CN105769185A - Sensor system - Google Patents
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- CN105769185A CN105769185A CN201410826288.8A CN201410826288A CN105769185A CN 105769185 A CN105769185 A CN 105769185A CN 201410826288 A CN201410826288 A CN 201410826288A CN 105769185 A CN105769185 A CN 105769185A
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Abstract
The invention discloses a sensor system, which comprises a sensor array and a signal processing device, wherein the sensor array comprises n*m sensors, and is used for collecting signals from a signal source set; the signal source set comprises at least one signal source; each sensor respectively records collected signals of each signal source; and the signal processing device is used for receiving the signals collected by the sensor array and determining the position of each signal source in the signal source set according to the intensity of the signals received from each signal source. The sensor system provided by the invention can be used for precisely detecting the signal sources.
Description
Technical field
The present invention relates to sensor field, particularly to a kind of sensing system.
Background technology
The development of semiconductor technology allows one in various electronic device applications to multiple fields, for instance education, service, medical treatment etc., significantly facilitates the life of people.
All the time, health is all one of most important focus of people.And the development of electronic device, also make the medical apparatus and instruments of various function arise at the historic moment.Wherein, sensor is as a kind of detecting device, measured information can be experienced, and the information that can will experience, it is for conversion into the information output of the signal of telecommunication or other desired forms according to certain rules, to meet the requirements such as the transmission of information, process, storage, display, record and control, it it is the primary link realizing automatically detecting and automatically controlling.Especially, in medical device industry, sensor technology obtains significant progress.
In the medical apparatus and instruments of various use sensors, much it is required for utilizing sensor to detect the various signals that human body produces, to utilize these signals to carry out other operations.For the signal produced by human machine, the various signals that human body produces are often more complicated, and human muscle or the complexity of internal motion also allow this detection become more difficult.
For example, the existing detecting device often only one of which sensor being used for detecting human body electromyographic signal.When utilizing this detecting device detection human body electromyographic signal, if being attached on skin, when human body carries out certain action, often there is relative movement in muscle so that the testing result of sensor makes a mistake, and affects the degree of accuracy of medical apparatus and instruments.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides a kind of sensing system, enabling reduce the error in signal source (such as motor point) detection.
Sensing system provided by the invention includes:
Sensor array, it includes n × m sensor, and for gathering the signal from signal source set, wherein, described signal source set includes at least one signal source, and the signal of each sensor each signal source to collecting is recorded respectively；With
Signal processing apparatus, it is for receiving the signal that described sensor array collects, and determines the position of each signal source in described signal source set according to the received signal intensity from each signal source.
Described system also includes:
Filter, it is filtered for the signal that described sensor array is received and amplifies, and signal that is filtered and that amplify is sent to described signal processing apparatus；Further,
Described signal processing apparatus received signal is the signal after the filtering of described filter and amplification.
It is preferred that described sensing system gathers the signal from described signal source set according to the cycle preset.
Described system also includes:
First calculation element, it for receiving the data of the position about described each signal source from described signal processing apparatus, and the data received and the algorithm preset are calculated, then determine the motion of described each signal source according to result of calculation and default corresponding relation.
Preferably, described sensor array is affixed on human body skin, and the signal that described sensor array collects is electromyographic signal.
Described signal source is the motor point preset in the human body skin that described sensor array covers.
Described sensing system gathers the signal from signal source set according to the cycle preset.
It is preferred that the position that the size of the signal received by described basis determines each signal source includes:
Corresponding relation according to default motor point and signal magnitude, if sensor SnmReceived signal is more than the first preset value, it is determined that motor point MiIt is positioned at described sensor SnmScope in, and by described sensor SnmWith motor point MiIt is associated；
Wherein, described sensor SnmFor being arranged in the sensor of described sensor array line n m row, i is a signal source in described signal source set.
Described sensing system also includes:
Second calculation element and controller；Wherein,
Described second calculation element is for making prediction to the motion of human body according to the dynamic model preset and second corresponding relation of presetting；
Described controller is for according to predicting the outcome of receiving, controlling electronic installation and make corresponding behavior.
Described electronic installation is prosthetic device.
Described n >=3, described m >=3.
Preferably, described sensor array includes 3 × 5 sensors.
In the present invention, utilization includes the sensor array of n × m sensor and gathers the signal from signal source set, and utilize signal processing apparatus to receive the signal that described sensor array collects, determine the position of each signal source according to the signal intensity of received each signal source.Even if the position of the signal source in signal source set there occurs change, it is also possible to determine the position of signal source, improve the degree of accuracy of detection.
Accompanying drawing explanation
Fig. 1 is the first structural representation of sensor of the invention system；
Fig. 2 is the second structural representation of sensor of the invention system；
Fig. 3 is the schematic diagram that the sensor array in sensor of the invention system is affixed on the arm of people；
Fig. 4 is the third structural representation of sensor of the invention system；
Fig. 5 is the detailed schematic of the sensor array in sensor of the invention system.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described further.
