KR20170090160A - Smart shoes and method of processing data the same - Google Patents
Smart shoes and method of processing data the same Download PDFInfo
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- KR20170090160A KR20170090160A KR1020160010690A KR20160010690A KR20170090160A KR 20170090160 A KR20170090160 A KR 20170090160A KR 1020160010690 A KR1020160010690 A KR 1020160010690A KR 20160010690 A KR20160010690 A KR 20160010690A KR 20170090160 A KR20170090160 A KR 20170090160A
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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
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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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
- A61B5/1118—Determining activity level
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
In this specification, a smart shoe for sensing motion and a method for processing motion data sensed in the smart shoe according to the present invention are disclosed. Here, an embodiment of the smart shoe according to the present invention is characterized by detecting zero velocity data from data generated based on operations of first sensors for sensing data, a second sensor, and the second sensor, Removing the step noise of the sensing data received from the first sensors based on the detected zero velocity data, filtering the sensed data from which the step noise has been removed, and filtering the sensed data based on the filtered sensing data and a predefined threshold And a tracking data processor for obtaining motion data of the smart shoe.
Description
The present invention relates to a smart shoe for sensing motion and a processing of motion data sensed in the smart shoe.
2. Description of the Related Art In recent years, a terminal has been implemented in the form of a multimedia device having a complex function, such as a smart phone, which performs functions related to production and consumption of contents in addition to past communication functions.
The form of a smart phone is extended not only to a conventional mobile terminal but also to various objects so that each object can be independently operated or functions similar to a smart phone between smart phones or objects.
In particular, a smart phone is widely applied to a wearable device that can be worn by a user or the like.
Wearable devices can range from devices such as smartwatches, smart glasses, head mounted displays (HMDs), and even clothing and footwear products that must be worn by the user.
[0002] A shoe as a wearable device, so-called smart shoe, usually performs a function of analyzing information on a wearer's activity and informing the user through a smart phone or itself. In order to perform these functions, sensors are used, but these sensors cause frequent replacement or failure due to high battery consumption due to power consumption in the circuit or module provided in the smart shoe. In addition, the sensors provided in the present smart shoes have a problem that the user's movement, that is, the missed step, can not be distinguished accurately.
The present invention solves the above-mentioned problems, and it is an object of the present invention to provide a PDR algorithm that accurately detects the movement (e.g., every step) of a smart shoe wearer based on a smart shoe tracking algorithm based on sensing data of a pressure sensor As a task.
Another object of the present invention is to easily and precisely calculate and use not only the footsteps of the smart shoe wearer but also the footpath, the walking direction, the stride, the height, etc. through the smart shoe tracking algorithm.
Another object of the present invention is to minimize the power consumption and maximize the efficiency of the smart shoe system including the circuit or module for the smart shoe tracking algorithm.
In this specification, smart shoes and a data processing method thereof according to the present invention are disclosed.
One embodiment of a smart shoe according to the present invention is a method for detecting zero velocity data from data generated based on operations of first sensors for sensing data, a second sensor, and the second sensor, The step noise is removed from the sensed data received from the first sensors based on the zero velocity data, and the sensed data without the step noise is filtered, and the sensed data, based on the filtered sensed data, And a tracking data processing unit for obtaining motion data of the smart shoe.
One embodiment of the smart shoe system according to the present invention is a smart shoe system comprising: an acceleration sensor for sensing acceleration data; a gyro sensor for sensing gyro data; and a smart shoe including a pressure sensor switched according to a step of a smart shoe wearer, And a tracking data processing unit for processing the motion data of the smart shoe wearer based on sensing data received from each sensor, wherein the tracking data processing unit comprises: a tracking data processor for generating zero velocity data from the sensed data from the pressure sensor The step noise of the first moving speed data generated based on the sensed acceleration data and the gyro data is removed based on the detected zero velocity data, and the step noise is removed from the first moving speed data Based on this, To obtain the data Im.
An embodiment of a method of processing data in a smart shoe according to the present invention includes the steps of receiving sensed data from first sensors, detecting zero velocity data based on operation of a second sensor, Removing step noises of the sensed data received from the first sensors based on the sensed data; filtering the sensed data from which the step noises have been removed; and filtering the sensed data based on the filtered sensed data and a predefined threshold And acquiring motion data of the smart shoe.
