CN201387660Y - Automatic detecting and alarming system for human body falling-over - Google Patents

Automatic detecting and alarming system for human body falling-over Download PDF

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Publication number
CN201387660Y
CN201387660Y CN 200920171759 CN200920171759U CN201387660Y CN 201387660 Y CN201387660 Y CN 201387660Y CN 200920171759 CN200920171759 CN 200920171759 CN 200920171759 U CN200920171759 U CN 200920171759U CN 201387660 Y CN201387660 Y CN 201387660Y
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China
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human
angular
signal
acceleration
falling
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CN 200920171759
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Chinese (zh)
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佟丽娜
陈炜
宋全军
葛运建
余永
王以俊
孙玉萍
马婷婷
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中国科学院合肥物质科学研究院
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Abstract

The utility model relates to an automatic detecting and alarming system for human body falling-over, which consists of a wearable detection device and a base station. The wearable detection device consists of a triaxial acceleration sensor, a biaxial angular velocity sensor, an A/D (analog to digital) converter, an information processing device and a wireless signal emitting device; and the base station comprises a signal receiving device and an alarming device. The wearable detection device is worn on the trunk of a human body to collect the information relevant to kinesiology and kinetics, fuse and process the information, and determine whether a person has the falling-over action or not; if the wearer falls over and needs the help, the information about the falling over is sent to the base station; and after the base station receives the wireless signals, the helping signals are sent to the relevant department or related personnel. The automatic detecting and alarming system has the characteristics of high relevance ratio and low misjudgement ratio, and can provide foundation for judging whether a person falls over or not, thereby providing the assistance timely for the aged, the patients, the employees engaged in dangerous jobs, and the like who fall over.

Description

A kind of automatic detection alarming system for falling over of human body
Technical field:
The utility model relates to the monitoring of human motion behavior, state etc. and the detection alarm system and the information processing method thereof of identification, is specifically related to automatic detection alarming system for falling over of human body.
Background technology:
According to world's disease control and pre-preventing tissue statistics, surpass 65 years old old man in the world, have three an every year/fall down for a moment, have wherein that half is that recidivity is fallen down, nearly 10% can cause grievous injury or disease in disposable the falling down; Cause huge medical treatment burden and health hazards.For example: the U.S. is annual to account for 6% of medical cost-record summary because fall down the disease that directly causes; Spent 19,000,000,000 dollars altogether in 2002, falling down has 15-20% to pass away in 1 year because of falling down the disease that directly or indirectly causes among the old man; Whole city's unexpected injury that announced in November, 2008 in China Shanghai City and cause of death investigation and analysis data presentation: rank unexpected injury the elderly of the 4th and fall down and accounted for about half.And at present Chinese society more than 60 years old the shared population ratio of old man surpassed 10%, really become aging population country; Will be above 30% according to scholarly forecast in this world's middle period.
In the face of like this huge elderly population quantity, reduce the elderly and patient and fall down the injury problem of bringing and become new in the world research focus.Medical research is indicated: the impact that brings to health when reducing the elderly and falling down can effectively alleviate the injury that the accident of falling down is brought; And for the old man who has fallen down, the length of relief stand-by period has directly determined ill degree.The utility model achievement can detect falling over of human body early and report to the police to relevant department or related personnel, thus can reduce to a certain extent owing to the elderly and patient because of falling down injury and the medical expenses that brings; Reduce medical security system and the elderly family members' medical care burden; Especially for old solitary people, has the using value of outbalance.
