TW201101241A - A falling down detection method implemented by tri-axis accelerometer - Google Patents

Abstract

A falling down detection method implemented by tri-axis accelerometer is presented. The detection method comprises a state information collecting step, a falling down condition determining step and an emergency announcing step. The state information collecting step collects the state information generated from the change in posture of a ward by using at least one tri-axis accelerometer. The falling down condition determining step determines whether any value in the state information goes beyond a predetermined normal range by a monitor unit to judge whether the ward falls down or not and if the ward can self-restore posture or not. Besides, once a falling down of the ward is detected, a timer is started. The emergency announcing step decides to pass information regarding to the falling down of the ward or not according to the result of the timer.

Description

201101241 VI. Description of the Invention: [Technical Field] The present invention relates to a method for applying a three-axis acceleration gauge, and more particularly to a method for detecting a tilt by means of a three-axis plus fascination. ^Ding's fall [previous technology] According to the National Health Insurance Bureau, the rate of death from accidental injury 0丨☆ has increased year by year; its towel is second only to the life damage caused by accidents caused by male or female elderly people. Traffic accidents, ranked second in the injury to a younger brother. In addition, due to the aging of the global population, care has become an important area of future development in the medical industry. Therefore, how to accelerate the development of medical care technology for the elderly has become one of the most modern medical protection issues. w To be more specific, the rate of injury caused by the fall rate of the elderly is nearly 50%, which is the worst cause of falls. Falling accidents can cause serious injuries such as & often depending on the time of emergency medical treatment; therefore, if you can effectively measure the occurrence of a fall accident, you can grasp the "golden time" of sending the doctor, and the second is to reduce the injury rate. . For example, the conventional detection methods for fall accidents generally include the following: The first conventional detection method, such as the Republic of China Open No. 2, No. 912814, wearing a sense of activity Measuring device and method thereof, the sensing device comprises a wristwatch and a sensing component, wherein the wristwatch and the sensing component are respectively provided with a three-axis acceleration 201101241 (four) measuring body posture change and active acceleration value, and the posture is as follows If it is judged to be a fall, it can issue an alarm and notify the emergency ambulance. If it is a misjudgment, the wearer must cancel the alarm. 2 'The above-mentioned first-class knowledge of the immortal square to the (four) watch and the feeling of falling: m body is mixed, can the wearer be the person, if the money is on the side of the method, if the watch and the sensor = If the women's position is incorrect, it will not be detected; therefore, it has the disadvantage of being comfortable. In addition, the method of measuring (4) is to measure the body k and the _acceleration value to turn off whether the wearer falls, and because of the acceleration of the reference (4) squama, it is quite easy to produce a false positive situation.

G The second method of traditional debt measurement, such as the Republic of China public open period 63 ^ portable behavior supervision _ system and its methods, the Department of Hunan has a three-axis plus j portable data acquisition unit to collect money The behavior supervisor, the error, is transmitted by wireless transmission to the decentralized data, and then the behavioral monitoring data is analyzed by the distributed data ship n. If an abnormal event occurs in the test subject, an abnormal event message is transmitted to the electronic receiving device. ^ And 'the above-mentioned second conventional method _ method is to take the portable data to the I body in the human body's body measurement _ body body posture and posture changes: the production of acceleration, change in order to output behavior monitoring data, Re-use of the sub-political information, suspicion of the analysis of the behavior of the monitoring of the raw materials, to shut down whether the wearer is down, but the conventional method _ method is only for the wearer's body posture to determine whether the wearer is abnormal Action, therefore, is also easy 201101241 M337! ^ know detection method, such as the Republic of China Announcement of the fine m-r-body. Balanced displacement measurement system, the system contains a three-r pot "I subtractor, -Amplification circuit-data#Capture card and -Electricity:: The traditional detection method performed by the system, when the three-axis twisting =: movement within the zone, a signal can be generated to record the acceleration The card-receiving converter = the amplifier is processed and transmitted to the data, and the field is finally calculated by the computer and patterned into a figure to interpret the balance state of the human body. == ίThe third (four) knowledge_method in #由After the three-axis acceleration regulation is recorded, the subtractor must still pass through the subtractor. The amplifying circuit, the material picking card and the computer's nano processing can only touch the human body, so it has the disadvantages of complicated step processes, and it is also easy to produce misleading "f Γ Γ 摘 摘 , ,, such as the Republic of China announcement帛 779 、 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , In the meantime, the warning module U performs the (4) knowledge-detection method, and the side-use monitoring module ignores the user's unique status message. When the user falls, the processing module receives the user's fall message, and The warning module is used to alert the rescue unit by sending a warning message via the transmission module. However, the above-mentioned fourth conventional method _method must be installed at the waist position of the user to reduce the error of the squatting state, and therefore, it is limited by _t in the use of Annu, causing the & In addition, the monitoring module stores the state of the user by the side to determine whether the user has a fall situation, and is also prone to misjudgment. 6 201101241 The fifth method of detecting the familiar, such as the number "蠖" Han Hao, the home is missing „Republic of China Open 200910268: Road=”, the remote control includes acceleration sensor, touch ί two-touch interface circuit, The conventional detection method performed by the device and the micro controller is based on the steps of micro 3: human d broadcast #, juice time and wheel input and output control, and to achieve step counting, emergency call, and falling soil area. Bit and other functions. Ο

