pressure acquisition insoles and the electrical units need to be ensured. Therefore, the upper layer buffering insole 1 is a flannelette insole, so that the problem that the foot part and the insole slide relatively in the wearing process due to the smooth surface of the PCB material is solved, and the friction force between the foot part and the sole is increased; the lower layer buffering insole 9 is an elastic foam insole, so that the wearing comfort is improved.

Further, as shown in fig. 1, a middle buffer insole 3 is arranged between the upper buffer insole 1 and the lower buffer insole 9, the middle buffer insole 3 is an elastic foam insole, a main control board shell is arranged between the middle buffer insole 3 and the lower buffer insole 9, the direct pressure of a wearer to the controller shell is reduced due to the arrangement of the two insoles, and the wearing comfort is further improved. After each layer of buffering insole and other components are assembled, the cushioning insole and other components are packaged into an integral intelligent insole for monitoring human gait by adopting a glue sealing mode.

The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.

Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims

1. A human body gait monitoring insole based on wireless communication is characterized by comprising an electrical unit, a pressure acquisition insole and a buffering and anti-skidding insole, wherein the electrical unit comprises a main control board and a battery, and the main control board comprises a Micro Control Unit (MCU) and a wireless radio frequency module;

2. The human gait monitoring insole based on wireless communication according to claim 1, wherein the thin film pressure sensors on the pressure acquisition insole are distributed on the calcaneus of the heel region, the cuniform bone of the midfoot region, the distal phalanx of the little toe of the forefoot region, the distal phalanx of the big toe of the forefoot region, and the distal phalanx of the big toe of the forefoot region, corresponding to pressure acquisition points I-V, respectively.

3. The wireless-communication-based human gait monitoring insole according to claim 2, wherein F1 represents pressure at pressure acquisition point I, F2 represents pressure at pressure acquisition point II, F3 represents pressure at pressure acquisition point III, F4 represents pressure at pressure acquisition point IV, and F5 represents pressure at pressure acquisition point V;

(a) for the support state earlier stage

(b) for the middle period of the support state

(c) for end of propped state

(d) for the swing state

wherein, the fifth threshold value > the fourth threshold value > the third threshold value > the second threshold value > the first threshold value.

4. The wireless-communication-based human gait monitoring insole according to claim 3, wherein the fifth threshold, the fourth threshold, the third threshold, the second threshold and the first threshold are 250, 150, 125, 75 and 50N for adult males (170-185 cm, 60-90 kg in height), respectively.

5. The human body gait monitoring insole based on wireless communication according to claim 1, wherein the MCU and the wireless radio frequency module further have a sleep mode, the MCU initializes the wireless radio frequency module after being powered on, the MCU and the wireless radio frequency module both enter the sleep mode, the wireless radio frequency module is set to enter a receiving mode from the sleep mode every B milliseconds, the duration of the receiving mode is 2A milliseconds, and the sleep mode is resumed if an upper computer start instruction is not received; if a starting instruction is received, a signal is sent to the MCU to enable the MCU to recover to a working mode, the AD module is started, the wireless radio frequency module also recovers to the working mode, and a digital voltage signal is sent to the upper computer at regular time.

6. The human body gait monitoring insole based on wireless communication according to claim 5, wherein in the working mode, the signal collected by the AD module is continuously lower than the minimum pressure threshold value within a set time, and the MCU and the radio frequency module enter the sleep mode again until being awakened again to enter the working mode.

7. The human body gait monitoring insole based on wireless communication according to claim 5, wherein in the working mode, the time length of the digital voltage signal sent by the wireless radio frequency module to the upper computer is A milliseconds, and the time length B of the interval when the wireless radio frequency module enters the receiving mode from the sleep mode is 50-100 times of the time length A.

8. The human gait monitoring insole based on wireless communication according to claim 1, wherein the main control board in the electrical unit further comprises: the waterproof Micro USB interface, the charging circuit, the protection circuit, the waterproof touch switch, the switch circuit, the power supply conversion circuit and the Micro connector, wherein the pressure acquisition insole further comprises a pressure acquisition circuit;

the waterproof Micro USB interface is an external interface of the gait monitoring insole, a power supply is connected through a standard Micro USB plug to charge a product battery, and a debugging program can be downloaded into the MCU as the interface in a debugging stage; the charging circuit is connected with the waterproof Micro USB interface, and the protection circuit is connected with the charging circuit, the battery and the switch circuit and used for forming a battery charging path; the waterproof touch switch is connected with the switch circuit and used for controlling the electrification and the outage of an electric unit in the gait monitoring insole; the two ends of the power supply conversion circuit are respectively connected with the switch circuit and the MCU and are used for converting the battery voltage into stable voltage required by the MCU; the MCU is connected with the power supply conversion circuit, the pressure acquisition circuit and the wireless radio frequency module; the pressure acquisition circuit is a resistance voltage division circuit, and an AD module of the MCU acquires an analog voltage signal of the film pressure sensor and converts the analog voltage signal into a digital pressure signal by setting a voltage division resistor; the pressure acquisition circuit is connected with the film pressure sensor through the miniature connector, so that the AD module obtains the pressure value of the corresponding pressure acquisition point in the film pressure sensor.

9. The human body gait monitoring insole based on wireless communication according to claim 1, characterized in that a flexible antenna is installed on the gait monitoring insole, the wireless radio frequency module on the main control board is provided with an antenna interface, one end of the flexible antenna is connected to the antenna interface of the wireless radio frequency module, and the flexible antenna extends out of the main control board shell and is arranged along the edge of the insole body.

10. The human body gait monitoring insole based on wireless communication according to claim 1, wherein the transmitting frequency of the wireless radio frequency module is selected to be 433MHz or 868 MHz.

11. The wireless-communication-based human body gait monitoring insole according to claim 1, wherein the main control board is placed in a main control board housing, the main control board housing comprising a main control board upper housing and a main control board lower housing, the main control board housing being placed at the heel of the gait monitoring insole.

12. The human gait monitoring insole based on wireless communication of claim 11, wherein a middle layer of cushioning insole is arranged between the upper layer of cushioning insole and the lower layer of cushioning insole, the upper layer of cushioning insole is a flannelette insole, and the middle layer of cushioning insole and the lower layer of cushioning insole are elastic foam insoles.