CN104432933A - Walking positioning shoe - Google Patents
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- CN104432933A CN104432933A CN201310432910.2A CN201310432910A CN104432933A CN 104432933 A CN104432933 A CN 104432933A CN 201310432910 A CN201310432910 A CN 201310432910A CN 104432933 A CN104432933 A CN 104432933A
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Abstract
The invention provides a walking positioning shoe. The walking positioning shoe comprises a generator, a voltage-stabilizing circuit, a storage battery, a current-stabilizing circuit, a sensor, a micro processor and a wireless communication module, wherein the generator, the voltage-stabilizing circuit, the storage battery, the current-stabilizing circuit, the sensor, the micro processor and the wireless communication module are connected in sequence; the generator is used for collecting walking kinetic energy and converting the walking kinetic energy into electric energy; the storage battery is used for storing the converted electric energy; the sensor is used for collecting and transmitting movement signals and comprises a triaxial accelerometer, and the movement signals comprise the component of acceleration magnitude, collected by the triaxial accelerometer, of each axis in a three-dimensional coordinate system of each walking step; the micro processor is used for calculating the sum acceleration magnitude of each step according to the component of acceleration magnitude of each axis in the three-dimensional coordinate system of each step, a characteristic value is selected from the multiple sum acceleration magnitudes, the step length is calculated according to the characteristic value, and the walking displacement information of a pedestrian is determined according to the step length. The walking positioning shoe can efficiently and accurately obtain the step length information of the pedestrian and further obtain the walking displacement information.
Description
Technical field
The present invention relates to the technical field of footwear, particularly relate to a kind of walking shoe with positioning function.
Background technology
In navigation system, modal is onboard navigation system, and along with the development of science and technology, increasing navigation system is on mobile terminals integrated.These navigation system are all determine based on GPS (as the GPS) position to pedestrian, and mate the precision that digital map navigation improves location.
But GPS can position Anywhere, such as indoor the and large place of interference all can not be located, at this moment to determine that the position of pedestrian then needs to be calculated by other sensors the position of pedestrian.MEMS inertial sensor is placed on the waist of people by the DMR4000 of current honeywell company, is calculated the position of pedestrian by dead reckoning.This scheme has certain benefit, but it can bring very large error with the different of the state of people, and it needs to charge to equipment every a period of time simultaneously, and sensor is placed on waist, bother all very much when wearing, if accurately do not wear, navigation error can increase at every turn.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of walking shoe with positioning function, can obtain the walking displacement information of pedestrian efficiently and accurately, comfortableness when shoes do not affect normal walking, the walking of people simultaneously and reliability high.
In order to solve the problem, the invention discloses a kind of walking shoe with positioning function, comprising vamp, sole and shoestring or shoe buckle, described walking shoe with positioning function also comprises:
The cavity of described sole inside;
The generator connected in turn is comprised, mu balanced circuit, battery, current stabilization circuit, sensor, microprocessor in described cavity, and wireless communication module;
Described walking kinetic transformation for gathering walking kinetic energy, and is electric energy by described generator;
The electric energy that described mu balanced circuit is used for described generator to transform carries out voltage stabilizing process;
Described battery is for storing the electric energy of described conversion;
Described current stabilization circuit is used for the electric energy stored in described battery to carry out current stabilization process;
Described sensor is used for collecting and transmitting motor message, and described sensor comprises three axis accelerometer, then described motor message comprises the component of acceleration value of each step each axle in three-dimensional system of coordinate of the walking that described three axis accelerometer is collected;
Described microprocessor is used for the resultant acceleration value calculating each step according to each step described component of acceleration value of each axle in three-dimensional system of coordinate, selected characteristic value in described multiple resultant acceleration value, according to described characteristic value material calculation, determine the walking displacement information of pedestrian according to described step-length;
Described wireless communication module is used for the display device walking displacement information of described pedestrian being conducted to connection.
Preferably, described microprocessor comprises:
Duration acquiring unit, for obtaining the duration t of each step of pedestrian's walking;
Frequency acquisition unit, for obtaining the sample frequency f of three axis accelerometer;
Resultant acceleration value number acquiring unit, for the number n adopting formula n=f*t to calculate the resultant acceleration value of each step;
Resultant acceleration value acquiring unit, for adopting formula
calculate described n resultant acceleration value a, wherein, ax, ay and az are respectively the component of acceleration value of each step each axle in three-dimensional system of coordinate;
Eigenvalue unit, for sorting to described n resultant acceleration value, obtains maximum and minimum of a value in described n resultant acceleration value, using maximum and minimum of a value in described n resultant acceleration value as characteristic value;
Step calculation unit, for adopting formula step=(max (a)-min (a)) ^ (1/3) material calculation step, wherein, max (a) is the maximum in resultant acceleration value, and min (a) is the minimum of a value in resultant acceleration value.
