KR20190004893A - Stair gait measuring device and method using the same - Google Patents

Abstract

A stair gait measuring device and method using the same are disclosed. The stair gait measuring device according to an aspect of the present invention comprises an inertia measurement sensor for sensing whether a user walks by sensing the three-axis acceleration of the user; a pressure sensor for sensing a change in pressure; a control part for determining that a robot walks with a stair gait when a change in atmospheric pressure is detected after the inertial measurement sensor detects the presence of the walk; and a display for displaying the determination result of the control part.

Description

TECHNICAL FIELD [0001] The present invention relates to a staircase gait measuring instrument,

The present invention relates to a stair-step walking measuring instrument and a stair-step walking measuring method using the same. More particularly, the present invention relates to a stair-step walking measuring instrument for measuring the stair walking amount through an inertia measuring sensor, The present invention relates to a gait measurement method.

Every time you decide to work out for health or for diet, but busy workers are hard to make time for. In recent years, as interest in health and diet has increased, a variety of exercises have been developed to maintain health and maintain weight in daily life. In this way, stairs movement and walking movement are widely used as exercises that can be easily performed in daily life.

Recently, there have been many publicity and campaigns about the effects of the stair climbing campaigns in the media and various organizations. However, systems that measure the amount of exercise when climbing the stairs and provide them to the athletes are very rare, have.

For a staircase movement, a person weighing 60 kg will consume about 230 kcal of calories if they climb the stairs for 30 minutes, and a person with 60 kg will consume about 97 kcal of calories if they go down the stairs for 30 minutes. In addition, the stairs exercise has increased effects of respiration, increased oxygen intake, increased strength of legs and lower back muscles, increased HDL cholesterol, decreased LDL cholesterol and so on.

In order to increase the stair motion, recently, the dark and dark stairs of the building are brightly and comfortably interiors, and the stair climbing movement of the user is promoted by displaying the image of the calorie consumption and the longevity effect image in each staircase. Although the calorie consumption is displayed for each step of the building, it is difficult for the user to accurately grasp the calorie consumption due to the actual ascending or descending stairs. Therefore, there is a need for a method and apparatus for accurately grasping the calorie consumption of a user through a step motion.

On the other hand, in the case of a device providing the presently-described step motion information, a method of tagging a user by installing an NFC tag or a beacon in a building is used. Such a system should be installed in each building. There is a problem that can not be grasped.

Korean Patent Publication No. 10-2016-0135014

The step-by-step walking measuring instrument and the step-by-step walking measuring method according to the present invention are a step-by-step walking measuring instrument for measuring a stepping amount by using an inertia measuring sensor, an air pressure detecting sensor, And to provide a measurement method.

In addition, the step-by-step walking measuring instrument and the step-by-step walking measuring method according to the present invention measure the stairs walking amount through the inertia measuring sensor, the air pressure detecting sensor, and the direction change sensing sensor, calculate the momentum therefrom, And to provide a staircase gait measuring method using the same.

The present invention has been made in view of the above problems, and it is an object of the present invention to provide a method of manufacturing the same.

According to an aspect of the present invention, there is provided an apparatus for measuring a stepping stairs comprising: an inertia measurement sensor for sensing whether a user is walking by sensing a three-axis acceleration of the user; A pressure sensor for sensing a change in pressure; A controller for determining that the robot is walking in a stepped manner when a change in atmospheric pressure is detected after the inertial measurement sensor detects the presence of a walk; And a display for displaying a determination result of the control unit.

The controller may further include a direction change detection sensor for sensing a change in the direction of movement of the user, and the controller may calculate the number of steps of the step the user has made from the direction change detection sensor.

In addition, the controller may correct the number of steps of the stairs that the user has walked from the information of the previously stored atmospheric pressure after the change of the moving direction of the user is detected from the direction change detection sensor.

In addition, the control unit may determine that the noise is a change when the change in the moving direction of the user is equal to or less than a predetermined angle.

In addition, the controller calculates the calorie consumption of the user, and the display may display the calculation result of the controller.

According to another aspect of the present invention, there is provided a method of measuring a stepping stance comprising: sensing whether a user is walking using an inertial measurement sensor; Sensing a change in air pressure using an air pressure sensor; Determining whether the person is walking in a step when the change in the atmospheric pressure is sensed after the walking is sensed; And providing the user's stepped walking information to a display.