fTO:, and the fifth conventional detection method mainly uses the acceleration sense=measures the acceleration change generated by the human body, and cooperates with the touch circuit of the occupation circuit to generate the circuit start'. The second is, or falls, and sends a fall notification through the RP transceiver; therefore, the 4 knowledge method is simply to consider the acceleration of the human body's money, and to use = to break the user whether there is a fall situation, so the material is generated Misjudgment. > As described above, the above-mentioned various methods for detecting a fall accident have a shortcoming such as shortness of the material, poor quality of the lying, and misjudgment of the valley, so that there is still a need for improvement. SUMMARY OF THE INVENTION The object of the present invention is to improve the above disadvantages, and to provide a method for measuring a fall of a debt using a three-axis accelerometer, which can be caused by a change in body posture due to a change in body posture, an increase in acceleration, and an angle change. In order to achieve the purpose of reducing the false positives of the Hungarian detection. The second object of the present invention is to provide a fall prediction method using a three-axis acceleration gauge, which can be used to further confirm whether a previous fall situation is misjudged to achieve the purpose of improving detection quality. 201101241 Another object of the present invention is to provide a fall detection method using a three-axis acceleration gauge, which can achieve the purpose of reducing the accidental injury rate by an active notification mechanism. According to the present invention, a fall detection method for applying a three-axis accelerometer includes the following steps: A state information acquisition step of collecting acceleration changes and angle changes caused by a change in body posture of a ward by at least one three-axis acceleration gauge Obtaining status information of the ward; a fall condition determination step 'determines whether the acceleration change of the % information exceeds a fall determination threshold by an analysis monitoring unit, and the fall determination threshold is 3.55 g to 3.62 Between g, and using the change of the angle of the state information to determine whether the ward can stand on its own, and after entering the state of judging that it is unable to stand on its own, and judging that it can stand on its own, then returning to the state information acquisition step; And an emergency notification step is based on the result of the timing state to determine whether to return the ward's fall information. [Embodiment] The above and other objects, features and advantages of the present invention will become more apparent and understood. And with the accompanying drawings, a detailed description is as follows: Please refer to the figure below. 'The invention applies the three-axis accelerometer _ method, the health and the miscellaneous guardian's body light money at least one three-axis acceleration gauge 11, with Jane (4) The resulting ', the state information is detailed, the Yuan potential changes the edge ^ Jun π 5 children Ming), and through an analysis of the 201101241 control unit 12, the state information 〃 analysis and processing, to judge the s Whether there is a fall situation. Among them: Ο 详细 The detailed structure, operation mode and the achievable work of the three-axis accelerometer 11 are all well-known technologies. Furthermore, the three-axis accelerometer 11 that is common in the market can be roughly divided into two types. The first three-axis accelerometer u can be subjected to the force of gravitational force lg (acceleration) in a static state, and the second triaxial accelerometer 11 is not subjected to the force of gravitational force lg (acceleration) in the stationary state; in the embodiment as shown, the first triaxial accelerometer 11 is used in the present invention. In addition, as shown in Fig. 2, the three-axis acceleration gauge 11 used in the present invention has an X-axis, a γ-axis, and a Z-axis, wherein the two directions of the same axis are distinguished by the + and - symbols, for example: The three-axis acceleration gauge U provides six sensing directions of χ+, x-, γ+, Υ-, Ζ+, Ζ-. For example and §, when the X axis and the Υ axis are parallel to the ground (ie, the X axis and the Υ axis output are 0g), and no external force is applied, ζ+ or L will receive the gravity of lg; The χ axis and the ζ axis are parallel to the ground, then the Υ+, γ-sensing direction of the Υ axis will receive the gravity of ig ^, in order to utilize the changes produced by X, Y and z axes, to ^ Collecting the ward's body due to changes in body posture, the status of the state = as the second @ TF ' reveals that when the ward has a fall, u triaxial acceleration gauge n axis, γ axis and z axis will Make a difference. The analysis monitoring unit 12 is configured to analyze the status information of the three-axis acceleration gauge 〃' so that the Guardian has a fall situation, and the individual will be ready for the child; Various mobile platforms, such as: smart phone 201101241 Ge 仃 digital assistant (PDA), etc., in order to facilitate the government to see the executor's strength. m vine can (4) cancer, or, depending on the guardian Actually, the analysis monitoring unit u is constructed on the back end feeder. Referring to Figures 1 and 3, the fall detection method for applying the triaxial acceleration gauge of the present invention stores the following steps by the three-axis acceleration gauge u and the analysis supervisor. The steps include at least the status information acquisition step. - The fall condition determination step S2 and an emergency notification step are magical. The state _ taking step S1 is mainly the 'acceleration change' and the angle change " generated by the analysis and monitoring unit 12 through the three-axis acceleration gauge n _ search# , status information 〃. As shown in Figure 4, the british coordinates are: the axis is X, the axis, the γ, the axis and the z, the axis, the inertial coordinate is the two-axis direction of the gravity; the three axes of the human coordinate are the X-axis The γ-axis and the z-axis, the human body coordinate refers to the three-axis direction of the three-axis acceleration gauge U (as the ward is changed due to changes in body posture). Therefore, the change in acceleration, and the change in angle can be obtained by the change of the body coordinates relative to the inertial coordinates due to physical changes. More specifically, the state Wi-page taking step S1 preferably distinguishes between step S11 and step S12 as shown in FIG. 5, wherein: step S11 receives the three-axis axis and the γ-axis of the three-axis acceleration rule. The acceleration component of the ζ axis is converted into acceleration (3) for subsequent execution of step S12. Step S12 is to calculate the angle between the three axes of the human body coordinate (the χ axis, the γ axis, and the ζ axis) and the three axes of the inertial coordinate (X, axis, Υ, axis, and ζ, axis); for example, the X axis The angle between the axis and the axis is α, the axis of γ is γ, the angle between the axis of 1010 and 201101241 is β, and the angle between the axis of ζ and ζ' is r (as shown in Fig. 4), so that the fall condition can be judged subsequently. Step S2. By the above steps S11 and S12, the acceleration changes 〃 and ', the angle change 分别 can be respectively obtained; since the acceleration (2) received by the three acceleration gauges η is three axes (X axis, γ axis and The respective acceleration components of the ζ axis); therefore, as in step sii, before calculating the angle α, the angle of the angle and the angle of the angle 7, the acceleration must be calculated in advance through the Euclidean distance formula (as shown in Equation 1) (3) , where (χ,Ρ,芝) system