Preferably, described sensor also comprises three-axis gyroscope, three axis magnetometer, thermometer, barometertic altimeter; Described motor message also comprises the tri-axis angular rate information that described three-axis gyroscope is collected, the magnetic intensity information that described three axis magnetometer is collected, the temperature value that described thermometer is collected, the atmospheric pressure value that described barometertic altimeter is collected;
Described microprocessor also comprises attitude information computing unit, course adjustment unit, and displacement computing unit,
Described attitude information computing unit is used for obtaining attitude information by adopting Quaternion Method to carry out integration to described tri-axis angular rate information, and described attitude information comprises course angle;
Described course adjustment unit is used for the course angle being calculated current walking by described magnetic intensity information, utilizes the course angle that described in the course angle correction of described current walking, attitude information computing unit obtains;
Described displacement computing unit is used for the walking displacement information determining pedestrian according to the course angle of described correction and described step-length.
Preferably, described microprocessor also comprises height calculation unit, for calculating the elevation information of current walking according to described atmospheric pressure value.
Preferably, described wireless communication module is also for conducting to the display device of connection by described elevation information and temperature value.
Preferably, described wireless communication module comprises bluetooth unit and Wi-Fi unit,
Described bluetooth unit is used for conducting in the display device of connection by bluetooth by the walking displacement information of described pedestrian, elevation information and temperature value;
Described Wi-Fi unit is used for conducting in the display device of connection by Wi-Fi by the walking displacement information of described pedestrian, elevation information and temperature value; Described display device is provided with the application program of customization, for showing the walking displacement information of described pedestrian, elevation information and temperature value.
Preferably, described generator comprises: coil, permanent magnet and permanent magnet movement locus hold-down bars;
Wherein, described permanent magnet entangles permanent magnet movement locus hold-down bars, and the central through hole of coil entangles permanent magnet; Described permanent magnet is expert under kinetic energy driving effect and is slided on permanent magnet movement locus hold-down bars, cutting magnetic induction line when static coil does relative motion relative to the permanent magnet of motion, produce the change of magnetic flux, and then generation electromotive force, electromotive force coating-forming voltage, produces electric field force then, under the effect of electric field force, be in the electric charge generation displacement in electric field, form electric current;
Described mu balanced circuit comprises: voltage stabilizing controls microcircuit card and electric wire;
Wherein, described electric current conducts through electric wire and to control to voltage stabilizing after microcircuit card carries out voltage stabilizing process, to conduct accumulators again store through electric wire;
Described current stabilization circuit comprises: current stabilization controls microcircuit card and electric wire;
Wherein, the electric current that battery exports is conducted by electric wire and controls after microcircuit card carries out current stabilization process to current stabilization, electric current is supplied to sensor, microprocessor, wireless communication module use.
Preferably, the walking displacement information of described pedestrian is behaved relative to the displacement of starting point coordinate, and described starting point coordinate is acquired by described display device.
Preferably, described sole also comprises: the wear-resistant material non slip surface below cavity and circuit protecting layer, and the stress relief layer above cavity.
Preferably, described stress relief layer is air cushion buffering
Compared with prior art, the present invention has the following advantages:
1, the present invention is a kind of walking shoe with positioning function, built-in generator, battery, mu balanced circuit, and current stabilization circuit, the kinetic energy that many collectors that can effectively try one's best are unnecessary when walking about, by engine, described unnecessary kinetic energy is converted to electric energy and sends into battery storage, power supply endlessly can be provided, not need extra charging, eliminate the trouble of charging.
2, the present invention is a kind of walking shoe with positioning function, and built-in sensors, the signal not needing other equipment outside to provide, relies on the sensor of self to gather the motor message of user completely, carry out motor message and resolve, and is not therefore subject to the impact of space and environment.
3, one walking shoe with positioning function of the present invention, embedded micro-processor, by the motor message of microcontroller acquires sensor, accurately calculates the information such as the step-length of pin, course angle, and then to provide in the short time high accuracy three-dimensional location for user.