Sensing a change in the direction of movement of the user; And determining that the change in the number of steps is a change in the number of steps when the change in the movement direction is sensed after the step is determined to be a walk.

The step of determining the change in the number of steps may include a step of correcting a change in the number of steps in the step from information of the atmospheric pressure stored after the change in the direction of movement is sensed.

Also, the step of providing to the display may further provide a calorie consumption of the user.

The embodiments of the present invention have at least the following effects.

A step-by-step measurement device and a step-by-step measurement method using the same according to an embodiment of the present invention include a step-by-step measurement device that measures a stepping amount by using an inertia measurement sensor, And a step-by-step walking measurement method using the method is provided.

There is also provided a stair walking measurement device for measuring a stair walking distance through an inertial measurement sensor, a barometric pressure sensor and a direction change sensor, calculating a momentum therefrom, and displaying it on a screen to a user, and a stair walking measurement method using the same.

Also, when the direction change of the user is detected, the number of the moved stairs is corrected by comparing the information with the previously stored information of the atmospheric pressure, so that the stair motion information with high accuracy can be provided to the user.

Also, the step history information can be stored and the exercise history can be compared and analyzed.

The effects according to the present invention are not limited by the contents exemplified above, and more various effects are included in the specification.

FIG. 1 is a view illustrating an example of application of a step-by-step walking measurement device according to an embodiment of the present invention.
2 is a schematic perspective view of a stepping gait measuring apparatus according to an embodiment of the present invention.
3 is a schematic front view of a stepping gait measuring apparatus according to an embodiment of the present invention.
FIG. 4 is a block diagram of a step-by-step walking measuring apparatus according to an embodiment of the present invention.
5 is a flowchart of a stair-step gait measurement method according to an embodiment of the present invention.
FIG. 6 is a measurement algorithm of a step-by-step measurement method according to an embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described below in detail with reference to the drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but may be embodied in various other forms, including modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Prior to the description, the terms described in the detailed description will be described. In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical scope of the present invention. Also, the singular expressions include plural expressions unless the context clearly dictates otherwise. It is also to be understood that the term " comprises, " or " having ", means that there are features, numbers, steps, operations, elements, parts, or combinations thereof described in the specification, Is not excluded in advance.

Also, in the drawings, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the following description with reference to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, and a duplicate description thereof will be omitted.

2 is a schematic perspective view of a step-by-step walking measuring instrument according to an embodiment of the present invention. FIG. 3 is a schematic view of the present invention FIG. 4 is a block diagram of a step-by-step walking measuring apparatus according to an embodiment of the present invention.

The step-by-step walking measuring device according to an embodiment of the present invention measures the stairs walking amount through the inertial measurement sensor, the air pressure sensor, and the direction change sensor, calculates the momentum therefrom, 4, an inertial measurement sensor 100, a barometric pressure sensor 200, a direction change sensor 300, a controller 400, an operation unit 500, and a display 600 are illustrated.

The inertial measurement sensor 100 is configured to sense whether the user is walking or not and whether the user is walking or not. The inertial measurement sensor 100 may be miniaturized using a MEMS (Micro Elrctro Mechanical System). The inertia measurement sensor 100 senses the user's movement inertia by sensing the acceleration of the user in three axes. That is, the mobile inertia of the user is measured by sensing the acceleration in the x-axis, y-axis, and z-axis (the user's walking direction, lateral direction, and height direction).

When the user makes a walk while the user is stationary, a change occurs in the acceleration. Even if the user continues to walk, a change occurs in the acceleration. When sensing the acceleration using the inertial measurement sensor 100, a change occurs in a positive direction from a negative direction or a negative direction to a positive direction. When the acceleration is sensed in a graph, an intersection point that crosses zero occurs. This zero crossing represents the step. In other words, when walking starts when the acceleration is 0, the acceleration changes. When the walking is continued, the acceleration changes in negative and positive. At this time, the number of intersections intersecting with zero is the number of steps.