Have some similar pick-up units at present both at home and abroad, but do not fully take into account reasons such as human motion behavioral characteristic owing to transducing signal is complete inadequately, information processing method etc., make False Rate higher, especially with action such as run, jump, squat down, stand up, sit down, lie down and be difficult to distinguish.For example, patent 200320100468.5,200620075599.6,200620003000.8,200620070055.6 use sensor to judge that whether the body inclination degree judge people's posture from uprightly becoming level, be unfavorable for distinguishing behaviors such as bending over, lie down.Patent 200320100468.5 is put in the bottom of mobile phone with the plumbness sensor, equally only adopts tilt detection, and has limited the placement location of mobile phone greatly, is inconvenient to use.Patent 200720125141.1 has adopted a 3-axis acceleration sensor to come human body acceleration and pitch angle, reports to the police when body inclination surpasses 40 degree angles, perhaps reports to the police when acceleration is greater than 1.5g; Though this method recall rate is than higher, False Rate is also higher, fall down and run jumping, bend over etc. can't be moved and distinguish.The mentality of designing of Jap.P. JP 2008-535055A and 200720125141.1 similar.Patent 200720097622.6 has mainly solved user's orientation problem, and does not improve falling down detection method.
Summary of the invention:
At above-mentioned problems of the prior art, the purpose of this utility model, provide a kind of automatic detection alarming system for falling over of human body, it can be by the acceleration information and the posture information of metastomium on the automatic human body, relation between comprehensive human body acceleration, pose, the run duration three, correct judge that whether human body is fallen down and whether needed emergency, possesses the function that the user independently launches the first aid signal and cancels first aid simultaneously.
The purpose of this utility model is achieved in that
System of the present utility model is divided into two parts:
1) Wearable pick-up unit: comprise the A/D converter, signal conditioning package and the wireless signal transmitting device that electrically connect mutually.The input end of described signal conditioning package electrically connects with acceleration sensor and angular-rate sensor respectively through A/D converter.Described acceleration transducer is a three-axis acceleration sensor, and described angular-rate sensor is two axis angular rate sensors.Described signal conditioning package also electrically connects with the first aid switch.The Wearable pick-up unit is worn on metastomium on the human body (metastomium that neck is following, waist is above).Wherein 3-axis acceleration sensor and two axis angular rate sensors are used for the acceleration signal and the angular velocity signal of synchronous acquisition human motion.Signal conditioning package will carry out fusion treatment through the digital signal after the A/D conversion, take all factors into consideration the acceleration information and the posture information of human motion and judge whether fall down behavior takes place, after confirming to fall down generation, judge whether the user has the ability to recover voluntarily, if do not have, then produce the first aid signal, and send by wireless signal transmitting device.The first aid switch links to each other with signal conditioning package, the function that has artificial triggering first aid signal and eliminate alerting signal.This part device is looked different occasions and personnel's needs can also install some locating device.
2) base station: comprise wireless signal receiving trap and warning device, installation position depends on the needs.For example: can be placed in the elderly or the patients home, also can be placed on some public service place,, can also be placed in the security monitoring place of mine or scene of fire etc. such as hospital, first aid place etc.The wireless signal receiving trap receives the first aid signal that the emission of Wearable pick-up unit comes, and warning device sends to relevant department or related personnel with the first aid signal.
To of the present utility model about device and information processing division as follows:
1, the configuration of acceleration transducer, angular-rate sensor:
Position when getting the human body normal upright is an initial position, and trunk coordinate system Oxyz changes with human motion on the human body, keeps relative position constant with trunk on the human body.The front and back of metastomium on the acceleration transducer human body (x axle), about (y axle), the acceleration a of (z axle) direction up and down x, a y, a zAngular-rate sensor detects around x axle (inclination) with around the angular velocity omega of y axle (pitching) x, ω y, owing to belong to the health spin around the rotation of z axle, and less with judgement falling over of human body relation, in order to reduce redundancy, so do not considered.Acceleration transducer and angular-rate sensor are by same clock synchronization Information Monitoring.