4, the present invention does not need special GPS, the mobile phone of user or computer etc. is only needed to have navigation feature, or the initial coordinate that user manually inputs user just can carry out pedestrian position location, and can be shown by the APP customized on mobile phone or apparatus such as computer after acquiring the displacement information of pedestrian's walking, simple APP can be integrated in mobile phone or apparatus such as computer easily, very easy to use.
5, the present invention is provided with cushion and protective layer at sole, and comfortableness is high, and have mu balanced circuit, current stabilization circuit, reliability is high.
Accompanying drawing explanation
Fig. 1 is the internal circuit configuration block diagram of the device embodiment 1 of a kind of shoe with positioning function of walking of the present invention;
Fig. 2 is the sole cavity Inner Constitution structured flowchart of the device embodiment 2 of a kind of shoe with positioning function of walking of the present invention.
Detailed description of the invention
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
With reference to figure 1, show the internal circuit configuration block diagram of the device embodiment 1 of a kind of shoe with positioning function of walking of the present invention, specifically can comprise:
The generator 1 connected in turn, mu balanced circuit 2, battery 3, current stabilization circuit 4, sensor 5, microprocessor 6, and wireless communication module 7;
Described walking kinetic transformation for gathering walking kinetic energy, and is electric energy by described generator 1; Described generator 1 can collector is unnecessary when walking about effectively kinetic energy be converted into electric energy, for walking shoe with positioning function provides power supply endlessly, and does not need to power extraly, eliminate the trouble of charging.
Described mu balanced circuit 2 carries out voltage stabilizing process for the electric energy transformed by described generator 1, in order to ensure that the voltage stabilization of battery 3 is defeated by by generator 1 to greatest extent, thus ensures that battery 3 is not burned (puncturing), improves reliability and security;
Described battery 3 is for storing the electric energy of described conversion;
Described current stabilization circuit 4, for the electric energy stored in described battery 3 is carried out current stabilization process, in order to ensure from battery current stabilization out to greatest extent, improves reliability and security;
Described sensor 5 is for collecting and transmitting motor message, and described sensor 5 can comprise three axis accelerometer, then described motor message can comprise the component of acceleration value of each step each axle in three-dimensional system of coordinate of the walking that described three axis accelerometer is collected;
Described microprocessor 6 is for calculating the resultant acceleration value of each step according to each step described component of acceleration value of each axle in three-dimensional system of coordinate, selected characteristic value in described multiple resultant acceleration value, according to described characteristic value material calculation, according to the walking displacement information of described step size computation pedestrian, in order to the motor message of real-time pick-up transducers 5, the step-length of accurate calculating pedestrian, and then accurately determine the displacement of walking, at short notice for user provides high-precision location;
The walking displacement information of described pedestrian, for when being connected with display device, is conducted to the display device of connection by described wireless communication module 7, makes user know the particular location at oneself place easily.
The one walking shoe with positioning function of the embodiment of the present invention, built-in generator 1, mu balanced circuit 2, battery 3, current stabilization circuit 4, sensor 5, microprocessor 6, and wireless communication module 7, can be electric energy by the walking kinetic transformation of pedestrian, maintain the power supply of walking shoe with positioning function internal unit, and walking shoe with positioning function of the present invention rely on the sensor 5 of self to gather the motor message of user completely, do not need the signal that other equipment outside provide, therefore it is not subject to the impact of space and environment.In addition, after microprocessor 6 gets motor message, carry out motor message and resolve and obtain step-length accurately, and then displacement information of being walked accurately is shown to user, for user carries out location, position accurately.
With reference to figure 2, show the sole cavity Inner Constitution structured flowchart of the device embodiment 2 of a kind of shoe with positioning function of walking of the present invention, specifically can comprise:
Vamp (not shown), and, sole and shoestring or shoe buckle (not shown);
There is cavity described sole inside, and part before, during and after cavity is divided into is concrete, and near toe is front cavity 01, and near heel is rear cavity 03, and under sole is cavity 02; Comprise the generator 10 being positioned at rear cavity 03 connected in turn in cavity, sensor 14, microprocessor 15 and wireless communication module 16, be positioned at mu balanced circuit 11 and the current stabilization circuit 13 of cavity 02, be positioned at the battery 12 of front cavity 01;
Described generator 10 can comprise: coil 110, permanent magnet 111 and permanent magnet movement locus hold-down bars 112; Wherein, described permanent magnet 111 entangles permanent magnet movement locus hold-down bars 112, the central through hole of coil 110 entangles permanent magnet 111, permanent magnet 111 is expert under kinetic energy driving effect and is slided on permanent magnet movement locus hold-down bars 112, cutting magnetic induction line when static coil 110 does relative motion relative to the permanent magnet 111 of motion, produce the change of magnetic flux, and then generation electromotive force, electromotive force coating-forming voltage, then electric field force is produced, under the effect of electric field force, be in the electric charge generation displacement in electric field, form electric current;
Described mu balanced circuit 11 comprises: voltage stabilizing controls microcircuit card and electric wire, and described electric current conducts through electric wire and to control to voltage stabilizing after microcircuit card carries out voltage stabilizing process, to conduct accumulators 12 again store through electric wire; Wherein, described battery 12 is preferably lithium battery;
Described current stabilization circuit 13 comprises: current stabilization controls microcircuit card and electric wire; The electric current that described battery 12 exports is conducted by electric wire and controls after microcircuit card carries out current stabilization process, electric current to be supplied to sensor 14, microprocessor 15 and wireless communication module 16 and to use to current stabilization.
