CN103377541A - Human body fall-down prevention early warning and intervening method and system - Google Patents
Human body fall-down prevention early warning and intervening method and system Download PDFInfo
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Abstract
The invention relates to the technical field of human body fall-down detecting and intervening and provides a human body fall-down prevention early warning and intervening method and system. The human body fall-down prevention early warning and intervening method includes the steps that real-time detection is performed on the body posture of a monitored object, body posture information of the monitored object is collected, and detection data are obtained; fusion processing is performed on the detection data so as to obtain the processed signal data; the processed signal data are compared with a set threshold so as to judge whether the monitored object inclines to fall down or not, and when the monitored object inclines to fall down, early warning information is sent out before the monitored object falls down; fall-down prevention shoes work, intervening measures are carried out, and fall-down prevention is performed. The human body fall-down prevention early warning and intervening method and system achieve early warning and intervening before the human body falls down.
Description
[technical field]
The present invention relates to human body fall detection and intervention techniques field, particularly relate to a kind of human body anti-fall early warning and interference method and system.
[background technology]
Falling refers to that happen suddenly, involuntary, unintentional Body Position Change, for example fall on the ground or lower plane on.According to statistics, have every year in the world about 424000 examples dead directly related with the behavior of falling, falling is the second largest reason (being only second to traffic hazard) that causes in the world Accidents death.Studies show that, in the elderly of over-65s, have every year 1 time or repeatedly fall the experience ratio up to 1/3, wherein the old man of 20-30% can cause scratch, Hip Fracture, head injury etc. in the event of falling, and increases along with the increase at age.In the U.S., the annual medical total expenses that is used for falling is above 20,000,000,000 dollars.China 1.3 hundred million the elderlys that have an appointment at present have 2,000 ten thousand the elderlys that altogether 2,500 ten thousand accidents of falling occur at least every year approximately, and direct medical cost is above 5,000,000,000 yuans.This shows that falling becomes the key factor that threatens the elderly's life security and increase burden on society.
Judge to fall at present and mainly contain following 3 kinds of methods:
(1) based on the analysis of video image: the real time kinematics of object is monitored by camera, and its weak point is to guarantee user's personal secrets;
(2) based on the analysis of audio signal: the event of falling is impacted the frequency that causes vibrating and is partly judged by analyzing, but it installs more complicated, and fund input is also larger;
(3) detect based on the device of Wearable: consider user's the right of privacy and reduce disturbance user life style as far as possible, the device of Wearable is best suited for.But the fall detection of Wearable/monitoring and warning device generally all are based on the inertia sensing unit.The single three axis accelerometer of the at present general employing of the sensing module of common " alarm of falling ", measuring accuracy and data mode are limited, or the thresholding algorithm that adopts is good not, therefore only can realize the warning function after human body is fallen and early warning before can not realizing falling, and not take effective intervening measure when human body is fallen tendency monitoring.
There is following defective in above-mentioned prior art:
(1) all unrealized front early warning of falling: present common " alarm of falling ", the single three axis accelerometer of the general employing of its sensing module, measuring accuracy and data mode are limited, or the thresholding algorithm that adopts is good not, therefore only can realize the warning function after human body is fallen and the front early warning that can not realize falling, thereby unlikely realize instant anti-intervening measure and the real-time protection of falling;
(2) all unrealized front effective interventions of falling: as previously mentioned, since the common alarm of falling can not be realized accurate early warning at present, thereby unlikely realize the instant anti-intervening measure of falling;
(3) accuracy of falling is judged undesirable: the present judgment means of falling mainly is only to rely on acceleration to judge the generation of the event of falling mostly, but the motion of human body schedule is very complicated, and the accident behavior (1-2 second) of falling and normally occuring in a flash, rely on less or single human motion attitude information to predict that the reliability of falling is not high, when fall tendency and when failing in time to judge of human body, just do not have the early warning effect, do not fall tendency and make erroneous judgement when disconnected when human body, must make troubles to wearer.
Given this, overcoming the existing defective of the prior art is the art problem demanding prompt solution.
[summary of the invention]
The technical problem to be solved in the present invention provides a kind of human body anti-fall early warning and interference method and system that can realize early warning and intervention functions before human body is fallen.
The technical matters that the present invention further will solve provides a kind of human body anti-fall early warning and interference method and system that has real-time guard function in human body is fallen process.
The technical matters that the present invention further will solve provides a kind of have location and remote alarming function after human body is fallen, make things convenient for human body anti-fall early warning and interference method and the system of in time treatment of guardian.
