TWI736148B - Posture detecting system and method thereof - Google Patents

Abstract

Present invention is related to a posture detecting system having a detecting platform device. The platform device comprises a transparent platform on top surrounded by a light source. An electronic slide is set behind the transparent platform with a foot camera filming upwardly. A controller block and a distance detector are set beside the transparent platform. When a test person walk across the transparent platform, the distance detector will detect a distance of each step of the test person and control the controller block to follow the test person within the transparent platform. The foot camera will film the aforementioned action of the test person and transmit its image or video to a CPU for further analysis a posture or gesture of the test person and generating a foot pressure diagram accordingly. The analysis result will be further demonstrated on a software interface or saved into an electronic file. By using the present invention, no any detector will be worn by the test person which could reduced the damage to the detector and also provide comfortableness toward the test person.

Description

Attitude detection system and method

The invention relates to an image detection and analysis device, in particular to a posture detection system.

In the prior art, if it is necessary to measure the walking posture of the subject, such as gait cycle, knee bending angle or plantar pressure distribution information, it is mainly worn on the subject to directly measure the angle of joint movement or foot Sensors of bottom pressure, such as six-axis, nine-axis, pressure sensor, etc., are used to analyze gait and obtain information such as gait cycle, joint bending angle, and plantar pressure step.

The above-mentioned method of gait measurement with sensors on the subject, although the energy is the result of the subject’s walking posture, the sensors need to be worn on the subject’s joints and feet during the test. In addition, the process of use will cause the sensor to wear out, shorten the service life of the sensor, and the sensor needs to be charged frequently when it consumes power. In the detection process, it is necessary to wear the use of the sensor at the joint. In this way, it is easy to make the testee feel uncomfortable.

Since the existing system for detecting walking requires the sensor to be worn on the joint of the subject, the service life of the sensor is reduced and the subject is uncomfortable. For this reason, the present invention uses an image processing device that cooperates with a person's camera module to achieve a more comfortable detection process without wearing a sensor when detecting a posture.

In order to achieve the above creative objective, the present invention provides a posture detection system, which includes a detection platform device and a host that receives images sensed by the detection platform device for real-time gait analysis, wherein: the detection platform device is provided with a platform body, A tracking device, a light source, and a plantar lens module are formed on the top of the platform body to form a transparent plane extending in a straight line direction, and the tracking device is provided with an electric sliding rail extending in a straight line directly under the transparent plane , A sliding block is provided on the top of the electric slide rail, a motor controller electrically connected to the electric slide rail is provided, and the motor controller is electrically connected to a distance measuring sensor which is located on the transparent plane And located in the extending direction of the transparent plane, the light source is arranged around the transparent plane to illuminate the transparent platform, the plantar lens module is installed on the slider to shoot upwards toward the transparent plane, the range sensor The distance is sensed towards the space above the transparent plane, and the slider is driven to move with the person along the electric sliding rail through the motor controller; the host is equipped with a detection software, and the detection software receives the plantar lens module to shoot Real-time image processing is performed on the images to produce a plantar pressure distribution map.

Further, the platform body of the present invention is a platform with an inner hollow, and an extension arm is combined with the slider. The extension direction of the extension arm is perpendicular to the extension direction of the electric slide rail. A straight rod, combined with a side lens module at the part of the straight rod higher than the transparent plane, the side lens module shoots inwardly and upwards of the transparent plane, and the detection software receives the image taken by the side lens module The images are processed in real time to produce a knee joint angle.

Furthermore, in the present invention, a bracket is erected on the floor beside one end of the transparent plane, and the bracket may be one or two. The position is combined with a short-side lens module, the range sensor and the short-side lens module can be combined with the same bracket or respectively combined with different brackets, and the short-side lens module faces the transparent along the extension direction of the transparent plane Take pictures above the plane, and the detection software receives the images taken by the short-side lens module. Perform real-time image processing to generate a shoulder skew angle, and further calculate body skew, head shaking and other information.

Preferably, the present invention displays the images processed by the detection software, the plantar pressure distribution map, the knee joint angle, and the shoulder skew angle on a software interface, and selectively displays the images processed by the detection software, the The plantar pressure distribution map, the knee joint angle and the shoulder skew angle are stored in the host as a result analysis electronic file.