Described sensor 14 can comprise the three axis accelerometer 141 of low-power consumption, three-axis gyroscope 142, three axis magnetometer 143, thermometer 144, barometertic altimeter 145, for collecting and transmitting motor message, described motor message can comprise the component of acceleration value of each step each axle in three-dimensional system of coordinate of the walking that three axis accelerometer 141 is collected, the tri-axis angular rate information that three-axis gyroscope 142 is collected, the magnetic intensity information that three axis magnetometer 143 is collected, the temperature value that thermometer 144 is collected, the atmospheric pressure value that barometertic altimeter 145 is collected.
Described microprocessor 15 can comprise duration acquiring unit 150, frequency acquisition unit 151, resultant acceleration value number acquiring unit 152, resultant acceleration value acquiring unit 153, eigenvalue unit 154, step calculation unit 155, attitude information computing unit 156, course adjustment unit 157, displacement computing unit 158, height calculation unit 159;
Described duration acquiring unit 150 is for obtaining the duration t of each step of pedestrian's walking;
Described frequency acquisition unit 151 is for obtaining the sample frequency f of three axis accelerometer;
The number n of described resultant acceleration value number acquiring unit 152 for adopting formula n=f*t to calculate the resultant acceleration value of each step;
Described resultant acceleration value acquiring unit 153 is for adopting formula
calculate described n resultant acceleration value a, wherein, ax, ay and az are respectively the component of acceleration value of each step each axle in three-dimensional system of coordinate;
Described eigenvalue unit 154, for sorting to described n resultant acceleration value, obtains maximum and minimum of a value in described n resultant acceleration value, using maximum and minimum of a value in described n resultant acceleration value as characteristic value;
Described step calculation unit 155 is for adopting formula step=(max (a)-min (a)) ^ (1/3) material calculation step, wherein, max (a) is the maximum in resultant acceleration value, and min (a) is the minimum of a value in resultant acceleration value
Described attitude information computing unit 156 is for obtaining attitude information by adopting Quaternion Method to carry out integration to described tri-axis angular rate information, and described attitude information comprises course angle;
Described course adjustment unit 157, for being calculated the course angle of current walking by described magnetic intensity information, utilizes the course angle that described in the course angle correction of described current walking, attitude information computing unit 151 obtains;
Described displacement computing unit 158 is for determining the walking displacement information of pedestrian according to the course angle of described correction and described step-length;
Described height calculation unit 159 is for calculating the elevation information of current walking according to described atmospheric pressure value.
Described wireless communication module 16 comprises bluetooth unit 161 and Wi-Fi unit 162, and described bluetooth unit 161 is for conducting in the display device of connection by bluetooth by the walking displacement information of described pedestrian, elevation information and temperature value; Described Wi-Fi unit 162 is for conducting in the display device of connection by Wi-Fi by the walking displacement information of described pedestrian, elevation information and temperature value; Wherein said display device is provided with the application A PP of customization, for showing the walking displacement information of described pedestrian, elevation information and temperature value.
In specific implementation, described sole can also comprise: the wear-resistant material non slip surface below cavity and circuit protecting layer, and the stress relief layer above cavity.
Wherein, described stress relief layer is preferably air cushion buffering; Pressure is reduced by compressed air after accepting the pressure produced from human bady gravitational by buffering pneumatic cushion gradually, promotes the pliability of sole, improves comfortableness; Described wear-resistant material non slip surface is generally sole, act as wear-resisting antiskid; Described circuit protecting layer act as protection circuit and does not extrude and the reliability reducing a whole set of circuit.