According to the present invention, there are the following effects.
According to at least one of the embodiments of the present invention, the PDR algorithm is capable of accurately sensing the movement (for example, every step) of the smart shoe wearer based on the smart shoe tracking algorithm based on the sensing data of the pressure sensor .
According to at least one of the embodiments of the present invention, the smart shoe tracking algorithm can easily and precisely calculate and use not only the every step of the smart shoe wearer but also the walking locus, the walking direction, the stride, the height, It is effective.
According to at least one of the embodiments of the present invention, power consumption of the smart shoe system including the circuit or module for the smart shoe tracking algorithm is minimized and efficiency is maximized.
Further scope of applicability of the present invention will become apparent from the following detailed description. It should be understood, however, that the detailed description and specific examples, such as the preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram illustrating a smart shoe according to the present invention;
Fig. 2 is a yz-plane sectional view of a smart shoe according to the present invention, Fig.
FIG. 3 is a view showing in a timely manner the state of walking of a smart shoe wearer related to the present invention,
Figure 4 illustrates the pressure distribution acting on the smart shoe in accordance with the present invention,
Figure 5 is a flow chart for smart shoes associated with the present invention,
Figure 6 shows a pressure switch and a first circuit part associated with the present invention,
FIG. 7A is a cross-sectional view of the pressure switch according to the present invention before it is acted upon by pressure, FIG. 7B is a sectional view of the pressure switch according to the present invention,
Figure 8 illustrates several embodiments of smart shoes associated with the present invention,
9A and 9B are sectional views taken along the AA 'line in FIG. 8,
Figure 10 illustrates one embodiment of a
Figure 11 illustrates several embodiments of
Figure 12 illustrates a
13 is a diagram illustrating an example of a trace data graph including noise in the context of the present invention.
FIG. 14 illustrates an example of a noise-removed tracking data graph according to the present invention.
FIG. 15 is a view showing an example of a motion data graph for a smart shoe wearer according to the present invention,
FIG. 16 shows the UX diagrams of an example of the service scenario according to the present invention described above, and
17 is a flowchart showing a data processing method in a smart shoe system according to the present invention.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.
2. Description of the Related Art In recent years, a terminal has been implemented in the form of a multimedia device having a complex function, such as a smart phone, which performs functions related to production and consumption of contents in addition to past communication functions.
The form of the smart terminal is extended not only to a conventional mobile terminal but also to various objects and is expanded to perform various functions independently of each other or in cooperation with a smart terminal or objects.
In particular, smart terminals are widely applied to wearable devices that can be worn by users and the like.
Wearable devices can range from devices such as smartwatches, smart glasses, head mounted displays (HMDs), and even clothing and footwear products that must be worn by the user.
[0002] A shoe as a wearable device, so-called smart shoe, generally performs a function of analyzing information on an activity of a wearer and informing the user through a smart terminal such as a mobile terminal or itself.
Specifically, the smart shoe performs a function of tracking, sensing, or recording the activity time, activity distance, and activity trajectory of the wearer wearing the smart shoe.
A motion sensor is used to measure the position of a smart shoe in a two- or three-dimensional space, such as the wearer's activity distance and activity trajectory.
Such a motion sensor can grasp a specific position through an acceleration sensor and a gyro sensor as well as an approximate position through a satellite navigation apparatus such as a Global Positioning System (GPS).
Furthermore, by measuring the speed of the smart shoe through the motion sensor, it is possible to calculate the step of the wearer and the standard of each step unit.
However, such a motion sensor is required to maintain a state in which the position of the smart shoe can be measured at all times, that is, consuming power, resulting in a disadvantage of battery consumption, which leads to a disadvantage in weight saving of smart shoes.
In addition, when the movement trajectory is grasped through only the existing motion sensor, the user may not accurately distinguish the user's walking due to the noise generated in the sensor, and an accumulated error may occur. That is, the reference of the wearer's unit of the footwear may be erroneously calculated, which may cause problems in recording measurement.