The present invention adopts following technical scheme:
A kind of human body anti-fall early warning and interference method may further comprise the steps:
Step S11: the body posture to monitored target detects in real time, gathers the body posture information of described monitored target, obtains to detect data;
Step S12: described detection data are carried out fusion treatment, the signal data after obtaining to process;
Step S13: the signal data after the described processing and a setting threshold are compared, judge the monitored target tendency of whether falling, when monitored target is fallen tendency, before monitored target is fallen, send early warning information;
Step S14: the anti-footwear work of falling, Prevention of fall is carried out in the Intervention measure.
Further, after described step S14, also comprise:
Step S15: when the success of described step S14 Prevention of fall, fall will occur before, real-time protection is carried out in wearable human protective air-bag work.
Further, after described step S15, also comprise:
Step S16: fall occur after, position by locating device, the positional information at the monitored target place of falling is sent to monitor supervision platform and/or guardian's mobile phone, carry out remote alarms.
Further, the body posture information of described monitored target comprises three axial acceleration informations of monitored target, three axial angular velocity informations and three axial health obliquity informations, and described detection data are nine axle inertia sensing data;
Described step S12 comprises:
By Kalman filter, described three axial acceleration informations, three axial angular velocity informations and three axial health obliquity informations are fused together, derive attitude angle signal, described attitude angle signal is the signal data after processing;
Described step S13 comprises:
Step S131: judge that whether signal data after the described processing is greater than setting threshold;
Step S132: when the signal data after the described processing during greater than setting threshold, then judge the described monitored target tendency of falling;
Step S133: when monitored target is fallen tendency, before monitored target is fallen, send early warning information;
Wherein, according to the experiment of repeatedly falling, pass through Kalman filter, three axial acceleration informations, three axial angular velocity informations and three axial health obliquity informations of the experiment of at every turn falling are fused together, derive attitude angle signal, and according to the data waveform in the process of falling, select an attitude angle signal as setting threshold.
The present invention also provides a kind of human body anti-early warning and the interfering system of falling, and described human body is anti-, and fall early warning and interfering system adopts above-mentioned method fall early warning and intervention; Described human body is anti-, and fall early warning and interfering system comprises anti-precaution device and the anti-footwear of falling of falling;
The described anti-precaution device of falling comprises sensing module, micro controller module and power module, wherein:
Sensing module is connected with micro controller module, and sensing module detects in real time to the body posture of monitored target, and will detect data and send micro controller module to;
Micro controller module receives the detection data of sensing module, and described detection data are processed and judged, sends early warning information before anticipation goes out to fall with generations and the generation of falling;
Power module is connected with micro controller module with sensing module respectively, gives the power supply of sensing module and micro controller module;
Detection data after wireless communication unit in the micro controller module will be processed send to the anti-footwear of falling;
The described anti-footwear of falling are used for the Intervention measure, carry out Prevention of fall.
Further, described human body is anti-, and fall early warning and interfering system also is included in the described anti-success of footwear Prevention of fall of falling, fall will occur before, carry out the wearable human protective air-bag of real-time protection.
Further, described human body is anti-, and fall early warning and interfering system also comprises falling and positions after occuring, and the positional information at the monitored target place of falling is sent to monitor supervision platform and/or guardian's mobile phone, carries out the locating device of remote alarms.
Further, described sensing module comprises three axis accelerometer, three-axis gyroscope and three axle magnetometers, gather respectively three axial acceleration informations of monitored target, three axial angular velocity informations and three axial health obliquity informations, the detection data of described sensing module are nine axle inertia sensing data.
Further, pass through I between described three axis accelerometer and the three-axis gyroscope
2The C bus communicates; Pass through spi bus or I between sensing module and the micro controller module
2The C bus communicates, and the detection data communication device of sensing module is crossed spi bus or I
2The C bus sends micro controller module to.
Further, described sensing module, micro controller module and power module are separate hardware module, connect by electric connector between sensing module, micro controller module and the power module.
Compared with prior art, beneficial effect of the present invention is: by gathering the body posture information of monitored target, obtain to detect data, and carry out fusion calculation, signal data and setting threshold after calculating are compared, to have judged whether the tendency of falling, realized the early warning of human body before falling, solved the problem that similar products in the prior art only have the rear warning function of falling; And when monitored target was fallen tendency, Intervention measure before monitored target is fallen was carried out Prevention of fall by the anti-footwear of falling, and it possesses early warning and intervention functions simultaneously.
The present invention further has following beneficial effect: carry out real-time protection by the wearable human protective air-bag in human body is fallen process, so that do not reach the damage that reduces when preventing falling purpose human body at the anti-footwear of falling.
