CN107194193A - A kind of ankle pump motion monitoring method and device - Google Patents
A kind of ankle pump motion monitoring method and device Download PDFInfo
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- CN107194193A CN107194193A CN201710475731.5A CN201710475731A CN107194193A CN 107194193 A CN107194193 A CN 107194193A CN 201710475731 A CN201710475731 A CN 201710475731A CN 107194193 A CN107194193 A CN 107194193A
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
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Abstract
The invention discloses a kind of ankle pump motion monitoring method and device, belong to medical instruments field.The ankle pump motion monitoring method, including：User's real time kinematics attitude information is obtained, real time kinematics attitude information includes angular velocity information, acceleration information and geomagnetic force information；Angular velocity information, acceleration information and geomagnetic force information are subjected to data fusion, correction motion attitude information is obtained；Determine the correction motion attitude information sequence in a period of motion；Judge correction motion attitude information sequence whether with the standard attitude information sequences match in standard attitude information sequence library, obtain matching result；Send and/or display matching result, to prompt the user whether to continue to continue according to current action to move.Ankle pump motion monitoring method provided in an embodiment of the present invention, can be realized by miniature electric component, make the compact easy donning of monitoring system, meet the actual demand of postoperative patient, and not need accurate mechanical structure, reduce machining cost.
Description
Technical field
The present invention relates to orthopedic medical device field, more particularly to a kind of dress for monitoring postoperative patient ankle pump exercise data
Put.
Background technology
Before and after bone surgery, because trauma pain, inside and outside fixation, limb brake and patient are in the originals such as hypercoagulative state
Cause, easily occurs lower-limb deep veins thrombus, and embolus comes off with blood stream enters pulmonary artery through heart, causes pulmonary embolism, its is dead
Rate is died more than 20%.The motion of ankle pump is a kind of significant lower limb function exercise method of simple, easy, effect, mainly passes through ankle
The activity in joint drives lower limb muscles to shrink, and promotes blood backflow, accelerates swelling elimination and limb function rehabilitation, early postoperation
The training of ankle pump can promote terminal blood to flow back, and suppress the formation of lower limb vein thrombus, clinically, lower extremities operation patient is postoperative
When carrying out the motion of ankle pump due to worry wound healing, incision pain, inwardly pay little attention to, ankle pump motion itself it is uninteresting single etc.
Reason causes the quantity and quality of motion not up to standard, and generally, patient carries out the motion of ankle pump and is required in medical care people
Member accompanies the lower progress of guidance, and patient needs also to be unfavorable for the saving of medical personnel's human cost while long-term inpatients, so needing
There is a kind of device for monitoring the motion of ankle pump, so that while the convenient wearing of postoperative patient is ensured, ankle pump can also be improved by being in
That moves follows from property and accuracy.
For ankle pump telecontrol equipment, such as notification number is CN105832497A, CN205234878U, CN206063657U special
The telecontrol equipment announced in sharp file, is by designing including mechanical structures such as base, supporting plate, connecting rod, springs mostly
Product, pin is fixed and is put into and performing physical exercise.
The motion auxiliary product of the ankle pump based on mechanical structure on the market is heavier, the patient for just finishing operation,
Install and inconvenient.
The content of the invention
In view of this, it is an object of the invention to provide a kind of ankle pump motion monitoring method and device.Ensure that it is low into
Originally while, precisely the ankle pump of identification patient is moved, the wearing of postoperative patient can more be facilitated.
To achieve the above object, this invention takes following technical scheme：
A kind of ankle pump motion monitoring method, including：
User's real time kinematics attitude information is obtained, the real time kinematics attitude information, which includes angular velocity information, acceleration, to be believed
Breath and geomagnetic force information；
The angular velocity information, acceleration information and geomagnetic force information are subjected to data fusion, correction motion posture letter is obtained
Breath；
Determine the correction motion attitude information sequence in a period of motion；
Judge the correction motion attitude information sequence whether with the standard posture in standard attitude information sequence library
Information sequence is matched, and obtains matching result；
The matching result is sent and/or shows, to prompt the user whether to continue to continue according to current action to move.
In an alternative embodiment, the angular velocity information includes three axis angular rates, and the acceleration information includes three axles
Acceleration, the geomagnetic force information includes three axle magnetic force, described to carry out the angular velocity information, acceleration information and geomagnetic force information
Data fusion, obtains correction motion attitude information, including：
Using quaternary number and the axle zero offset error of gyro three as state variable, with the 3-axis acceleration and the three axles magnetic force
As observational variable, state-transition matrix and the observation of EKF are built according to the state variable, observational variable
Equation matrix；
State variable predicted value and observation are obtained according to the state-transition matrix and observational equation matrix；
Compensation is modified to the state variable predicted value according to the observation, with real-time update quaternary number and gyro
Three axle zero offset errors；
Attitude algorithm for SINS is carried out according to the quaternary number of renewal and the axle zero offset error of gyro three, correction motion posture letter is obtained
Breath.
