CN213070105U

CN213070105U - Turnover monitoring system based on IMU

Info

Publication number: CN213070105U
Application number: CN202022219175.5U
Authority: CN
Inventors: 陈辉; 张晓亮; 熊章; 张智; 雷奇文; 艾伟; 胡国湖
Original assignee: Wuhan Xingxun Intelligent Technology Co ltd
Current assignee: Wuhan Xingxun Intelligent Technology Co ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-04-27
Anticipated expiration: 2030-09-30

Abstract

The utility model belongs to the technical field of electronic monitoring, especially, relate to a monitor system stands up based on IMU. The turnover monitoring system based on the IMU comprises a control module, an IMU module and an image information acquisition module, wherein the control module is electrically connected with the IMU and/or the image information acquisition module; the IMU module is used for detecting the posture change of a cared person and sending a turning signal; the image information acquisition module is used for acquiring the image information of the monitored person; the control module is used for receiving the turning-over signal and/or the image information. The utility model discloses a turn over monitor system and turn over monitor system based on IMU can make the user in time accurately learn whether to be stood up by the caregiver.

Description

Turnover monitoring system based on IMU

Technical Field

The utility model relates to an electronic monitoring technical field especially relates to a monitor system stands up based on IMU.

Background

The sleeping is one of the most important activities in daily life of people, the sleeping time of infants is more, the turning-over action during sleeping can bring danger due to the fact that the infants are weak and lack the ability of protecting the infants, and a monitor is needed to assist in caring the infants, so that a guardian can know the action condition of the infants in the sleeping in time when the infants leave the sight. Although most of the current infant care devices have a simple image capturing function, the infant care devices can capture images when the infant is sleeping. However, the user must personally view the video of the infant sleeping to know the turning condition of the infant, and the user cannot timely and accurately identify the turning of the infant and actively inform the guardian.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiment of the utility model provides a stand up monitor system based on IMU for solve prior art's user and can't in time accurately learn by the technical problem that whether the nurse stands up.

The utility model adopts the technical proposal that:

in a first aspect, the utility model provides a stand up monitor system based on IMU, include:

the system comprises a control module, an IMU module and an image information acquisition module, wherein the control module is electrically connected with the IMU and/or the image information acquisition module;

the IMU module is used for detecting the posture change of a cared person and sending a turning signal;

the image information acquisition module is used for acquiring the image information of the monitored person;

the control module is used for receiving the turning-over signal and/or the image information.

Preferably, the IMU module includes an inertial measurement unit including an acceleration sensor for detecting acceleration of movement of the cared person and an angular rate sensor for detecting an angle of movement of the cared person.

Preferably, the bed further comprises a bedding, wherein the inertial measurement unit is mounted on the bedding, and detects the posture change of the cared person by measuring the acceleration and the angle of the bedding.

Preferably, the power supply is used for independently supplying power to the inertia measurement unit.

Preferably, the turnover monitoring system further comprises an output module, wherein the output module is electrically connected with the control module and/or the IMU module and/or the image information acquisition module and is used for outputting detection information of the turnover monitoring system based on the IMU.

Preferably, the intelligent alarm device further comprises an alarm module, and the alarm module is connected with the control module.

Preferably, the alarm module is an audible alarm and/or a light alarm and/or a vibration alarm.

Preferably, the intelligent terminal is further included, and the intelligent terminal is electrically connected with the control module and/or the IMU module and/or the image information acquisition module and/or the output module.

Preferably, the control module further comprises a memory, the memory is used for storing the image information acquired by the image information acquisition module, and the control module is further used for comparing the changes of the images at different times.

Preferably, the IMU module is configured to send a turn-over signal to the control module when the detected acceleration or angular rate exceeds a preset threshold.

