CN116728468A - Data acquisition system based on wearing equipment - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- A—HUMAN NECESSITIES
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- 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
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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
- A61B5/1116—Determining posture transitions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- 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
- A61B5/1123—Discriminating type of movement, e.g. walking or running
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention relates to the field of data detection control of wearing equipment, in particular to a data acquisition system based on the wearing equipment.
Description
Technical Field
The invention relates to the field of data detection and control of wearable equipment, in particular to a data acquisition system based on the wearable equipment.
Background
Along with the progress of communication technology and automation technology, the intelligent degree of various wearing equipment is higher and higher, in order to improve the use experience, the wearing equipment is often adopted to combine together with the sensor, and the feedback through the sensor corresponds to obtain the detection parameter, and then the form of the operation of each position of the wearing equipment of adaptive control, consequently, all kinds of data acquisition system or the control system who adapts to wearing equipment are consequently generated.
For example, chinese patent publication No.: CN108393869a discloses an intelligent waist passive power assisting exoskeleton, which comprises a chest supporting mechanism, a waist power mechanism and a leg supporting mechanism which are connected in sequence, wherein the chest supporting mechanism comprises a detecting device, the waist power mechanism comprises a power device and a corrugated block arranged below the power device, the power device is contacted with or separated from the corrugated block, and when the power device is contacted with the corrugated block, the lower part of the power device can slide on the corrugated block. The invention has simple structure, can provide power for the exoskeleton without being equipped with components such as a battery, a sensor and the like, is convenient for a user to move, and further enhances the use effect of the power assembly; and the chest support mechanism comprises a detection device capable of collecting the use data information so as to increase the functions of the intelligent waist passive power assisting exoskeleton, thereby solving the problems of complex structure, single function and poor use effect in the prior art.
However, the prior art has the following problems:
in the prior art, the wearing device is fixed on the human body, the fixing unit is tight, the comfort level of the wearer is lower, in the prior art, the operation parameters of the adaptive adjustment power assisting device under different use environments are not considered, and the comfort level of the wearer is increased on the premise of ensuring the operation function.
Disclosure of Invention
In order to solve the problem that in the prior art, when the wearing device is fixed on a human body, a fixing unit is tight, the comfort level of a wearer is low, in the prior art, the operation parameters of the adaptive adjustment power assisting device under different use environments are not considered, and the comfort level of the wearer is increased on the premise of ensuring the operation function, the invention provides a data acquisition system based on wearing equipment, which comprises the following components:
the wearable device comprises a waist fixing ring, a back fixing belt which is connected with the waist fixing ring and can adjust the telescopic length, and two shoulder belts which are connected with the back fixing belt;
the detection module comprises an inertia detection unit which is arranged on the back fixing belt and used for acquiring the acceleration and the acceleration direction of the wearable equipment, and a stress detection unit which is arranged on the inner side of each shoulder belt and used for detecting the stress of the inner side of the shoulder belt;
the control module is connected with the detection module and the wearable device and comprises a state analysis unit and a control unit,
the state analysis unit is used for acquiring the data detected by the detection module, judging the using state of the wearable device based on the acceleration and the acceleration direction of the wearable device, wherein the using state comprises a first using state, a second using state and a third using state;
the control unit is used for controlling the operation parameters of the wearable device based on the use state of the wearable device determined by the state analysis unit, wherein,
in the first use state, the control unit determines an amount of reduction in the telescopic length of the back fixing strap based on the average stress of each shoulder strap, and reduces the telescopic length of the back fixing strap to a corresponding value;
in the second use state, the control unit judges whether the telescopic length of the back fixing belt needs to be increased or not based on the fluctuation condition of the stress of the inner side of each shoulder belt in a preset time, and increases the telescopic length of the back fixing belt to a corresponding value based on the fluctuation quantity of the stress of each shoulder belt in the preset time;
in the third use state, the control unit increases the telescopic length of the back fixing strap based on the acceleration of the wearable device, continuously obtains the stress variation of each shoulder strap in unit time, determines whether to adjust the telescopic length of the back fixing strap again based on the magnitude of the stress variation, and reduces the telescopic length of the back fixing strap to a preset value.
Further, the back fixing strap comprises a telescopic strap and tensioning units arranged on two sides of the telescopic strap, and the tensioning units are used for winding the telescopic strap to control the telescopic length of the back fixing strap.