In specific implementation, described cavity can also have a bracing or strutting arrangement, in order to support cavity, in case cavity distortion causes circuit reliability and security to reduce.
In current pedestrian's location technology, main employing be GPS, but GPS has significant limitation, it needs to receive gps satellite and just can position, and simultaneously it at least receives 4 satellites and could locate, therefore it is located from starting shooting to and need use the regular hour, and GPS is indoor and disturb large place cannot use, at this moment pedestrian just cannot obtain the particular location of oneself, if in some high-risk field as fire-fighting, when rescue and relief work, rescue personnel will become more dangerous.Therefore obtaining pedestrian position accurately, not only for comparing needs individual, is also very valuable information for some special industry.The embodiment of the present invention is by being placed in the sole of walking shoe with positioning function by the internal circuit being used for obtaining pedestrian position information, unnecessary kinetic energy when people being walked is converted to electric energy, for the whole equipment of walking shoe with positioning function provides power supply endlessly, and by gathering the real-time movable information of user, calculate step-length and the walking displacement information of user accurately, at short notice for user provides high-precision location.As a kind of preferred exemplary of the present embodiment, the course of work of described walking shoe with positioning function is as follows:
When people walks, left and right bipod alternating movement, permanent magnet 111 is fixed on a fixation locus (perpendicular in the upper and lower space of horizontal plane) by permanent magnet movement locus hold-down bars 112, add permanent magnet 111 aspect ratio permanent magnet movement locus hold-down bars 112 low, kinetic energy is produced perpendicular in the upper and lower space of horizontal plane in people's walking, permanent magnet 111 is driven to do perpendicular to the upper and lower spatial movement of horizontal plane, coil 110 maintains static cutting magnetic induction line can be made perpendicular to the magnetic flux change in the upper and lower space of horizontal plane, thus be converted into electromotive force, due to continuous action when people walks, so electromotive force can continued presence.
After electromotive force produces, electromotive force coating-forming voltage, then electric field force is produced, under the effect of electric field force, be in the electric charge generation displacement in electric field, form electric current, electric current flows to mu balanced circuit 11 by electric wire, the electric current conveying meeting battery 12 standard, after voltage stabilizing process, stores toward battery 12, battery 12 can not be caused to burn out because of spread of voltage by mu balanced circuit 11.
The electric current that battery 12 exports is conducted by electric wire and controls after microcircuit card carries out current stabilization process to current stabilization, electric current is supplied to sensor 14, microprocessor 15, wireless communication module 16 use.
Described sensor 14 adopts electric power connection line to be connected with microprocessor 15, wherein said sensor can comprise the three axis accelerometer 141 of low-power consumption, three-axis gyroscope 142, three axis magnetometer 143, thermometer 144, barometertic altimeter 145, described three axis accelerometer 141 is for collecting the component of acceleration value of each step each axle in three-dimensional system of coordinate of walking, described three-axis gyroscope 142 is for collecting tri-axis angular rate information, described three axis magnetometer 143 is for collecting magnetic intensity information, described thermometer 144 is for collecting temperature value, described barometertic altimeter 145 is for collecting atmospheric pressure value.Need at least receive 4 satellites and can locate different just now at field from GPS, described walking shoe with positioning function adopts the sensor of self to obtain motor message, and other signals not needing the external world to provide, therefore start shooting and just can use, without the need to the stand-by period, it is extremely convenient to use, and is not subject to the impact of space and environment.
In fact, all can change because people steps out direction and position in the process of a step, the component of acceleration value that three axis accelerometer each moment measures also can be different, because of this person often row make a move can have multiple resultant acceleration value (as rise a pin have a resultant acceleration value, to stop over a resultant acceleration value), the number of resultant acceleration value depends on the number that the data sampling frequency f(sample frequency f of the three axis accelerometer that frequency acquisition unit 151 obtains is three axis accelerometer image data per second) and each step duration t(duration t of obtaining of duration acquiring unit 150 time of walking required for each step for pedestrian), resultant acceleration value number acquiring unit 152 obtains data sampling frequency f and after obtaining duration t from duration acquiring unit 150 from frequency acquisition unit 151, formula n=f*t is adopted to calculate the number n of the resultant acceleration value of each step, such as make a move and need the 2s time, data sampling frequency is 50Hz, so just have the change that 100 resultant acceleration values react acceleration in the process of making a move.
