阅读说明：本技术 智能健康老年鞋 (Intelligent healthy shoes for old people ) 是由 宋雅伟 王占星 胡能建 于 2020-11-09 设计创作，主要内容包括：本发明涉及一种智能健康老年鞋,包括鞋体和位于鞋体外部的中心设备,鞋体内设有压力鞋垫和无线微控制板；压力鞋垫设有一组压力传感器；无线微控制板具有传感器分压电路、惯性测量模块、无线微控制模块以及电源模块；压力传感器分别与传感器分压电路电连接；传感器分压电路、惯性测量模块、电源模块分别与无线微控制模块电连接；无线微控制模块与中心设备无线通信连接。本发明的智能健康老年鞋借助传感器对老年人的步态进行监测并分析,能在恰当时机发出跌倒预警、跌倒警报,设计巧妙,结构简洁,便于携带,易于使用。(The invention relates to an intelligent healthy old-age shoe, which comprises a shoe body and central equipment positioned outside the shoe body, wherein a pressure insole and a wireless micro-control board are arranged in the shoe body; the pressure insole is provided with a group of pressure sensors; the wireless micro-control board is provided with a sensor voltage division circuit, an inertia measurement module, a wireless micro-control module and a power supply module; the pressure sensors are respectively electrically connected with the sensor voltage division circuits; the sensor voltage division circuit, the inertia measurement module and the power supply module are respectively and electrically connected with the wireless micro control module; the wireless micro-control module is in wireless communication connection with the central equipment. The intelligent healthy old-age shoe monitors and analyzes the gait of the old by the aid of the sensor, can send out early warning and warning of falling down at proper time, and is ingenious in design, simple in structure, convenient to carry and easy to use.)

1. An intelligent healthy old-age shoe comprises a shoe body and a central device positioned outside the shoe body, and is characterized in that a pressure insole and a wireless micro-control board are arranged in the shoe body; the pressure insole is provided with a group of pressure sensors; the wireless micro-control board is provided with a sensor voltage division circuit, an inertia measurement module, a wireless micro-control module and a power supply module; the pressure sensors are respectively electrically connected with the sensor voltage division circuits; the sensor voltage division circuit, the inertia measurement module and the power supply module are respectively and electrically connected with the wireless micro control module; the wireless micro control module is in wireless communication connection with the central equipment.

2. The intelligent healthy elderly shoe of claim 1, wherein the pressure sensor comprises first to eighth pressure sensors;

the first pressure sensor is located below a first phalanx of the foot; the second pressure sensor is positioned below the first metatarsal joint of the foot; the third pressure sensor is located below the second metatarsal joint of the foot; the fourth pressure sensor is located below the fifth metatarsal of the foot; the fifth pressure sensor is positioned below the inner side of the arch of the foot; the sixth pressure sensor is positioned below the outer side of the arch of the foot; the seventh pressure sensor is positioned below the medial side of the heel of the foot; the eighth pressure sensor is located under the outside of the heel of the foot.

3. The intelligent healthy old-age shoe as claimed in claim 1, wherein a through hole is arranged in the middle of the pressure insole, a groove is arranged at the bottom of the shoe body, the through hole corresponds to the groove, and the wireless micro-control board is positioned in the through hole and the groove; the pressure sensor adopts a film pressure sensor.

4. The intelligent healthy elderly shoe of claim 1, wherein the sensor voltage divider circuit has an ADC module, and the inertial measurement module has an inertial sensor; the controlled end of the ADC module and the controlled end of the inertial sensor are respectively connected with the control end of the wireless micro-control module; the data output end of the ADC module and the data output end of the inertial sensor are respectively connected with the data end of the wireless micro-control module; the wireless micro-control module is provided with a main controller and an acquisition controller;

the wireless micro control board is provided with an acquisition state; when the wireless micro-control board is in an acquisition state, the wireless micro-control module firstly carries out initialization configuration on the inertial sensor, then sets a start flag bit and periodically triggers a cycle action by utilizing a real-time clock; the cyclic action is composed of S1 to S5 performed in sequence:

s1, setting a start flag bit by an acquisition controller of the wireless micro-control module, and starting timing by using a real-time clock;

s2, setting the sampling time and the triggering mode of the ADC module according to a preset value by an acquisition controller of the wireless micro-control module;

s3, the ADC module collects and converts the voltage signals of each pressure sensor, and then transmits the voltage signals to the collection controller of the wireless micro control module;

s4, acquiring data of the inertial sensor by an acquisition controller of the wireless micro-control module;

s5, the acquisition controller of the wireless micro-control module sends all data and the ALERT interrupt signal to the main controller together to inform the main controller of the follow-up processing; and the acquisition controller of the wireless micro-control module judges whether to finish the circulation, if so, the circulation action is finished, and if not, the step goes to S1 when the real-time clock reaches a preset value.