Further, the state analysis unit determines a use state of the wearable device based on the acceleration and the acceleration direction of the wearable device, wherein,
the state analysis unit obtains the included angle between the acceleration direction and the horizontal plane, compares the included angle with a preset included angle threshold value, compares the acceleration with the preset acceleration threshold value,
under a first comparison condition, the state analysis unit judges that the wearable equipment is in a first use state;
under a second comparison condition, the state analysis unit judges that the wearing equipment is in a second use state;
under a third comparison condition, the state analysis unit judges that the wearable equipment is in a third use state;
the first comparison condition is that the acceleration is smaller than or equal to a preset acceleration comparison threshold, the second comparison condition is that the acceleration is larger than the preset acceleration comparison threshold and the included angle is larger than a preset included angle threshold, and the third comparison condition is that the acceleration is larger than the preset acceleration comparison threshold and the included angle is smaller than the preset included angle threshold.
Further, the control unit determines an amount of reduction in the telescopic length of the back fixing strap based on the average force of each of the shoulder straps, wherein,
the control unit is internally provided with a plurality of determination modes for determining the reduction amount based on the average stress of the shoulder straps, and the reduction amount determined by each determination mode is different.
Further, the control unit also usesCalculating the corresponding fluctuation representing parameters of each shoulder strap according to the formula (1),in the formula (1), E represents a fluctuation characterization parameter, fi represents a stress value detected by a stress sensor of an ith time node within the preset time, t represents the preset time,/and (B)>Representing the average of the stress values over the predetermined time.
Further, the control unit determines whether the extension and retraction length of the back fixing strap is required to be increased based on the fluctuation condition of the inner side stress of each shoulder strap within a predetermined time, wherein,
the control unit compares the fluctuation representing parameters corresponding to the shoulder straps with a preset fluctuation representing parameter comparison threshold value,
if any fluctuation representing parameter corresponding to the shoulder strap is larger than the fluctuation representing parameter comparison threshold, judging that the expansion length of the back fixing strap needs to be increased.
Further, the control unit increases the telescopic length of the back fixing strap to a corresponding value based on the fluctuation amount of the force applied to each shoulder strap within the predetermined time, wherein,
the back fixing belt is characterized in that a plurality of adjusting modes for adjusting and increasing the telescopic length of the back fixing belt based on the fluctuation characterization parameters are arranged in the control unit, and the adjusting amounts of the telescopic length in the adjusting modes are different.
Further, the control unit increases the telescopic length of the back fixing strap based on the magnitude of the acceleration of the wearable device, wherein,
the back fixing belt is characterized in that a plurality of adjusting modes for adjusting and increasing the telescopic length of the back fixing belt based on the acceleration are arranged in the control unit, and the adjusting amounts of the telescopic length in the adjusting modes are different.
Further, the control unit judges whether the telescopic length of the back fixing strap needs to be adjusted again based on the magnitude of the stress variation, wherein,
and if the stress variation is larger than a preset stress variation threshold, the control unit judges that the stretching length of the back fixing belt needs to be adjusted again.
Further, a vibration unit is further arranged on the waist fixing ring and connected with the control unit, so that the control unit controls the vibration unit to vibrate after the telescopic length of the back fixing belt is changed.
Compared with the prior art, the method and the device have the advantages that the detection module and the control module are arranged on the wearable device, the acceleration and the acceleration direction of the wearable device are obtained through the detection module, the use state of the wearable device is judged, the first use state represents the sitting state, the flexible length of the back fixing belt is reduced in an adaptive mode to ensure the assistance, the second use state represents the running state, whether the flexible length of the back fixing belt is adjusted or not is judged on the basis of the stress change amount of each shoulder belt in unit time in the state, the discomfort of running is reduced on the premise of ensuring the assistance, the bending gesture is represented in the third use state, the flexible length of the back fixing belt is increased on the basis of the acceleration of the wearable device, the discomfort caused by bending is reduced on the basis of the acceleration of the wearable device, the use state of the wearable device is obtained on the basis of the sensor, the running parameters of the parts are adjusted in an adaptive mode, the assistance effect of the wearable device is improved, and the discomfort of a wearer is reduced on the premise of ensuring the assistance.