One embodiment of a smart shoe according to the present invention is a method for detecting zero velocity data from data generated based on operations of first sensors for sensing data, a second sensor, and the second sensor, The step noise is removed from the sensed data received from the first sensors based on the zero velocity data, and the sensed data without the step noise is filtered, and the sensed data, based on the filtered sensed data, And a tracking data processing unit for obtaining motion data of the smart shoe.
One embodiment of the smart shoe system according to the present invention is a smart shoe system comprising: an acceleration sensor for sensing acceleration data; a gyro sensor for sensing gyro data; and a smart shoe including a pressure sensor switched according to a step of a smart shoe wearer, And a tracking data processing unit for processing the motion data of the smart shoe wearer based on sensing data received from each sensor, wherein the tracking data processing unit comprises: a tracking data processor for generating zero velocity data from the sensed data from the pressure sensor The step noise of the first moving speed data generated based on the sensed acceleration data and the gyro data is removed based on the detected zero velocity data, and the step noise is removed from the first moving speed data Based on this, To obtain the data Im.
1 is a block diagram for explaining a
The
More specifically, the
The
The short-
The
The
The
In particular, the
In addition, the
The
The
The
In addition to the actions associated with the application program, the
Under the control of the
At least some of the components may operate in cooperation with each other to implement the method of operation, control, or control of the
2 is a sectional view in y-z plane of the
The
The
A
That is, the walking or running of the wearer may attempt to make electrical contact with the first circuit portion 251 (see FIG. 7) by acting on the
By electrical contact, the first circuit portion 251 (see FIG. 7) can generate an electrical signal (for example, a current).
The control unit recognizes the presence or absence of a current or signal generated in the first circuit unit 251 (see FIG. 7) as an on / off binary signal and controls various subsequent operations based on the on / off signal .
The first circuit unit 251 (see FIG. 7) generates a current or a signal, and the control unit 380 (see FIG. 1) recognizes the on / off current or signal generated in the
That is, the
FIG. 3 is a time-wise diagram illustrating a state in which the
When the
A value of 1, that is, an ON signal is generated in the first circuit unit 251 (see FIG. 7) due to a certain specific pressure value acting on the state shown in FIGS. 3 and 4 in FIG. 3. In the remaining
However, such a result may be sufficiently varied depending on whether the threshold value for causing the signal generation, that is, the first circuit unit 251 (see FIG. 7), is set and the rigidity or interval of the
For example, when the critical pressure value is made larger, the pressure threshold value at which the on-signal can be generated becomes higher. Therefore, the
Therefore, it is possible to judge the start and end of one step of the wearer through these results, and it is possible to grasp the cycle of each step when the step is repeated.
In the case of FIG. 3, for example, the interpretation of (2) as the start of the step, and (1) passing through (7), can be interpreted as the end of one step.
Also, if the change from (2) to (1) is repeated, it is possible to interpret a plurality of steps by recognizing one cycle as one step.
That is, when analyzing the point where the velocity value of the
The pressure switch 210 (see FIG. 7) can operate according to whether the pressure is applied to the sole frame 110 (see FIG. However, it is not required to necessarily be the lower end direction, and if necessary, it may be operated on the basis of the pressure with respect to the direction deviated by a certain angle with respect to the lower end direction. In the case where the plurality of pressure switches 210 It may work for multiple directions.
The direction of this pressure may be based on the wearer's general pace and force action, or may vary based on the wearer's different pace and force action for each individual.
Figure 4 illustrates the pressure distribution acting on the
FIG. 4 shows a pressure distribution on the x-y plane acting when the
Although there may be errors, it can be seen that a large pressure acts on the front part of the foot, especially around the big toe and the heel area of the foot.
Relatively small pressure of 100 kpa or less is applied to the center of the foot.
This pressure result can be used as a basis for judging the position at which the
On the other hand, when the
Therefore, the
The distance D from the rear end of the
In determining the unit of stepping, the shorter the time the pressure acts, the more precisely the point where one step ends and begins. That is, it is advantageous to minimize the length of a section having a speed of zero. As a result of the measurement, it was confirmed that the region where the velocity is 0 is relatively short, and the W region where the velocity is 100 kpa.