In an alternative embodiment, it is described judge the correction motion attitude information sequence whether with standard attitude information sequence
Standard attitude information sequences match in column database, including：
By each standard attitude information in the correction motion attitude information sequence and standard attitude information sequence library
Sequence is compared, it is determined that with the immediate standard attitude information sequence of the correction motion attitude information sequence；
Judge the correction motion attitude information sequence and the immediate standard attitude information sequence
Whether difference meets threshold value；
If meeting, matching result is the correction motion attitude information sequence and standard attitude information sequences match；
If it is not satisfied, then matching result be the correction motion attitude information sequence and standard attitude information sequence not
Match somebody with somebody.
In an alternative embodiment, the ankle pump motion monitoring method also includes, and sets up and stores standard attitude information sequence
Column database.
In an alternative embodiment, standard attitude information sequence library is set up, including：
Obtain the attitude information sequence samples in multiple periods of motion；
Calculate the distortion factor between sample two-by-two；
According to the distortion factor, multiple samples of acquisition are divided into several subsets；
Using the average value of each subset as standard attitude information sequence, standard attitude information sequence library is set up.
It is described by the correction motion attitude information sequence and standard attitude information sequence data in an alternative embodiment
Each standard attitude information sequence in storehouse is compared, including：
Based on bellman principle, using DTW algorithms by the correction motion attitude information sequence respectively with each standard
Attitude information sequence is compared.
In an alternative embodiment, based on bellman principle, using DTW algorithms to the correction motion attitude information sequence
It is compared with the standard attitude information sequence, including：
The standard attitude information sequence is neutralized according to the correction motion attitude information sequence and sets up two-dimentional rectangular co-ordinate
System；
The initial point of the two-dimensional Cartesian coordinate system is solved to the beeline of terminal according to formula (1)：
Wherein：
ikFor k-th of standard attitude information in the standard attitude information sequence；
jkFor k-th of athletic posture information in the correction motion attitude information sequence；
Dmin(ik,jk) it is the node (i that the two-dimensional Cartesian coordinate system is reached by initial pointk,jk) beeline；
Dmin(ik-1, jk-1) it is the node (i that the two-dimensional Cartesian coordinate system is reached by initial pointk-1,jk-1) most short distance
From；
d(ik, jk|ik-1, jk-1) it is by node (ik-1,jk-1) arrive node (ik,jk) transfer distance.
A kind of ankle pump sport monitoring device, including：
Acquiring unit, for obtaining user's real time kinematics attitude information, the real time kinematics attitude information includes angular speed
Information, acceleration information and geomagnetic force information；
Amending unit, for the angular velocity information, acceleration information and geomagnetic force information to be carried out into data fusion, is repaiied
Positive motion attitude information；
Determining unit, for determining the correction motion attitude information sequence in a period of motion；
Judging unit, for judge the correction motion attitude information sequence whether with standard attitude information sequence library
In standard attitude information sequences match, obtain matching result；
Send and/or display unit, for sending and/or showing the matching result, with prompt the user whether continue by
Continue to move according to current action.
In an alternative embodiment, the angular velocity information includes three axis angular rates, and the acceleration information includes three axles
Acceleration, the geomagnetic force information includes three axle magnetic force, and the amending unit is used for：
Using quaternary number and the axle zero offset error of gyro three as state variable, with the 3-axis acceleration and the three axles magnetic force
As observational variable, the state-transition matrix and observational equation square of EKF are built according to the angular velocity information
Battle array；
State variable predicted value and observation are obtained according to the state-transition matrix and observational equation matrix；
Compensation is modified to the state variable predicted value according to the observation, with real-time update quaternary number and gyro
Three axle zero offset errors；
Attitude algorithm for SINS is carried out according to the quaternary number of renewal and the axle zero offset error of gyro three, correction motion posture letter is obtained
Breath.
In an alternative embodiment, the judging unit is used for：
By each standard attitude information in the correction motion attitude information sequence and standard attitude information sequence library
Sequence is compared, it is determined that with the immediate standard attitude information sequence of the correction motion attitude information sequence；
Judge the correction motion attitude information sequence and the immediate standard attitude information sequence
Whether difference meets threshold value；
If meeting, matching result is the correction motion attitude information sequence and standard attitude information sequences match；
If it is not satisfied, then matching result be the correction motion attitude information sequence and standard attitude information sequence not
Match somebody with somebody.
The monitoring method and device of postoperative patient ankle pump motion provided by the present invention, with advantages below and feature：
(1) ankle pump motion monitoring method provided in an embodiment of the present invention, by monitoring the real-time attitude that user's ankle pump is moved
Information, determines the athletic posture information sequence in a period of motion according to real-time attitude information, and by athletic posture information sequence
Row and the standard movement attitude information sequence alignment in standard database, judge whether the ankle pump motion that user is carried out conforms to
Ask, remind the user that whether continue to move according to current action, user is voluntarily adjusted in the case of not external guidance
Whole exercise attitudes, save cost of human resources；
(2) matching result can also be sent to terminal device by ankle pump method for testing motion provided in an embodiment of the present invention,
Make terminal device user such as doctor, user's ankle pump motion conditions can be understood in time；
(3) ankle pump method for testing motion provided in an embodiment of the present invention can be realized by miniature electric component, make prison
The compact easy donning of examining system, meets the actual demand of postoperative patient, and does not need accurate mechanical structure, and reduction is machined into
This；
(4) state variable of expanded Kalman filtration algorithm is using four-dimensional quaternary number, compared with using Eulerian angles, it is to avoid
The a large amount of trigonometric function operations being related to when being calculated using Eulerian angles, it is ensured that renewal rate and real-time, while in the absence of use
The singularity that Eulerian angles computing occurs；
(5) embodiment of the present invention accurately finds starting point and the termination of action by cepstrum action sequence end-point detection
Point, and path Dynamic Programming is carried out using Bellman principles, the efficiency of identification is improved, amount of calculation is reduced.