2, information processing method
The information of acceleration transducer and angular-rate sensor collection enters the information micro treatmenting device after the A/D conversion, fall down the judgement of behavior in real time.The utility model is for reducing False Rate, action and other action are fallen down in difference, take all factors into consideration interior following two factors of Δ t at certain time intervals: the pose condition: metastomium begins to tilt to horizontal direction from the initial position of vertical state on the human body, and has reached certain pitch angle; The acceleration condition: the trunk position with at vertical direction with near the direction motion earthward of the acceleration of gravity acceleration g.Its method is: the first step, signal conditioning package be the angular velocity integration, opposing connection x axle rotational angular ω xCarry out integrating meter and calculate the side rake angle θ of trunk on the human body y, opposing connection y axle rotational angular ω yCarry out integrating meter and calculate pitching angle theta xJust in the time of can calculating the motion of trunk on the human body then at the acceleration of vertical direction: a v=a zCos θ xCos θ y+ a ySin θ y-a xSin θ xCos θ yIn second step,, reached risk range θ if the side rake angle or the angle of pitch are bigger L, then write down the moment t of this moment θIf the acceleration of vertical direction is near near the scope g the gravity acceleration g Z, then write down the moment t of this moment aIf the 3rd step is t θWith t aMistiming less than the time threshold values Δ t that sets, judge that then the behavior of falling down takes place, continue to judge otherwise return the first step.
Behind falling over of human body, to whether needing to report to the police automatically to judge: when in a period of time Δ S, if the acceleration of human body all directions all is no more than a standard S among a small circle, prove that then human body has lost the ability to act of emergency or lost consciousness, trigger first aid information this time; Otherwise do not need to send the first aid signal.
Simultaneously, at any time, the user can independently trigger the first aid signal or cancel current first aid incident by the first aid switch.Make the user under uncomfortable situation, to cry for help at any time; After recovering the long period voluntarily, the back also can cancel extraneous first aid, the loss of avoiding blindly first aid to cause falling down.
3, signal sends and receiving trap
The visual different demands in this part are taked different corollary apparatus, for example: common radio transmission apparatus, GSM, CDMA or the like.Also can bind positioning system as required, for example GPRS etc.
4, parts selection
The accelerometer parameter request that uses: frequency of operation is not less than 100Hz, and enough antivibratioves, impact resistance will be arranged; Range is proper common people and the elderly, patient between ± 6-10g (g is an earth surface acceleration of gravity); If be used for the more violent personnel of motion such as police, fire fighter, soldier, range can be looked need of work and increase, for example ± 15g, ± 18g.3-axis acceleration sensor be can adopt in the utility model, the combination of double-axel acceleration sensor and single-axis acceleration sensors and the combination of three single-axis acceleration sensors also can be adopted.Can adopt MMA7260Q, MMA7260QT, MMA7331L, MMA7341L, MMA7361L, MMA6271QT, MMA6280QT, MMA7261QT, MMA6281QT, MMA7330L, MMA7340L, MMA7360L, MMA7455L, the MMA7456L of Freescale; The SMB365 of BOSCH; The ADXL320 of AD, ADXL321; The SCA3000-E04 of VTI etc.
The angular-rate sensor parameter request that uses: frequency of operation is not less than 100Hz, and enough antivibratioves, impact resistance will be arranged; Range is the proper common people's daily exercise of ± 180-360 degree/between second and the elderly, patient; If be used for the more violent personnel of motion such as police, fire fighter, soldier, range can be looked need of work and increase, for example ± 500 degree/second.Can adopt three axis angular rate sensors in the utility model, also can adopt the twin shaft angular-rate sensor, perhaps the combination of two single shaft angular-rate sensors.Can adopt ADXRS150, ADXRS300, ADXRS610, ADXRS612, ADXRS613, ADXRS622, ADIS16100, ADIS16120, ADIS16130, ADIS16250, ADIS16255, ADIS16300, ADIS16350, ADIS16354, ADIS16355, ADIS16360, ADIS16364, ADIS16365, the ADIS16405 of AD; The IDG300 of InvenSence, IDG500; The MLX90609EEA-E2 of Melexis, MLX90609EEA-R2; The LISY300AL of ST; Deng.