5. The intelligent healthy elderly shoe of claim 4, wherein the inertial sensor has an accelerometer and a gyroscope; the initial configuration of the inertial sensor comprises: setting the maximum measuring range and the filtering parameters of the accelerometer and the gyroscope;

the inertial sensor has a register; acquiring data of the inertial sensor includes: reading 3-axis acceleration data and 3-axis angular velocity data from a register of an inertial sensor;

the ADC module repeats the acquisition action of the voltage signals of each pressure sensor for 4 times, and the acquisition controller of the wireless micro-control module repeats the acquisition action of the data of the inertial sensor for 4 times;

the acquisition controller of the wireless micro-control module firstly stores all data in a predefined output structure type variable and then sends the data to the main controller.

6. The intelligent healthy old-age shoe as claimed in claim 4, wherein the wireless micro-control module is provided with a Bluetooth communication module, and the master controller is in wireless communication connection with the central device through the Bluetooth communication module; the master controller is provided with a timer and a buffer;

the wireless micro control board has a data sending state; when the wireless micro control board is in a data sending state, the master controller of the wireless micro control module firstly creates a slave task and initializes the task, then enters a state of broadcasting to the outside through the Bluetooth communication module, then circularly transmits data after the Bluetooth communication module is successfully connected with the central equipment, and then enters a state of broadcasting to the outside again after the Bluetooth communication module is disconnected with the central equipment; the data transmission action is composed of T1 to T4:

t1, setting interrupt by the main controller of the wireless micro control module to respond to the ALERT interrupt signal;

t2, when the acquisition controller sends an ALERT interrupt signal to trigger the interrupt, the main controller reads the data of all the sensors from the data sent by the acquisition controller and calculates the data, and then caches the calculated data to the buffer;

t3, the master controller sends the cached data to the central device through the Bluetooth communication module;

t4, the main controller delays time by using a timer and then turns to T1.

7. The intelligent healthy elderly shoe of claim 6, wherein the task initialization comprises: the method comprises the steps of initializing configuration of a Bluetooth communication module, initializing a timer, adding a GATT and binding services, initializing a control interface of an acquisition controller and setting acquisition frequency of the acquisition controller;

in T1, the master sets an interrupt while registering an ALERT interrupted callback function;

in T2, the master controller calculates an average value from N acquired values during calculation, and performs primary buffering on the average value, where N is a preset value and is a positive integer;

in T3, when the number of times of caching the mean value reaches M times, the master controller sends cached data to the central device through a feature value having a Notify attribute, where M is a preset value and is a positive integer;

the wireless micro-control module is also provided with an LED indicator light, and the controlled end of the LED indicator light is connected with the control end of the main controller; after the task is initialized, the LED indicator light flashes at a first frequency, after the Bluetooth communication module is successfully connected with the central equipment, the LED indicator light flashes at a second frequency, after the Bluetooth communication module is disconnected with the central equipment, the LED indicator light flashes at the first frequency, and the first frequency is greater than the second frequency.

8. The intelligent healthy old-age shoe as claimed in claim 6, wherein the central device is provided with a Bluetooth device, a controller, a memory and a touch display screen, and the controller is electrically connected with the Bluetooth device, the memory and the touch display screen respectively;

the central equipment has a data receiving and displaying state; when the central equipment is in a data receiving and displaying state, the controller of the central equipment searches the Bluetooth communication module of the wireless micro control board through the Bluetooth device and establishes communication connection, receives data sent by the Bluetooth communication module of the wireless micro control board, draws a data graph according to the data and displays the data graph on the touch display screen, stores the current data in the memory when the storage option state displayed on the touch display screen is storage, and then enters the state of searching the Bluetooth communication module of the wireless micro control board again after the Bluetooth device is disconnected with the Bluetooth communication module of the wireless micro control board.

