CN103142234B - Method for judging body falldown - Google Patents
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- CN103142234B CN103142234B CN201310028679.0A CN201310028679A CN103142234B CN 103142234 B CN103142234 B CN 103142234B CN 201310028679 A CN201310028679 A CN 201310028679A CN 103142234 B CN103142234 B CN 103142234B
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Abstract
The invention relates to a sensor system for judging body falldown. The sensor system comprises a hexa-axial sensor module, a microprocessor module and a power module, wherein the hexa-axial sensor module comprises a triaxial accelerometer and a three-axis gyroscope. The triaxial accelerometer is used for acquiring body acceleration, and the three-axis gyroscope is used for acquiring body angular speed; the body acceleration comprises X-axis acceleration, Y-axis acceleration and Z-axis acceleration; the body angular speed comprises X-axis angular speed, Y-axis angular speed and Z-axis angular speed; the microprocessor module is electrically connected with the hexa-axial sensor module and a uniaxial tilt angle sensor module; the microprocessor module is used for receiving the body acceleration, the body angular speed and body tilt angles, and is used for processing the body acceleration, the body angular speed and the body tilt angles to judge whether a body falls down or not; the power module is electrically connected with the hexaxial sensor module, the uniaxial tilt angle sensor module and the microprocessor module; and the power module is used for providing a power supply to all the modules. Moreover, the invention also provides a method for judging the body falldown and a body protection device.
Description
Technical field
The present invention relates to sensor field, particularly relating to a kind of for judging sensing system, method and physical protection Zhuan Ge that human body is fallen.
Background technology
With advancing age with the aging of body, the people particularly life of old people and health can be had a strong impact on, and falling is exactly one of " arch-criminal ".Fall and refer to burst, not autonomous, unintentional Body Position Change, be poured in ground or the plane lower than Chu Shi Wei Ge.Fall very general in elderly population, had a strong impact on the healthy of old people and independent living ability, and caused the psychological pressure of old people and fear.Fall and often bring huge infringement to the health of old people, the consequence sometimes caused is concerning old people or even fatal.According to statistics, the Hip Fracture of 90% causes by falling.Hip fracture mainly comprises Fracture of femur and intertrochanteric fracture two kinds, and after the greater trochanter of femur of the mankind is only positioned at buttocks, outside is subcutaneous, lacks soft tissue protection, is rectangle, adhere to above thereafter, be positioned at the upper back of neck of femur without any structure.Trochiterian Wei Ge shows shallow, and thus direct violence causes the chance of fracture larger.Old people is when proceeds posterolateral is fallen, and first side hip lands often, there is adduction of the hip joint simultaneously, and at this time greater trochanter position can be more outstanding.Because this position lacks soft tissue buffering, greater trochanter of femur region will be made directly to contact to earth so stressed, occur intertrochanteric fracture.Because neck of femur has the top rake of 12-15 degree forward, if greater trochanter of femur force part more extensively and femoral trochanteric fracture does not occur when falling, so violence upwards will be transmitted along neck of femur, the neck of femur position that impinges upon on upper part of the body gravity and ground is formed shearing, thus generation fracture of femoral neck, particularly suffer from osteoporotic old man and this type of fracture very easily occurs.
Current falling judges that Zhuan Ge mainly relies on acceleration to judge the generation of the event of falling mostly; but human motion is very complicated; the reliability of falling is not high to rely on less or single human motion attitude information to predict; when human body is fallen and is failed to judge; just do not have protected effect; when human body is not fallen and made erroneous judgement, inconvenience must be brought.
So urgently develop one accurately can judge whether human body falls, and to fall at human body be the physical protection Zhuan Ge protecting rapidly human body.
Summary of the invention
Based on this, be necessary the defect existed for the sensor system, provide a kind of and accurately can judge the sensing system whether human body falls.