The information about the acceleration of the user sensed by the inertial measurement sensor 100 is continuously transmitted to the control unit 400. [

The air pressure sensor 200 senses the air pressure at the current position of the user and senses a change in the air pressure due to the movement of the user. The air pressure sensor 100 may also be miniaturized using MEMS. When climbing the stairs, the pressure difference at each position is caused by the difference in height, and it can be judged that the stairs are moved up and down when the air pressure changes. Since the height of one step is approximately 20 cm on the average, it is preferable that the present pressure sensor is precisely provided so as to detect a change in air pressure at a height difference of 20 cm.

The pressure information on the current position of the user sensed by the pressure sensor 100 is continuously transmitted to the controller 400.

The direction change detection sensor 300 detects whether or not the direction of movement of the user is switched. In general, in a building, the stairs are arranged to make two or more turns in a floor (see FIG. 1). Thus, the redirection sensor 300 determines how many layers the user has moved up and down the stairs And detects whether or not the direction of movement of the user is switched so that the user can grasp it. That is, the direction of the user is not important, and whether or not the direction is changed is an important factor.

The direction change detection sensor 300 senses the angular velocity of the user and can detect whether the direction is switched. That is, it detects whether or not the user rotates and detects whether or not the direction is switched. The rotation of the user can be performed by measuring the angular rate motion. In general, when the user moves up and down the stairs, the direction is changed by at least 90 ° when the layer is changed, so all the fine direction changes can be classified as noise.

The sensing information of the direction change detection sensor 300 is continuously transmitted to the control unit 400.

Although the inertia measurement sensor 100, the air pressure sensor 200, and the direction change sensor 300 are separately provided in the present embodiment, it is needless to say that one sensor can perform all of the above functions . For example, it is provided with an IMU (Inertial Measurement Unit) and can perform both the functions of the inertial measurement sensor 100, the air pressure sensor 200 and the direction change sensor 300. Also, in this embodiment, a separate device is manufactured and each sensor is mounted in the device, but it can be implemented in a smart phone without manufacturing another device.

The control unit 400 receives the information sensed by the inertial measurement sensor 100, the air pressure sensing sensor 200 and the direction change sensing sensor 300 to calculate information on the step motion of the user, .

The control unit 400 determines from the information received from the inertial measurement sensor 100 that the user has started to walk when a change occurs in the acceleration in the state where the acceleration is 0 and when the acceleration changes in the negative and positive amounts, It is judged that the walking is continuing. At this time, the number of intersections at which the acceleration, which changes in negative and positive amounts, crosses zero is determined as the number of steps of the pedestrian.

On the other hand, the control unit 400 continuously receives the atmospheric pressure information from the atmospheric pressure sensor 200. When the change in the atmospheric pressure is detected while receiving the information indicating the change in the acceleration from the inertial measurement sensor 100, the control unit 400 determines that the user moves up or down the stairs. Specifically, when the air pressure decreases, it is determined that the stairs are climbing, and when the air pressure increases, it is determined that the stairs are descended.

In addition, the control unit 400 receives the information about the direction change of the user from the direction change detection sensor 100, and determines that the layer has been changed when there is the direction change in the state where the user determines that the step movement is performed.

Then, the controller 400 corrects the layer change according to the direction change. Generally, when moving a floor in a building, there are cases where a direction is changed based on a half-layer or more than two times in a floor. Therefore, although the direction has been changed, it may actually be a situation in which the half-layer has been moved. In such a case, it is an error when the layer change is determined. Accordingly, the control unit 400 performs correction for the layer change according to the direction change. First, the control unit 400 stores in advance the atmospheric pressure information. More specifically, information on a change in atmospheric pressure when actually moving one layer is stored. The controller 400 corrects the layer change through the previously stored atmospheric pressure information and the direction switching information. For example, when redirection is performed at a point where about half of the previously stored atmospheric pressure information is obtained, the controller 400 recognizes that it has ascended or descended a half-layer, and does not determine that the layer is changed. Also, even if the direction change is not made, it is possible to judge that the movement of the floor is compared with the previously stored atmospheric pressure information after the determination of the stair walking.

In this way, the controller 400 receives the measured information from the sensors, and corrects itself, thereby providing accurate step motion information to the user.