9. The intelligent healthy old-age shoe as claimed in claim 8, wherein the central device is provided with an alarm module, a GPS module and a wireless network communication module, and the controller is electrically connected with the alarm module, the GPS module and the wireless network communication module respectively;

the central equipment has falling early warning and alarming states; the fall early warning and alarming state is based on a data receiving and displaying state;

when the central equipment is in a falling early warning and alarming state, the controller of the central equipment analyzes the gait of the wearer according to the received data and obtains analysis results, wherein the analysis results comprise normal gait, tendency of the gait to fall and falling; when the analysis result shows that the gait tends to fall, the controller controls the alarm module to send out an early warning reminding signal and sends the current position data of the GPS module to external preset receiving equipment through the wireless network communication module; when the analysis result shows that the vehicle falls down, the controller controls the alarm module to send out an alarm reminding signal and sends the current position data of the GPS module to external preset receiving equipment through the wireless network communication module; the early warning reminding signal is different from the alarm reminding signal.

10. The intelligent healthy elderly shoe of claim 9, wherein the controller analyzes the received data according to an embedded gait analysis model; the gait analysis model comprises a falling tendency judgment model and a falling judgment model;

the fall tendency judgment model adopts a nonlinear time series analysis method, firstly adjusts the maximum Lyapunov index under normal gait to be 0, and then calculates the maximum Lyapunov index according to the data received by the controller and takes the maximum Lyapunov index as a judgment basis; when the maximum Lyapunov index is less than or equal to 0, judging that the result is normal gait; when the maximum Lyapunov index is larger than 0, judging that the gait tends to fall, wherein the tendency degree is increased along with the increase of the maximum Lyapunov index;

the falling judgment model adopts a plantar pressure center trajectory analysis method, takes a plantar pressure center trajectory under normal gait as a reference, and takes the proportion of the current plantar pressure center trajectory deviating from the reference as a judgment basis; when the proportion is less than 10%, judging that the result is not fallen down; when the proportion is more than or equal to 10%, judging that the person falls down;

the controller judges whether the user falls or not according to the falling judgment model during analysis, and if the user does not fall, the user continues to judge according to the falling tendency judgment model.

Technical Field

The invention relates to an intelligent healthy old-aged shoe, and belongs to the technical field of old-aged health auxiliary equipment.

Background

According to the knowledge of the applicant, with the aging of population and the increase of empty nester, the problem that the elderly are easy to have sudden situations becomes one of social problems which are widely concerned, especially in the aspect of the research of the falling problem of the elderly, 21% -23% of the elderly in the community above 65 years old in China fall, and the falling incidence rate of women is as high as 43% -44%. The most serious injury of the old people caused by falling is hip fracture, the expected life span after the hip fracture is reduced by 10% -15%, and the life quality is also obviously reduced, the old people with 1/4 hip fracture die within 6 months, and the falling becomes the first cause of injury and death of the old people over 65 years old in China. The falling of the old people brings burden to the old people and families, and is also accompanied with a series of social problems (such as the problem that the old people fall and cannot hold up).

With the gradual understanding of people on the serious consequences of the old falling, the intelligent monitoring system for the old becomes a research hotspot in foreign developed countries, and the research on falling detection systems is more and more^[1-5]. The problem that the old people are prone to sudden situations becomes one of social problems which are widely concerned at the present stage. Blake borough's fall detector based on the detection of floor vibrations in a room in 2003, which is used to determine fall incidents based on floor vibration information, must be placed on the floor when in use, is not portable, and the user must be near the detector; secondly, when a fall event occurs, the vibration information obtained by the floors made of different materials is different, so that the falling algorithm has no universality^[6]. In 2004, a.six smith and n.johnson developed infrared detector based devices SIMBAD^[7]Such detectors based on infrared signals and image information are expensive to develop; the non-portable type can only detect falling incidents indoors, and limits the range of motion of the wearer. In addition to the above methods, most researchers tend to use acceleration sensors to make fall detection devices because the detectors of the acceleration sensors are relatively low in cost and portable. Doughty^[8]Experimental evaluation was performed on 20 volunteers, and 180 different fall patterns were detected. Lindeman^[9]A three-dimensional accelerometer sensor was implanted behind the human ear lobe and 3 thresholds were given for fall: the sum of the acceleration vectors of the XY plane is higher than 2 g; the sum of the velocity vectors in the three-dimensional direction of the space is higher than 0.7m/s when approaching collision; IIIThe sum of the dimensional space acceleration vectors is greater than 6 g. Mathie uses a large number of parameters including inclination angle, acceleration magnitude, duration of a posture, metabolic energy and sequential physical activity, and the system can successfully distinguish between active and resting states with a sensitivity higher than 98% and an accuracy between 88% and 94%^[10]. At present, foreign markets have more warning devices for the old falling, but the warning devices for the old falling are still fewer, such as: amber series products of VISONIC (Winsonsic) company of Israel, through the research to the human posture automatic detection algorithm, utilize the detection principle of the acceleration transducer, fall the signal to alarm through the short message mode of the mobile phone in the human body, the main function of the system is that the emergency alarm appears and can pass the emergency alarm of the carry-on wireless button or host computer key set; after the falling detector is selected and matched for falling alarm, if the family falls accidentally, the system can immediately find and automatically alarm; the non-activity emergency alarm can send out alarm information if the family relatives are found not to have activity signs for a long time (such as morning, afternoon break and the like, and the time is self-determined). An automatic feedback system developed by American scientists distinguishes falling events from other events by using a signal processing and pattern recognition algorithm based on floor vibration and sound sensing, and is designed by automatically monitoring the falling probability of old people under the condition that the old people are unconscious or in a stressful environment so as to remind the old people of paying attention to falling.