A kind of for judging the sensing system that human body is fallen, comprise: six axle sensor modules, comprise 3-axis acceleration and take into account three-axis gyroscope, described three axis accelerometer is for gathering human body acceleration, described three-axis gyroscope is for gathering human body angular velocity, described human body acceleration comprises X-axis acceleration, Y-axis acceleration and Z axis acceleration, and described human body angular velocity comprises X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity; Single-shaft inclination angle sensor module, comprises single-shaft inclination angle sensor, and described single-shaft inclination angle sensor is for gathering body obliquity; Microprocessor module, be electrically connected at described six axle sensor modules and single-shaft inclination angle sensor module, described microprocessor module for receiving described human body acceleration, human body angular velocity and body obliquity, and processing described human body acceleration, human body angular velocity and body obliquity, judging whether human body falls; And power module, be electrically connected at described six axle sensor modules, single-shaft inclination angle sensor module and microprocessor module, described power module is used for providing power supply for above-mentioned modules.
Described six axle sensor modules comprise 3-axis acceleration and take into account three-axis gyroscope, described 3-axis acceleration is for gathering human body acceleration, described three-axis gyroscope is for gathering human body angular velocity, and described six axle sensor modules are also for converting described human body acceleration and human body angular velocity to binary data.
In embodiment provided by the invention, described microprocessor module comprises analog-digital converter, described analog-digital converter is electrically connected at described three axis accelerometer, three-axis gyroscope and single-shaft inclination angle sensor, and described analog-digital converter is used for converting described human body acceleration, human body angular velocity and body obliquity to binary data.
In embodiment provided by the invention, described microprocessor module comprises analog-digital converter, and described analog-digital converter is electrically connected at described single-shaft inclination angle sensor, and described analog-digital converter is used for converting described body obliquity to binary data.
In embodiment provided by the invention, described sensing system also comprises magnetic switch, and described magnetic switch is electrically connected at described microprocessor module.
In addition, present invention also offers a kind of for judging the method that human body is fallen, comprising the steps:
Gather human body acceleration, gather human body angular velocity and gather body obliquity, described human body acceleration comprises X-axis acceleration, Y-axis acceleration and Z axis acceleration, and described human body angular velocity comprises X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity; Described human body acceleration, human body angular velocity and body obliquity are processed; And judge whether human body falls according to result.
In embodiment provided by the invention, wherein, described human body acceleration, human body angular velocity and body obliquity are processed, specifically comprise the steps: to convert described human body acceleration, human body angular velocity and body obliquity to binary data respectively; Convert described binary data to decimal data respectively.
In embodiment provided by the invention, wherein, judge whether human body falls, and specifically comprises the steps: according to result
Step S410: receive described human body acceleration;
Step S420: the resultant acceleration calculating described human body acceleration;
Step S430: judge whether described resultant acceleration is greater than the first acceleration rate threshold, if "Yes", then confirms that human body is in motion, and carries out next step; If "No", return step S310; Wherein, described first acceleration rate threshold is 11 ~ 13m/s
2;
Step S440: receive described body obliquity, and to set described body obliquity be inclination angle initial value;
Step S450: receive described human body acceleration, human body angular velocity and body obliquity, and calculate resultant acceleration, accumulated angle speed;
Step S460: whether the described resultant acceleration in determining step S450 is less than the second acceleration rate threshold, if "Yes", carries out next step; If "No", return step S450; Wherein, described second acceleration rate threshold is 5 ~ 7m/s
2;
Step S470: judge whether described accumulated angle speed is greater than angular velocity threshold value, if "Yes", carry out next step; If "No", return step S450; Wherein, described angular velocity threshold value is 3 ~ 5deg/s;
Step S480: judge whether described body obliquity value is greater than inclination angle threshold value relative to the excursion of described inclination angle initial value, if "Yes", carry out next step; If "No", return step S450; Wherein, described inclination angle threshold value is 15 ° ~ 25 °;
Step S490: judge that human body is fallen.