Represented by the three axes of the three-axis acceleration gauge U (χ axis, γ axis and ζ axis)

The acceleration component (g value). In addition, as in step S12, the X angle, the Y axis, and the Z axis (human coordinates) are calculated relative to the χ' axis, γ, the axis, and the axis (inertial coordinate), the angle α, the angle angstrom, and the angle r (as in Equation 2). No) The definition of 'slow angle α, lost angle /5 and angle r can be determined according to the specifications of Table 1. By defining the angle of absence α, the angle /5 and the refresh angle r, the direction of gravity can be found without considering the angle of the three-axis accelerometer 11 to facilitate the installation of the guardian. The three-axis acceleration gauge 11. λ/^2 + 72 + Ζ2 ......(Formula 1) γ Ζ

~J,fi = COSSy = COSS......(Formula 2) a A cos~l (Table 1) Arrow Axis Reverse Ground f Parallel Ground -^ ----- Forward Ground j 1-- ---- a ~\ a =90. »___ 〇: =180° x+ Y+ Z + β=〇. β = 90' = 180' 7 = 0. r = 90. T —180′ —11 — 201101241 The fall condition determination step S2 mainly determines whether the acceleration (2) exceeds or falls the determination threshold value 〃, thereby determining whether the ward has a fall condition and using the change of the acceleration (2). Further divided into a falldown state and a normal state (Normal). Since the second reversal time often falls to the ground within one second, the present invention uses the acceleration ^ (3) to judge the fall of the ward, and further accelerates the acceleration (2) sampling. Make a judgment. For example, the 6th curve (L) is the acceleration before and after the fall (2) with #又·中μ,+>,

Value, two =:::=Every-two::: y' % Under the Ms lag interval, according to the experiment, the value of the threshold is "3.55g to ^, the fall is judged, and the fall threshold is „g,' The system is like a general fall; u, when the solitary value of the fire door exceeds 3 62g, it falls, the car crashes into the air, ... 'This is why the high-rise invention is better to set this, and drop ^ is a serious accidental injury. ,this