Domestic old person alarm system that tumbles mainly relies on wireless communication equipment such as cell-phone to report to the police, if: the human body falling alarm produced by the Zhongxing monitoring can automatically detect the motion state of the human body, and when the old falls, the old can manually or automatically send an alarm short message to a mobile phone of a designated guardian through GSM or GPRS by a system; the device integrates a GPRS positioning system, and effectively positions and tracks the action area of the old, and automatically sends a short message to a mobile phone of a guardian when the old falls down by detecting the action monitoring of the old, and the old can also give an alarm manually when the old feels uncomfortable.

Through the comparison of the early warning equipment for the old people falling at home and abroad, the following conclusion can be obtained: the research on the fall of the old at home and abroad is only limited to the research on the fall alarm device, but the domestic research focuses on different points, and the foreign advanced degree is higher than that in the domestic: the research in China is only limited to monitoring the actions of the old through positioning and tracking, and the precision and the accuracy are higher, but the cost is high and the old is not easy to carry because various acceleration sensors are used for detecting the physical activities of the old abroad through a floor detector and an infrared detector.

Disclosure of Invention

The invention aims to: to the problems in the prior art, the intelligent healthy old-aged shoe is provided, and the falling early warning and falling alarm are realized by monitoring the gait of a wearer.

The technical scheme for solving the technical problems of the invention is as follows:

an intelligent healthy old-age shoe comprises a shoe body and a central device positioned outside the shoe body, and is characterized in that a pressure insole and a wireless micro-control board are arranged in the shoe body; the pressure insole is provided with a group of pressure sensors; the wireless micro-control board is provided with a sensor voltage division circuit, an inertia measurement module, a wireless micro-control module and a power supply module; the pressure sensors are respectively electrically connected with the sensor voltage division circuits; the sensor voltage division circuit, the inertia measurement module and the power supply module are respectively and electrically connected with the wireless micro control module; the wireless micro control module is in wireless communication connection with the central equipment.

In the structure, the shoe body is worn by a wearer, and the central equipment is carried by the wearer; the pressure sensors of the pressure insole are distributed on the sole to collect the pressure distribution of the sole in real time, the wireless micro-control board sends the pressure distribution data of the sole and the inertia measurement data to the central equipment, the central equipment displays a data diagram, analyzes the gait of a wearer and sends out early warning or warning of falling according to the analysis result.

The technical scheme of the invention is further perfected as follows:

preferably, the pressure sensor includes first to eighth pressure sensors;

the first pressure sensor is located below a first phalanx of the foot; the second pressure sensor is positioned below the first metatarsal joint of the foot; the third pressure sensor is located below the second metatarsal joint of the foot; the fourth pressure sensor is located below the fifth metatarsal of the foot; the fifth pressure sensor is positioned below the inner side of the arch of the foot; the sixth pressure sensor is positioned below the outer side of the arch of the foot; the seventh pressure sensor is positioned below the medial side of the heel of the foot; the eighth pressure sensor is located under the outside of the heel of the foot.

By adopting the preferable scheme, the distribution of the pressure sensors can be further optimized, so that the plantar pressure can be better acquired.

Preferably, the middle part of the pressure insole is provided with a through hole, the bottom of the shoe body is provided with a groove, the through hole corresponds to the groove, and the wireless micro-control board is positioned in the through hole and the groove; the pressure sensor adopts a film pressure sensor.

With this preferred solution, the details of the pressure insole can be further optimized.