The present invention further has following beneficial effect: when the anti-footwear of falling do not reach the anti-purpose of falling, position after human body is fallen and remote alarms, make things convenient for the guardian in time to give treatment to, can play omnibearing protective effect in the whole process that human body is fallen.
[description of drawings]
Fig. 1 is anti-fall early warning and interference method process flow diagram of the human body of the embodiment of the invention 1;
Fig. 2 is anti-fall early warning and interference method process flow diagram of the human body of the embodiment of the invention 2;
Fig. 3 is the structured flowchart of human body anti-fall early warning and the interfering system of the embodiment of the invention 3;
Fig. 4 is the sole synoptic diagram of the anti-footwear of falling among the embodiment 3;
Fig. 5 is the side view of the anti-footwear of falling among the embodiment 3;
Fig. 6 is the structured flowchart of human body anti-fall early warning and the interfering system of the embodiment of the invention 4;
Fig. 7 is the structural representation of wearable human protective air-bag among the embodiment 4;
Fig. 8 is the pre-warning time result schematic diagram of falling.
[embodiment]
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
In addition, below in each embodiment of described the present invention involved technical characterictic just can mutually not make up as long as consist of each other conflict.
The arriving of current aging society, the elderly's coordination of body ability progressively descended with the age, and it is inevitable to fall in daily life, and falls and usually can cause very large life security and economic problems.Therefore, the present invention has designed a kind of human body anti-fall early warning and interference method and system.The monitored target of mentioning among the present invention mainly is that human body, particularly the elderly etc. easily fall the crowd.
Below by specific embodiment technical scheme of the present invention is elaborated.
Embodiment 1
Embodiment 1 provides a kind of human body anti-fall early warning and interference method, and as shown in Figure 1, the method comprises the steps:
Step S11: the body posture to monitored target detects in real time, gathers the body posture information of monitored target, obtains to detect data;
Step S12: will detect data and carry out fusion treatment, the signal data after obtaining to process;
Step S13: the signal data after will processing and a setting threshold compare, and judge the monitored target tendency of whether falling, and when monitored target is fallen tendency, send early warning information before monitored target is fallen;
Step S14: the anti-footwear work of falling, Prevention of fall is carried out in the Intervention measure.
Wherein, the body posture information of monitored target comprises three axial acceleration informations of monitored target, three axial angular velocity informations and three axial health obliquity informations, and detecting data is nine axle inertia sensing data.When step S12 carries out fusion treatment to detecting data, pass through Kalman filter, three axial acceleration informations, three axial angular velocity informations and three axial health obliquity informations are fused together, derive attitude angle signal, this attitude angle signal is the signal data after processing.
Step S13 judges whether fall tendency and at the tendency alarm of falling of monitored target by the following method:
Step S131: whether the signal data after judgement is processed is greater than setting threshold;
Step S132: the signal data after processing is during greater than setting threshold, then judges the monitored target tendency of falling;
Step S133: when monitored target is fallen tendency, before monitored target is fallen, send early warning information.
Wherein, setting threshold calculates in the following way: according to the experiment of repeatedly falling, pass through Kalman filter, three axial acceleration informations, three axial angular velocity informations and three axial health obliquity informations of the experiment of at every turn falling are fused together, derive attitude angle signal, and according to the data waveform in the process of falling, select an attitude angle signal as setting threshold.
The precision evaluation of the different threshold values of table 1 (falling the stage in advance)
| Threshold value | Sensitivity | Specificity |
| 3.0 | 83.33% | 100.00% |
| 4.0 | 90.28% | 98.61% |
| 4.5 | 98.61% | 98.61% |
| 5.0 | 98.61% | 97.22% |
| 5.5 | 98.61% | 87.50% |
| 6.0 | 100.00% | 80.56% |
As shown in table 1, in one embodiment, test in the data that obtain and can find out according to repeatedly falling, 5(or 4.5) is the separation of whether falling, when threshold value was made as 4.5, its sensitivity and specificity were all more satisfactory, therefore can choose 4.5 as setting threshold.
The mode of sending early warning information is diversified, can adopt existing mode in the prior art, such as buzzer warning, electromagnetic shaker vibration etc., does not limit herein.
Have in the market the various anti-footwear of falling, therefore, the anti-footwear of falling can adopt the known various anti-footwear of falling in the present embodiment, such as the intervening measures such as height, plantar pressure distribution and center of gravity by adjusting the sole double-screw bolt, the anti-footwear of falling in the hope of the effect that reaches fall prevention, etc., do not limit herein.
Enable anti-fall footwear work and the order of sending early warning information have multiple, such as sending first early warning information, after enable the anti-footwear work of falling; Perhaps enable first the anti-footwear work of falling, after send early warning information; Perhaps two actions are carried out simultaneously.