The kind of microprocessor can have multiple choices in the signal conditioning package, can adopt microprocessor MCU, Programmable Logic Controller PLC, digital signal processor DSP, but must satisfy the running parameter requirement of above acceleration transducer and angular-rate sensor.Can adopt AT91SAM7 series, AT91SAM9 series, the AVR ATMAGE series of ATMEL; The LPC21xx series of Nxp, LPC22xx series; The STR7xx series of ST, STR9xx series, STM32 series; The Lm35 series of Laminary; The C8051F series of Silicon; The MC68HC series of Freescale; The MP430 series of TI, TMS320V5xx series; Deng.
The utility model device is at human motion behavior design, can detect falling over of human body early and report to the police to relevant department or related personnel, so can reduce to a certain extent owing to the elderly and patient because of falling down injury and the medical expenses that brings; Reduce medical security system and the elderly family members' medical care burden; Especially for old solitary people, has the using value of outbalance.
The beneficial effects of the utility model: the utility model apparatus system can be distinguished race, walks, sitting, squat down, lie down etc. behavior with fall down behavior; Has high recall rate, the characteristics of low False Rate; And autoalarm can whether need determine emergency after judging the human body ability to act, can avoid the loss of blindly reporting to the police and bringing to a great extent.The behavior of falling down that the utility model can be used for the elderly and patient detects, and also can be used for dangerous operation personnel's such as mine workman, fireman security alarm needs simultaneously.
Description of drawings
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in further details.
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is that the human body coordinate system is chosen, acceleration transducer and angular-rate sensor allocation position and detection side be to synoptic diagram;
Fig. 3 falls down behavior detection method schematic block diagram;
Fig. 4 is the method schematic block diagram that judges whether to need to send the first aid alerting signal;
Fig. 5 implements the circuit connection diagram.
Embodiment
Referring to Fig. 1, automatic detection alarming system for falling over of human body of the present utility model is made up of Wearable pick-up unit 9 and base station 10; Wearable pick-up unit 9 comprises A/D converter 3, signal conditioning package 4 and the wireless signal transmitting device 6 that electrically connects mutually; Base station 10 comprises radio receiver 7 and warning device 8; The input end of signal conditioning package 4 electrically connects with acceleration transducer 1 and angular-rate sensor 2 respectively through A/D converter 3.Acceleration transducer 1 is a three-axis acceleration sensor, and frequency of operation is 100-200Hz, and range is ± 6-10g also to adopt the combination of double-axel acceleration sensor and single-axis acceleration sensors and the combination of three single-axis acceleration sensors.Angular-rate sensor 2 is two axis angular rate sensors, and frequency of operation is 100-200Hz, and range is ± 180-360 degree/second, also can adopts three axis angular rate sensors, perhaps the combination of two single shaft angular-rate sensors.Signal conditioning package 4 also electrically connects with first aid switch 5.
Referring to Fig. 2, the ground reference coordinate is OXYZ, and the Z axle is perpendicular to ground, and trunk coordinate system Oxyz follows the trunk motion on the human body, keeps relative position constant with trunk on the human body; When the human body normal upright, Oxyz is parallel cartesian coordinate system with OXYZ, and the dead ahead of x axle sensing human body, and the y axle points to the front-left of human body, and the z axle is perpendicular to the ground points upwards.When the human motion system works, the initial point O of coordinate system Oxyz is wearing a little of Wearable device, when the initialization attitude is the human body normal upright.Certain is t constantly, and it is a that 3-axis acceleration sensor detects the axial acceleration of x x(t), the axial acceleration of y is a y(t), the axial acceleration of z is a z(t); Two axis angular rate sensors detect around x axle rotational angular ω x(t) with around y axle rotational angular ω y(t), direction is as figure; Because of rotation information around the z axle, belong to the health spin, related less with the falling over of human body detection, for reducing redundancy, so do not consider.
a x(t), a y(t), a z(t), ω x(t), ω y(t) signal carries out entering signal conditioning package after the digitized processing through A/D converter spare.