Preferably, the sensor voltage divider circuit has an ADC module, and the inertial measurement module has an inertial sensor; the controlled end of the ADC module and the controlled end of the inertial sensor are respectively connected with the control end of the wireless micro-control module; the data output end of the ADC module and the data output end of the inertial sensor are respectively connected with the data end of the wireless micro-control module; the wireless micro-control module is provided with a main controller and an acquisition controller;

the wireless micro control board is provided with an acquisition state; when the wireless micro-control board is in an acquisition state, the wireless micro-control module firstly carries out initialization configuration on the inertial sensor, then sets a start flag bit and periodically triggers a cycle action by utilizing a real-time clock; the cyclic action is composed of S1 to S5 performed in sequence:

s1, setting a start flag bit by an acquisition controller of the wireless micro-control module, and starting timing by using a real-time clock;

s2, setting the sampling time and the triggering mode of the ADC module according to a preset value by an acquisition controller of the wireless micro-control module;

s3, the ADC module collects and converts the voltage signals of each pressure sensor, and then transmits the voltage signals to the collection controller of the wireless micro control module;

s4, acquiring data of the inertial sensor by an acquisition controller of the wireless micro-control module;

s5, the acquisition controller of the wireless micro-control module sends all data and the ALERT interrupt signal to the main controller together to inform the main controller of the follow-up processing; and the acquisition controller of the wireless micro-control module judges whether to finish the circulation, if so, the circulation action is finished, and if not, the step goes to S1 when the real-time clock reaches a preset value.

More preferably, the inertial sensor has an accelerometer and a gyroscope; the initial configuration of the inertial sensor comprises: setting the maximum measuring range and the filtering parameters of the accelerometer and the gyroscope;

the inertial sensor has a register; acquiring data of the inertial sensor includes: reading 3-axis acceleration data and 3-axis angular velocity data from a register of an inertial sensor;

the ADC module repeats the acquisition action of the voltage signals of each pressure sensor for 4 times, and the acquisition controller of the wireless micro-control module repeats the acquisition action of the data of the inertial sensor for 4 times;

the acquisition controller of the wireless micro-control module firstly stores all data in a predefined output structure type variable and then sends the data to the main controller.

By adopting the preferred scheme, the acquisition function of the wireless micro-control board can be further optimized, so that the acquisition is faster and the accuracy is ensured.

Preferably, the wireless micro-control module is provided with a Bluetooth communication module, and the main controller is in wireless communication connection with the central equipment through the Bluetooth communication module; the master controller is provided with a timer and a buffer;

the wireless micro control board has a data sending state; when the wireless micro control board is in a data sending state, the master controller of the wireless micro control module firstly creates a slave task and initializes the task, then enters a state of broadcasting to the outside through the Bluetooth communication module, then circularly transmits data after the Bluetooth communication module is successfully connected with the central equipment, and then enters a state of broadcasting to the outside again after the Bluetooth communication module is disconnected with the central equipment; the data transmission action is composed of T1 to T4:

t1, setting interrupt by the main controller of the wireless micro control module to respond to the ALERT interrupt signal;

t2, when the acquisition controller sends an ALERT interrupt signal to trigger the interrupt, the main controller reads the data of all the sensors from the data sent by the acquisition controller and calculates the data, and then caches the calculated data to the buffer;

t3, the master controller sends the cached data to the central device through the Bluetooth communication module;

t4, the main controller delays time by using a timer and then turns to T1.

More preferably, the task initialization includes: the method comprises the steps of initializing configuration of a Bluetooth communication module, initializing a timer, adding a GATT and binding services, initializing a control interface of an acquisition controller and setting acquisition frequency of the acquisition controller;

in T1, the master sets an interrupt while registering an ALERT interrupted callback function;

in T2, the master controller calculates an average value from N acquired values during calculation, and performs primary buffering on the average value, where N is a preset value and is a positive integer;

in T3, when the number of times of caching the mean value reaches M times, the master controller sends cached data to the central device through a feature value having a Notify attribute, where M is a preset value and is a positive integer;

the wireless micro-control module is also provided with an LED indicator light, and the controlled end of the LED indicator light is connected with the control end of the main controller; after the task is initialized, the LED indicator light flashes at a first frequency, after the Bluetooth communication module is successfully connected with the central equipment, the LED indicator light flashes at a second frequency, after the Bluetooth communication module is disconnected with the central equipment, the LED indicator light flashes at the first frequency, and the first frequency is greater than the second frequency.

By adopting the preferable scheme, the data transmission function of the wireless micro-control board can be further optimized. Wherein, GATT refers to Generic Attribute Profile, i.e. Generic Attribute protocol.