Fig. 5 is a schematic view of an inner structure of a human foot bone.
The W region may be in the vicinity of a heel bone, a cuboid bone, or a metatarsal bone when viewed from the bone of the wearer's foot.
Referring again to FIG. 4, the x-axis directional component of the
The term "critical pressure value" may be applied differently depending on the physical and habitual factors such as the wearer's height, weight and foot size. However, since the on / off state of the
The motion sensor 343 (see FIG. 1) mounted on the
Movement of the
The motion sensor 343 (see FIG. 1) may be supplied with a current through the second circuit unit that constitutes a circuit independently of the first circuit unit 251 (see FIG. 7) to perform sensing.
The control unit 380 (see Fig. 1) can control the current supply to the second circuit unit. The control unit 380 (see FIG. 1) may include an MCU (Micro Controller Unit) 252 (see FIG. 7) such as a CPU.
6 is a flowchart of the
The
When the time period during which no current flows in the
Accordingly, the
If a current or a signal is generated in the
Therefore, the current of the
The activated
The
When the current flows into the
On the other hand, when the current does not flow in the
Figure 7 shows a
The
The
The
The
The two separated
The
The control unit 380 (see FIG. 1) recognizes the presence or absence of a current or a signal generated in the
The control unit 380 (see FIG. 1) may be interpreted as a separate process by recognizing the on / off signal according to the generation of the current or the signal of the
8 is a front perspective view of a
The
9A and 9B are sectional views taken along the line A-A 'in FIG.
Specifically, FIG. 9A is a sectional view before the
The
The
Alternatively, the
The
Or a combination of an injection mold and a mold interconnect device (MID).
The fixing
The fixing
The
At least one region of the
The
The fixing
The
The second region may be located between the first regions. Each of the second regions or the first regions may include a plurality of regions of the
The first region may include three regions which are both ends and a central region of the
The
At least one region including the elastic material of the
The
The
The
10 illustrates an embodiment of a
The
The
The front case 263 may be coupled between the two components to increase the reliability of coupling between the
The
And a
The gap between the
The
Referring again to FIG. 2, the
The
Figure 11 illustrates several embodiments of the
11A, the
Further, since the
11B shows a method of providing the
11C illustrates that the
The smart shoe system according to the present invention has been described above with reference to Figs. This smart shoe system can be operated on the basis of the smart shoe tracking algorithm based on the sensing data of the pressure sensor described above in the PDR algorithm.
In particular, the smart shoe system operated on the basis of the smart shoe tracking algorithm will be described in more detail below.
Here, the smart shoe tracking algorithm according to the present invention can precisely sense the movement (e.g., every step or step) of the smart shoe wearer based on the sensing data of the pressure sensor in the PDR algorithm. In addition, the smart shoe tracking algorithm can easily and precisely calculate the foot trajectory, the walking direction, the stride, and the height of the smart shoe wearer. The smart shoe tracking algorithm can contribute to minimizing the power consumption and maximizing the efficiency of the smart shoe system in conjunction with the pressure switch or the pressure sensor circuit or module.
The terminal is implemented in the form of a multimedia player having a plurality of functions so as to be able to perform functions related to production and consumption of contents in addition to the conventional communication function. In addition, such a mobile terminal is extended to various objects so that various objects can be independently operated or various functions can be performed between the mobile terminal and objects. Particularly, the mobile terminal has been widely applied to a wearable device, that is, a wearable device, or has been developed in such a form.
Wearable devices are implemented in devices such as smartwatch, smart glass, and head mounted display (HMD), and products such as clothes and shoes worn by the user.
Hereinafter, in order to facilitate the understanding of the present invention and for convenience of explanation, the mobile terminal will be described as a wearable device, and the wearable device will be described with reference to shoes, so-called smart shoes. Such a smart shoe can analyze the information about activity such as walking of the wearer, and perform analysis processing through other mobile terminals or the like, and can perform a function of notifying the analysis result.
The smart shoe according to the present invention can be used in a variety of situations such as moving time, velocity, distance or position, orientation, trace or path, , Attitude, stride, and the like of the motion data can be tracked, sensed, and recorded. At this time, basically, in the present invention, accurate tracking and sensing are performed without missing the step of the smart shoe wearer. This makes it possible to sense the various motion data described above. The motion data also includes sensing data for each step of the smart shoe wearer.