Each step obtained is recorded in the resultant acceleration value acquiring unit 153 of microprocessor 15 at component of acceleration value ax, ay and az of three-dimensional by three axis accelerometer 141, and resultant acceleration value acquiring unit 153 adopts formula
calculate described n resultant acceleration value a; Acceleration pulse can be obtained by the Variation Features detecting a described n accekeration, characteristic point (or characteristic value) can be found out from Acceleration pulse, particularly, eigenvalue unit 154 sorts to described n resultant acceleration value, obtain maximum max (a) and minimum of a value min (a) in described n resultant acceleration value, or second largest value max (a) and sub-minimum min (a), using maximum in described n resultant acceleration value and minimum of a value or second largest value and sub-minimum as characteristic value; Step calculation unit 155 adopts formula step=(max (a)-min (a)) ^ (1/3) material calculation step then; Attitude information computing unit 156 obtains attitude information by adopting Quaternion Method to carry out integration to described tri-axis angular rate information, and described attitude information comprises course angle; Course adjustment unit 157 calculates the course angle of current walking by described magnetic intensity information, utilizes the course angle that described in the course angle correction of described current walking, attitude information computing unit 151 obtains; Displacement computing unit 158 determines the walking displacement information of pedestrian according to the course angle of described correction and described step-length; Height calculation unit 159 calculates the elevation information of current walking according to described atmospheric pressure value.
Specifically, microprocessor 15 passes through the motor message of real-time reception sensor 14, through software filtering, after removing noise useless, remaining useful each step component of acceleration value of each axle in three-dimensional system of coordinate carried out calculating resultant acceleration value, described resultant acceleration value has multiple, described multiple resultant acceleration value is compared, find out their maximum, second largest value, minimum of a value and sub-minimum, pass through maximum, minimum of a value or second largest value, the further material calculation of sub-minimum; The attitude information of pin is obtained by tri-axis angular rate information score, if magnetometer can be with, direction can be calculated revise the course angle calculated by tri-axis angular rate information, by the course angle revised in attitude information, step-length is decomposed, obtain the walking displacement information of people's reality (such as, suppose that the current walking course angle revised is a, step-length is L, then the horizontal range x walked and y is: x=L*sin (a); Y=L*cos (a)), therefore attitude information is used to secondary row and walks the determination of displacement information, and the walking displacement information obtained the most at last transfers out.Wherein, described walking displacement information is behaved relative to the displacement of initial point information, initial point information connects mobile phone by wireless communication module 16 or computer or other display equipment sends over, after microprocessor 15 receives initial point information, described initial point information superposes new walking displacement information and obtains positioning result, for user provides high accuracy three-dimensional location in the short time.
The walking displacement information, elevation information, temperature value etc. of displacement pedestrian are conducted to the display device of connection as mobile phone by bluetooth unit 161 and/or Wi-Fi unit 162, computer etc., display device just can by wifi or Bluetooth receptions walking displacement information, elevation information, temperature value to described pedestrian, and the APP adopting it to customize shows.Wherein, described bluetooth unit 161 and/or Wi-Fi unit 162 are the unit of customization.
Simultaneously, people when walking, because Action of Gravity Field can produce downward pressure, because air has good compression performance, stress relief layer is buffering pneumatic cushion, and pressure is reduced by compressed air after accepting the pressure produced from human bady gravitational by buffering pneumatic cushion gradually, promote the pliability of sole, improve comfortableness; Circuit protecting layer and bracing or strutting arrangement can protect empty endoluminal simultaneously, improve the security of circuit, have mu balanced circuit and current stabilization circuit, improve the reliability of circuit; Moreover all devices is all in sole cavity, completely cuts off and may produce untidy, not easy, unsightly visual effect, made it to look clean and tidy, easy, attractive in appearance.
Walking shoe with positioning function of the present invention has following significantly advantage:
1, the present invention is a kind of walking shoe with positioning function, built-in generator, battery, mu balanced circuit, and current stabilization circuit, the kinetic energy that many collectors that can effectively try one's best are unnecessary when walking about, by engine, described unnecessary kinetic energy is converted to electric energy and sends into battery storage, power supply endlessly can be provided, not need extra charging, eliminate the trouble of charging.
2, the present invention is a kind of walking shoe with positioning function, and built-in sensors, the signal not needing other equipment outside to provide, relies on the sensor of self to gather the motor message of user completely, carry out motor message and resolve, and is not therefore subject to the impact of space and environment.
3, one walking shoe with positioning function of the present invention, embedded micro-processor, by the motor message of microcontroller acquires sensor, accurately calculates the step-length of pin, the information such as course angle, and then to provide in the short time high accuracy three-dimensional location for user.