Acceleration ((10), the interest of interest still needs to be determined as a fall. 疋 秘 secret (3 above)

12 — 201101241 In more detail, the fall condition is full of steps S21 to s28 shown in the step S2 ρ 5 , wherein: the knife is “/the chopping is to determine whether it is the first sensing, if it is judged as 疋"Return to the previous step S11; if it is judged as "one execution step S22. Ma no", then ^ township will collect the previous, state-state information "two two storage =

Ο it : 2 can analyze the heartbeat collected by the three-axis acceleration gauge 11 at any time, and execute step S23. At present, the time has elapsed, and the time is 〃 (detailed step </ RTI> step S24; if it is determined that step S23 is for subsequent explanation); if the determination is "NO", step S26 is executed. Step S24 is to determine whether the fall condition is reached by the previously stored state information, and when the acceleration (3) exceeds the 'falling side threshold weight „ apricot to die, the fall condition is reached, and step S25 is performed; : Acceleration ") does not exceed, and the fall threshold value (more than 3%) determines that the ward has not made a drop, and re-steps S11. Step S25 is to enter, and the timing state 'to re-execute step S23 % 'to judge the entry step gamma' to know whether the ward can stand and continue to move on itself; in addition, when the steps are executed, the same step back to the previous steps S11. Step S26: Whether the bribe ward can stand on its own, and according to the previously temporarily stored, the word «Xun, Xing Qing Zuo #, for example, the analysis dish control list 70 12 can use the previously temporarily stored body seat (four) three The vehicle (χ -13 - 201101241 axis, y-axis and z-axis) and the three-pitch of the inertial coordinates (χ, the angle between the axles changes to each other for the watched stand; if the judgment is "Yes", proceed to step S27疋 No; Customize “No”, proceed to step S28. If it is judged to be (4) S27, “Timekeeping Status” (including cumulative time action), “representing the ward can be self-reliant ^ y ' ' step by step • And re-two====================================================================================================来来=累!* This, the confirmation confirms that the ward cannot stand on his own, and can still enter the cow. The time when the guardian can't stand on his own is not up to the second time. The standing time is less than the preset cumulative time. The representative is: : The situation is still not serious, so it is heavy Going back to the previous steps, the time to stand up has reached the pre-double Cuidou', and the law is self-descending S3. ..._ 'Do not need to perform the emergency notification step _ the above step S21 to the step micro speed; (4) whether it exceeds, the fall judgment Η槛Value ====: For example, when the ward is in a tight-fitting activity or if it is temporarily standing on its own and if it is not up to 5, the quality is measured. The position of the job falls to effectively raise the debt. The emergency notification step S3 is performed by the above steps. And when confirmed by 14 201101241 i5 vines, 'immediately returning the ward's fall information to the guardian ° can immediately grasp the "golden time of the ward to be sent to the ward. In addition, the invention of the box _" is accelerated by "=2" The termination of the age-appropriate lock test method is terminated by the buddy or the guardian according to actual needs. By the flow chart shown in Fig. 1, the operation pull of the present invention can be better divided into a normal state, an abnormal state, and a timed state. And the abnormality - the release of the first state, and the like, the state of the three states, the speed of each of the three states can be related to the flow of the steps, the order;