Has the advantages that: the utility model discloses a stand up monitor system based on IMU utilizes the IMU module to monitor the change of the person under guardianship sleep gesture and sends and stands up the signal. The image information acquisition module is used for acquiring the image information of the monitored person, and the control module can automatically judge whether the person to be nursed turns over according to the turning-over signal and the image information of the monitored person and output the monitoring information in time by the output module. The utility model discloses a turn over monitor system based on IMU can carry out whole control to being nursed person in being nursed person's sleep process to judge by nursed person's the condition of turning over automatically, let the user need not spend too much time specially to look after by nurses person.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without creative efforts, other drawings can be obtained according to these drawings, and these drawings are all within the protection scope of the present invention.

Fig. 1 is a block diagram of a turn-over monitoring system based on an IMU in embodiment 1 of the present invention;

fig. 2 is a block diagram of an IMU module according to embodiment 1 of the present invention;

fig. 3 is a block diagram of the structure of an IMU-based turn-over monitoring system with an alarm module in embodiment 1 of the present invention;

fig. 4 is a block diagram of the IMU-based turn-over monitoring system with an intelligent terminal in embodiment 2.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, various features of the embodiments and examples of the present invention may be combined with each other and are within the scope of the present invention.

Example 1:

as shown in fig. 1, embodiment 1 of the present invention discloses a turn-over monitoring system based on IMU, including:

the IMU module is used for detecting the posture change of a cared person;

The control module plays a role of overall control in the device, and may be a Central Processing Unit (CPU), or may also be other general purpose processors, a single chip microcomputer, an ARM, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA), or other Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The control module is used for detecting and processing the video information collected by the camera module and judging whether the baby turns over or not. The control module further comprises a memory, and the memory is used for storing the image information acquired by the image information acquisition module, so that the turnover monitoring head of the embodiment also has a video storage function and can store video data acquired by the current camera module; in addition, the control module can also have an image comparison function for comparing the change between two different frames of images.

Wherein the IMU module comprises an inertial measurement unit comprising an acceleration sensor for detecting acceleration of movement of the cared person and an angular rate sensor for detecting an angle of movement of the cared person.

As shown in fig. 2, the inertial measurement unit in the present embodiment includes three-axis acceleration sensors and three-axis angular rate sensors, in which the measurement axes of the three acceleration sensors are perpendicular to each other, and the measurement axes of the three angular rate sensors are also perpendicular to each other. The acceleration values of three coordinate axes which are vertical to each other can be detected by adopting the triaxial acceleration sensor. Therefore, the present embodiment can rapidly detect the acceleration generated during the turn-over process of the cared person by using the inertial measurement unit. By adopting the three-axis angular rate sensor, the angular rate values of three coordinate axes which are vertical to each other can be detected, so that the acceleration generated in the turning process of the cared person can be quickly detected. A cared person can be considered to turn over when the detected acceleration or angular rate exceeds a preset threshold. In addition, the posture of the cared person can be obtained by performing posture calculation on the detected acceleration value and angular velocity value, and whether the cared person turns over or not can be judged according to the real-time posture of the cared person.

The IMU-based turn-over monitoring system in this embodiment further includes a bedding, the inertial measurement unit is mounted on the bedding, and the inertial measurement unit detects a posture change of a cared person by measuring an acceleration and an angle of the bedding. Wherein the bedding can be a quilt, a blanket, a pajama and the like which are covered on the body of the infant.

The IMU module in this embodiment further includes a processor, the processor, each acceleration sensor and each angular rate sensor, and the processor may perform attitude calculation according to data acquired by the acceleration sensors and the angular rate sensors. The Processor may be a Central Processing Unit (CPU), or other general-purpose Processor, a single chip, an ARM, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA), or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like.

The IMU module in this embodiment may be a low power consumption IMU module, which only detects and does not send information at most of the working time to reduce power consumption, and when it detects that a large acceleration or angle change occurs in the bedding, sends a suspected turning-over signal to the control module.