When the present invention is used, a subject is allowed to walk through the transparent plane on the top of the platform body along a straight line. When the subject walks across the transparent plane, the distance measuring sensor will sense the distance of the subject , The motor controller drives the slider to move with the person along the electric slide rail, so that the plantar lens module can shoot the plantar image of the subject stepping on the transparent plane with time, so that the detection software can receive The image taken by the plantar lens module is processed in real time to generate a plantar pressure distribution map; the side lens module further provided in the present invention can be used in the process of the subject walking across the transparent plane Shooting the side image of the subject in the middle, so that the detection software receives the image shot by the side lens module for real-time image processing, which can generate the knee joint angle.

The effect of the present invention is that since the plantar lens module of the present invention moves with the person (the side lens module further provided will also move with the person), it can continuously photograph the subject's foot stepping on the transparent plane when walking The image is used for image processing, and the subject does not need to wear a sensor during the detection process, there will be no problem of sensor loss and the subject feels more comfortable during the detection process.

10: Detection platform device

11: Platform ontology

111: transparent plane

112: Long perforation

113: Ladder

114: Railing

12: Follow people device

121: electric slide

1211: Slider

122: Motor Controller

123: Bracket

124: Ranging sensor

13: light source

14: Plantar lens module

141: lens module

15: Side lens module

151: Extension arm

152: Straight

16: Short-side lens module

20: host

21: Detection software

23: Software interface

24: Result analysis electronic file

30: Plantar pressure distribution map

31: Knee angle

32: Shoulder skew angle

40: Subject

A: Ground

B: Marker

Figure 1 is a perspective view of a preferred embodiment of the present invention.

Figure 2 is a front view of a preferred embodiment of the present invention.

Figure 3 is a top view of a preferred embodiment of the present invention.

Fig. 4 is a schematic diagram of the software interface of the preferred embodiment of the present invention.

Fig. 5 is a schematic diagram of the result analysis electronic file of the preferred embodiment of the present invention.

Fig. 6 is a schematic diagram of the operation of the preferred embodiment of the present invention.

Fig. 7 is a flow chart of steps for processing plantar images in a preferred embodiment of the present invention.

FIG. 8 is a flowchart of the steps of processing a silhouette image according to a preferred embodiment of the present invention.

FIG. 9 is a flowchart of the steps of processing front/back images in a preferred embodiment of the present invention.

In order to understand the technical features and practical effects of the present invention in detail, and implement it in accordance with the content of the specification, the preferred embodiments shown in the drawings are further described in detail as follows.

Please refer to the preferred embodiments of the present invention shown in FIGS. 1 to 4. The present invention provides a posture detection system for detecting the posture of a subject, including a detection platform device 10 set on the ground A during use, and A host 20 for receiving images sensed by the detection platform device 10 for real-time gait analysis, wherein: the detection platform device 10 is provided with a platform body 11, a person following device 12, a light source 13, and a plantar lens module 14 , A side lens module 15 and a short side lens module 16, the platform body 11 is a rectangular platform hollowed out inside and is set on the ground A, and on the back side of the top of the platform body 11 is formed a straight line to the left , A transparent plane 111 extending to the right, the length of the transparent platform 111 can be established in the range of 50 cm to 3 meters, on the left edge of the platform body 11 is provided with a step 113, on a top surface of the platform body 11 A railing 114 is provided on the side.

The follower device 12 is provided with an electric sliding rail 121 extending left and right in a straight line direction directly below the transparent plane 111. The electric sliding rail 121 is arranged on the ground A, and the electric sliding rail 121 can be mounted on the top of the electric sliding rail 121. A sliding block 1211 is provided in a manner controlled to slide along the electric slide rail 121, and a motor controller 122 is provided to cooperate with the electric slide rail 121. The motor controller 122 is electrically connected to the electric slide rail 121, and the horse The controller 122 can be selectively installed inside or outside the platform body 11. For example, in the preferred embodiment, the motor controller 122 is installed on the ground A outside the platform body 11 and located on the transparent plane 111. Next to the right end.

A bracket 123 is provided on the outside of the platform body 11, and the bracket 123 is erected on the short side of the transparent plane 111, and can be set up separately or combined with the motor controller 122; and a range sensor 124 is combined with the bracket 123, The distance measuring sensor 124 is located in the extending direction of the transparent plane 111, and faces the space above the transparent plane 111, which is the space where the subject will walk, for distance sensing, thereby giving the distance data to electrical connections The motor controller 122 may provide the distance data to the electrically connected host 20 and then control the motor controller 122, so that the motor controller 122 drives the slider 1211 to move along the electric sliding rail 121.