4, the present invention does not need special GPS, the mobile phone of user or computer etc. is only needed to have navigation feature, or the initial coordinate that user manually inputs user just can carry out pedestrian position location, and the displacement information acquiring pedestrian's walking can be shown by the APP customized on mobile phone or apparatus such as computer, simple APP can be integrated in mobile phone or apparatus such as computer easily, very easy to use.
5, the present invention is provided with cushion and protective layer at sole, and comfortableness is high, and have mu balanced circuit, current stabilization circuit, reliability is high.
Above to one walking shoe with positioning function provided by the present invention, be described in detail, apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. walk a shoe with positioning function, it is characterized in that, comprise vamp, sole and shoestring or shoe buckle, described walking shoe with positioning function also comprises:
The cavity of described sole inside;
The generator connected in turn is comprised, mu balanced circuit, battery, current stabilization circuit, sensor, microprocessor in described cavity, and wireless communication module;
Described walking kinetic transformation for gathering walking kinetic energy, and is electric energy by described generator;
The electric energy that described mu balanced circuit is used for described generator to transform carries out voltage stabilizing process;
Described battery is for storing the electric energy of described conversion;
Described current stabilization circuit is used for the electric energy stored in described battery to carry out current stabilization process;
Described sensor is used for collecting and transmitting motor message, and described sensor comprises three axis accelerometer, then described motor message comprises the component of acceleration value of each step each axle in three-dimensional system of coordinate of the walking that described three axis accelerometer is collected;
Described microprocessor is used for the resultant acceleration value calculating each step according to each step described component of acceleration value of each axle in three-dimensional system of coordinate, selected characteristic value in described multiple resultant acceleration value, according to described characteristic value material calculation, determine the walking displacement information of pedestrian according to described step-length;
Described wireless communication module is used for the display device walking displacement information of described pedestrian being conducted to connection.
2. walk as claimed in claim 1 shoe with positioning function, it is characterized in that, described microprocessor comprises:
Duration acquiring unit, for obtaining the duration t of each step of pedestrian's walking;
Frequency acquisition unit, for obtaining the sample frequency f of three axis accelerometer;
Resultant acceleration value number acquiring unit, for the number n adopting formula n=f*t to calculate the resultant acceleration value of each step;
Resultant acceleration value acquiring unit, for adopting formula
calculate described n resultant acceleration value a, wherein, ax, ay and az are respectively the component of acceleration value of each step each axle in three-dimensional system of coordinate;
Eigenvalue unit, for sorting to described n resultant acceleration value, obtains maximum and minimum of a value in described n resultant acceleration value, using maximum and minimum of a value in described n resultant acceleration value as characteristic value;
Step calculation unit, for adopting formula step=(max (a)-min (a)) ^ (1/3) material calculation step, wherein, max (a) is the maximum in resultant acceleration value, and min (a) is the minimum of a value in resultant acceleration value.
3. walk as claimed in claim 1 or 2 shoe with positioning function, it is characterized in that, described sensor also comprises three-axis gyroscope, three axis magnetometer, thermometer, barometertic altimeter; Described motor message also comprises the tri-axis angular rate information that described three-axis gyroscope is collected, the magnetic intensity information that described three axis magnetometer is collected, the temperature value that described thermometer is collected, the atmospheric pressure value that described barometertic altimeter is collected;
Described microprocessor also comprises attitude information computing unit, course adjustment unit, and displacement computing unit,
Described attitude information computing unit is used for obtaining attitude information by adopting Quaternion Method to carry out integration to described tri-axis angular rate information, and described attitude information comprises course angle;
Described course adjustment unit is used for the course angle being calculated current walking by described magnetic intensity information, utilizes the course angle that described in the course angle correction of described current walking, attitude information computing unit obtains;
Described displacement computing unit is used for the walking displacement information determining pedestrian according to the course angle of described correction and described step-length.
4. walk as claimed in claim 1 or 2 shoe with positioning function, it is characterized in that, described microprocessor also comprises height calculation unit, for calculating the elevation information of current walking according to described atmospheric pressure value.
5. walk as claimed in claim 4 shoe with positioning function, it is characterized in that, described wireless communication module is also for conducting to the display device of connection by described elevation information and temperature value.