Then, the controller 400 calculates the calorie consumption according to the step motion of the user. The control unit 400 determines whether the user goes up or down the stairs through the change in air pressure, and calculates the calorie consumption of the user from the change. It is needless to say that the information about the user's body (key, weight, etc.) can be inputted and changed in advance.

The information on the step motion (layer change, calorie, number of steps, etc.) calculated by the control unit 400 is displayed on the display 600.

The operation unit 500 is provided with a plurality of buttons. For example, a reset button is provided so that the user can initialize and measure the step motion from that time by pressing the reset button before raising or lowering the stairs. When the reset button is pressed, the inertia measurement sensor 100 recognizes the acceleration as zero. In addition, when the user presses the corresponding button with the transmission and storage buttons, information on the user's step motion (layer change, calorie, number of steps) and the start time and end time can be stored in the memory It can be connected to a Bluetooth communication and transmitted to a PC or a smart phone and stored.

Next, a step-by-step walking measurement method according to an embodiment of the present invention will be described.

FIG. 5 is a flowchart of a stair walking measurement method according to an embodiment of the present invention, and FIG. 6 is a measurement algorithm of a stair walking measurement method according to an embodiment of the present invention.

The step-like gait measurement method (S1000) according to the present embodiment measures the stair-step walking amount through the inertia measurement sensor, the air pressure sensor, and the direction change sensor, calculates the momentum therefrom, (Step S100), the atmospheric pressure change sensing step S200, the direction change sensing step S300, the stepping step determination step S400, the number-of-steps change determination step S500, the correction step S600, (S700).

The walking sensation sensing step (S100) is a step of sensing whether the user is walking through the inertial measurement sensor (100). The inertia measurement sensor 100 senses the user's movement inertia by sensing the acceleration of the user in three axes. That is, the mobile inertia of the user is measured by sensing the acceleration in the x-axis, y-axis, and z-axis (the user's walking direction, lateral direction, and height direction). When the user continues walking, the acceleration changes in the negative direction from the positive direction or in the positive direction from the negative direction. At this time, the zero crossing that intersects with zero is determined as the user's step. In other words, when walking starts when the acceleration is 0, the acceleration changes. When the walking is continued, the acceleration changes in negative and positive. At this time, the number of intersections intersecting with zero is the number of steps. The information about the acceleration is transmitted to the controller 400. [ That is, in step S100, the information about the acceleration sensed by the inertial measurement sensor 100 is transmitted to the controller 400. [

The air pressure change sensing step S200 senses the air pressure at the user's position by the air pressure sensor 200, and senses a change in the air pressure due to the user's movement and transmits the sensing result to the controller 400. [ When climbing the stairs, the pressure difference at each position is caused by the difference in height, and it can be judged that the stairs are moved up and down when the air pressure changes.

The direction change sensing step S300 is a step in which the direction change detection sensor 300 senses whether the direction of the user's movement is switched and transmits the sensed change direction sensor 300 to the controller 400. [ Generally, stairs in a building are designed to change directions more than once in a floor, so that it is possible to know whether or not the number of stairs is changed through a change of direction. The direction change sensor 300 senses whether or not the user is rotating at an angular velocity, and transmits the information to the control unit 400.

The stair walking determination step S400 is a step of determining whether the user has walked the stairs by receiving the sensing information in the walking sensation step S100, the atmospheric pressure change sensing step S200, and the direction change sensing step S300 .

The control unit 400 determines from the information received from the inertial measurement sensor 100 that the user has started to walk when a change occurs in the acceleration in the state where the acceleration is 0 and when the acceleration changes in the negative and positive amounts, It is judged that the walking is continuing. At this time, the number of intersections at which the acceleration, which changes in negative and positive amounts, crosses zero is determined as the number of steps of the pedestrian. At this time, when a change in the atmospheric pressure is sensed, the control unit 400 determines that the user performs the step motion. In addition, the controller 400 determines that the layer has been changed when there is a direction change. On the other hand, even when the user rotates finely, a change in the angular velocity can be sensed. However, in general, when a user moves up and down a staircase, the direction is changed by at least 90 degrees when the layer is changed, so that all the fine direction changes are classified as noise.