As it is shown in figure 1, sensor of the invention system may include that
101, sensor array；
Sensor array in the present invention includes n × m sensor, and n and m is preferably not less than the integer of 3, below can be classified as example by the sensor array to include 3 × 5 sensors, one embodiment of the invention is specifically described.
It should be noted that the sensor in the present invention can be any type of sensor, this is not particularly limited by the present invention.
Sensor array is for gathering the signal from signal source set, and signal source set includes at least one signal source.Herein, signal source can be to send any object of signal, and this is not particularly limited by the present invention.
102, signal processing apparatus；
Signal processing apparatus is for receiving the signal that sensor array 101 collects, and the signal intensity according to received each signal source determines the position of each signal source in described signal source set.
Time actually used, the signal that sensor array collects often comprises a lot of noise, in order to be able to make the signal received by signal processing apparatus accurate as much as possible, as in figure 2 it is shown, sensor of the invention system can also include:
103, filter；
Filter is for receiving the signal that sensor array collects, and is filtered to the received signal and amplifies, and then the signal obtained is sent to signal processing apparatus.The signal received from filter can be processed by signal processing apparatus, to obtain the position of each signal source.
Below for a specific embodiments, sensing system provided by the invention is described in detail.
In the present embodiment, sensor array includes 3 × 5 sensors, and sensing system gathers the signal from signal source set according to the cycle preset.This cycle preset can by user setup, it is also possible to arrange by default in the sensor.
In the present embodiment, the sensor that sensor array includes is the sensor measuring electromyographic signal, and sensor array is affixed on human body skin, is affixed on human body forearm, as shown in Figure 3 in the present embodiment.
Electromyographic signal (EMG) is a kind of distinctive signal, and it is activated by central nervous system and controls, and on the surface of limbs, the scope of the EMG signal of record is represented as the voltage of-5 to+5mV.
Surface electromyogram signal is used as the motion and force control inputting the artificial limb that signal realizes of prosthesis control device, and the motor unit being different in muscle fiber supplements, crosstalk, and the result of mutual biochemical action.This makes electromyographic signal be random, complexity and dynamic, thus to controlling to bring difficulty.Additionally, due to the stimulation of high-frequency stimulation or high intensity, EMG signal can along with the generation of muscle fatigue with increase the weight of and lasting change.It is reflected in electromyographic signal for the minimizing of intermediate frequency in the increase of amplitude in the time domain and frequency domain along the synchronization of motor unit (MU) of meat fiber and the reduction of conduction velocity.All of these factors taken together makes to produce between EMG signal and joint motions/joint power to be difficult to good association.Electromyographic signal correct explain for artificial limb realize accurate motion and force control and the application restored in exercise be all very important.
Myoelectric sensor is embedded in the mounting receptacle part of artificial limb by currently used myoelectric limb, obtains remaining muscular tissue to surface electromyogram signal.Surface myoelectric sensor is corresponding with the main movement of corresponding limb action point (MP).Motor point sensor is placed in skin surface, and the control of skeletal muscle to be occurred subcutaneous than shallower place by the nerve at these positions.
It is assumed that the position that the typically not change myoelectric sensor of artificial limb user is relative to MP and MU.MP and MU is positioned at some part of remaining muscle group, and they are positioned at from subcutaneous in the different degree of depth.When doing backspin palm action, can cause the sEMG sensor of skin surface, with corresponding MP and MU, relative displacement occurs.This motion may result in not mating between surface myoelectric sensor and MP/MU position, and then cause the interruption of sEMG signal when using artificial limb equipment and/or resuming training and misread.
Such as, if selecting two specific motor points (MP) to control two different particular joint of artificial limb as signal source.Dislocation between MP and sEMG sensor may result in sEMG sensor sensing mistake, thus causing that the action different from user view is made in joint.
Fig. 4 illustrates the schematic diagram of sensor of the invention system with a typical embodiments, including: sensor array 201, filter 203, signal processing apparatus the 202, first calculation element the 204, second calculation element 205 and controller 206.
Fig. 5 illustrates the detail view of the sensor array 101 of the present embodiment, and sensor array 101 includes sensor S herein11, S12, S13, S14, S15, S21, S22, S23, S24, S25, S31, S32, S33, S34, S35.Having independent memory space for each sensor in signal processing apparatus 202, each memory space is corresponding with each sensor in sensor array respectively, for recording the signal that received each sensor acquisition arrives.
Two motor point MP are included with signal source set1And MP2For example, the present embodiment is further detailed.
Generally, namely time the forearm of people does not do any action, owing to there is no the flexible of any muscle, the position in motor point keeps fixing, the signal that now each sensor receives is generally smaller, it is possible to be considered as noise, after filtering after device, for each sensor, the signal magnitude received by signal processing apparatus is usually identical.
And when the forearm action to some extent of people, for instance when meaning to do the action of the backspin palm, the muscle on forearm can stretch, now motor point MP1And MP2Electromyographic signal can be produced, and then received by sensor.