6. walk as claimed in claim 5 shoe with positioning function, it is characterized in that, described wireless communication module comprises bluetooth unit and Wi-Fi unit,
Described bluetooth unit is used for conducting in the display device of connection by bluetooth by the walking displacement information of described pedestrian, elevation information and temperature value;
Described Wi-Fi unit is used for conducting in the display device of connection by Wi-Fi by the walking displacement information of described pedestrian, elevation information and temperature value; Described display device is provided with the application program of customization, for showing the walking displacement information of described pedestrian, elevation information and temperature value.
7. to walk as claimed in claim 1 or 2 shoe with positioning function, it is characterized in that:
Described generator comprises: coil, permanent magnet and permanent magnet movement locus hold-down bars;
Wherein, described permanent magnet entangles permanent magnet movement locus hold-down bars, and the central through hole of coil entangles permanent magnet; Described permanent magnet is expert under kinetic energy driving effect and is slided on permanent magnet movement locus hold-down bars, cutting magnetic induction line when static coil does relative motion relative to the permanent magnet of motion, produce the change of magnetic flux, and then generation electromotive force, electromotive force coating-forming voltage, produces electric field force then, under the effect of electric field force, be in the electric charge generation displacement in electric field, form electric current;
Described mu balanced circuit comprises: voltage stabilizing controls microcircuit card and electric wire;
Wherein, described electric current conducts through electric wire and to control to voltage stabilizing after microcircuit card carries out voltage stabilizing process, to conduct accumulators again store through electric wire;
Described current stabilization circuit comprises: current stabilization controls microcircuit card and electric wire;
Wherein, the electric current that battery exports is conducted by electric wire and controls after microcircuit card carries out current stabilization process to current stabilization, electric current is supplied to sensor, microprocessor, wireless communication module use.
8. to walk as claimed in claim 1 shoe with positioning function, it is characterized in that, the walking displacement information of described pedestrian is behaved relative to the displacement of starting point coordinate, and described starting point coordinate is acquired by described display device.
9. walk as claimed in claim 1 shoe with positioning function, it is characterized in that, described sole also comprises: the wear-resistant material non slip surface below cavity and circuit protecting layer, and the stress relief layer above cavity.
10. to walk as claimed in claim 9 shoe with positioning function, it is characterized in that, described stress relief layer is air cushion buffering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310432910.2A CN104432933B (en) | 2013-09-22 | 2013-09-22 | One kind walking positioning footwear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310432910.2A CN104432933B (en) | 2013-09-22 | 2013-09-22 | One kind walking positioning footwear |
Publications (2)
| Publication Number | Publication Date |
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| CN104432933A true CN104432933A (en) | 2015-03-25 |
| CN104432933B CN104432933B (en) | 2018-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310432910.2A Expired - Fee Related CN104432933B (en) | 2013-09-22 | 2013-09-22 | One kind walking positioning footwear |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105674984A (en) * | 2016-01-18 | 2016-06-15 | 上海交通大学 | Method for acquiring advancing directions of pedestrians by aid of mobile terminals without constraints |
| CN106037151A (en) * | 2016-07-05 | 2016-10-26 | 北京赤兔科技有限公司 | Intelligent shoelace |
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| US20070260421A1 (en) * | 2006-05-03 | 2007-11-08 | Nike, Inc. | Athletic or other performance sensing systems |
| CN201243654Y (en) * | 2008-08-15 | 2009-05-27 | 马振东 | Power-generating shoes |
| CN102800170A (en) * | 2012-09-11 | 2012-11-28 | 重庆大学 | Human body fall detection alarm device based on multiple sensors |
| CN103005770A (en) * | 2013-01-10 | 2013-04-03 | 吉林大学 | Self-power generating anti-lost shoe for old people |
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| US20070260421A1 (en) * | 2006-05-03 | 2007-11-08 | Nike, Inc. | Athletic or other performance sensing systems |
| CN201243654Y (en) * | 2008-08-15 | 2009-05-27 | 马振东 | Power-generating shoes |
| CN102800170A (en) * | 2012-09-11 | 2012-11-28 | 重庆大学 | Human body fall detection alarm device based on multiple sensors |
| CN103005770A (en) * | 2013-01-10 | 2013-04-03 | 吉林大学 | Self-power generating anti-lost shoe for old people |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105674984A (en) * | 2016-01-18 | 2016-06-15 | 上海交通大学 | Method for acquiring advancing directions of pedestrians by aid of mobile terminals without constraints |
| CN106037151A (en) * | 2016-07-05 | 2016-10-26 | 北京赤兔科技有限公司 | Intelligent shoelace |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104432933B (en) | 2018-02-16 |
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