In particular, the method and the device for judging the use state of the wearing equipment through the acceleration and the acceleration direction of the wearing equipment can characterize different use states of the wearing equipment through the acceleration and the acceleration direction in actual conditions, can reliably distinguish the use states of the wearing equipment and can characterize the static state, the running state or the bending state, further, the control module automatically judges the use states after relevant data acquisition through the detection module, corresponding control logic is executed subsequently, the boosting effect of the wearing equipment is improved, and discomfort of a wearer is reduced.
In particular, in the first use state, the control unit of the invention determines the reduction amount for reducing the telescopic length of the back fixing strap based on the average stress of each shoulder strap, and in the actual situation, the first use state represents that the wearer is in a static state, and in the static state, in order to keep the assistance to the waist, the telescopic length of the back fixing strap is reduced according to the average stress adaptability of the shoulder straps, so that the assistance effect of the wearing equipment is improved and discomfort of the wearer is reduced.
In particular, in the second use state, the control unit judges whether the expansion length of the back fixing belt is required to be increased or not based on the fluctuation condition of the stress of the inner sides of the shoulder belts in the preset time, and in the actual situation, the wearing equipment can cause discomfort to a user in the running state, so that the fluctuation condition of the stress of the inner sides of the shoulder belts in the preset time is obtained, the condition that the wearing equipment moves along with inertia can be represented, the expansion length of the back fixing belt is reduced in an adaptive mode, the boosting effect of the wearing equipment is guaranteed, and discomfort to the wearer is reduced.
In particular, in the third use state, the control unit of the invention increases the telescopic length of the back fixing strap based on the acceleration of the wearing equipment, in the practical situation, the third use state represents a bending state, the telescopic length of the back fixing strap is adaptively reduced in the bending state, the power assisting effect of the wearing equipment is ensured, discomfort of a wearer is reduced, the invention continuously obtains the stress variation of each shoulder strap in unit time, judges whether the telescopic length of the back fixing strap is required to be regulated again based on the magnitude of the stress variation, in the practical situation, the stress variation of each shoulder strap in unit time is changed when a weight is taken after bending, and then the telescopic length of the back fixing strap is adaptively regulated, the power assisting effect is ensured under the condition of taking the weight, the body lifting is assisted, the power assisting effect of the wearing equipment is ensured, and discomfort of the wearer is reduced.
Drawings
Fig. 1 is a schematic and schematic diagram of a data acquisition system based on a wearable device according to an embodiment of the invention;
FIG. 2 is a schematic block diagram of a control module according to an embodiment of the invention;
fig. 3 is a schematic diagram of a wearable device according to an embodiment of the invention;
in the figure: 1, shoulder straps, 2, tensioning units, 3, telescopic straps and 4, waist fixing rings.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, 2 and 3, a schematic diagram of a data acquisition system based on a wearable device, a schematic diagram of a control module, and a schematic diagram of a structure of a wearable device according to an embodiment of the present invention are shown, respectively,
the wearable device comprises a waist fixing ring 4, a back fixing belt which is connected with the waist fixing ring 4 and can adjust the telescopic length, and two shoulder belts 1 connected with the back fixing belt;
the detection module comprises an inertia detection unit which is arranged on the back fixing belt and used for acquiring the acceleration and the acceleration direction of the wearable equipment, and a stress detection unit which is arranged on the inner side of each shoulder belt 1 and used for detecting the stress of the inner side of the shoulder belt 1;
the control module is connected with the detection module and the wearable device and comprises a state analysis unit and a control unit,
the state analysis unit is used for acquiring the data detected by the detection module, judging the using state of the wearable device based on the acceleration and the acceleration direction of the wearable device, wherein the using state comprises a first using state, a second using state and a third using state;
the control unit is used for controlling the operation parameters of the wearable device based on the use state of the wearable device determined by the state analysis unit, wherein,
in the first use state, the control unit determines an amount of reduction in the telescopic length of the back fixing strap based on the average stress of each shoulder strap 1, and reduces the telescopic length of the back fixing strap to a corresponding value;
in the second use state, the control unit determines whether the telescopic length of the back fixing strap needs to be increased based on the fluctuation condition of the stress of the inner side of each shoulder strap 1 in a preset time, and increases the telescopic length of the back fixing strap to a corresponding value based on the fluctuation quantity of the stress of each shoulder strap 1 in the preset time;
in the third use state, the control unit increases the telescopic length of the back fixing strap based on the acceleration of the wearable device, continuously obtains the force variation of each shoulder strap 1 in unit time, determines whether to adjust the telescopic length of the back fixing strap again based on the force variation, and reduces the telescopic length of the back fixing strap to a preset value.