Different from the distance in motor point according to sensor, the size of the electromyographic signal that each sensor receives is also different.In Figure 5, sensor receives from MP1And MP2Electromyographic signal.Wherein, MP1The signal sent is received by the sensor around it, wherein S22The signal received is the strongest, and S22Sensor around also receives from MP1Some signals, but noise can be considered as, after filtering after generally can be eliminated.Similar, MP2The signal sent is received by the sensor around it, S34The signal received is the strongest.
Received by signal processing apparatus 202 after the signal that sensor array receives device after filtering.Signal processing apparatus 202 can determine the position in each motor point according to received signal magnitude.Referring still to Fig. 5, S22The signal received is from motor point MP1Signal the strongest, then may determine that motor point MP1Position at S22Near.If it is desired that result is more accurate, then can the corresponding relation of the signal intensity in built-in each motor point and this motor point and sensor distance in signal processing apparatus 202 in advance.
Especially, if people to do the action of the backspin palm, the position in motor point can constantly change, and therefore in the present invention, sensor array can receive the signal from motor point according to the default cycle.In this case, the first calculation element 204 receives and can be calculated according to default algorithm after the data of signal processing apparatus 202, and the result of calculating is compared with the corresponding relation preset, it is determined that the motion that motor point is done.
It should be noted that the algorithm preset can be any existing algorithm, for instance with statistic algorithm, the data received are added up, obtain a concrete numerical value；The rule of data can also being added up, obtain representing the Changing Pattern in motor point, the present invention is not specifically limited.
In the present invention, calculated data can be sent to the second calculation element 205 by the first calculation element 204.The motion of human body can be made prediction by the second calculation element 205 according to default dynamic model and the second corresponding relation preset.Dynamic model can be any prior art, and the present invention is without limitation.And the second corresponding relation preset can be the motion corresponding relation with the obtained result of dynamic model of human body.The motion of human body can be that upper backspin is slapped, clenches fist, loosed one's grip.This corresponding relation is usually after have passed through concrete test and is built in the second calculation element.
Sensor of the invention system can also include controller 206.In actual applications, it is possible to this controller is placed in artificial limb, to control the motion of artificial limb.
In practice, owing to each one situation is different, so the corresponding relation in the second calculation element 205 specifically can regulate according to each one situation.More particularly, second calculation element 205 can be adjusted so that it can obtain the situation of human body according to received data and dynamic model, and then human health status is monitored, specifically can thus make health-caring equipment or Facility for resuming health, help improve health.
Although the typical embodiments of the present invention described in foregoing, but it can be modified within the scope of the invention, the present invention is without limitation.
Claims (12)
1. a sensing system, it is characterised in that including:
Sensor array, it includes n × m sensor, and for gathering the signal from signal source set, wherein, described signal source set includes at least one signal source, and the signal of each sensor each signal source to collecting is recorded respectively；With
Signal processing apparatus, it is for receiving the signal that described sensor array collects, and determines the position of each signal source in described signal source set according to the received signal intensity from each signal source.
2. sensing system according to claim 1, it is characterised in that this system also includes:
Filter, it is filtered for the signal that described sensor array is received and amplifies, and signal that is filtered and that amplify is sent to described signal processing apparatus；Further,
Described signal processing apparatus received signal is the signal after the filtering of described filter and amplification.
3. sensing system according to claim 1 and 2, it is characterised in that described sensing system gathers the signal from described signal source set according to the cycle preset.
4. sensing system according to claim 3, it is characterised in that this system also includes:
First calculation element, it for receiving the data of the position about described each signal source from described signal processing apparatus, and the data received and the algorithm preset are calculated, then determine the motion of described each signal source according to result of calculation and default corresponding relation.
5. sensing system according to claim 4, it is characterised in that described sensor array is affixed on human body skin, and the signal that described sensor array collects is electromyographic signal.
6. sensing system according to claim 5, it is characterised in that described signal source is the motor point preset in the human body skin that described sensor array covers.
7. sensing system according to claim 6, it is characterised in that described sensing system gathers the signal from signal source set according to the cycle preset.
8. sensor-based system according to claim 7, it is characterised in that the size of the signal received by described basis determines that the position of each signal source includes:
Corresponding relation according to default motor point and signal magnitude, if sensor SnmReceived signal is more than the first preset value, it is determined that motor point MiIt is positioned at described sensor SnmScope in, and by described sensor SnmWith motor point MiIt is associated；
Wherein, described sensor SnmFor being arranged in the sensor of described sensor array line n m row, i is a signal source in described signal source set.
9. sensing system according to claim 8, it is characterised in that described sensing system also includes:
Second calculation element and controller；Wherein,
Described second calculation element is for making prediction to the motion of human body according to the dynamic model preset and second corresponding relation of presetting；
Described controller is for according to predicting the outcome of receiving, controlling electronic installation and make corresponding behavior.
10. sensing system according to claim 9, it is characterised in that described electronic installation is prosthetic device.
11. sensing system according to claim 10, it is characterised in that described n >=3, described m >=3.
12. the sensing system according to any one of the preceding claims, it is characterised in that described sensor array includes 3 × 5 sensors.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3675726A4 (en) * | 2017-08-30 | 2021-04-28 | Lockheed Martin Corporation | Automatic sensor selection |
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