Present embodiment is by gathering the body posture information of monitored target, obtain to detect data, and carry out fusion calculation, signal data and setting threshold after calculating are compared, to have judged whether the tendency of falling, realized the early warning of human body before falling, for next step to take anti-fall that intervening measure provides may.Further, present embodiment adopts high-precision three axis accelerometer, three-axis gyroscope and three axle magnetometers, and the nine axle inertia sensing data that gather come from same circuit module, the precision and the mode number that collect data are more, realized merging in real time with accurately of multi-modal sensing data, to anti-judgement of falling early warning more in time and accurately.In addition, when present embodiment was fallen tendency when monitored target, Intervention measure before monitored target is fallen was carried out Prevention of fall by the anti-footwear of falling, and reduces as far as possible the injury that human body is caused.
The human body that present embodiment provides is anti-fall early warning and interference method can be before human body be fallen the 500-700ms anticipation go out the behavior of falling early warning information will probably occur and send, start simultaneously the anti-footwear of falling of intelligence, by the intervening measures such as height, plantar pressure distribution and center of gravity of adjusting the sole double-screw bolt, to reach the effect of fall prevention.
Embodiment 2
Embodiment 2 provides another kind of human body anti-fall early warning and interference method, and the method has been carried out further optimization on the basis of embodiment 1.
As shown in Figure 2, the method comprises the steps:
Step S21: the body posture to monitored target detects in real time, gathers the body posture information of monitored target, obtains to detect data;
Step S22: will detect data and carry out fusion treatment, the signal data after obtaining to process;
Step S23: the signal data after will processing and a setting threshold compare, and judge the monitored target tendency of whether falling; If, execution in step S24 then, otherwise, execution in step S21 returned;
Step S24: when monitored target is fallen tendency, the anti-footwear work of falling before monitored target is fallen, Prevention of fall is carried out in the Intervention measure;
Step S25: whether judgement falls inevitable; If, execution in step S26 then, otherwise, execution in step S24 returned;
Step S26: the work of wearable human protective air-bag, carry out real-time protection;
Step S27: send early warning information, comprise the vibration of buzzer warning or electromagnetic shaker, perhaps dual mode carries out simultaneously;
Step S28: judge whether the user presses cancellation warning button; If, execution in step S29 then, otherwise, execution in step S30 returned;
Step S29: hummer and/or electromagnetic shaker are closed;
Step S30: GPS (Global Positioning System, GPS) location and remote alarms;
Step S31: judge whether the user presses and withdraw from button; If, then finish, otherwise, execution in step S21 returned.
Wherein, but the specific implementation reference example 1 of step S21-S24 is not described in detail herein.
Present embodiment is compared with embodiment 1, increased falling that the wearable human protective air-bag carries out real-time protection when inevitable, GPS location and remote alarms after falling, and the controlled step of user, can control whether continue warning such as the user, whether proceed the early warning etc. of falling, the whole alarm mode of falling is more flexible.
Present embodiment can be in the whole process that human body is fallen (comprise in front, the process of falling of falling and after falling) all corresponding intervention or safeguard procedures, can in the accident of falling, play omnibearing protection to human body, reduce as far as possible the injury that human body is caused.
Wearable human protective air-bag in the present embodiment is safe and reliable, conveniently wear, cost is lower, and the real-time protection in the process of falling is pointed, and the wearable human protective air-bag can design for the most vulnerable hip joint in human body is fallen accident.This wearable human protective air-bag is made of parts such as power module, source of the gas, gas circuit and air bags, can select aculeus type venting mode, it is more safe and reliable to compare the explosive formula venting mode that other market similar products adopt (be exactly explosive formula venting mode such as safe automobile air bag).Certainly, this wearable human protective air-bag can also adopt other known safety discharging air modes, does not enumerate one by one herein.
Other locator meamss, for example architecture also can be adopted in GPS location among the step S30.
The method can be before human body be fallen the 500-700ms anticipation go out the behavior of falling early warning information will probably occur and send, start simultaneously the anti-footwear of falling of intelligence, by adjusting the intervening measures such as height, plantar pressure branch and center of gravity of sole double-screw bolt, in the hope of reaching the effect of fall prevention; (system can shift to an earlier date the 300-500ms anticipation) still will occur in behavior inevitably if fall, and the wearable human protective air-bag in the system will automatic operation, in the hope of reaching the effect of real-time protection; After the behavior of falling occured, system can utilize the GPS location and information is in time sent on monitor supervision platform and/or the guardian's mobile phone, is convenient to timely treatment.