In sensing motion data of a smart shoe wearer, a plurality of sensors may be required. The plurality of sensors include an acceleration sensor, a gyro sensor, a pressure sensor, and the like. At this time, at least one of the plurality of sensors is not necessarily included in the smart shoes.
Acceleration sensors and gyro sensors may also be called PDR sensors or inertial sensors. In the case of measuring the wearer's motion data through the PDR sensor, the PDR sensor must maintain a state in which the PDR sensor can always measure, that is, consuming current, and there may be a disadvantage of battery consumption. It has disadvantages. In addition, when the movement trajectory is grasped through the PDR sensor, the wearer's step can not be precisely distinguished due to noise generated in the sensor, and an accumulated error may be caused thereby. In order to solve this problem, the present invention further employs the above-described pressure switch or pressure sensor in the PDR sensor, and the above description is referred to, and redundant description is omitted here.
In summary, according to the present invention, it is possible to sense movement data of a smart shoe wearer more widely than in the prior art according to the smart shoe tracking algorithm, and it is easier and more accurate at the time of sensing than the conventional method.
Hereinafter, the smart shoe tracking algorithm according to the present invention, the motion data sensing through the smart shoe tracking algorithm, and the smart shoe system therefor will be described in detail.
Figure 12 illustrates a configuration 900 for a smart shoe tracking algorithm in accordance with the present invention.
Hereinafter, the configuration for the smart shoe tracking algorithm shown in FIG. 12 will be described as a smart shoe tracking
The tracking
Referring to FIG. 12, the operation of the tracking
The tracking
The process of processing the tracking data through the
First, the
The
The second processing unit 1224 receives the sensed data from the
In this case, the output data of the first integrator may be the moving speed data V itself, and the data processed by the second processing unit 1224 may itself be the moving direction data A of the smart shoe wearer have.
In the above, the data excluding the moving speed data v1, i.e., the moving distance data p0 in the output data of the first integrator are inputted again to the second integrator and accumulated. The moving speed data v1, the output data of the second integrator, the moving distance data p1 and the moving direction data a1 of the second processing unit 1224 are input to the
The
The first mixer mixes the movement distance data p1, which is the output of the second integrator, and the movement distance data p2, which is the output of the
The second mixer mixes the moving speed data v1 extracted from the first integrator and the moving speed data v2 output from the
The third mixer mixes the movement direction data a1, which is the output of the second processing unit 1224, and the movement direction data a2, which is the output of the
If the tracking
13, in the case of processing based on the data sensed by the
In order to minimize or eliminate errors due to the noise described above, the present invention further refers to the sensing data of the pressure sensor described above.
Referring to FIG. 12, the tracking
The
The
The zero velocity data z1 detected by the
Referring to FIGS. 13 and 14, there is a
Therefore, according to FIG. 14, since the zero velocity is minimized with respect to the motion data of the smart shoe wearer, that is, the motion in the x, y, and z axes, each step can be accurately calculated. Therefore, It is possible to easily and precisely calculate the detection angle data and the foot angle correction data, so that the movement locus, the moving speed, the moving direction, the stride, the report, etc. of the wearer can be calculated easily and accurately as shown in FIG. This is because the PDR sensor or the inertial sensor can not accurately acquire the zero velocity of one step, thereby increasing system efficiency and power consumption compared to the case where correction is required due to accumulated errors. In addition, when only PDR sensor data is used, wireless positional position correction is required based on wi-fi or Bluetooth, but using the pressure sensor data allows more accurate data sensing without using such a wireless positioning method.
In addition, in relation to stride or reporting, conventionally, when a mountain or building stairs are used, the altitude is used as an air pressure sensor. However, in this case, when the ambient pressure suddenly changes due to weather, wind or the like, The pressure change was severe due to other factors such as open and closed, accurate data sensing was impossible, and the reliability of the sensed data was low. On the other hand, in the present invention, zero velocity is minimized based on sensing data of a simple pressure sensor (pressure switch), so that it is possible to easily and accurately calculate data without a pressure sensor or other configuration.