Preferably, the central device is provided with a bluetooth device, a controller, a memory and a touch display screen, wherein the controller is electrically connected with the bluetooth device, the memory and the touch display screen respectively;

the central equipment has a data receiving and displaying state; when the central equipment is in a data receiving and displaying state, the controller of the central equipment searches the Bluetooth communication module of the wireless micro control board through the Bluetooth device and establishes communication connection, receives data sent by the Bluetooth communication module of the wireless micro control board, draws a data graph according to the data and displays the data graph on the touch display screen, stores the current data in the memory when the storage option state displayed on the touch display screen is storage, and then enters the state of searching the Bluetooth communication module of the wireless micro control board again after the Bluetooth device is disconnected with the Bluetooth communication module of the wireless micro control board.

By adopting the preferred scheme, the data receiving and displaying functions of the central equipment can be further optimized, and the data can be stored locally for later viewing when the user selects to store the data.

Preferably, the central device is provided with an alarm module, a GPS module and a wireless network communication module, and the controller is electrically connected with the alarm module, the GPS module and the wireless network communication module respectively;

the central equipment has falling early warning and alarming states; the fall early warning and alarming state is based on a data receiving and displaying state;

when the central equipment is in a falling early warning and alarming state, the controller of the central equipment analyzes the gait of the wearer according to the received data and obtains analysis results, wherein the analysis results comprise normal gait, tendency of the gait to fall and falling; when the analysis result shows that the gait tends to fall, the controller controls the alarm module to send out an early warning reminding signal and sends the current position data of the GPS module to external preset receiving equipment through the wireless network communication module; when the analysis result shows that the vehicle falls down, the controller controls the alarm module to send out an alarm reminding signal and sends the current position data of the GPS module to external preset receiving equipment through the wireless network communication module; the early warning reminding signal is different from the alarm reminding signal.

More preferably, the controller analyzes the received data according to an embedded gait analysis model; the gait analysis model comprises a falling tendency judgment model and a falling judgment model;

the fall tendency judgment model adopts a nonlinear time series analysis method, firstly adjusts the maximum Lyapunov index under normal gait to be 0, and then calculates the maximum Lyapunov index according to the data received by the controller and takes the maximum Lyapunov index as a judgment basis; when the maximum Lyapunov index is less than or equal to 0, judging that the result is normal gait; when the maximum Lyapunov index is larger than 0, judging that the gait tends to fall, wherein the tendency degree is increased along with the increase of the maximum Lyapunov index;

the falling judgment model adopts a plantar pressure center trajectory analysis method, takes a plantar pressure center trajectory under normal gait as a reference, and takes the proportion of the current plantar pressure center trajectory deviating from the reference as a judgment basis; when the proportion is less than 10%, judging that the result is not fallen down; when the proportion is more than or equal to 10%, judging that the person falls down;

the controller judges whether the user falls or not according to the falling judgment model during analysis, and if the user does not fall, the user continues to judge according to the falling tendency judgment model.

By adopting the preferred scheme, the falling early warning and alarming functions of the central equipment can be further optimized.

The intelligent healthy old-age shoe monitors and analyzes the gait of the old by the aid of the sensor, can send out early warning and warning of falling down at proper time, and is ingenious in design, simple in structure, convenient to carry and easy to use.

Drawings

Fig. 1 is a schematic view of the overall structure of embodiment 1 of the present invention.

Fig. 2 is a schematic view of a pressure insole in accordance with embodiment 1 of the present invention.

FIG. 3 is a schematic view of a shoe body according to embodiment 1 of the present invention.

Fig. 4 is a schematic view of a wireless micro-controller board according to embodiment 1 of the present invention.

Fig. 5 is a flow chart of the acquisition state of the wireless micro-control board according to embodiment 1 of the present invention.

Fig. 6 is a flow chart of a data transmission state of the wireless micro-controller board according to embodiment 1 of the present invention.

Fig. 7 is a schematic diagram of a center device in embodiment 1 of the present invention.

Fig. 8 is a flowchart of data receiving and displaying states of the center device in embodiment 1 of the present invention.

Fig. 9 is an exemplary diagram of a display interface of the center device in embodiment 1 of the present invention.

Detailed Description

The invention is described in further detail below with reference to embodiments and with reference to the drawings. The invention is not limited to the examples given.