Brief description of the drawings
Fig. 1 is a kind of ankle pump motion monitoring method flow chart provided in an embodiment of the present invention；
Fig. 2 is the realization of the attitude algorithm for SINS provided in an embodiment of the present invention based on EKF data fusion
Flow chart；
Fig. 3 is DTW algorithm principles figure provided in an embodiment of the present invention；
Fig. 4 is local restriction path profile provided in an embodiment of the present invention；
Fig. 5 is a kind of ankle pump sport monitoring device schematic diagram that the embodiment of the present invention is also provided；
Fig. 6 is a kind of monitoring system structural representation of ankle pump motion provided in an embodiment of the present invention；
Fig. 7 is the monitoring system usage scenario schematic diagram that ankle pump provided in an embodiment of the present invention is moved.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in further detail.
Referring to Fig. 1, the embodiments of the invention provide a kind of ankle pump motion monitoring method, including：
Step 101：Obtain user's real time kinematics attitude information, the real time kinematics attitude information include angular velocity information,
Acceleration information and geomagnetic force information；
Specifically, real time kinematics attitude information can include any information for the ankle pump athletic posture for characterizing user's progress,
What the acceleration information and magnetometer that angular velocity information that such as gyroscope is measured in real time, accelerometer are measured in real time were measured in real time
Geomagnetic force information etc., the present invention do not limit, in the embodiment of the present invention, real time kinematics attitude information at least include angular velocity information,
Acceleration information and geomagnetic force information；
Step 102：The angular velocity information, acceleration information and geomagnetic force information are subjected to data fusion, amendment fortune is obtained
Dynamic attitude information；
Specifically, in the embodiment of the present invention, the data fusion sides such as Kalman filtering, EKF can be passed through
Method, angular velocity information, acceleration information and geomagnetic force information carry out data fusion, and the present invention is not limited；Then, according to data
The data of the more standard obtained after fusion carry out attitude algorithm for SINS, obtain the correction motions such as the angle of pitch, roll angle, azimuth
Attitude information；
Step 103：Determine the athletic posture information sequence in a period of motion；
Specifically, according to the initial time of the period of motion and termination time, the period of motion is determined, so that it is determined that a motion
In athletic posture information sequence in cycle, the embodiment of the present invention, the action sequence end-point detection based on cepstrum, from one section of bag
The starting point and ending point of action, and division operation signal and noise signal are correctly found in signal containing effective action；
Usually, for measure the method for cepstrum distance assume that start a period of time signal as background noise,
And obtain its cepstral coefficients respectively, then using cepstral coefficients this period average value estimating background noise comprising cepstrum
The cepstrum distance analysis of coefficient, each frame signal of calculating and ambient noise signal goes out starting point and the termination of ankle pump action sequence
Point；
Using cepstrum action sequence end-point detection, the starting point and ending point of action can accurately be found；
Step 104：Judge the correction motion attitude information sequence whether with standard attitude information sequence library
Standard attitude information sequences match, obtains matching result；
Specifically, in the embodiment of the present invention, also include setting up and storing standard attitude information sequence number before step 104
According to storehouse, standard attitude information sequence library both can be single demographic data storehouse, or taxonomy database, for example according to
Age bracket is different classes of into old man, middle age, youth and children etc. by listener clustering, and respective data are set up for different classes of
Storehouse；
In the alternative embodiment of the present invention, it is contemplated that standard attitude information sequence influences very big for matching process,
The standard attitude information sequence of compatible good, strong robustness is to improve the key of ankle pump action recognition rate, for ensure discrimination and
Accuracy of identification, standard attitude information sequence library uses redundant samples storehouse, by taking a class crowd as an example, obtains multiple motions
Attitude information sequence samples in cycle；Calculate the distortion factor between sample two-by-two；According to the distortion factor, by multiple samples of acquisition
Originally it is divided into several subsets；Using the average value of each subset as standard attitude information sequence, standard attitude information sequence number is set up
According to storehouse.Specifically, attitude information sequence sample can be obtained by organizing the big experimental subjects of multiple differences to do the action of ankle pump repeatedly
This, several samples that the distortion factor is met to predetermined threshold value are used as a subset.
Step 105：The matching result is sent and/or shows, to prompt the user whether to continue to continue according to current action
Motion.