Embodiment 3
Embodiment 3 provides a kind of human body anti-early warning and the interfering system of falling, and this system adopts the method for embodiment 1 prevent falling early warning and intervention.As shown in Figure 3, this system comprises anti-precaution device 1 and the anti-footwear 4 of falling of falling.
The precaution device 1 of should anti-falling mainly comprises sensing module 10, micro controller module 20 and power module 30, sensing module 10 is connected with micro controller module 20, the body posture of 10 pairs of monitored targets of sensing module detects in real time, and will detect data and send micro controller module 20 to; Micro controller module 20 receives the detection data of sensing modules 10, processes and judges detecting data, sends early warning information before anticipation goes out to fall with generations and the generation of falling; Power module 30 is connected with micro controller module with sensing module 10 respectively and is connected, and gives sensing module 10 and micro controller module 20 power supplies.In the present embodiment, the detection data after the wireless communication unit 25 in the micro controller module 20 will be processed send to the anti-footwear 4 of falling, and the anti-footwear 4 of falling are used for the Intervention measure, carry out Prevention of fall.Certainly, micro controller module 20 can also will detect by the mode of wire communication data and send to the anti-footwear 4 of falling.
The below describes the specific design of sensing module 10:
On the early warning and monitoring of falling, high precision and multi-modal human motion transducing signal are very important, want to judge timely and accurately the tendency of falling of human body, the movable information such as acceleration, angular velocity, health inclination angle that needs the Real-Time Monitoring human body, sensor is fixed on waist, and (experiment of falling by up to a hundred times shows, the early warning effect of falling when being placed on waist is best), obvious variation all can occur in fall acceleration, angular velocity, the health inclination angle of process human body of human body.Therefore, the sensing module 10 of present embodiment can comprise three axis accelerometer 11, three-axis gyroscope 12 and three axle magnetometers 13, they gather respectively three axial acceleration informations of monitored target, three axial angular velocity informations and three axial health obliquity informations, and the detection data of sensing module 10 are nine axle inertia sensing data.Can pass through I between three axis accelerometer 11 and the three-axis gyroscope 12
2The C bus communicates.Can pass through spi bus or I between sensing module 10 and the micro controller module 20
2The C bus communicates, and the detection data communication device of sensing module is crossed spi bus or I
2The C bus sends micro controller module to, adopts spi bus in the present embodiment.
Three axis accelerometer 11 and three-axis gyroscope 12 can be selected the MPU6000 chip, and three axle magnetometers 13 can be selected the MAG3110 chip.Three axis accelerometer 11, three-axis gyroscope 12 and three axle magnetometers 13 also can adopt the MPU9250 of soon release of the higher MPU9150(of integrated level or producer etc.) chip, this integrated chip " three axis accelerometer+three-axis gyroscope+three axle magnetometers ", certainly, chip selection is not done restriction herein, and the present invention can select any sensing chip that can realize high precision and multi-modal data acquisition.Present embodiment is by adopting the sensing chip of high precision and multi-modal data, and nine axle inertia sensing design data realize at same circuit module, and similar products only have acceleration mode usually in the prior art, or the sensing data of a plurality of mode provides by different circuit modules, is unfavorable for merging in real time with accurately of multi-modal sensing data.
The below describes the specific design of micro controller module 20:
Can be provided with microcontroller 21, alarm unit 22, storage unit 23 and wireless communication unit 25 on the micro controller module 20.The typical microcontroller that the most warning device adopts is ATMega128L, Silicon Labs C8051 and MSP430, present embodiment is selected TI(Texas Instruments, Texas Instrument) MSP430F2418PM also is main control chip as the microcontroller 21(of the anti-precaution device of falling), be characterized in high-performance and super low-power consumption, high-performance can the fast processing data also be carried out comparatively complicated algorithm, makes the early warning of falling is judged more promptly and accurately; Super low-power consumption brings convenience to the user so that charging once can be used the long period.
After the nine axle inertia sensing data that sensing module collects are sent to microcontroller 21 by MPU6000 by spi bus, 21 pairs of these data of microcontroller are processed, obtain one in conjunction with the experimental data of repeatedly falling and set threshold values, set threshold values according to this again and judge whether human body will fall, 300-500ms can judge this and falls with occuring inevitably, simultaneously by alarm unit 22(hummer and/or electromagnetic shaker before the human body kiss the earth) send real-time alert (also namely sending early warning information).Specifically can adopt the method among the embodiment 1 to carry out the calculating of setting threshold and the judgement of falling, be not described in detail herein.