Example 1

As shown in fig. 1, the intelligent healthy shoes for old people of the embodiment comprise a shoe body and a central device positioned outside the shoe body, wherein a pressure insole and a wireless micro-control board are arranged in the shoe body; the pressure insole is provided with a group of pressure sensors; the wireless micro-control board is provided with a sensor voltage division circuit, an inertia measurement module, a wireless micro-control module and a power supply module; the pressure sensors are respectively electrically connected with the sensor voltage division circuits; the sensor voltage division circuit, the inertia measurement module and the power supply module are respectively and electrically connected with the wireless micro control module; the wireless micro-control module is in wireless communication connection with the central equipment.

As shown in fig. 2, the pressure sensors include first to eighth pressure sensors; the first pressure sensor 1 is located under a first phalanx of the foot; the second pressure sensor 2 is positioned below the first metatarsal joint of the foot; the third pressure sensor 3 is positioned below the second metatarsal joint of the foot; the fourth pressure sensor 4 is located under the fifth metatarsal of the foot; the fifth pressure sensor 5 is positioned under the inner side of the arch of the foot; the sixth pressure sensor 6 is located under the outer side of the arch of the foot; the seventh pressure sensor 7 is located under the medial side of the heel of the foot; an eighth pressure sensor 8 is located under the outer side of the heel of the foot.

As shown in fig. 3, a through hole is arranged in the middle of the pressure insole 12, a groove is arranged at the bottom of the shoe body 11, the through hole corresponds to the groove, and the wireless micro-control board 13 is positioned in the through hole and the groove; the pressure sensor adopts a film pressure sensor.

Specifically, as shown in fig. 4, the sensor voltage dividing circuit has an ADC module, and the inertial measurement module has an inertial sensor; the controlled end of the ADC module and the controlled end of the inertial sensor are respectively connected with the control end of the wireless micro-control module; the data output end of the ADC module and the data output end of the inertial sensor are respectively connected with the data end of the wireless micro-control module; the wireless micro-control module is provided with a main controller and an acquisition controller;

the wireless micro control board has an acquisition state; as shown in fig. 5, when the wireless micro-control board is in the acquisition state, the wireless micro-control module first performs initialization configuration on the inertial sensor, then sets a start flag bit and periodically triggers a cycle action by using a real-time clock; the cyclic operation is composed of S1 to S5 performed in sequence:

s1, setting a start flag bit by an acquisition controller of the wireless micro-control module, and starting timing by using a real-time clock;

s2, setting the sampling time and the triggering mode of the ADC module according to a preset value by an acquisition controller of the wireless micro-control module;

s3, the ADC module collects and converts the voltage signals of each pressure sensor, and then transmits the voltage signals to the collection controller of the wireless micro control module;

s4, acquiring data of the inertial sensor by an acquisition controller of the wireless micro-control module;

s5, the acquisition controller of the wireless micro-control module sends all data and the ALERT interrupt signal to the main controller together to inform the main controller of the follow-up processing; and the acquisition controller of the wireless micro-control module judges whether to finish the circulation, if so, the circulation action is finished, and if not, the step goes to S1 when the real-time clock reaches a preset value.

Wherein the inertial sensor has an accelerometer and a gyroscope; the initial configuration of the inertial sensor comprises: setting the maximum measuring range and the filtering parameters of the accelerometer and the gyroscope;

the inertial sensor has a register; acquiring data of the inertial sensor includes: reading 3-axis acceleration data and 3-axis angular velocity data from a register of an inertial sensor;

the ADC module repeats the acquisition action of the voltage signals of each pressure sensor for 4 times, and the acquisition controller of the wireless micro-control module repeats the acquisition action of the data of the inertial sensor for 4 times;

the acquisition controller of the wireless micro-control module firstly stores all data in the predefined output structure type variable and then sends the data to the main controller.

Specifically, the wireless micro-control module is provided with a Bluetooth communication module, and the main controller is in wireless communication connection with the central equipment through the Bluetooth communication module; the master controller is provided with a timer and a buffer;

the wireless micro control board has a data sending state; as shown in fig. 6, when the wireless micro control board is in a data sending state, the master controller of the wireless micro control module first creates a slave task and initializes the task, and then enters a state of broadcasting to the outside through the bluetooth communication module, and then cyclically performs a data transmission action after the bluetooth communication module is successfully connected with the central device, and then enters a state of broadcasting to the outside again after the bluetooth communication module is disconnected with the central device; the data transmission action is composed of T1 to T4:

t1, setting interrupt by the main controller of the wireless micro control module to respond to the ALERT interrupt signal;

t2, when the acquisition controller sends an ALERT interrupt signal to trigger the interrupt, the main controller reads the data of all the sensors from the data sent by the acquisition controller and calculates the data, and then caches the calculated data to the buffer;

t3, the master controller sends the cached data to the central device through the Bluetooth communication module;

t4, the main controller delays time by using a timer and then turns to T1.