In embodiment provided by the invention, wherein, convert described binary data to decimal data respectively, specifically comprise the steps:
Step S310: judging the three axis accelerometer for gathering described human body acceleration respectively, gathering the three-axis gyroscope of described human body angular velocity, whether having negative quantity journey for the single-shaft inclination angle sensor gathering described body obliquity;
Step S320: in above-mentioned steps S310, if judged result is "Yes", judges whether described binary data N highest order is 1 further; If in above-mentioned steps S310, judged result is "No", then adopt formula N/2
n× R converts described binary data to decimal data, wherein, n is the figure place of analog-digital converter, and N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor;
Step S330: if in above-mentioned steps S320, further judged result is "Yes", then adopt formula (-1) × (2
n-N)/2
n× R converts described binary data to decimal data, in above-mentioned formula, n is the figure place of analog-digital converter, N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor;
Step S340: if in above-mentioned steps S320, further judged result is "No", then adopt formula N/2
n× R converts described binary data to decimal data, in above-mentioned formula, n is the figure place of analog-digital converter, N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor.
In embodiment provided by the invention, the computational methods of described resultant acceleration are:
Wherein, Acc is resultant acceleration, Acc
xfor X-axis acceleration, Acc
yfor Y-axis acceleration, Acc
zfor Z axis acceleration; The computational methods of described accumulated angle speed are:
Wherein, Gyr is accumulated angle speed, Gyr
xfor X-axis angular velocity, Gyr
yfor Y-axis angular velocity, Gyr
zfor Z axis angular velocity.
In addition, the present invention is necessary to provide a kind of physical protection Zhuan Ge, the sensor system, and described physical protection Zhuan Ge also comprises: air bag driver module, and described air bag driver module is electrically connected at described sensing system; And air bag, described air bag is electrically connected at described air bag driver module, and described air bag driver module is for driving described airbag deployment.
Above-mentioned for judging that the sensing system that human body is fallen gathers human body acceleration by adopting three axis accelerometer, three-axis gyroscope gathers human body angular velocity, single-shaft inclination angle sensor gathers body obliquity, and by microprocessor module, described human body acceleration, human body angular velocity and body obliquity are processed, thus judge whether human body falls.The sensor Dynamic System is simple, and accurately can judge whether human body falls.
Above-mentioned for judging that method that human body is fallen can gather the human body acceleration of human body, human body angular velocity and body obliquity simultaneously, calculate resultant acceleration, accumulated angle speed simultaneously, the resultant acceleration obtained, accumulated angle speed and body obliquity and acceleration rate threshold, angular velocity threshold value and inclination angle initial value are compared, thus judges whether human body falls.Above-mentioned determination methods is simple, and the reliability whether prediction human body falls is high.
Present invention also offers a kind of physical protection Zhuan Ge, this physical protection Zhuan Ge comprises sensing system, and when sensing system judges that human body is fallen, sensing system drives the work of air bag driver module, now, and airbag deployment, thus effective protect human body.Above-mentioned physical protection dress Ge accurately can judge whether human body falls, and when human body is fallen, air bag can launch rapidly, due to the effect of air bag, can form buffering, effectively protect human body between human body and ground.
Accompanying drawing explanation
The structural representation for judging the sensing system that human body is fallen that Fig. 1 provides for the embodiment of the present invention one.
The flow chart of steps for judging the method that human body is fallen that Fig. 2 provides for the embodiment of the present invention two.
The flow chart of steps respectively binary data being converted to decimal data that Fig. 3 provides for the embodiment of the present invention two.
What Fig. 4 provided for the embodiment of the present invention two judges according to above-mentioned result the flow chart of steps whether human body falls.
The structural representation of the physical protection Zhuan Ge that Fig. 5 provides for the embodiment of the present invention three.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and the specific embodiments, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
embodiment one
Refer to Fig. 1, the structural representation for judging the sensing system that human body is fallen that Fig. 1 provides for the embodiment of the present invention one.
For judging that the sensing system 100 that human body is fallen comprises six axle sensor modules 110, single-shaft inclination angle sensor module 120, microprocessor module 130 and power module 140.Be appreciated that in actual applications, as sensing system 100 1, establish Ge at human body waist.