The light source 13 is arranged around the transparent plane 111 to illuminate the transparent plane 111. For example, in the preferred embodiment, the light source 13 is combined with a light bar on the edge of the transparent plane 111 to illuminate in the direction of the transparent plane 111. The plantar lens module 14 is installed on the slider 1211 to shoot upwards toward the transparent plane 111. The plantar lens module 14 may include more than one lens module 141, as in the preferred embodiment of the present invention. The lens module 14 includes two lens modules 141 arranged at intervals along the extension direction of the short sides on both sides of the transparent plane 111.

An extension arm 151 is combined with the side lens module 15 on the slider. The extension direction of the extension arm 151 is perpendicular to the extension direction of the electric slide rail 121. The end of the extension arm 151 is combined with an upwardly extending straight The side lens module 15 is combined with the part of the straight rod 152 higher than the transparent plane 111. The side lens module 15 takes pictures inward and above the transparent plane 111 at a horizontal shooting angle. The height of the side camera module 15 is approximately the height of the knee of the subject.

The short-side lens module 16 is combined with the bracket 123, and the position height of the distance measuring sensor 124 is higher than the position height of the short-side lens module 16, and the short-side lens module 16 is along the transparent plane 111. The extension direction is toward the upper side of the transparent plane 111 for photography.

The host 20 installs a detection software 21 that executes a posture detection method inside. The detection software 21 receives the images taken by the plantar lens module 14, the side lens module 15 and the short side lens module 16 for real-time Image processing, corresponding to the images of the plantar lens module 14, the side lens module 15, and the short side lens module 16, performs plantar image processing, side image processing, and front/back image processing, as shown in Figure 4 As shown, a plantar pressure distribution map 30, a knee joint angle 31, and a shoulder skew angle 32 data are generated, and the plantar pressure distribution map 30, the knee joint angle 31, and the shoulder skew angle 32 data and processed images are generated Are displayed together on a software interface 23; and the images processed by the detection software 21, that is, the plantar lens module 14, the side lens module 15, and the short side lens module 16 can be selected The image and the data of the plantar pressure distribution map, the knee joint angle and the shoulder skew angle, as shown in FIG. 5, are stored in the host 20 as a result analysis electronic file 24.

Please refer to Figures 1 and 6, when the subject 40 performs the posture detection in the posture detection system of the preferred embodiment of the present invention, the shoulders, waist, knee joints, and ankles of the subject 40 are respectively Set a marker B in the way of sticking or wearing. For example, each marker B in this preferred embodiment is a pink and orange cloth piece. According to the color of the subject's 40 clothes, the color of the marker B can be changed, and then let the receiver The subject 40 walks along the transparent plane 111 on the top of the platform body 11 along a straight line. When the subject 40 walks across the transparent plane 111, the distance measuring sensor 124 senses the distance of the subject 40. The motor controller 122 drives the slider 1211 to move with the person along the electric sliding rail 121, so that the plantar lens module 14 shoots the plantar image of the subject 40 stepping on the transparent plane 111 with time. The side lens module 15 is made to photograph the side image of the subject 40 with time, and the short-side lens module 16 is made to photograph the front/back image of the subject 40 with time.

When the detection software 21 processes the plantar image taken by the plantar lens module 14, as shown in the step flow chart of FIG. 7, the image is input first, and the fisheye image is corrected, using the green gray scale value and red gray scale value of each pixel. The plantar image is captured by the difference between the level value and the blue gray level value, and then the median filter is used to filter out the noise of the non-plantar image, the plantar image is converted into a gray-scale image, and the maximum gray-scale value is found Each pixel gray The interval of the scale value relative to the maximum gray scale value, the plantar pressure distribution gray scale value is set, and finally the image is output as the plantar pressure distribution map 30.

When the detection software 21 processes the silhouette image taken by the side lens module 15, as shown in the step flow chart of FIG. 8, the image is first input, fisheye image correction is performed, and three markers of the waist, knee joint, and ankle are identified. , And calculate the individual center points of the three markers, then connect the three center points to calculate the knee joint angle, and finally output the real-time image as the knee joint angle 31, and save the analysis image files and data.

When the detection software 21 processes the front/back images captured by the side lens module 15, as shown in the step flow chart of FIG. 9, the image is first input, the markers on the shoulders are recognized, and the individual markers on the shoulders are calculated. The center point, then calculate the angle between the two points and the horizontal line to calculate the shoulder skew angle, and finally output the real-time image as the shoulder skew angle 32, and save the analysis image files and data.