Referring to Fig. 3, the utility model adopts following method to judge whether human body is fallen down, and process step is as follows:
System initialization in step S401, the work beginning;
In step S402, angular velocity is carried out the angle of pitch and the side rake angle of metastomium on the integration accumulation calculating; ω that will be from initial time to current time t xCarry out the integration accumulation calculating and go out the current side rake angle θ of trunk on the human body y(t), in like manner with ω yCarry out the integration accumulation calculating and go out pitching angle theta x(t);
In step S403, S404, calculate the acceleration a of human motion in the vertical direction motion v, approximate data is: a v=a zCos θ xCos θ y+ a ySin θ y-a xSin θ xCos θ yBe convenience of calculation, can adopt the method for hits counting is come timing;
In step S405, judge a VWhether straight down near gravity acceleration g and direction.But this moment the setting area (a in 1 ± b%) g VValue is the zone near gravity acceleration g, and wherein b is decided to be the width range of codomain.If this zone is g Z, if judged a of current time VAt g ZIn the scope, then writing down current time is t aOtherwise continue a of the next sampling instant of observation VValue;
In step S406, judge the health pose whether to or close on the precarious position of falling down.As certain moment side rake angle θ yAbsolute value surpass 45 when spending, pitching angle theta xTo front curve 90 degree or when layback 30 is spent, health is in hazardous location approaching or that fallen down.So locate to be provided with the threshold values zone of hazardous location: θ L=| θ y| 〉=45 °, perhaps θ x〉=90 °, perhaps θ x≤-30 ° }.If the gained side rake angle or the angle of pitch are in the above threshold values zone, judge then and satisfy the pose condition of falling down that the record current time is t θOtherwise continue to judge the θ of next sampling instant xAnd θ y
In step S407, if t aWith t θBetween mistiming greater than Δ t, then continue to return step S402; Otherwise decision maker the wearer fall down, i.e. step S408.
Annotate: the threshold values of above setting: width b, time interval Δ t, θ LInterior angular dimension, if wherein any one is big more, the recall rate of falling down so is high more, False Rate is also big more simultaneously; Otherwise more little, low more, the False Rate of recall rate also can reduce so.According to this rule, the size that the user can regulate them according to different application scenarios and application.
With reference to Fig. 4, detect falling over of human body after, system begins need to judge whether the warning first aid.If lose ability to act behind the falling over of human body or lose consciousness, need the emergency of reporting to the police so to relevant department or personnel; If after falling down, the people can oneself stand, solve safety problem, then unnecessary warning.The determination methods steps flow chart is:
In step S409, the t=0 that when detecting falling over of human body, picks up counting,
In step S410, S412, the accekeration of gathering is compared, if in time Δ S, a all occurs xAnd a yAnd a zThe result of<S, then the indication device wearer has lost mobility or has lost consciousness or for other reasons can't autonomic activities, needs emergency, and this moment, execution in step S413 was from trend base station alerting signal; Otherwise, enter step S411, then represent wearer's problem of can settling a dispute by the parties concerned themselves, need not install automatic warning.
The standard of experimental study setting of the present utility model is the numerical value (being equivalent to begin at a slow speed certain individual axis acceleration size when middling speed is stood from the posture of sitting down or lying down) of S=± 0.25g~0.5g, and in like manner the value of S and Δ S can be carried out suitable adjusting according to application scenario and object.