Six axle sensor modules 110 comprise three axis accelerometer 111 and three-axis gyroscope 112.Three axis accelerometer 111 is for gathering human body acceleration.Three-axis gyroscope 112 is for gathering human body angular velocity.Human body acceleration comprises X-axis acceleration, Y-axis acceleration and Z axis acceleration.Human body angular velocity comprises X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity.Be appreciated that, when human body natural stands, the left and right directions of horizontal plane is decided to be X-axis, the fore-and-aft direction of horizontal plane is decided to be Y-axis, the above-below direction of vertical level is decided to be Z axis, three coordinate axess are orthogonal, when human body is fallen, all can there is significant change in X-axis acceleration, Y-axis acceleration, Z axis acceleration, X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity, adopt three axis accelerometer 111 can gather human body X axle acceleration, Y-axis acceleration and Z axis acceleration, three-axis gyroscope 112 can gather human body X axis angular rate, Y-axis angular velocity and Z axis angular velocity.In embodiment provided by the invention, by three axis accelerometer 111 and three-axis gyroscope 112 on the same chip integrated, eliminate the problem of the between centers difference of combination three axis accelerometer 111 and three-axis gyroscope 112, decrease a large amount of packaging spaces, saved cost.
In another embodiment provided by the invention, the all right Nei Ge analog-digital converter (not shown) of six axle sensor modules 110, can above-mentioned human body angular velocity and human body acceleration be converted to binary data by this analog-digital converter, and without the need to converting human body angular velocity and human body acceleration to binary data by the digital to analog converter 131 in microprocessor module 130 again, simple and convenient.
Single-shaft inclination angle sensor module 120 comprises single-shaft inclination angle sensor 121.Single-shaft inclination angle sensor 121 is for gathering body obliquity.In embodiment provided by the invention, body obliquity is the angle of human body and horizontal plane.Be appreciated that when human body is fallen, health inclination angle significant change must occur, and can gather body obliquity by single-shaft inclination angle sensor 121.In embodiment provided by the invention, single-shaft inclination angle sensor 121 is preferably containing SCA60C type obliquity sensor circuit, is appreciated that the body obliquity angular range that single-shaft inclination angle sensor 121 can gather is-90 ~+90 °.
Microprocessor module 130 is electrically connected at six axle sensor modules 110 and single-shaft inclination angle sensor module 120.Microprocessor module 130 for receiving human body acceleration, human body angular velocity and body obliquity, and processes human body acceleration, human body angular velocity and body obliquity and judges whether human body falls.In embodiment provided by the invention, microprocessor module 130 comprises analog-digital converter 131.Analog-digital converter 131 is electrically connected at three axis accelerometer 111, three-axis gyroscope 112 and single-shaft inclination angle sensor 121.Be appreciated that, because human body acceleration, human body angular velocity and body obliquity are analog data, just human body acceleration, human body angular velocity and body obliquity can convert binary data to by analog-digital converter 131, then by microprocessor module 130, binary data be converted to the decimal data with physical significance.
In another embodiment provided by the invention, microprocessor module 130 comprises analog-digital converter 131, and analog-digital converter 131 is electrically connected at single-shaft inclination angle sensor 121.Analog-digital converter 131 can convert body obliquity to binary data and convert binary data to decimal data, now, three axis accelerometer 111 in six axle sensor modules 110 and three-axis gyroscope 112 Nei Ge have analog-digital converter, directly can convert human body acceleration, human body angular velocity to binary data, binary data is converted to decimal data again by microprocessor module 130, and without the need to being changed by analog-digital converter 131.Be appreciated that, single-shaft inclination angle sensor 121 also can within Ge analog-digital converter can convert body obliquity to binary data like this, and without the need to converting body obliquity to binary data by analog-digital converter 131, binary data is converted to decimal data again by microprocessor module 130, now, analog-digital converter 131 can omit.
Power module 140 is electrically connected at six axle sensor modules 110, single-shaft inclination angle sensor module 120 and microprocessor module 130, for providing power supply for above-mentioned six axle sensor modules 110, single-shaft inclination angle sensor module 120 and microprocessor module 130.In embodiment provided by the invention, power module 140 comprises rechargeable battery (not shown), charging circuit (not shown), charge management circuit (not shown) and mu balanced circuit (not shown).Battery is for providing the electric energy of system works; Charging circuit is used for charging the battery; Charge management circuit, for monitoring the charged state of battery, judges dead battery or is full of; Mu balanced circuit is used for carrying out voltage stabilizing process to the voltage of battery, provides reliable and stable power supply to microprocessor module 130.