Specifically, the invention does not limit the specific structure of the control module, and each unit in the control module can be composed of logic components, wherein the logic components comprise field programmable components and a WeChat processor.
In particular, the invention does not modern the concrete form of the inertia detection unit and the stress detection unit, the inertia detection unit can be an inertia sensor, the stress detection unit can be a stress sensor, and only the corresponding detection effect can be realized, which is the prior art and is not repeated.
Specifically, the back fixing strap comprises a telescopic strap 3 and tensioning units 2 arranged on two sides of the telescopic strap 3, wherein the tensioning units 2 are used for winding the telescopic strap 3 to control the telescopic length of the back fixing strap.
In this embodiment, the tensioning unit 2 may include a winder driven by a motor to wind the telescopic belt 3, so as to adjust the telescopic length of the telescopic belt 3, and the related structure is widely used in the field of belt winding, such as automatic retraction of a safety belt, which is not described in detail in the prior art.
Specifically, the state analysis unit determines the usage state of the wearable device based on the acceleration and the acceleration direction of the wearable device, wherein,
the state analysis unit obtains the included angle between the acceleration direction and the horizontal plane, compares the included angle with a preset included angle threshold value, compares the acceleration with the preset acceleration threshold value,
under a first comparison condition, the state analysis unit judges that the wearable equipment is in a first use state;
under a second comparison condition, the state analysis unit judges that the wearing equipment is in a second use state;
under a third comparison condition, the state analysis unit judges that the wearable equipment is in a third use state;
the first comparison condition is that the acceleration is smaller than or equal to a preset acceleration comparison threshold, the second comparison condition is that the acceleration is larger than the preset acceleration comparison threshold and the included angle is larger than a preset included angle threshold, and the third comparison condition is that the acceleration is larger than the preset acceleration comparison threshold and the included angle is smaller than the preset included angle threshold.
Specifically, the acceleration threshold is obtained through statistics in advance, wherein the acceleration detected by the inertial detection unit when running at 5km/h after wearing the wearable device is obtained, and the acceleration is determined as the acceleration threshold.
In this embodiment the angle threshold is set within the interval 45, 60.
Specifically, the method and the device for judging the use state of the wearing equipment determine the use state of the wearing equipment through the acceleration and the acceleration direction of the wearing equipment, in the actual situation, different use states of the wearing equipment can be represented through the acceleration and the acceleration direction, the use states of the wearing equipment can be reliably distinguished, static, running or bending states can be represented, furthermore, the control module automatically judges the use states after relevant data are acquired through the detection module, corresponding control logic is executed subsequently, the assistance effect of the wearing equipment is improved, and discomfort of a wearer is reduced.
Specifically, the control unit determines the amount of reduction in the telescopic length of the back fixing strap based on the average force applied to each of the shoulder straps 1, wherein,
a plurality of determination modes for determining the reduction amount based on the average stress of the shoulder belt 1 are arranged in the control unit, and the reduction amount determined by each determination mode is different.
At least two ways of determining the amount of reduction are provided in this embodiment, wherein,
the control unit compares the average force Δf with a first force comparison threshold F1,
if Δf is greater than or equal to F1, the control method adopts a first determination method, wherein the first determination method is to determine that the reduction amount is a first reduction amount L1, and l1= 0.1L0 is set;
if Δf < F1, the control method adopts a second determination method for determining the reduction amount to be a second reduction amount L2, and l2= 0.05L0 is set.
F1 is obtained by pre-measurement, wherein average stress F of a shoulder when the wearing device is worn in a static state is obtained for a plurality of times, average value Fe detected for a plurality of times is solved, f1=α×fe is set, α represents a proportionality coefficient, and 1.2 < α < 1.4.
Specifically, in the first use state, the control unit of the present invention determines the amount of reduction of the telescopic length of the back fixing strap based on the average stress of each shoulder strap 1, and in the actual situation, the first use state characterizes that the wearer is in a static state, and in the static state, in order to keep the assistance to the waist, the telescopic length of the back fixing strap is reduced according to the average stress adaptability of the shoulder straps 1, so that the assistance effect of the wearing device is improved and discomfort of the wearer is reduced.