In this embodiment, the image information acquiring module may be an electronic device or apparatus with a video capturing function, such as a camera or a video camera. These electronic devices or apparatuses with video capture functions may be disposed around the caretaker. For example, one or more cameras are arranged at the accessories or around the cared person to shoot the condition of the cared person in the sleeping process, and the video or image shot by the image information acquisition module is sent to the control module for processing. The control module can judge whether the cared person has a turning action according to the sleeping postures of the cared person, such as the postures of lying on the back, lying on the side and the like, reflected in the acquired image information. For example, if the cared person is detected to be switched from the lying posture to the side lying posture within a set time period, the cared person can be judged to have the body turned.

As shown in fig. 3, the turn-over monitoring system based on IMU of this embodiment may further include an output module and an alarm module. The output module is electrically connected with the control module and/or the IMU module and/or the image information acquisition module, has local communication and remote communication functions, and is used for outputting detection information of the turnover monitoring system based on the IMU. The output module is also used for outputting the monitoring information and the processing result of the control module.

When the control module judges that the cared person turns over, the control module can send a trigger signal indicating that the cared person turns over to the alarm module, and the alarm module automatically sends alarm information indicating that the cared person turns over to related personnel after receiving the trigger signal, so that the related personnel can know the turning over condition of the cared person in time. The alarm module can generate alarm signals in the modes of sound, light, vibration and the like to remind a user.

Example 2

As shown in fig. 4, the present embodiment provides a turn-over monitoring system, which includes an intelligent terminal and the IMU-based turn-over monitoring system in embodiment 1, where the IMU-based turn-over monitoring system is in communication connection with the intelligent terminal. The intelligent terminal can be, for example, a digital mobile phone (mobile phone), a personal computer, a tablet personal computer, an intelligent wearable device (smart watch, smart bracelet), an intelligent household appliance (smart television, smart television box, intelligent air conditioner, intelligent refrigerator, intelligent dressing mirror, intelligent sound box, intelligent socket), and the like. The turning detection module and/or the image information acquisition module, the control module, the output module, the alarm module and the terminal with the communication function can be communicated with each other in a wired or wireless mode. The terminal can also communicate with each module in the turnover monitoring system based on the IMU, for example, passively receive the turnover information of the cared person sent by the output module through a mobile phone or a smart watch, actively check the current picture of the camera, and receive the alarm signal sent by the alarm module. Therefore, the user can conveniently know the turning condition of the cared person at any time without being limited by distance. In order to facilitate the user operation, a corresponding software program may be installed in the terminal, for example, an APP is installed in a mobile phone, and the user receives the turn-over information of the cared person through the corresponding APP program, or views the current picture of the camera. In order to facilitate the use of the intelligent terminal, a wireless communication mode can be adopted, and the intelligent terminal and the turnover monitoring system based on the IMU are correspondingly arranged on the intelligent terminal, and comprise wireless communication modules such as a WiFi communication submodule, an RF Mesh communication submodule, a ZigBee communication submodule, a ZWave communication submodule, an NB-IoT communication submodule, an eLTE-IoT communication submodule, a TCP/IP communication submodule and other communication submodules.

When receiving a suspected turning-over signal sent by an IMU sensor, the control module immediately compares the change of an image within a certain time, and if the image change is found to be large, the control module judges that an infant turns over and sends a turning-over alarm signal to an APP. The IMU sensor of this embodiment has an independent power supply system, and can operate for a long time.

The control module of the embodiment can judge whether the monitored person turns over or not according to the IMU module alone, and can also judge whether the monitored person turns over or not according to the image information acquired by the image information acquisition module alone. The control module can judge whether the person under guardianship turns over or not by comparing the change between two different frames of images. In addition, the present embodiment may also use the turn-over recognition model to recognize the image information acquired by the image information acquisition module, recognize some specific sleeping postures of the cared person, such as lying, lying on side, etc., from the image information, and determine whether the cared person turns over according to the changes of the sleeping postures. Wherein the turn-over recognition model can be obtained repeatedly through sample training. The control module can judge whether the cared person has the turning action or not according to the sleeping postures of the cared person, such as the postures of lying on the back, lying on the side and the like, reflected in the image information. For example, if the cared person is detected to be switched from the lying posture to the side lying posture within a set time period, it can be judged that the cared person has a turn-over condition.