Wherein, the task initialization comprises the following steps: the method comprises the steps of initializing configuration of a Bluetooth communication module, initializing a timer, adding a GATT and binding services, initializing a control interface of an acquisition controller and setting acquisition frequency of the acquisition controller;

in T1, the master sets interrupt and registers callback function of ALERT interrupt at the same time;

in T2, the master controller calculates an average value from the N acquired values during calculation, and performs primary buffering on the average value, where N is a preset value and is a positive integer;

in T3, when the number of times of caching the mean value reaches M times, the master controller sends the cached data to the central device through a feature value having a Notify attribute, where M is a preset value and is a positive integer;

the wireless micro-control module is also provided with an LED indicator light, and the controlled end of the LED indicator light is connected with the control end of the main controller; after the task is initialized, the LED indicator light flashes at a first frequency, after the Bluetooth communication module is successfully connected with the central equipment, the LED indicator light flashes at a second frequency, after the Bluetooth communication module is disconnected with the central equipment, the LED indicator light flashes at the first frequency, and the first frequency is greater than the second frequency.

Specifically, as shown in fig. 7, the central device has a bluetooth device, a controller, a memory, and a touch display screen, and the controller is electrically connected to the bluetooth device, the memory, and the touch display screen respectively;

the central equipment has data receiving and displaying states; as shown in fig. 8, when the central device is in the data receiving and displaying state, the controller of the central device searches the bluetooth communication module of the wireless micro-controller board through the bluetooth device and establishes communication connection, receives data sent by the bluetooth communication module of the wireless micro-controller board, draws a data graph according to the data and displays the data graph on the touch display screen, stores the current data in the memory when the storage option state displayed on the touch display screen is storage, and then enters the state of searching the bluetooth communication module of the wireless micro-controller board again after the bluetooth device is disconnected from the bluetooth communication module of the wireless micro-controller board. The center device display interface is shown in fig. 9, for example.

Specifically, the central equipment is provided with an alarm module, a GPS module and a wireless network communication module, and the controller is electrically connected with the alarm module, the GPS module and the wireless network communication module respectively;

the central equipment has falling early warning and alarming states; the falling early warning and alarming state is based on the data receiving and displaying state;

when the central equipment is in a falling early warning and alarming state, the controller of the central equipment analyzes the gait of the wearer according to the received data and obtains analysis results, wherein the analysis results comprise normal gait, tendency of the gait to fall and falling; when the analysis result shows that the gait tends to fall, the controller controls the alarm module to send out an early warning reminding signal and sends the current position data of the GPS module to external preset receiving equipment through the wireless network communication module; when the analysis result shows that the device falls down, the controller controls the alarm module to send out an alarm reminding signal and sends the current position data of the GPS module to external preset receiving equipment through the wireless network communication module; the early warning alert signal is different from the alarm alert signal. Note: the preset receiving device may be a cell phone of a parent.

The controller analyzes the received data according to the embedded gait analysis model; the gait analysis model comprises a falling tendency judgment model and a falling judgment model;

the fall tendency judgment model adopts a nonlinear time series analysis method, firstly adjusts the maximum Lyapunov index under normal gait to be 0, and then calculates the maximum Lyapunov index according to the data received by the controller and takes the maximum Lyapunov index as a judgment basis; when the maximum Lyapunov index is less than or equal to 0, judging that the result is normal gait; when the maximum Lyapunov index is larger than 0, judging that the gait tends to fall, wherein the tendency degree is increased along with the increase of the maximum Lyapunov index;

the falling judgment model adopts a plantar pressure center trajectory analysis method, takes a plantar pressure center trajectory under normal gait as a reference, and takes the proportion of the current plantar pressure center trajectory deviating from the reference as a judgment basis; when the proportion is less than 10%, judging that the result is not fallen down; when the proportion is more than or equal to 10%, judging that the person falls down;

and when the controller analyzes, whether the user falls down is judged according to the falling judgment model, and if the user does not fall down, the user continues to judge according to the falling tendency judgment model.

When the walking aid is specifically implemented, the old people wear the shoe bodies and carry the central equipment with them, and then can walk outside, if the old people tend to fall or fall during walking, the central equipment can timely send out early warning or alarm for reminding, and simultaneously can send the real-time position of the old people to external preset receiving equipment, so that the old people can be rescued in time.

In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.

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