Sensing system 100 also comprises magnetic switch 150.Magnetic switch 150 is electrically connected at microprocessor module 130.Magnetic switch 150 is for controlling the unlatching of sensing system 100.
Sensing system 100 also comprises display lamp 160.Display lamp 160 is electrically connected at microprocessor module 130.Display lamp 160 uses the light emitting diode of several different colours, is used to indicate the different operating state of sensing system 100.
The sensing system 100 that the embodiment of the present invention one provides gathers human body acceleration by adopting three axis accelerometer 111, three-axis gyroscope 112 gathers human body angular velocity, single-shaft inclination angle sensor 113 gathers body obliquity, and processed by microprocessor module 130 pairs of human body acceleration, human body angular velocity and body obliquity, thus judge whether human body falls.The sensor system 100 is simple to operate, and accurately can judge whether human body falls.
embodiment two
Refer to Fig. 2, the flow chart of steps for judging the method that human body is fallen that Fig. 2 provides for the embodiment of the present invention two.
For judge method 200 that human body falls based on the embodiment of the present invention one provide for judging the sensing system 100 that human body is fallen, it comprises the steps:
Step S210: gather human body acceleration, human body angular velocity and body obliquity.Human body acceleration comprises X-axis acceleration, Y-axis acceleration and Z axis acceleration, and described human body angular velocity comprises X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity.In embodiment provided by the invention, three axis accelerometer 111 gathers human body acceleration, and three-axis gyroscope 112 gathers human body angular velocity, and single-shaft inclination angle sensor 121 gathers body obliquity.
Step S220: human body acceleration, human body angular velocity and body obliquity are processed.In embodiment provided by the invention, processed by microprocessor module 130 pairs of human body acceleration, human body angular velocity and body obliquity, specifically comprise the steps:
Step S221: convert human body acceleration, human body angular velocity and body obliquity to binary data respectively.Be appreciated that, because human body acceleration, human body angular velocity and body obliquity are analog data, the analog-digital converter 131 in microprocessor module 130 can convert human body acceleration, human body angular velocity and body obliquity to binary data.
Step S222: convert binary data to decimal data respectively.In embodiment provided by the invention, microprocessor module 130 also converts the binary data after conversion to decimal data.
Refer to Fig. 3, the flow chart of steps 300 respectively binary data being converted to decimal data that Fig. 3 provides for the embodiment of the present invention two, comprise the steps:
Step S310: judge respectively the three axis accelerometer for gathering human body acceleration, for gather human body angular velocity three-axis gyroscope, whether have negative quantity journey for the single-shaft inclination angle sensor gathering body obliquity.Be appreciated that in actual applications, three axis accelerometer, three-axis gyroscope and single-shaft inclination angle sensor all have fixing range.
Step S320: in above-mentioned steps S310, if judged result is "Yes", judges whether binary data N highest order is 1 further; If in above-mentioned steps S310, judged result is "No", then adopt formula N/2
n× R converts binary data to decimal data, wherein, n is the figure place of analog-digital converter, and N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor;
Step S330: if in above-mentioned steps S320, further judged result is "Yes", then adopt formula (-1) × (2
n-N)/2
n× R converts binary data to decimal data, in above-mentioned formula, n is the figure place of analog-digital converter, and N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor;
Step S340: if in above-mentioned steps S320, further judged result is "No", then adopt formula N/2
n× R converts binary data to decimal data, in above-mentioned formula, n is the figure place of analog-digital converter, and N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor.
Be appreciated that through above-mentioned steps S310 ~ step S340, can binary data be converted to decimal data.
For judging that the method 200 that human body is fallen also comprises the steps:
Step S230: judge whether human body falls according to result.In embodiment provided by the invention, according to above-mentioned result, microprocessor module 130 judges whether human body falls.