Ankle pump motion monitoring method provided in an embodiment of the present invention, the real-time attitude moved by monitoring user's ankle pump is believed
Breath, determines the athletic posture information sequence in a period of motion according to real-time attitude information, and by athletic posture information sequence
With the standard movement attitude information sequence alignment in standard database, judge whether the ankle pump motion that user is carried out meets the requirements,
Remind the user that whether continue to move according to current action, user is voluntarily adjusted fortune in the case of not external guidance
Dynamic posture, saves cost of human resources；
Matching result can also be sent to terminal device by ankle pump method for testing motion provided in an embodiment of the present invention, make end
End equipment user such as doctor, user's ankle pump motion conditions can be understood in time；
Ankle pump method for testing motion provided in an embodiment of the present invention can be realized by miniature electric component, make the monitoring be
Unite compact easy donning, meet the actual demand of postoperative patient, and need not be accurate mechanical structure, reduce machining cost.
In an alternative embodiment, the angular velocity information includes three axis angular rates, and the acceleration information includes three axles
Acceleration, the geomagnetic force information includes three axle magnetic force, and step 102 includes：
Step 102a：Using quaternary number and the axle zero offset error of gyro three as state variable, with the 3-axis acceleration and institute
Three axle magnetic force are stated as observational variable, are shifted according to the state that the state variable, observational variable build EKF
Matrix and observational equation matrix；
Specifically, in the embodiment of the present invention, state-transition matrix and the observational equation matrix is Jacobin matrix shape
Formula.
Step 102b：State variable predicted value and observation are obtained according to the state-transition matrix and observational equation matrix
Value；
Step 102c is modified compensation according to the observation to the state variable predicted value, with real-time update quaternary
Number and the axle zero offset error of gyro three；
Step 102d：Attitude algorithm for SINS is carried out according to the quaternary number of renewal and the axle zero offset error of gyro three, corrected
Athletic posture information.
For example, with reference to Fig. 2, choose quaternary number Q0, Q1, Q2, Q3 and gyro three axle zero offset error W1, W2, W3 are used as shape
State variable, therefore state variable X is exactly 7 dimensional vectors；Initial value is assigned to state vector, such as [1 00000 0]；Choose
Accelerometer and magnetometer output valve (i.e. 3-axis acceleration and three axle magnetic force) under carrier coordinate are measured as State Viewpoint, therefore
State Viewpoint measurement is exactly 6 dimensional vectors.
The state-transition matrix of EKF is built according to the output (i.e. three axis angular rates) of gyro, by building
State-transition matrix, initial state vector and noise covariance matrix prediction the K- moment state vector and the shape at K- moment
State estimate covariance matrix；
The observational equation matrix of Kalman filtering is built, according to the observational equation matrix of structure, the state estimation at K- moment
Covariance matrix and observation noise covariance obtain the kalman gain at K moment；
Ask for residual error, complete to state variable X in the amendment of K- moment predicted values, and obtain the state variable at K moment and estimate
Evaluation.Wherein, residual error asks for being related to carrier coordinate system to geographic coordinate system coordinate conversion matrix R amendment, utilizes ground
The acceleration [0 0g] on coordinate system is managed with when geomagnetic field intensity [bx by bz], carrier coordinate is obtained by coordinate conversion matrix
Acceleration [vx vy vz] and magnetic field intensity [wx wy wz] under system, with accelerometer and magnetometer under carrier coordinate system
Output valve [ax ay az mx my mz] do subtract difference obtain residual error
Quaternary number can be just updated by the state variable at obtained K moment and be modified benefit partially to the zero of gyro
Repay, the posture that Eulerian angles calculate carrier is turned using obtained quaternary number.
The state variable of expanded Kalman filtration algorithm is using four-dimensional quaternary number, compared with using Eulerian angles, it is to avoid adopt
The a large amount of trigonometric function operations being related to when being calculated with Eulerian angles, it is ensured that renewal rate and real-time, Europe is used while being not present
The singularity for drawing angle computing to occur.
In one embodiment, it is described judge the correction motion attitude information sequence whether with standard attitude information sequence
Standard attitude information sequences match in column database, including：
By each standard attitude information in the correction motion attitude information sequence and standard attitude information sequence library
Sequence is compared, it is determined that with the immediate standard attitude information sequence of the correction motion attitude information sequence；
Judge the correction motion attitude information sequence and the immediate standard attitude information sequence
Whether difference meets threshold value；
If meeting, matching result is the correction motion attitude information sequence and standard attitude information sequences match；
If it is not satisfied, then matching result be the correction motion attitude information sequence and standard attitude information sequence not
Match somebody with somebody.
Wherein, each standard by the correction motion attitude information sequence and standard attitude information sequence library
Attitude information sequence is compared, including：Based on graceful (Bellman) principle of Bel, using DTW algorithms by the correction motion appearance
State information sequence is compared with each standard attitude information sequence respectively.