The actual pre-warning time of falling can obtain by high-speed camera in experiment, but for the pre-warning time that obtains more accurately to fall so that accurate evaluation and improve constantly pre-warning time, nine axle inertia sensing data can deposit in the mobile flash memory cards of a fast programming/wipe and low-power consumption in real time, TF card (Trans-flash Card for example, or claim MicroSD Card) or SDHC card (High Capacity SD Memory Card, high power capacity SD card), can support hot plug, be convenient to the data off-line analysis.Built-in mobile flash memory cards is convenient to important parameter real-time storage and off-line analysis, convenient plug, and most of similar products do not have storage area or use to be fixed on storage chip on the circuit board in the prior art.
On micro controller module 20, also leave JTAG(Joint Test Action Group, combined testing action group) interface 24, can download in 21 chips from host computer toward microcontroller by MSP430 AccessPort device.
In the present embodiment, sensing module 10, micro controller module 20 and power module 30 can be designed as separate hardware module, connect by electric connector between them, and electric connector can be selected row's faller gill mother easy to plug or Du Pont's line.Sensing module 10, micro controller module 20 and power module 30 are designed to separate hardware module, can make things convenient for micro controller module 20 can also be connected with the sensing module 10 of other kinds in the future; Moreover this independent design is conducive to sensing module 10 can press close to human body more, is conducive in theory measurement result more near the truth of human motion; In addition, motion sensor is generally all relatively responsive to electromagnetic noise, and the independent design of sensing module 10 and micro controller module 20 also is conducive to improve the electromagnetic compatibility of whole circuit board (EMC, Electro Magnetic Compatibility) performance.
The below describes the specific design of power module 30:
In power-supply system, except power module 30, also comprise being integrated in charhing unit 26 and the Power Management Unit 27 that is connected with power module 30 respectively in the micro controller module 20.26 pairs of lithium ion cell chargings of charhing unit, for lithium ion battery being utilized more efficiently and guaranteeing that user's charging is convenient, can use common cell-phone charging voltage or USB(Universal Serial BUS, USB (universal serial bus)) voltage charging, Mini USB(micro USB is arranged on the charhing unit 26) interface 28, by a general usb data line to lithium ion cell charging.Power Management Unit 27 has pressure stabilization function, can provide separate digital voltage and aanalogvoltage to disturb to reduce to intersect, thereby for whole circuit board provides high-quality stabilized voltage supply, improve the reliability of circuit board.
In addition, also charhing unit 26 can be made special charger, adopt independently circuit board realization, need not to arrange like this charhing unit 26 and minitype USB interface 28 in the micro controller module 20.
Shown in Figure 4 and 5, be the structure of the anti-footwear 4 of falling that adopt in the present embodiment.The A face is above the sole, the B face is below the sole, the anti-footwear 4 of falling mainly are comprised of double-screw bolt 41, gear 42, motor 43, wireless module (not shown), pressure transducer 44 and controller 45, double-screw bolt 41, gear 42 and motor 43 are one group, be provided with altogether 4 groups in the present embodiment, be provided with a pressure transducer 44 at the end by below the sole of each double-screw bolt 41.Pass through gear 42 transferring power between double-screw bolt 41 and the motor 43.Double-screw bolt 41, motor 43 are connected with controller 45 by cable 46.When falling generation, controller 45 receives the detection data in early warning, by adjust sole double-screw bolt 41 height, plantar pressure distributes and center of gravity, carries out Prevention of fall.Be understandable that, can also adopt the anti-footwear of falling of other known structure.
Precaution device 1 global design of should anti-falling is compact, and small volume can be worn on the human body waist.
Present embodiment has following beneficial effect:
1, can realize the front accurate early warning of falling, go out the behavior of falling by the anti-precaution device 500-700ms anticipation before human body is fallen of falling early warning information will probably occur and send, this function realizes that by " the anti-precaution device that falls " in the system this is the function that this series products does not still possess in the present prior art;
2, the effective intervention before can realizing falling, above-mentioned send early warning information in, height, the plantar pressure of the sole double-screw bolt that system can be by adjusting the anti-footwear of falling distributes and the intervening measure such as center of gravity, in the hope of reaching the effect of fall prevention;
3, the anti-built-in highly sensitive multi-modal sensing chip of precaution device and the super low-power consumption microprocessor (or claiming microcontroller) of falling, can accurately detect movable information and to its fast processing, compare with similar products, can make real-time correct judgement to the process of falling, reliability is high;
4, sensing module, micro controller module and the power module of the anti-precaution device of falling separate independent design, the data that gather thereby sensing module can more be pressed close to human body surface are more accurate, be convenient to upgrading or change other circuit boards, also improved the Electro Magnetic Compatibility of whole circuit board;
5, the anti-precaution device of falling easily falls the crowd for the elderly etc. and designs, can make Wearable, product structure design, components selection and layout thereof are optimized design, global design is compact, volume is little, wear easy to usely, human normal life is intervened little, cost is low, low in energy consumption, precision is high, and is safe, and reliability is high;
6, for the ease of practical application, when designed enclosures, from the aspect layout switch such as convenient, attractive in appearance, from hardware and on the software, all take measures to avoid maloperation simultaneously as far as possible; Be provided with light-guiding pillar between shell and circuit board, conveniently observe from the outside various signal lamps;
The material selection such as all kinds of electronic devices and components that 7, adopt, polymer Li-ion battery are safe and reliable, without potential safety hazard.