Embodiment: the system that the utility model proposes is built according to the method described above.Device adopts the 3-axis acceleration sensor MMA7260Q of Flyco Co.,Ltd, two axis angular rate sensor IDG-300 of InvenSense company, the processor STM32 of ST company (A/D in the lozenge), the nRF905 wireless module of NORDIC.Its circuit connects sketch as shown in Figure 5: the x axle acceleration signal (the 15th pin) of acceleration transducer output connects microcontroller PC0 pin (the 15th pin) after through a passive RC low-pass filter, and this pin is the analog channel 10 of high-speed A/D converter in the sheet; The output of y axle acceleration signal and z axle acceleration signal (the 14th and the 13rd pin) is by inserting PC1 and PC2 (the 16th and the 17th pin) respectively behind the low-pass filter, these two is the passage 11 and the passage 12 of digital to analog converter in the sheet.In addition, the measurement range selection pin G-sel1 of acceleration transducer and G-sel2 meet the PE9 and the PE10 of microcontroller respectively, select different ranges by programming.Angular-rate sensor output around x axle rotational angular signal and after angular acceleration signal that the y axle rotates is by low-pass filter, insert the PC3 and the PC4 pin of microcontroller respectively, other has one road reference voltage output VREF to be connected to the PC5 pin, analog channel CH13, CH14 and the CH15 of ADC in the difference counterpiece.Wireless communication module is connected with PA3 with the serial communication interface PA2 of microcontroller.Other has one tunnel first aid switch that is used for the autonomous warning of user to be connected with the universal I/O port PE7 of microcontroller.
Parameter is set: sampling period T=0.005 second, width b=5, i.e. g Z=[(1-5%) g, (1+5%) g]; Time interval Δ t=0.5 second=100T; Pose threshold values angle θ L=| θ y| 〉=45 °, perhaps θ x〉=90 °, perhaps θ x≤-30 ° }; S=± 0.25g, Δ S=10 second.And the youth of both sexes student that perfects in 10 20-25 year carries out the several experiment on one's body.
Experimental result shows that using the utility model can be reduced in False Rate in 10% running action and fall down action and distinguish preferably such as jump, squat, lie down.Carry out independent parameter setting at certain user and then can obtain better effect.Wearable automatic detection device at the falling over of human body behavior, kinematics when its principle is based on human body safety movement state and falls down and dynamics different, settle small detector spare (for example be made into article such as button, brooch and be worn on one's body or put into pocket) in the human body surface somewhere, automatically gather and analyst's body dynamics information, judge whether human body is fallen down.With respect to visible sensation method and floor vibration method, this pick-up unit because usable range extensively, invasion of privacy not, so practicality is higher relatively.Adopt wearable device to come human body to fall down, its guardian technique problem fully takes into account the human motion behavioral characteristic exactly, and behavior and other action behavior are fallen down in difference, improves recall rate under the situation that does not have visual information to help, reduces False Rate.

Claims (4)

1, a kind of automatic detection alarming system for falling over of human body is made up of Wearable pick-up unit (9) and base station (10); Described Wearable pick-up unit (9) comprises A/D converter (3), signal conditioning package (4) and the wireless signal transmitting device (6) that electrically connects mutually; Described base station (10) comprises wireless signal receiving trap (7) and warning device (8); The input end that it is characterized in that described signal conditioning package (4) electrically connects with acceleration transducer (1) and angular-rate sensor (2) respectively through A/D converter (3).
2, automatic detection alarming system for falling over of human body according to claim 1 is characterized in that described acceleration transducer (1) is three-axis acceleration sensor, and frequency of operation is not less than 100Hz, and range is ± 6-18g; Described angular-rate sensor (2) is two axis angular rate sensors, and frequency of operation is not less than 100Hz, and range is ± 180-500 degree/second.
3, automatic detection alarming system for falling over of human body according to claim 1 is characterized in that described signal conditioning package (4) also electrically connects with first aid switch (5).