Referring to Fig. 3, the characteristic vector sequence n=1-N of test template on the transverse axis in a two-dimensional Cartesian coordinate system
Mark, the characteristic vector sequence m=1-M of reference template is marked on the longitudinal axis, pass through the rounded coordinate of these expression sequence numbers
Each node that drawing some co-ordinations can form in a grid, grid has corresponded to the transfer of two sequence respective elements
Distance.DTW algorithms are carried out in two steps, and one is to calculate the distance between two sequential elements, that is, obtain distance matrix, two be away from
From finding out an optimal path in matrix.If finding all possible path during path planning, cost is calculated too high.For
Selection optimal path, reduces computation complexity, utilizes Bellman principles to carry out path Dynamic Programming.Starting point (i1, j1) to eventually
Point (ik, jk) path optimizing be represented by
If (if, jf) it is starting point (i1, j1) arrive terminal (ik, jk) node on path, then pass through node (if, jf)
Optimization path be expressed as
It can be seen from Bellman principles
From starting point (i1, j1) by node (if, jf) arrive terminal (ik, jk) optimal path be by starting point (i1, j1) arrive node
(if, jf) optimal path with by node (if, jf) arrive terminal (ik, jk) optimal path series connection.
Search for the process of optimal path for example：Search is from (i, j) point, for local path constraint such as Fig. 4, point (i,
J) accessible previous lattice point be only possible to be (i-1, j), (i-1, j-l) and (i, j-1), then (i, j) necessarily select this three
Point corresponding to reckling in individual distance is used as its front and continued lattice point.
Calculate from starting point (i1, j1) to k-th of node (ik, jk) minimum cost, then, it is assumed that be transferred to node (ik,
jk) must on path possible serial number kth -1 node (ik-1, jk-1) start.Easily exported according to Bellman principles
So set out from (l, 1) point and (D (1,1)=0) search is made, repeatedly recursion, until (N, M) can be obtained by optimal road
Footpath, and D (N, M) is exactly the matching distance corresponding to best matching path.When carrying out action recognition, by test template and institute
There is reference template to be matched, obtained minimal matching span Dmin(N, M) corresponding action is recognition result.
In summary, bellman principle is based in the embodiment of the present invention, the correction motion posture is believed using DTW algorithms
Breath sequence and the standard attitude information sequence are compared, including：
The standard attitude information sequence is neutralized according to the correction motion attitude information sequence and sets up two-dimentional rectangular co-ordinate
System；
The initial point of the two-dimensional Cartesian coordinate system is solved to the beeline of terminal according to formula (1)：
Wherein：
ikFor k-th of standard attitude information in the standard attitude information sequence；
jkFor k-th of athletic posture information in the correction motion attitude information sequence；
Dmin(ik,jk) it is the node (i that the two-dimensional Cartesian coordinate system is reached by initial pointk,jk) beeline；
Dmin(ik-1, jk-1) it is the node (i that the two-dimensional Cartesian coordinate system is reached by initial pointk-1,jk- 1) most short distance
From；
d(ik, jk|ik-1, jk-1) it is by node (ik-1,jk-1) arrive node (ik,jk) transfer distance.
The embodiment of the present invention accurately finds the starting point and ending point of action by cepstrum action sequence end-point detection,
And path Dynamic Programming is carried out using Bellman principles, the efficiency of identification is improved, amount of calculation is reduced.
Referring to Fig. 5, the embodiment of the present invention additionally provides a kind of ankle pump sport monitoring device, including：
Acquiring unit 10, for obtaining user's real time kinematics attitude information, the real time kinematics attitude information includes angle speed
Spend information, acceleration information and geomagnetic force information；
Amending unit 20, for the angular velocity information, acceleration information and geomagnetic force information to be carried out into data fusion, is obtained
Correction motion attitude information；
Determining unit 30, for determining the correction motion attitude information sequence in a period of motion；
Judging unit 40, judge the correction motion attitude information sequence whether with standard attitude information sequence library
Standard attitude information sequences match, obtain matching result
Send and/or display unit 50, for sending and/or showing the matching result, to prompt the user whether to continue
Continue to move according to current action.
In an alternative embodiment, the angular velocity information includes three axis angular rates, and the acceleration information includes three axles
Acceleration, the geomagnetic force information includes three axle magnetic force, and amending unit 20 is used for：
Using quaternary number and the axle zero offset error of gyro three as state variable, with the 3-axis acceleration and the three axles magnetic force
As observational variable, state-transition matrix and the observation of EKF are built according to the state variable, observational variable
Equation matrix；
State variable predicted value and observation are obtained according to the state-transition matrix and observational equation matrix；
Compensation is modified to the state variable predicted value according to the observation, with real-time update quaternary number and gyro
Three axle zero offset errors；
Attitude algorithm for SINS is carried out according to the quaternary number of renewal and the axle zero offset error of gyro three, correction motion posture letter is obtained
Breath.
In an alternative embodiment, judging unit 40 is used for：
By each standard attitude information in the correction motion attitude information sequence and standard attitude information sequence library
Sequence is compared, it is determined that with the immediate standard attitude information sequence of the correction motion attitude information sequence；
Judge the correction motion attitude information sequence and the immediate standard attitude information sequence
Whether difference meets threshold value；
If meeting, matching result is the correction motion attitude information sequence and standard attitude information sequences match；
If it is not satisfied, then matching result be the correction motion attitude information sequence and standard attitude information sequence not
Match somebody with somebody.
Apparatus of the present invention embodiment is corresponded with embodiment of the method, is had the advantage that with embodiment of the method, is closed
Specifically described in each functional unit and beneficial effect etc. and refer to embodiment of the method, will not be repeated here.