That is, the stair walking determination step (S400) is a step of determining whether or not a step change is performed from the acceleration and atmospheric pressure information, and whether or not there is a layer change from the angular velocity information.

The correction step S500 is a step in which the controller 400 corrects the layer change according to the direction change. In general, when moving a floor in a building, there are cases where a turn occurs based on a half-story, or two turns occur within a story. Therefore, although the direction has been changed, it may actually be a situation where the half-layer has been moved. Even in such a case, there is an error when the layer change is determined. Accordingly, the control unit 400 performs correction for the layer change according to the direction change.

The control unit 400 stores information about a change in the atmospheric pressure in the case of actually moving one layer, and when the direction is changed at a point about half of the previously stored atmospheric pressure information, It is not judged as a layer change. Also, even if the direction change is not made, it is possible to judge that the movement of the floor is compared with the previously stored atmospheric pressure information after the determination of the stair walking.

The providing step S600 is a step of providing the user with information on the step motion of the user. The controller 400 calculates the calorie consumption according to the step motion of the user. That is, the control unit 400 determines whether or not the user goes up or down the stairs through the change in air pressure, and calculates the calorie consumption of the user from the change. The information on the step motion (layer change, calorie, number of steps, etc.) calculated by the control unit 400 is displayed on the display 600.

Therefore, according to the present invention, a stair-step walking measurement device for measuring a stair-step walking amount through an inertial measurement sensor, a barometric pressure sensor and a directional change-over sensor, calculating a momentum therefrom, / RTI >

Unless there is explicitly stated or contrary to the description of the steps constituting the method according to the invention, the steps may be carried out in any suitable order. The present invention is not necessarily limited to the order of description of the above steps.

The use of all examples or exemplary language (e.g., etc.) in this invention is for the purpose of describing the present invention only in detail and is not intended to be limited by the scope of the claims, But is not limited thereto. It will also be appreciated by those skilled in the art that various modifications, combinations, and alterations may be made depending on design criteria and factors within the scope of the appended claims or equivalents thereof.

Accordingly, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all ranges that are equivalent to or equivalent to the claims of the present invention as well as claims Category.

1000: Stair walking instrument 100: Inertial measurement sensor
200: air pressure sensor 300: direction change sensor
400: control unit 500:
600: Display
S1000: Measuring method of stepping stairs S100: Stepping sensation step
S200: Pressure change sensing step S300: Direction change sensing step
Step S400: step-walks judging step S500:
S600: correction step S700: provision step

Claims (9)

An inertial measurement sensor for sensing whether the user is walking or not by sensing the three-axis acceleration;
A pressure sensor for sensing a change in pressure;
A controller for determining that the robot is walking in a stepped manner when a change in atmospheric pressure is detected after the inertial measurement sensor detects the presence of a walk; And
And a display for displaying a determination result of the control unit.
The method according to claim 1,
And a direction change detection sensor for sensing a change in the direction of movement of the user,
Wherein the control unit calculates the number of steps of the stairs that the user has walked from the direction change detection sensor.
3. The method of claim 2,
Wherein,
And corrects the number of steps of the stairs that the user has walked from the information of the pre-stored atmospheric pressure after the change of the moving direction of the user is detected from the direction change detection sensor.
The method of claim 3,
Wherein,
And judges the noise as a noise when the change in the moving direction of the user is equal to or less than a predetermined angle.
The method according to claim 1,
The control unit calculates a user's calorie consumption amount,
Wherein the display displays a calculation result of the control unit.
Sensing whether the user is walking using an inertial measurement sensor;
Sensing a change in air pressure using an air pressure sensor;
Determining whether the person is walking in a step when the change in the atmospheric pressure is sensed after the walking is sensed; And
And providing the user's step stair walking information to a display.
The method according to claim 6,
Sensing a change in the direction of movement of the user; And
And determining that the change in the moving direction is a change in the number of steps when the change in the moving direction is sensed after the step is determined to be a walking.
8. The method of claim 7,
Wherein the step of judging by the change of the number of the stepped layers comprises:
And correcting a change in the number of steps of the stairs from the information of the atmospheric pressure stored after the change in the moving direction is sensed.
The method according to claim 6,
Wherein providing to the display further provides a user ' s calorie consumption.

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