The tracking data processing algorithm according to the present invention is used in a tracking and management service of a wearer's exercise information to measure the calorie consumption amount and weight change of the wearer and automatically recognize bike riding, walking, running and the like, Scheduling services are also possible. In addition, according to the tracking data processing algorithm of the present invention, it is possible to provide a tracking and management service for walking attitude of a wearer (such as a soldier), an indoor navigation service of a mart, a library, a public institution, an outdoor bicycle, Service, tracking and tracking of walking area, exercise measurement and management service using stride and report, and wearer tracking service in GPS or Wi-fi unavailable area.
16 is a UX diagram of an exemplary service scenario according to the present invention.
FIG. 16A shows a case where the moving distance of 10 m is walked at an average speed, and FIG. 16B shows UX of the data obtained through the tracking data processing unit in the case of FIG. 16A. Referring to FIG. 16B, the data obtained through the tracking data processing unit with respect to the moving distance of 10m in FIG. 16A is 10.072m.
FIG. 16C shows a case in which the moving distance of 10 m is walked at a high speed like an alarm, and FIG. 16D is UX of the data obtained through the tracking data processing unit in the case of FIG. 16C. Referring to FIG. 16D, the data obtained through the tracking data processing unit with respect to the moving distance of 10 m in FIG. 16C is 10.066 m.
In addition, FIG. 16E is UX for the stride, speed, and total distance data accumulated through the tracking data processing unit for a predetermined time.
17 is a flowchart showing a data processing method in a smart shoe system according to the present invention.
According to the present invention, the tracking data processing unit of the smart shoe system receives sensing data from one or more first sensors (S1702), receives the sensed data based on the operation of the second sensor, (S1704). Here, the first sensors include, for example, the first sensor (acceleration sensor) and the second sensor (gyro sensor) of FIG. 12 described above. Here, the second sensor includes the third sensor (pressure sensor) of Fig. 12 described above.
The tracking data processing unit removes step noise of the sensing data received from the first sensors based on the detected zero velocity data (S1706). The step noise refers to the
The tracking data processing unit filters the sensing data from which the step noise has been removed (S1708).
The tracking data processing unit obtains the motion data of the smart shoe based on the filtered sensing data and a predefined threshold (S1710). Here, the predefined threshold value may indicate a value according to data normalization according to the filtering in the filter unit. In this way, data normalization can be helpful for data management and so on.
According to various embodiments of the invention described above, each, or any combination thereof, the PDR algorithm can be implemented without missing a smart shoe wearer's movements (e.g., every step) based on a smart shoe tracking algorithm based on the sensed data of the pressure sensor The smart shoe tracking algorithm can easily and precisely calculate and use the walking trajectory, the walking direction, the stride, and the height as well as the step of the smart shoe wearer through the smart shoe tracking algorithm. Minimize power consumption and maximize efficiency of smart shoe systems with circuits or modules for algorithms
It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The foregoing detailed description should not be construed in all aspects as limiting and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.
100: smart shoes 110: outsole frame
111: Insole 112: Midsole
113: outsole 120: seat part
200: pressure switch module 210: pressure switch
220: fixing member 221:
222: Fixing portion 223: Displacement portion
224: Slit 230: Conductive member
250: main board 251: first circuit part
2511: contact terminal 252: MCU
260: switch housing 261: upper case
262: lower case 270: connecting line
900: trace data processing unit 912, 914, 916:
922: first processing section 924: second processing section
930: Detector 950:
Claims (20)
First sensors for sensing data;
A second sensor; And
Detecting zero velocity data from data generated based on the operation of the second sensor, removing step noise of the sensing data received from the first sensors based on the detected zero velocity data, A tracking data processor for filtering the noise-removed sensed data and obtaining motion data of the smart shoe based on the filtered sensing data and a predefined threshold,
Including smart shoes.
The first sensors,
Characterized in that it comprises an acceleration sensor and a gyro sensor.
Wherein the second sensor comprises:
And a pressure sensor which is switched according to a step of the smart shoe wearer.
Wherein the motion data of the smart shoe comprises:
Wherein the data includes data on a moving distance, a moving speed, and a moving direction.