Referring to Fig. 6, the embodiment of the present invention additionally provides a kind of monitoring system of ankle pump motion, including housing 7 and is fixed on
Power supply 1, controller 2, gyroscope, accelerometer, magnetometer 4, communication module 5 and band 6 on housing 7；Band 6 be used for with
Family foot is fixed；Power supply 1 is connected with controller 2, gyroscope, accelerometer, magnetometer 4 and communication module 5 respectively, for control
Device 2 processed, gyroscope, accelerometer, magnetometer 4 and communication module 5 are powered；Gyroscope, accelerometer, magnetometer 4 and communication mould
Block 5 is connected with controller 2 respectively, and the gyroscope is used to the angular velocity information of user movement being sent to controller 2, acceleration
Count for the acceleration information of user movement to be sent into controller 2, magnetometer 4 is used to send the geomagnetic force information of user movement
To controller 2；Controller 2 is used to determine user's attitude information according to the angular velocity information, acceleration information and geomagnetic force information,
The attitude information is matched with standard attitude information, matching result is drawn；Communication module 5 is used to obtain the matching result simultaneously
The matching result information comprising the matching result is sent to terminal device.
In the embodiment of the present invention, terminal device can include mobile phone, notebook computer, intelligent television, pad etc.；Communicate mould
Block 5 can be bluetooth module, infrared communication module or wifi communication modules etc., preferably bluetooth module；In the embodiment of the present invention, it is
The device space is saved, gyroscope and accelerometer are integrated component；Controller 2 is microcontroller.
Specifically, in the embodiment of the present invention, controller 2 includes acquiring unit, amending unit, determining unit and judges single
Member, wherein, acquiring unit is used for output signal (i.e. angular velocity information, the acceleration for obtaining gyroscope, accelerometer, magnetometer 4
Information and geomagnetic force information), amending unit is used to melt the angular velocity information, acceleration information and geomagnetic force information progress data
Close, obtain correction motion attitude information, determining unit is used to determine the correction motion attitude information sequence in a period of motion,
Judging unit be used for judge the correction motion attitude information sequence whether with the standard in standard attitude information sequence library
Attitude information sequences match, obtains matching result；Described acquiring unit, amending unit, determining unit and judging unit and sheet
Acquiring unit, amending unit, determining unit and the judging unit that invention device embodiment is provided are corresponded, at each unit data
Reason method is corresponded with the inventive method embodiment, is referred to embodiment of the method, be will not be repeated here；
Accelerometer and magnetometer can measure acceleration of gravity and earth's magnetic field (magnetic force) the two trivectors respectively, expand
The characteristics of Kalman filtering can combine this several sensor is opened up, forecast updating is made with the angular speed that gyroscope measurement is obtained, with
Acceleration of gravity and magnetic field observation update, and obtain the attitude information of higher precision；
Referring to Fig. 7, in use, ankle pump motion monitoring system is worn on user's pin, with the motion of patient, each sensing
Device carries out AD collections to user action, and carries out mean filter, and filtered nine number of axle is transferred into micro-control according to by I2C modes
Device processed, microcontroller carries out attitude algorithm using data and matched with action recognition, finally sends out matching result by bluetooth module
Deliver to mobile phone.
Ankle pump motion monitoring system provided in an embodiment of the present invention, is used by gyroscope, accelerometer, the monitoring of magnetometer 4
The real-time attitude information of family ankle pump motion, the athletic posture information sequence in a period of motion is determined according to real-time attitude information
Row, and by the standard movement attitude information sequence alignment in athletic posture information sequence and standard database, judge that user is carried out
The motion of ankle pump whether meet the requirements, and will determine that result is sent to terminal device, terminal user is recognized ankle in time
The motion state of the monitoring system user of pump motion, when terminal user is patient, makes patient in not external guidance
In the case of can voluntarily adjust exercise attitudes, save medical personnel's cost of human resources；When terminal user is doctor, doctor
Life can understand user's ankle pump motion conditions in time；
Ankle pump movement detection systems provided in an embodiment of the present invention can be realized by miniature electric component, compact easily to wear
Wear, meet the actual demand of postoperative patient, and do not need accurate mechanical structure, reduce machining cost.
Further to realize in the compact words of system, the embodiment of the present invention, controller 2, gyroscope, accelerometer, magnetic force
Meter 4 and/or communication module 5 are integrated on circuit boards.
In the alternative embodiment of the present invention, ankle pump movement detection systems also include the display screen being fixed on housing 7,
The display screen is connected with controller 2, the matching result drawn for display controller 2.By setting display screen, it is easy to user
Intuitively obtain matching result.Correspondingly, controller 2 can also include data processing unit in the embodiment of the present invention, for uniting
Multiple matching results of meter user draw characteristics of motion information, wherein, when the multiple matching result includes same user difference
Between section multiple matching results, the characteristics of motion can include same user the characteristics of motion in different time sections, such as dynamic
Make completion number of times, action accuracy rate etc.；In other embodiments, the multiple matching result can also be same including different user
Multiple matching results of period etc., the present invention is not limited.By the counting user characteristics of motion, it is easy to user to understand oneself rank
Section property motion conditions.