In particular, the control unit is also used for calculating the corresponding fluctuation characterizing parameters of each shoulder strap 1 according to the formula (1),in the formula (1), E represents a fluctuation characterization parameter, fi represents a stress value detected by a stress sensor of an ith time node within the preset time, t represents the preset time,/and (B)>Representing the average of the stress values over the predetermined time.
Specifically, the control unit determines whether or not to increase the extension and contraction length of the back fixing strap based on the fluctuation of the inner side force of each shoulder strap 1 for a predetermined time, wherein,
the control unit compares the corresponding fluctuation characterizing parameters of each shoulder strap 1 with a preset fluctuation characterizing parameter comparison threshold value,
if any fluctuation representing parameter corresponding to the shoulder belt 1 is larger than the fluctuation representing parameter comparison threshold, judging that the expansion length of the back fixing belt needs to be increased.
The fluctuation characterization parameter comparison threshold E0 is obtained through pre-measurement, wherein the fluctuation characterization parameter Ee when running at 5km/h after wearing the wearable device is obtained, and E0=beta×Ee is set, wherein beta represents an influence factor, and beta is more than 1.1 and less than 1.3.
The predetermined time is set within the interval [10s,20s ] in this embodiment.
Specifically, the control unit increases the telescopic length of the back fixing strap to a corresponding value based on the amount of fluctuation of the force applied to each shoulder strap 1 during the predetermined time, wherein,
the back fixing belt is characterized in that a plurality of adjusting modes for adjusting and increasing the telescopic length of the back fixing belt based on the fluctuation characterization parameters are arranged in the control unit, and the adjusting amounts of the telescopic length in the adjusting modes are different.
Specifically, at least three adjustment modes for adjusting and increasing the expansion length of the back fixing strap based on the fluctuation characterizing parameter are set in the present embodiment.
The control unit compares the fluctuation characterizing parameter E with a preset first fluctuation characterizing parameter contrast value E1 and a second fluctuation characterizing parameter contrast value E2, E2 is larger than E1,
if E < E1, the control unit adopts a first adjustment mode, where the first adjustment mode is that the control unit adjusts the telescopic length of the fixing strap to a first adjustment length Le1, and let l1=l0+k1×l0 is set;
if E1 is less than or equal to E2, the control unit adopts a second adjustment mode, wherein the second adjustment mode is that the control unit adjusts the telescopic length of the back fixing strap to a second telescopic length, and le2=l0+k2×l0 is set;
if E > E2, the control unit adopts a third adjustment mode, where the third adjustment mode is that the control unit adjusts the telescopic length of the back fixing strap to a third telescopic length Le3, and let 3=l0+k3×l0 is set;
l0 denotes the current length, k1 denotes the first adjustment coefficient, k2 denotes the second adjustment coefficient, k3 denotes the third adjustment coefficient, 0.05 < k1 < 0.1 < k2 < 0.15 < k3 < 0.2, E1 and E2 are set based on the fluctuation characterizing parameter vs. the threshold E0, e1=e0×1.15, e2=e0×1.3 are set.
Specifically, in the second use state, the control unit of the invention judges whether to increase the telescopic length of the back fixing belt or not based on the fluctuation condition of the stress of the inner side of each shoulder belt 1 in the preset time, and in the actual situation, the wearing equipment in the running state can cause discomfort to a user, so that the fluctuation condition of the stress of the inner side of the shoulder belt 1 in the preset time is obtained, the condition that the wearing equipment moves along with inertia can be represented, the telescopic length of the back fixing belt is further reduced in an adaptive manner, the boosting effect of the wearing equipment is further ensured, and the discomfort of the wearer is reduced.
In particular, the control unit increases the telescopic length of the back fixing strap based on the magnitude of the acceleration of the wearable device, wherein,
the back fixing belt is characterized in that a plurality of adjusting modes for adjusting and increasing the telescopic length of the back fixing belt based on the acceleration are arranged in the control unit, and the adjusting amounts of the telescopic length in the adjusting modes are different.