Refer to Fig. 4, what Fig. 4 provided for inventive embodiments two judges to comprise the steps: the flow chart of steps 400 whether human body falls according to above-mentioned result
Step S410: receive human body acceleration.Microprocessor module 130 receives human body acceleration, is appreciated that human body acceleration comprises X-axis acceleration, Y-axis acceleration and Z axis acceleration.
Step S420: the resultant acceleration calculating human body acceleration.In embodiment provided by the invention, microprocessor module 130 calculates the resultant acceleration of human body acceleration, and wherein, the computational methods of resultant acceleration are:
Wherein, Acc is resultant acceleration, Acc
xfor X-axis acceleration, Acc
yfor Y-axis acceleration, Acc
zfor Z axis acceleration.
Step S430: judge whether resultant acceleration is greater than the first acceleration rate threshold, if "Yes", then confirms that human body is in motion, and carries out next step; If "No", return step S410; Wherein, the first acceleration rate threshold is 11-13m/s
2.
Step S440: receive body obliquity, and to set body obliquity be inclination angle initial value.In embodiment provided by the invention, microprocessor module 130 receives body obliquity, and is inclination angle initial value by this human body angle set.
Step S450: receive human body acceleration, human body angular velocity and body obliquity, and calculate resultant acceleration, accumulated angle speed.In embodiment provided by the invention, microprocessor module 130 receives human body acceleration, human body angular velocity and body obliquity, and calculates resultant acceleration, accumulated angle speed.Wherein, the computational methods of accumulated angle speed are:
Wherein, Gyr is accumulated angle speed, Gyr
xfor X-axis angular velocity, Gyr
yfor Y-axis angular velocity, Gyr
zfor Z axis angular velocity.
Step S460: whether the resultant acceleration in determining step S450 is less than the second acceleration rate threshold, if "Yes", carries out next step; If "No", return step S450; Wherein, the second acceleration rate threshold is 5-7m/s
2.
Step S470: judge whether accumulated angle speed is greater than angular velocity threshold value, if "Yes", carries out next step; If "No", return step S450; Wherein, angular velocity threshold value is 3 ~ 5deg/s.
Step S480: judge whether body obliquity value is greater than inclination angle threshold value relative to the excursion of above-mentioned inclination angle initial value, if "Yes", carry out next step; If "No", return step S450; Wherein, inclination angle threshold value is 15 ° ~ 25 °;
Step S490: judge that human body is fallen.
Be appreciated that and can judge whether human body falls through above-mentioned steps S410 ~ step S490.
The embodiment of the present invention two provide for judging that method that human body is fallen can gather the human body acceleration of human body, human body angular velocity and body obliquity simultaneously, calculate resultant acceleration, accumulated angle speed simultaneously, the resultant acceleration obtained, accumulated angle speed and body obliquity and acceleration rate threshold, angular velocity threshold value and inclination angle initial value are compared, thus judges whether human body falls.Above-mentioned determination methods is simple, and the reliability whether prediction human body falls is high.
embodiment three
Refer to Fig. 5, the structural representation of the physical protection Zhuan Ge that Fig. 5 provides for the embodiment of the present invention three.
Physical protection Zhuan Ge 500 comprises sensing system 510, air bag driver module 520 and air bag 530.
Sensing system 510 is consistent on 26S Proteasome Structure and Function with the sensing system 100 that the embodiment of the present invention one provides, and here repeats no more.
Air bag driver module 520 is electrically connected at sensing system 510.Be appreciated that when sensing system 510 judges that human body is about to fall, the microprocessor module in sensing system 510 drives air bag driver module 520 to work.
Air bag 530 is electrically connected at air bag driver module 520.Be appreciated that, when human body is about to fall, air bag driver module 520 drives air bag 530 to launch, and effectively protects human body.