In the alternative embodiment of the present invention, ankle pump movement detection systems also include the input dress being connected with controller 2
Put, the input unit is used for the information for obtaining user's input.The information of user's input can include the identity knowledge that user inputs
Other code, motion clocking information etc..By input unit, human-computer interaction is enhanced, makes system more hommization, personalization, carries
High user satisfaction.In one embodiment, the display screen is additionally operable to show user's classification information, correspondingly, described
Input unit is used for the user's classification information for obtaining user's input.Controller 2 also has selecting unit, for being inputted according to user
Classification information select corresponding standard attitude information database.
In the alternative embodiment of the present invention, ankle pump movement detection systems also include the voice being connected with the controller
Broadcast device, the sound broadcasting device is used to report the matching result.By setting sound broadcasting device to report matching knot
Really, user is made, without specially checking that display screen would know that current kinetic situation, to improve user satisfaction in motion process,
And measuring system is can be used for the user for having vision disorder, expand and use scope.Further, controller 2 also includes timing
Unit, input unit user obtains the clocking information of user's input, and the timing unit is used to send when reaching timing time
Control instruction is reminded, the sound broadcasting device is additionally operable to according to the prompting control instruction, is sent timing and is terminated prompting message,
In order to which user is moved according to preset duration.
A kind of terminal device, including communication module and display module, the communication mould are additionally provided in the embodiment of the present invention
Block is used to obtain matching result information, and the matching result packet contains matching result, and the matching result is by according to angular speed
User's attitude information that information, acceleration information and geomagnetic force information are determined matches gained with standard attitude information；The display mould
Block, for showing the matching result.
Specifically, in the embodiment of the present invention, matching result information can also include the information such as user's mark, run duration,
The present invention is not limited；Terminal device can include mobile phone, notebook computer, intelligent television, pad etc., and the present invention is not limited.
Terminal device provided in an embodiment of the present invention by obtain ankle pump movement detection systems send matching result information,
User's ankle pump motion conditions can be understood in time, when terminal user is patient, make patient in the situation of not external guidance
Under can voluntarily adjust exercise attitudes, save medical personnel's cost of human resources；When terminal user is doctor, Yi Shengneng
User's ankle pump motion conditions are understood in time；
In an alternative embodiment, the matching result information also includes temporal information, and the terminal device also includes place
Module is managed, for carrying out data processing to the matching result information, matching result and the corresponding relation of time is obtained, in order to
Motion conditions of the counting user within a period of time.Further, the matching result information also includes user's mark, the end
End equipment also includes processing module, for carrying out data processing to the matching result information, obtains matching result and user
Corresponding relation, in order to count the different motion situation of different user.
Unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.Described specific embodiment is only pair
Spirit explanation for example of the invention.The personnel of the technical field of the invention can do different repair to described specific embodiment
Change or supplement or replaced using similar mode, but spirit without departing from the present invention or surmount appended claims and defined
Scope.
Unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (10)
1. a kind of ankle pump motion monitoring method, it is characterised in that including：
Obtain user's real time kinematics attitude information, the real time kinematics attitude information include angular velocity information, acceleration information and
Geomagnetic force information；
The angular velocity information, acceleration information and geomagnetic force information are subjected to data fusion, correction motion attitude information is obtained；
Determine the correction motion attitude information sequence in a period of motion；
Judge the correction motion attitude information sequence whether with the standard attitude information in standard attitude information sequence library
Sequences match, obtains matching result；
The matching result is sent and/or shows, to prompt the user whether to continue to continue according to current action to move.
2. ankle pump method for testing motion according to claim 1, it is characterised in that the angular velocity information includes three shaft angles
Speed, the acceleration information includes 3-axis acceleration, and the geomagnetic force information includes three axle magnetic force, described to believe the angular speed
Breath, acceleration information and geomagnetic force information carry out data fusion, obtain correction motion attitude information, including：
Using quaternary number and the axle zero offset error of gyro three as state variable, using the 3-axis acceleration and the three axles magnetic force as
Observational variable, the state-transition matrix and observational equation of EKF are built according to the state variable, observational variable
Matrix；
State variable predicted value and observation are obtained according to the state-transition matrix and observational equation matrix；
Compensation is modified to the state variable predicted value according to the observation, with real-time update quaternary number and the axle of gyro three
Zero offset error；
Attitude algorithm for SINS is carried out according to the quaternary number of renewal and the axle zero offset error of gyro three, correction motion attitude information is obtained.
3. ankle pump method for testing motion according to claim 1, it is characterised in that the judgement correction motion posture
Information sequence whether with the standard attitude information sequences match in standard attitude information sequence library, including：
By each standard attitude information sequence in the correction motion attitude information sequence and standard attitude information sequence library
Be compared, it is determined that with the immediate standard attitude information sequence of the correction motion attitude information sequence；
Judge whether the difference of the correction motion attitude information sequence and the immediate standard attitude information sequence meets
Threshold value；
If meeting, matching result is the correction motion attitude information sequence and standard attitude information sequences match；
If it is not satisfied, then matching result is that the correction motion attitude information sequence is mismatched with standard attitude information sequence.