In this embodiment, at least three adjustment modes are set for increasing the telescopic length of the back fixing strap based on the acceleration adjustment, wherein,
the control unit compares the acceleration A with a preset first acceleration comparison threshold A1 and a second acceleration comparison threshold A2, wherein A2 is more than A1;
if a is smaller than A1, the control unit adopts a fourth adjustment mode, wherein the fourth adjustment mode is to adjust the telescopic length of the back fixing belt to a fourth adjustment value Le4, and Le4 = l0+k4 x L0 is set;
if A1 is less than or equal to a and less than or equal to A2, the control unit adopts a fifth adjustment mode, wherein the fifth adjustment mode is to adjust the telescopic length of the back fixing belt to a fifth adjustment value Le5, and Le5 = l0+ k5 x L0 is set;
if a > A2, the control unit adopts a sixth adjustment mode, wherein the sixth adjustment mode is to adjust the telescopic length of the back fixing strap to a sixth adjustment value Le6, and let's 6=l0+k6×l0 is set;
wherein k4 represents a fourth adjustment coefficient, k5 represents a fifth adjustment coefficient, k6 represents a sixth adjustment coefficient, 0.15 < k3 < 0.15 < k4 < 0.2 < k5 < 0.25, and A1 and A2 are obtained by measurement in advance, wherein the acceleration detected by the inertia detection unit when the wearing of the wearing device is performed for several times is obtained, the average value of the acceleration A0 is solved, a1= 1.2A0 is set, and a2= 1.3A0.
Specifically, in the third use state, the control unit of the invention increases the telescopic length of the back fixing strap based on the acceleration of the wearable device, in the practical situation, the third use state characterizes a bending state, the telescopic length of the back fixing strap is adaptively reduced in the bending state, the power assisting effect of the wearable device is ensured, discomfort of a wearer is reduced, the invention continuously obtains the force variation of each shoulder strap 1 in unit time, judges whether the telescopic length of the back fixing strap needs to be adjusted again based on the magnitude of the force variation, in the practical situation, the force variation of each shoulder strap 1 in unit time is changed when a weight is taken after bending, and further, the telescopic length of the back fixing strap is adaptively adjusted, the power assisting effect is ensured when the weight is taken, the lifting is assisted, the power assisting effect of the wearable device is ensured, and the discomfort of the wearer is reduced.
Specifically, the control unit determines whether the telescopic length of the back fixing strap needs to be adjusted again based on the magnitude of the force variation, wherein,
and if the stress variation is larger than a preset stress variation threshold, the control unit judges that the stretching length of the back fixing belt needs to be adjusted again.
Specifically, the stress variation threshold is obtained by pre-measurement, the stress variation of the shoulder strap 1 after taking the 5KG weight after wearing the wearing equipment is obtained, and the stress variation is determined as the stress variation threshold.
Specifically, the telescopic length of the back fixing strap is reduced to a predetermined value, which is the telescopic length of the back fixing strap before the telescopic length of the back fixing strap is first adjusted in the third use state.
Specifically, the waist fixing ring 4 is further provided with a vibration unit, and the vibration unit is connected with the control unit, so that the control unit controls the vibration unit to vibrate after the telescopic length of the back fixing belt is changed.
The vibration unit prompts the wearer that the telescopic length of the back fixing belt is adjusted.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
Claims (10)
1. A wearable device-based data acquisition system, comprising:
the wearable device comprises a waist fixing ring, a back fixing belt which is connected with the waist fixing ring and can adjust the telescopic length, and two shoulder belts which are connected with the back fixing belt;
the detection module comprises an inertia detection unit which is arranged on the back fixing belt and used for acquiring the acceleration and the acceleration direction of the wearable equipment, and a stress detection unit which is arranged on the inner side of each shoulder belt and used for detecting the stress of the inner side of the shoulder belt;
the control module is connected with the detection module and the wearable device and comprises a state analysis unit and a control unit,
the state analysis unit is used for acquiring the data detected by the detection module, judging the using state of the wearable device based on the acceleration and the acceleration direction of the wearable device, wherein the using state comprises a first using state, a second using state and a third using state;
the control unit is used for controlling the operation parameters of the wearable device based on the use state of the wearable device determined by the state analysis unit, wherein,
in the first use state, the control unit determines an amount of reduction in the telescopic length of the back fixing strap based on the average stress of each shoulder strap, and reduces the telescopic length of the back fixing strap to a corresponding value;
in the second use state, the control unit judges whether the telescopic length of the back fixing belt needs to be increased or not based on the fluctuation condition of the stress of the inner side of each shoulder belt in a preset time, and increases the telescopic length of the back fixing belt to a corresponding value based on the fluctuation quantity of the stress of each shoulder belt in the preset time;
in the third use state, the control unit increases the telescopic length of the back fixing strap based on the acceleration of the wearable device, continuously obtains the stress variation of each shoulder strap in unit time, determines whether to adjust the telescopic length of the back fixing strap again based on the magnitude of the stress variation, and reduces the telescopic length of the back fixing strap to a preset value.