As shown in Figure 6, this system also has a wearable human protective air-bag 5 and locating device 6 except the total with embodiment 1.Wherein, wearable human protective air-bag 5 in the anti-success of footwear 4 Prevention of falls of falling, fall will occur before, carry out real-time protection; Locating device 6 positions after occuring falling, and the positional information at the monitored target place of falling is sent to monitor supervision platform and/or guardian's mobile phone, carries out remote alarms.
The structure of the wearable human protective air-bag 5 that adopts for present embodiment as shown in Figure 7.It comprises left air bag 501, right air bag 502, tracheae 503, fixed head 504, driver module 505, master control and sensor assembly 506, battery 507, gas cylinder 508, acupuncture joint 509, bracelet 510, solenoid valve 511, three-way connection 512.The working method of this air bag does not describe in detail herein, is known technology.Be understandable that, can also adopt the wearable human protective air-bag of other known structure.
As shown in Figure 6, locating device 6 comprises the GPS tracking module 601 that plays the role of positioning and the GSM(Global System for Mobile Communications that plays alarm function, global system for mobile communications) communication module 602.
Wearable human protective air-bag 5 and locating device 6 can share sensing module 10 and the micro controller module 20 of the anti-precaution device 1 of falling, and have given full play to like this function of each electron device, have reduced system bulk, have reduced system cost.
Anti-footwear 4, wearable human protective air-bag 5 and the locating device 6 of falling all can communicate by communication and the anti-precaution device 1 of falling.They communicate by wireless communication unit 25 and the anti-precaution device 1 of falling in the present embodiment.Certainly, can also be by wired mode communication, replace with the wire communication unit with wireless communication unit 25 and get final product this moment.
The anti-precaution device global design of falling is compact, and small volume can be worn on the human body waist.
Present embodiment is compared embodiment 3, and its beneficial effect is:
1, in falling process, human body carries out real-time protection by the wearable human protective air-bag, so that do not reach the damage that reduces when preventing falling purpose human body at the anti-footwear of falling;
2, do not prevent falling purpose when the anti-footwear of falling reach, after human body is fallen, position and remote alarms, make things convenient for the guardian in time to give treatment to, in the whole process that human body is fallen, can play omnibearing protective effect.
Experimental verification:
The adult volunteer of totally 9 young healthy (6 male 3 woman, age: 24 ± 3.5 years old, body weight: 62 ± 14.5kg, height: 170 ± 12cm) have participated in experiment, experimental arrangement comprises calibration, frontly falls, right falling and rear fall, everyone respectively does 3 times in each action, has altogether done 81 times (the not containing calibration actions) experiment of falling, simultaneously with an actual pre-warning time of falling (also can drawing by the data in the TF card) of high-speed camera record.
The results show, when the acceleration rate threshold of the early warning of falling in order to judgement is set to 4.5m/s2, its detection sensitivity is 98.61%, specificity is 98.61%, the result is more satisfactory, the pre-warning time of on average falling is 300ms, if suitable desensitization (such as 80%-90%), pre-warning time can reach 500-700ms.Also namely should anti-fall method and system can be before human body be fallen the 500-700ms anticipation go out the behavior of falling early warning information will probably occur and send, start simultaneously that intelligence is anti-falls the footwear intervention, have to a certain extent the effect of fall prevention; (system can shift to an earlier date the 300-500ms anticipation) still will occur in behavior inevitably if fall, and the wearable human protective air-bag in the system can start inflation automatically, has obvious real-time protection effect; After the behavior of falling occured, system can utilize the GPS location and relevant information is in time sent on monitor supervision platform and/or the guardian's mobile phone.
Final experimental data sees also Fig. 8.
What deserves to be explained is, the contents such as the information interaction between said apparatus and intrasystem module, the unit, implementation, since with embodiment of the method for the present invention based on same design, particular content can referring to the narration among the inventive method embodiment, repeat no more herein.