The process flow of the inspector in the normal state is sequentially step S11, step 12, step 2, step 22, step 23, step 24, ..., etc., and the above process is repeated. Step [Step 12, Step 21, Step 22, Step 23, Step %, Step 25 are performed in the sequence of steps in the abnormality and timing state (the step of determining that the fall is reached in step 24, and it is not possible to stand on its own). Step 11, Step 12, Step 21, Step 22, Step 23, Step 26, Step 28, ....., etc. 'Repeat the above process. The step of the step of the abnormality-release state (the self-standing in the abnormality/timekeeping state) is sequentially step su, step 12, step 21, step 22, step 23, step 26, step 27, ..., etc. Repeat the above process. The method for applying the two-axis accelerometer to achieve the following effects can be achieved, wherein: the method for applying the two-axis accelerometer of the present invention can be generated by the state information step S1 while considering the yarn (4). Acceleration changes, and angle changes 々, in order to reduce the fall condition - 15 - 201101241 Z (four) fine, the merits of the improvement of the rate of failure to solve the problem of the accuracy of the application of the two-axis accelerometer fall system, can be used in the fall ==", use Timing means to step forward to confirm the previous: 'To achieve the effect of improving detection quality. = Ming application 3" speed gauge drop measurement method, by the guardian fall information to the system, in order to smash the only one, and then achieve lower The effect of the accidental injury rate. The above-mentioned invention uses the three-axis accelerometer to ensure that the false positives can be reduced, and the detection quality and the damage of the ITT are improved, so that the invention can be utilized. The preferred embodiment reveals that it is not intended to be the invention, and that any skilled person can perform various techniques and modifications without departing from the essence of the present invention. Therefore, it is attached to the scale of the application for the full-time job. (5) After the field view ~ 16 — 201101241 [Simplified description of the figure] Fig. 1 is a schematic diagram of a system architecture for performing the fall detection method of the three-axis accelerometer according to the present invention. Fig. 2 is a schematic view showing the sensing direction of the three-axis accelerometer applied to the fall detection method of the three-axis accelerometer before and after the fall. Fig. 3 is a block diagram showing the steps performed by the fall detection method of the three-axis accelerometer according to the present invention.苐4Fig.: The person who applies the three-axis accelerometer's fall debt measurement method according to the present invention is a schematic diagram of the angle change of the body yoke relative to the inertial coordinate. Fig. 5 is a flow chart showing the steps of the fall/f test method of the three-axis accelerometer according to the present invention. Fig. 6 is a graph showing the threshold value of the fall determination threshold of the fall-down debt measurement method using the triaxial accelerating gauge of the present invention. [Main component symbol description] Q [Invention] 11 three-axis acceleration gauge 12 analysis monitoring unit — 17 —

Claims (1)

201101241 VII. Scope of application for patents: The application of the three-axis accelerometer to the measurement method includes: - the state information acquisition step, by at least a three-axis acceleration gauge search # Guardian due to miscellaneous (four) change is difficult · speed change and angle change to obtain status information of the ward; a f-condition judgment step 'determines whether the acceleration change of the status information exceeds a fall determination threshold value by the analysis monitoring unit, the fall determination gate The 榧 value is 3.55g or more, and the angle of the state information is used to determine that the ward is able to stand on its own, and enters the chronograph state after judging that it cannot stand on its own, and judges that it can stand on its own and then return to the state. The information acquisition step; and - the emergency notification step, the result of the domain of the miscellaneous state determines whether to return the ward's fall information. 2. The method for detecting a fall of a three-axis accelerometer according to the item mentioned in the section of the claim, wherein the change of the acceleration of the state information is obtained by receiving the acceleration component of the three axes of the three-axis accelerometer j is converted into acceleration by 乞 (^, the (龙,,) is the acceleration component (g value) received by the three axes of the two-axis acceleration gauge. 3. Application according to item 2 of the patent application scope The fall detection method of the axis accelerometer, wherein the angle change is calculated by the formula as follows: less = α^| wherein the three axes of the inertial coordinate are set to x, the axis, the γ, the axis and the ζ, the axis, the - 18 - 201101241: The three-axis direction of the two-point gravity gravitation 'the three-direction direction of the speed gauge of the human body coordinates means that the three-axis plus % Y iiik v, D ° ^ 糸 is the angle between the X-axis and the X-axis, β Department:: ^ The angle of the axis, r is the ζ axis and ζ, and the angle of the axis is applied in the first, second or third term. The three-axis acceleration rule is used. After executing step = 2, after taking the step, 'determine whether it is the first sensing, such as "断" is re- _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ If the step is to store the status, the status of the condition is "time". If the determination is "No", it is determined by the previously stored status information whether the fall condition is reached, "", by the previously stored status. The information judges whether or not the person can stand on his or her own.. ... according to the application for the fall of the three-axis accelerometer method described in item 5, wherein the fall condition determination step determines that the ward can stand on his own, The timing state is cleared, and the emergency notification step is not required, and the state information acquisition step is returned to the state. The method for determining the fall condition of the three-axis acceleration gauge according to the fifth application of the patent application, wherein the fall condition is judged After judging that the ward is unable to stand on its own, it is further judged whether it has not reached a cumulative time. If the time when it is unable to stand on its own does not reach the accumulated time, it is returned. To the status information acquisition step, if the time is not able to stand on their own, the time has reached 19 7 201101241. The cumulative time is the fifth item of the Buy Taoli range: =: step township. Detection method, in which the knees/two axes are used. After the fall of the acceleration gauge reaches the fall condition: the second step of the state information acquisition step is taken. The state is returned, and the fall of the application of the three-axis acceleration gauge described in item 5 is determined, and the fall condition is judged. The steps are in the _ ward, after the fall condition, 'return to the message acquisition step - 20 ——