The physical protection dress Ge 500 that the embodiment of the present invention three provides accurately can judge whether human body falls, and when human body is fallen, air bag can launch rapidly, due to the effect of air bag, can form buffering, effectively protect human body between human body and ground.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (2)
1., for judging the method that human body is fallen, it is characterized in that, comprise the steps:
Gather human body acceleration, human body angular velocity and body obliquity, described human body acceleration comprises X-axis acceleration, Y-axis acceleration and Z axis acceleration, and described human body angular velocity comprises X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity;
Described human body acceleration, human body angular velocity and body obliquity are processed, wherein, described human body acceleration, human body angular velocity and body obliquity is processed, specifically comprises the steps:
Convert described human body acceleration, human body angular velocity and body obliquity to binary data respectively;
Convert described binary data to decimal data respectively; And
Judge whether human body falls according to result, wherein, described human body acceleration, human body angular velocity and body obliquity are processed, comprises the steps:
Step S410: receive described human body acceleration;
Step S420: the resultant acceleration calculating described human body acceleration;
Step S430: judge whether described resultant acceleration is greater than the first acceleration rate threshold, if "Yes", then confirms that human body is in motion, and carries out next step; If "No", return step S410; Wherein, described first acceleration rate threshold is 11-13m/s
2;
Step S440: receive described body obliquity, and to set described body obliquity be inclination angle initial value;
Step S450: receive described human body acceleration, human body angular velocity and body obliquity, and calculate resultant acceleration, accumulated angle speed;
Step S460: whether the described resultant acceleration in determining step S450 is less than the second acceleration rate threshold, if "Yes", carries out next step; If "No", return step S450; Wherein, described second acceleration rate threshold is 5-7m/s
2;
Step S470: judge whether described accumulated angle speed is greater than angular velocity threshold value, if "Yes", carry out next step; If "No", return step S450; Wherein, described angular velocity threshold value is 3 ~ 5deg/s;
Step S480: judge whether described body obliquity value is greater than inclination angle threshold value relative to the excursion of described inclination angle initial value, if "Yes", carry out next step; If "No", return step S450; Wherein, described inclination angle threshold value is 15 ° ~ 25 °;
Step S490: judge that human body is fallen; Wherein, the computational methods of described resultant acceleration are:
Wherein, Acc is resultant acceleration, Acc
xfor X-axis acceleration, Acc
yfor Y-axis acceleration, Acc
zfor Z axis acceleration;
The computational methods of described accumulated angle speed are:
Wherein, Gyr is accumulated angle speed, Gyr
xfor X-axis angular velocity, Gyr
yfor Y-axis angular velocity, Gyr
zfor Z axis angular velocity.
2. according to claim 1ly to it is characterized in that for judging the method that human body is fallen, wherein, converting described binary data to decimal data respectively, specifically comprising the steps:
Step S310: judging the three axis accelerometer for gathering described human body acceleration respectively, gathering the three-axis gyroscope of described human body angular velocity, whether having negative quantity journey for the single-shaft inclination angle sensor gathering described body obliquity;
Step S320: in above-mentioned steps S310, if judged result is "Yes", judges whether described binary data N highest order is 1 further; If in above-mentioned steps S310, judged result is "No", then adopt formula N/2
n× R converts described binary data to decimal data, wherein, n is the figure place of analog-digital converter, and N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor;
Step S330: if in above-mentioned steps S320, further judged result is "Yes", then adopt formula (-1) × (2
n-N)/2
n× R converts described binary data to decimal data, in above-mentioned formula, n is the figure place of analog-digital converter, N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor;
Step S340: if in above-mentioned steps S320, further judged result is "No", then adopt formula N/2
n× R converts described binary data to decimal data, in above-mentioned formula, n is the figure place of analog-digital converter, N is the binary data of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor output, and R is the full scale of three axis accelerometer or three-axis gyroscope or single-shaft inclination angle sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310028679.0A CN103142234B (en) | 2013-01-25 | 2013-01-25 | Method for judging body falldown |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310028679.0A CN103142234B (en) | 2013-01-25 | 2013-01-25 | Method for judging body falldown |
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| CN103142234A CN103142234A (en) | 2013-06-12 |
| CN103142234B true CN103142234B (en) | 2015-04-01 |
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