In addition, the control module can comprehensively judge the turning condition of the cared person by combining the posture information detected by the IMU module and the image information acquired by the image information acquisition module, so that the judgment on whether the cared person turns over is more accurate and quicker. The specific steps can be as follows:

s101, an IMU module detects the sleeping posture of an infant;

step S102, the control module judges whether the infant has a turning-over action or not according to the infant sleeping posture block;

step S103, the control module extracts the image of the turning-over time point as a sample for storage;

step S104, training the sample data to turn over the recognition model by using an SVM classifier;

s105, evaluating the quality of the turn-over recognition model trained in the previous step, wherein the evaluation result is poor, repeating S103-S105, and the evaluation result is good, and then proceeding to the next step;

s106, generating a turning-over recognition model if the evaluation result is excellent;

and step S107, no turning motion is detected, and no response is made.

The method skillfully utilizes the postures of the cared person in sleep detected by the IMU to classify the images, so that the images corresponding to different sleep postures can be accurately classified, stored and marked. Then, the accurately classified images are continuously trained to obtain a turning-over recognition model, and the detection result of the turning-over recognition model is continuously compared with the judgment result of the turning-over detection module, so that the recognition precision of the turning-over recognition model is further improved. According to the turning-over identification method and the turning-over identification device, on one hand, the characteristic that the accuracy of the sleeping posture of the cared person is high according to the IMU module is utilized, the turning-over identification model is trained by means of a large number of templates classified according to the sleeping posture, so that the turning-over condition of the cared person is judged accurately, on the other hand, the trained turning-over identification model only needs to identify the acquired video images, and the identification process is simpler and quicker.

The above is a detailed introduction to the system, device, equipment and storage medium for turn-over monitoring based on IMU provided by the embodiments of the present invention.

It is to be understood that the invention is not limited to the particular arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present invention.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

It should also be noted that the exemplary embodiments mentioned in the present disclosure describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in a different order from the embodiments, or may be performed simultaneously.

As described above, only the specific embodiments of the present invention are provided, and those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working processes of the system, the module and the unit described above can refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered by the scope of the present invention.

Claims

1. Turnover monitoring system based on IMU, its characterized in that includes:

the system comprises a control module, an IMU module and an image information acquisition module, wherein the control module is electrically connected with the IMU module and/or the image information acquisition module;

2. The IMU-based roll monitoring system of claim 1, wherein the IMU module comprises an inertial measurement unit comprising an acceleration sensor for detecting acceleration of movement of a cared person and an angular rate sensor for detecting an angle of movement of a cared person.

3. The IMU-based roll-over monitoring system of claim 2, further comprising a bedding on which the inertial measurement unit is mounted, the inertial measurement unit detecting changes in the posture of the cared person by measuring the acceleration and angle of the bedding.

4. The IMU-based roll-over monitoring system of claim 3, further comprising a power supply for independently powering the inertial measurement unit.

5. The IMU-based turn-over monitoring system of claim 1, further comprising an output module electrically connected to the control module and/or IMU module and/or image information acquisition module for outputting detection information of the IMU-based turn-over monitoring system.

6. The IMU-based roll-over monitoring system of claim 1, further comprising an alarm module, said alarm module being connected to said control module.

7. The IMU based turn monitoring system of claim 6, wherein the alarm module is an audible alarm and/or a light alarm and/or a vibratory alarm.

8. The IMU-based turn-over monitoring system of claim 1, further comprising an intelligent terminal electrically connected to the control module and/or IMU module and/or image information acquisition module and/or output module.

9. The IMU-based roll-over monitoring system of claim 1, wherein the control module further comprises a memory for storing the image information obtained by the image information obtaining module, the control module further for comparing changes in the image at different times.

10. The IMU-based turn-over monitoring system of any one of claims 1-9, wherein the IMU module is configured to send a turn-over signal to the control module when the detected acceleration or angular rate exceeds a preset threshold.