4. ankle pump method for testing motion according to claim 1, it is characterised in that also include, sets up and stores standard appearance
State information sequence database.
5. ankle pump method for testing motion according to claim 4, it is characterised in that set up standard attitude information sequence data
Storehouse, including：
Obtain the attitude information sequence samples in multiple periods of motion；
Calculate the distortion factor between sample two-by-two；
According to the distortion factor, multiple samples of acquisition are divided into several subsets；
Using the average value of each subset as standard attitude information sequence, standard attitude information sequence library is set up.
6. ankle pump method for testing motion according to claim 3, it is characterised in that described to believe the correction motion posture
Breath sequence is compared with each standard attitude information sequence in standard attitude information sequence library, including：
Based on bellman principle, using DTW algorithms by the correction motion attitude information sequence respectively with each standard posture
Information sequence is compared.
7. ankle pump method for testing motion according to claim 6, it is characterised in that based on bellman principle, calculated using DTW
The correction motion attitude information sequence and the standard attitude information sequence are compared method, including：
The standard attitude information sequence is neutralized according to the correction motion attitude information sequence and sets up two-dimensional Cartesian coordinate system；
The initial point of the two-dimensional Cartesian coordinate system is solved to the beeline of terminal according to formula (1)：
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Wherein：
ikFor k-th of standard attitude information in the standard attitude information sequence；
jkFor k-th of athletic posture information in the correction motion attitude information sequence；
Dmin(ik,jk) it is the node (i that the two-dimensional Cartesian coordinate system is reached by initial pointk,jk) beeline；
Dmin(ik-1, jk-1) it is the node (i that the two-dimensional Cartesian coordinate system is reached by initial pointk-1,jk-1) beeline；
d(ik, jk|ik-1, jk-1) it is by node (ik-1,jk-1) arrive node (ik,jk) transfer distance.
8. a kind of ankle pump sport monitoring device, it is characterised in that including：
Acquiring unit, for obtaining user's real time kinematics attitude information, the real time kinematics attitude information include angular velocity information,
Acceleration information and geomagnetic force information；
Amending unit, for the angular velocity information, acceleration information and geomagnetic force information to be carried out into data fusion, obtains amendment fortune
Dynamic attitude information；
Determining unit, for determining the correction motion attitude information sequence in a period of motion；
Judging unit, for judge the correction motion attitude information sequence whether with standard attitude information sequence library
Standard attitude information sequences match, obtains matching result；
Send and/or display unit, for sending and/or showing the matching result, with prompt the user whether continue according to work as
Preceding action continues to move.
9. ankle pump motion detection apparatus according to claim 8, it is characterised in that the angular velocity information includes three shaft angles
Speed, the acceleration information includes 3-axis acceleration, and the geomagnetic force information includes three axle magnetic force, and the amending unit is used for：
Using quaternary number and the axle zero offset error of gyro three as state variable, using the 3-axis acceleration and the three axles magnetic force as
Observational variable, the state-transition matrix and observational equation of EKF are built according to the state variable, observational variable
Matrix；
State variable predicted value and observation are obtained according to the state-transition matrix and observational equation matrix；
Compensation is modified to the state variable predicted value according to the observation, with real-time update quaternary number and the axle of gyro three
Zero offset error；
Attitude algorithm for SINS is carried out according to the quaternary number of renewal and the axle zero offset error of gyro three, correction motion attitude information is obtained.
10. ankle pump motion detection apparatus according to claim 8, it is characterised in that the judging unit is used for：
By each standard attitude information sequence in the correction motion attitude information sequence and standard attitude information sequence library
Be compared, it is determined that with the immediate standard attitude information sequence of the correction motion attitude information sequence；
Judge the difference of the correction motion attitude information sequence and the immediate standard attitude information sequence
Whether threshold value is met；
If meeting, matching result is the correction motion attitude information sequence and standard attitude information sequences match；
If it is not satisfied, then matching result is that the correction motion attitude information sequence is mismatched with standard attitude information sequence.
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| CN113397528A (en) * | 2020-03-16 | 2021-09-17 | 深圳市大耳马科技有限公司 | Ankle pump movement assessment method, device and system |
| CN112516534A (en) * | 2020-10-30 | 2021-03-19 | 深圳市联新移动医疗科技有限公司 | Non-contact ankle pump action effectiveness detection method and system and storage medium |
| CN112516533A (en) * | 2020-10-30 | 2021-03-19 | 深圳市联新移动医疗科技有限公司 | Non-contact ankle pump action standard reaching reminding method and system and storage medium |
| CN112535474A (en) * | 2020-11-11 | 2021-03-23 | 西安交通大学 | Lower limb movement joint angle real-time prediction method based on similar rule search |
| CN114459466A (en) * | 2021-12-29 | 2022-05-10 | 宜昌测试技术研究所 | MEMS multi-sensor data fusion processing method based on fuzzy control |
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| CN116211290B (en) * | 2023-02-20 | 2024-01-30 | 汕头大学 | Ankle pump movement posture monitoring and evaluating method and system |
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