4, according to claim 1,2 or 3 described automatic detection alarming system for falling over of human body, X, Y, the Z axle acceleration signal that it is characterized in that described three-axis acceleration sensor (1) output is by PC0, PC1 and the PC2 input pin of access information treating apparatus (4) respectively behind the low-pass filter; Measurement range selection pin G-sel1 and G-sel2 connect PE9 and PE10 pin respectively; Described angular-rate sensor (2) output around x axle rotational angular signal and around angular acceleration signal that the y axle rotates by the PC3 and the PC4 pin of access information treating apparatus (4) respectively behind the low-pass filter, reference voltage output VREF connects the PC5 pin; The serial communication interface of wireless communication module and signal conditioning package and PA2 and PA3 link; Other has one the tunnel to be used for the first aid switch and to be connected with PE7 with the universal I/O port of signal conditioning package.
CN 200920171759 2009-04-28 2009-04-28 Automatic detecting and alarming system for human body falling-over CN201387660Y (en)

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CN101702258B (en) * 2009-04-28 2011-03-30 中国科学院合肥物质科学研究院 Information processing method of automatic detection alarming system for falling over of human body
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CN102697623A (en) * 2012-06-11 2012-10-03 常熟柏宇医疗电子有限公司 Wearable alarm walking aid
CN102750803A (en) * 2012-07-16 2012-10-24 深圳市富晶科技有限公司 Fall alarm, fall alarm detector and fall alarm detecting method
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TWI422824B (en) * 2010-12-06 2014-01-11 Inst Information Industry Human motion identification and locating method
CN103076045B (en) * 2011-10-25 2016-04-13 上海新世纪机器人有限公司 Head pose induction installation and method
CN103076045A (en) * 2011-10-25 2013-05-01 上海新世纪机器人有限公司 Head posture sensing device and method
CN102525434A (en) * 2012-01-04 2012-07-04 安阳工学院 Remote electronic monitoring device
CN102697623B (en) * 2012-06-11 2013-12-18 常熟柏宇医疗电子有限公司 Wearable alarm walking aid
CN102697623A (en) * 2012-06-11 2012-10-03 常熟柏宇医疗电子有限公司 Wearable alarm walking aid
CN102760341A (en) * 2012-07-16 2012-10-31 深圳市富晶科技有限公司 Health information monitoring system and method
CN102750803A (en) * 2012-07-16 2012-10-24 深圳市富晶科技有限公司 Fall alarm, fall alarm detector and fall alarm detecting method
CN103027687A (en) * 2012-12-05 2013-04-10 北京工业大学 Old people fall detection and alarm system based on 3D (3-dimensional) accelerometer and gyroscope
CN103027687B (en) * 2012-12-05 2015-03-04 北京工业大学 Old people fall detection and alarm system based on 3D (3-dimensional) accelerometer and gyroscope
CN103577836A (en) * 2013-09-30 2014-02-12 吴家宝 Method and model system for establishing human body tumbling detection model
CN103577836B (en) * 2013-09-30 2018-01-23 吴家宝 Falling over of human body detection model method for building up and model system
CN105894730A (en) * 2014-12-26 2016-08-24 陆婷 Research and design of portable GSM&GPS fall detector
CN105989693A (en) * 2015-02-04 2016-10-05 深圳好父母婴幼儿用品有限公司 Caring system of empty-nester
CN104680717A (en) * 2015-02-10 2015-06-03 柳州市金旭节能科技有限公司 Wearable falling detection brooch
CN105046881A (en) * 2015-06-04 2015-11-11 浙江好络维医疗技术有限公司 Alarm against tumble of elder
CN106529652A (en) * 2015-09-15 2017-03-22 南京北路自动化系统有限责任公司 Positioning card capable of recognizing dynamic and static states of person
CN105469546A (en) * 2016-01-14 2016-04-06 上海大学 Tumbling alarm system and method
CN105469546B (en) * 2016-01-14 2018-01-02 上海大学 A kind of tumbling alarm system and method
CN105919232A (en) * 2016-06-21 2016-09-07 苏州市景荣科技有限公司 Clamp-on intelligent brooch

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