The detection software 21 can further calculate and analyze gait (which may include step length, step width, stride frequency, the ratio of the supporting phase and swing phase in the walking cycle, the symmetry of left and right, some or all of the items), plantar pressure Information such as the center track, body tilt, head shaking, etc. are stored in the host 20 as a result analysis electronic file 24.

The foregoing descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of rights claimed by the present invention. All other equivalent changes or modifications completed without departing from the spirit disclosed by the present invention should be included in the present invention. Within the scope of patent application.

10: Detection platform device

11: Platform ontology

111: transparent plane

113: Ladder

114: Railing

12: Follow people device

121: electric slide

1211: Slider

122: Motor Controller

123: Bracket

124: Ranging sensor

13: light source

14: Plantar lens module

141: lens module

15: Side lens module

151: Extension arm

152: Straight

16: Short-side lens module

20: host

A: Ground

Claims (9)

A posture detection system includes a detection platform device and a host that receives images sensed by the detection platform device for real-time gait analysis, wherein: the detection platform device is provided with a platform body, a follower device, a light source, and a foot The bottom lens module forms a transparent plane extending in a straight line on the top of the platform body. The follower device is provided with an electric sliding rail extending in a straight line directly under the transparent plane, and is arranged on the top of the electric sliding rail. A slider is provided with a motor controller electrically connected to the electric slide rail, and a distance measuring sensor is electrically connected to the motor controller. The distance measuring sensor is located beside the transparent plane and in the extending direction of the transparent plane , The light source is arranged around the transparent plane to illuminate the transparent plane, the plantar lens module is installed on the slider to shoot upwards toward the transparent plane, and the distance measuring sensor moves toward the space above the transparent plane. The motor controller drives the slider to move with the person along the electric slide rail; wherein the platform body is an internally hollowed platform, and an extension arm is combined with the slider, and the extension direction of the extension arm is vertical In the extension direction of the electric slide rail, a straight rod extending upward is combined with the end of the extension arm, and a side lens module is combined with a part of the straight rod higher than the transparent plane, and the side lens module faces The inner side shoots above the transparent plane, a detection software receives the image taken by the side lens module for real-time image processing, which can generate a knee joint angle; and the host installs the detection software, and the detection software receives the sole The image captured by the lens module is processed in real time to generate a plantar pressure distribution map. The attitude detection system according to claim 1, wherein a bracket is erected next to one end of the transparent plane, the distance measuring sensor is combined with the bracket, and a short-side lens is combined with the bracket at a position higher than the transparent plane Module, the short-side lens module takes pictures along the extension direction of the transparent plane toward the upper side of the transparent plane, and the detection software receives the image taken by the short-side lens module for real-time image processing to generate a shoulder skew angle. The posture detection system according to claim 2, wherein the image processed by the detection software, the plantar pressure distribution map, the knee joint angle and the shoulder skew angle are displayed on a software interface. The posture detection system according to claim 3, wherein the image processed by the detection software, the plantar pressure distribution map, the knee joint angle and the shoulder skew angle are stored in the host as a result analysis electronic file. The posture detection system according to claim 2, wherein the detection software can calculate and analyze the image, gait, plantar pressure center trajectory, body skew, head shaking and other information, and the image, gait, etc. processed by the detection software Information such as plantar pressure center trajectory, body tilt, head shaking, etc. is stored in the host as a result analysis electronic file. The attitude detection system according to claim 1, wherein the length of the transparent plane is in the range of 50 cm to 3 meters. A posture detection method is implemented in the posture detection system as described in claim 1 and the steps include: inputting an image; performing fisheye image correction; using the difference between the green grayscale value of each pixel and the red grayscale value and the blue grayscale value Capture a plantar image; use a median filter to filter out the noise of the plantar image; convert the plantar image to a grayscale map and find the maximum grayscale value; according to the grayscale value of each pixel relative to the maximum For the interval of the gray scale value, set the gray scale value of the plantar pressure distribution; and output the image as the plantar pressure distribution map. A posture detection method, which is implemented in the posture detection system as described in claim 1, and the steps include: Input the image; perform fisheye image correction; identify one of the three markers of the waist, knee joint, and ankle, and calculate the individual center points of the three markers; connect the three center points, and calculate the knee joint angle ; Output the real-time image as the knee joint angle, and save the analysis image files and data. A posture detection method, which is implemented in the posture detection system as described in claim 2 and the steps include: inputting an image; identifying a marker on both shoulders, and calculating individual center points of the marker on both shoulders; calculating two centers Calculate the shoulder skew angle by the angle between the dot connection and the horizontal line; and output the real-time image as the shoulder skew angle, and save the analysis image files and data.

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