One of ordinary skill in the art will appreciate that all or part of step in the whole bag of tricks of embodiment is to come the relevant hardware of instruction finish by program, this program can be stored in the computer-readable recording medium, storage medium can comprise: ROM (read-only memory) (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a human body anti-fall early warning and interference method is characterized in that, may further comprise the steps:
Step S11: the body posture to monitored target detects in real time, gathers the body posture information of described monitored target, obtains to detect data;
Step S12: described detection data are carried out fusion treatment, the signal data after obtaining to process;
Step S13: the signal data after the described processing and a setting threshold are compared, judge the monitored target tendency of whether falling, when monitored target is fallen tendency, before monitored target is fallen, send early warning information;
Step S14: the anti-footwear work of falling, Prevention of fall is carried out in the Intervention measure.
2. anti-fall early warning and interference method of human body according to claim 1 is characterized in that, after described step S14, also comprises:
Step S15: when the success of described step S14 Prevention of fall, fall will occur before, real-time protection is carried out in wearable human protective air-bag work.
3. anti-fall early warning and interference method of human body according to claim 2 is characterized in that, after described step S15, also comprises:
Step S16: fall occur after, position by locating device, the positional information at the monitored target place of falling is sent to monitor supervision platform and/or guardian's mobile phone, carry out remote alarms.
4. each described human body prevents falling early warning and interference method according to claim 1-3, it is characterized in that, the body posture information of described monitored target comprises three axial acceleration informations of monitored target, three axial angular velocity informations and three axial health obliquity informations, and described detection data are nine axle inertia sensing data;
Described step S12 comprises:
By Kalman filter, described three axial acceleration informations, three axial angular velocity informations and three axial health obliquity informations are fused together, derive attitude angle signal, described attitude angle signal is the signal data after processing;
Described step S13 comprises:
Step S131: judge that whether signal data after the described processing is greater than setting threshold;
Step S132: when the signal data after the described processing during greater than setting threshold, then judge the described monitored target tendency of falling;
Step S133: when monitored target is fallen tendency, before monitored target is fallen, send early warning information;
Wherein, according to the experiment of repeatedly falling, pass through Kalman filter, three axial acceleration informations, three axial angular velocity informations and three axial health obliquity informations of the experiment of at every turn falling are fused together, derive attitude angle signal, and according to the data waveform in the process of falling, select an attitude angle signal as setting threshold.
5. anti-fall early warning and interfering system of a human body is characterized in that, described human body is anti-, and fall early warning and interfering system adopts such as each described method of claim 1-4 fall early warning and intervention; Described human body is anti-, and fall early warning and interfering system comprises anti-precaution device and the anti-footwear of falling of falling;
The described anti-precaution device of falling comprises sensing module, micro controller module and power module, wherein:
Sensing module is connected with micro controller module, and sensing module detects in real time to the body posture of monitored target, and will detect data and send micro controller module to;
Micro controller module receives the detection data of sensing module, and described detection data are processed and judged, sends early warning information before anticipation goes out to fall with generations and the generation of falling;
Power module is connected with micro controller module with sensing module respectively, gives the power supply of sensing module and micro controller module;
Detection data after wireless communication unit in the micro controller module will be processed send to the anti-footwear of falling;
The described anti-footwear of falling are used for the Intervention measure, carry out Prevention of fall.
6. human body according to claim 5 prevents falling early warning and interfering system, it is characterized in that, described human body is anti-, and fall early warning and interfering system also is included in the described anti-success of footwear Prevention of fall of falling, fall will occur before, carry out the wearable human protective air-bag of real-time protection.
7. human body according to claim 6 prevents falling early warning and interfering system, it is characterized in that, described human body is anti-, and fall early warning and interfering system also comprises falling and positions after occuring, the positional information at the monitored target place of falling is sent to monitor supervision platform and/or guardian's mobile phone, carry out the locating device of remote alarms.
8. each described human body prevents falling early warning and interfering system according to claim 5-7, it is characterized in that, described sensing module comprises three axis accelerometer, three-axis gyroscope and three axle magnetometers, gather respectively three axial acceleration informations of monitored target, three axial angular velocity informations and three axial health obliquity informations, the detection data of described sensing module are nine axle inertia sensing data.
9. anti-fall early warning and interfering system of each described human body is characterized in that according to claim 5-7, passes through I between described three axis accelerometer and the three-axis gyroscope
2The C bus communicates; Pass through spi bus or I between sensing module and the micro controller module
2The C bus communicates, and the detection data communication device of sensing module is crossed spi bus or I
2The C bus sends micro controller module to.
10. each described human body prevents falling early warning and interfering system according to claim 5-7, it is characterized in that, described sensing module, micro controller module and power module are separate hardware module, connect by electric connector between sensing module, micro controller module and the power module.
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