Wherein the tracking data processing unit comprises:
And the step noise is removed by correcting the moving speed data among the motion data of the smart shoe using the zero velocity data detected from the data sensed by the second sensor.
The filtering may include:
A smart shoe characterized by using a Kalman filtering technique.
Wherein the movement direction data is determined by applying a threshold to the first movement direction data obtained by calculating the insole movement direction from the sensing data of the gyro sensor and the filtered second movement direction data.
Wherein the tracking data processing unit comprises:
PDR data processing technique.
Wherein the motion data of the smart shoe comprises:
Further comprising pedometer data and report data of the smart shoe wearer, wherein the pedometer data and report data are obtained based on the moving speed data, the moving distance data, and the moving direction data.
An acceleration sensor for sensing acceleration data, a gyro sensor for sensing gyro data, and a smart shoe including a pressure sensor switched according to the step of the smart shoe wearer,
And a tracking data processor for processing motion data of the smart shoe wearer based on sensing data received from each sensor of the smart shoe,
Wherein the tracking data processing unit comprises:
Detects zero velocity data from the data sensed by the pressure sensor, removes the step noise of the first moving velocity data generated based on the sensed acceleration data and the gyro data based on the detected zero velocity data And acquires motion data of the smart shoe based on the first moving speed data from which the step noise has been removed.
Receiving sensing data from the first sensors;
Detecting zero velocity data based on an operation of a second sensor;
Removing step noise of the sensing data received from the first sensors based on the detected zero velocity data;
Filtering the sensed data from which the step noise has been removed; And
And acquiring motion data of the smart shoe based on the filtered sensed data and a predefined threshold.
The first sensors,
An acceleration sensor and a gyro sensor.
Wherein the second sensor comprises:
And a pressure sensor which is switched according to a step of the smart shoe wearer.
Wherein the motion data of the smart shoe comprises:
Wherein the data includes data on a moving distance, a moving speed, and a moving direction.
Wherein moving speed data of the smart shoe motion data is corrected using zero velocity data detected from data sensed by the second sensor to remove step noise.
The filtering may include:
Wherein the Kalman filtering method is used.
Wherein the movement direction data is determined by applying a threshold value to the first movement direction data obtained by calculating the insole movement direction from the sensing data of the gyro sensor and the filtered second movement direction data. Way.
Wherein the gravity is subtracted from the sensing data received from the first sensors and integrated, and the insole moving direction is calculated.
Wherein the moving speed data is extracted from the calculated moving direction data and the gravity-subtracted integrated data.
Wherein the motion data of the smart shoe comprises:
Further comprising stride data and report data of the smart shoe wearer, wherein the stride data and report data are obtained based on the moving speed data, the moving distance data, and the moving direction data.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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KR1020160010690A KR20170090160A (en) | 2016-01-28 | 2016-01-28 | Smart shoes and method of processing data the same |
PCT/KR2016/015020 WO2017119642A1 (en) | 2016-01-05 | 2016-12-21 | Smart shoe and method for processing data therefor |
US16/062,950 US20180360157A1 (en) | 2016-01-05 | 2016-12-21 | Smart shoe and method for processing data therefor |
Applications Claiming Priority (1)
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KR1020160010690A KR20170090160A (en) | 2016-01-28 | 2016-01-28 | Smart shoes and method of processing data the same |
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KR20170090160A true KR20170090160A (en) | 2017-08-07 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102353330B1 (en) | 2020-11-18 | 2022-01-19 | 주식회사 그린에스시스템즈 | Harmful gas detection system using safety shoes equipped with harmful gas detection sensor |
KR102671304B1 (en) * | 2022-11-28 | 2024-05-31 | (주)펀월드 | Walking trajectory tracking guide device |
-
2016
- 2016-01-28 KR KR1020160010690A patent/KR20170090160A/en unknown
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102353330B1 (en) | 2020-11-18 | 2022-01-19 | 주식회사 그린에스시스템즈 | Harmful gas detection system using safety shoes equipped with harmful gas detection sensor |
KR102671304B1 (en) * | 2022-11-28 | 2024-05-31 | (주)펀월드 | Walking trajectory tracking guide device |
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