2. The wearable device-based data acquisition system of claim 1, wherein the back-securing strap comprises a telescoping strap and tensioning units disposed on both sides of the telescoping strap, the tensioning units to wind the telescoping strap to control the telescoping length of the back-securing strap.
3. The wearable device-based data acquisition system of claim 1, wherein the state analysis unit determines a state of use of the wearable device based on an acceleration and an acceleration direction of the wearable device, wherein,
the state analysis unit obtains the included angle between the acceleration direction and the horizontal plane, compares the included angle with a preset included angle threshold value, compares the acceleration with the preset acceleration threshold value,
under a first comparison condition, the state analysis unit judges that the wearable equipment is in a first use state;
under a second comparison condition, the state analysis unit judges that the wearing equipment is in a second use state;
under a third comparison condition, the state analysis unit judges that the wearable equipment is in a third use state;
the first comparison condition is that the acceleration is smaller than or equal to a preset acceleration comparison threshold, the second comparison condition is that the acceleration is larger than the preset acceleration comparison threshold and the included angle is larger than a preset included angle threshold, and the third comparison condition is that the acceleration is larger than the preset acceleration comparison threshold and the included angle is smaller than the preset included angle threshold.
4. The wearable device-based data acquisition system of claim 1, wherein the control unit determines an amount of reduction in the telescoping length of the back fixation strap based on an average force of each of the shoulder straps, wherein,
the control unit is internally provided with a plurality of determination modes for determining the reduction amount based on the average stress of the shoulder straps, and the reduction amount determined by each determination mode is different.
5. The wearable device-based data acquisition system of claim 1, wherein the control unit is further configured to calculate a fluctuation characterizing parameter corresponding to each shoulder strap according to equation (1),
in the formula (1), E represents a fluctuation characterization parameter, fi represents a stress value detected by a stress sensor of an ith time node within the preset time, t represents the preset time,/and (B)>Representing the average of the stress values over the predetermined time.
6. The wearable device-based data acquisition system of claim 5, wherein the control unit determines whether the extension and retraction length of the back fixing strap is required to be increased based on a fluctuation of the inner side force of each shoulder strap for a predetermined time, wherein,
the control unit compares the fluctuation representing parameters corresponding to the shoulder straps with a preset fluctuation representing parameter comparison threshold value,
if any fluctuation representing parameter corresponding to the shoulder strap is larger than the fluctuation representing parameter comparison threshold, judging that the expansion length of the back fixing strap needs to be increased.
7. The wearable device-based data acquisition system of claim 6, wherein the control unit increases the telescoping length of the back strap to a corresponding value based on the amount of fluctuation in the force of each shoulder strap over the predetermined time period, wherein,
the back fixing belt is characterized in that a plurality of adjusting modes for adjusting and increasing the telescopic length of the back fixing belt based on the fluctuation characterization parameters are arranged in the control unit, and the adjusting amounts of the telescopic length in the adjusting modes are different.
8. The wearable device-based data acquisition system of claim 1, wherein the control unit increases the telescoping length of the back strap based on the magnitude of the acceleration of the wearable device, wherein,
the back fixing belt is characterized in that a plurality of adjusting modes for adjusting and increasing the telescopic length of the back fixing belt based on the acceleration are arranged in the control unit, and the adjusting amounts of the telescopic length in the adjusting modes are different.
9. The wearable device-based data acquisition system of claim 1, wherein the control unit determines whether to readjust the telescoping length of the back strap based on the magnitude of the force variation, wherein,
and if the stress variation is larger than a preset stress variation threshold, the control unit judges that the stretching length of the back fixing belt needs to be adjusted again.
10. The data acquisition system based on the wearable device according to claim 1, wherein a vibration unit is further arranged on the waist fixing ring, and the vibration unit is connected with the control unit, so that the control unit controls the vibration unit to vibrate after the telescopic length of the back fixing belt is changed.
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