Walking posture detection method and device, storage medium and head-mounted equipment

Abstract

The invention relates to the technical field of posture detection, and discloses a walking posture detection method and device, a storage medium and a head-mounted device.The method comprises the steps that when it is detected that a user walks, the real-time walking distance and real-time leg projection of the user are determined; determining a real-time leg state of the user based on the real-time leg projection; and detecting the walking posture of the user according to the real-time leg state and the real-time walking distance. As the projections of the legs on the ground are different at different moments when the user walks, the real-time walking distance and the real-time leg projection of the user can be determined when the user walks, and the real-time leg state of the user can be determined according to the real-time leg projection, so that the user can walk more conveniently. And detecting the walking posture of the user based on the real-time leg state and the real-time walking distance. Compared with an existing method which needs to be determined by the user, the method does not need to be determined by the user, simplifies the user determination process, and improves the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of posture detection, and particularly relates to a walking posture detection method and device, a storage medium and a head-mounted device. BACKGROUND

[0002] At present, when existing users correct walking postures (for example, the army conducts training such as marching and goose stepping), in order to determine whether the posture is standard (for example, whether the leg kicking height and the pace reach the standard, and whether the leg is straightened, etc.), a pace line, a sandbag or the like is used to determine by the user himself. However, since the user needs to determine by himself, the determination process is complicated, and the user experience is poor. SUMMARY

[0003] The main purpose of the present application is to provide a walking posture detection method, device, storage medium and head-mounted device, which aims to solve the technical problem that the existing determination process is complicated and the user experience is poor due to the user determining the walking posture by himself.

[0004] To achieve the above purpose, the present application provides a walking posture detection method, which comprises the following steps:

[0005] When the user walks, the real-time walking distance and the real-time leg projection of the user are determined;

[0006] The real-time leg state of the user is determined based on the real-time leg projection;

[0007] The walking posture of the user is detected according to the real-time leg state and the real-time walking distance.

[0008] In an embodiment, the step of determining the real-time leg state of the user based on the real-time leg projection comprises:

[0009] The current walking phase of the user is determined based on the real-time leg projection;

[0010] The real-time leg state of the user is determined according to the current walking phase.

[0011] In an embodiment, the current walking phase is any one of a start phase, a first walking phase, a second walking phase, a third walking phase and an end phase;

[0012] The start phase is a phase in which the user is in a standing state and has not started to move;

[0013] The first walking phase is a phase in which the user starts to move and one of the feet is in a standard state;

[0014] The second walking stage is the stage in which the user lifts their foot and lands, with both feet opening to the same degree;

[0015] The third walking stage is the stage after the user lifts their foot and lands, and the user's body and the user's landed foot are in a vertical line;

[0016] The ending phase is the phase in which the user stops moving and returns to the standing position.

[0017] In one embodiment, the step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance includes:

[0018] Determine the real-time distance from the user's foot to the user's leg in the real-time leg state;

[0019] The user's walking posture is detected based on the real-time distance from the foot and the real-time walking distance.

[0020] In one embodiment, the step of detecting the user's walking posture based on the real-time distance from the foot and the real-time walking distance includes:

[0021] Obtain the historical distance from the foot and the historical walking distance corresponding to each historical walking stage before the current walking stage;

[0022] The real-time curve coefficients are determined based on the real-time foot distance, the real-time walking distance, each of the historical foot distances, and each of the historical walking distances, and the real-time walking curve of the user is constructed based on the real-time curve coefficients.

[0023] The user's walking posture is detected based on the real-time walking curve and the user's preset walking curve.

[0024] In one embodiment, the real-time walking curve is:

[0025] y = ax 2 +b;

[0026] Where y is the distance from the foot corresponding to each walking stage, x is the walking distance corresponding to each walking stage, and a and b are real-time curve coefficients.

[0027] In one embodiment, after the step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance, the method further includes:

[0028] The initial distance off the ground is determined based on the current walking stage and the real-time distance off the feet.

[0029] The user's real-time step height is determined based on the initial distance off the ground and the real-time distance off the foot.

[0030] In one embodiment, after the step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance, the method further includes:

[0031] Determine the user's real-time walking duration;

[0032] The user's real-time walking speed is determined based on the real-time walking duration and the real-time walking distance.

[0033] In one embodiment, after the step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance, the method further includes:

[0034] The initial distance off the ground is determined based on the current walking stage and the real-time distance off the feet.

[0035] The user's real-time step height is determined based on the initial distance off the ground and the real-time distance off the foot.

[0036] In one embodiment, after the step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance, the method further includes:

[0037] When the current walking stage is the target walking stage, the real-time walking distance within the target walking stage is taken as the user's real-time stride.

[0038] Furthermore, to achieve the above objectives, this application also proposes a walking posture detection device, the device comprising:

[0039] The information determination module is used to determine the user's real-time walking distance and real-time leg projection when the user's walking is detected;

[0040] A status determination module is used to determine the user's real-time leg status based on the real-time leg projection;

[0041] The posture detection module is used to detect the user's walking posture based on the real-time leg status and the real-time walking distance.

[0042] In addition, to achieve the above objectives, this application also proposes a storage medium storing a walking posture detection program, which, when executed by a processor, implements the walking posture detection method as described above.

[0043] In addition, to achieve the above objectives, this application also proposes a head-mounted device, which includes: a first sensor, a second sensor, a memory, and a processor, wherein the first sensor and the second sensor are both connected to the processor;

[0044] The first sensor is used to acquire the user's real-time walking distance and transmit the real-time walking distance to the processor;

[0045] The second sensor is used to acquire the user's real-time leg projection and transmit the real-time leg projection to the processor;

[0046] The processor is used to run a walking posture detection program stored in the memory, which, when executed by the processor, implements the walking posture detection method as described above.

[0047] This application provides a walking posture detection method, apparatus, storage medium, and head-mounted device. The method includes: determining the user's real-time walking distance and real-time leg projection when a user is detected walking; determining the user's real-time leg state based on the real-time leg projection; and detecting the user's walking posture based on the real-time leg state and the real-time walking distance. Since the projection of the user's legs on the ground varies at different times during walking, this application can determine the user's real-time walking distance and real-time leg projection, determine the user's real-time leg state based on the real-time leg projection, and detect the user's walking posture based on the real-time leg state and real-time walking distance. Compared to existing methods that require users to use stride lines, sandbags, or other tools to determine their posture, this application can detect the user's walking posture based on the user's real-time walking distance and real-time leg projection, thus eliminating the need for user self-determination, simplifying the user determination process, and improving the user experience. Attached Figure Description

[0048] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0049] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application;

[0051] Figure 2This is a flowchart illustrating the first embodiment of the walking posture detection method of this application;

[0052] Figure 3 This is a schematic diagram of the head-mounted device in the first embodiment of the walking posture detection method of this application;

[0053] Figure 4 This is a schematic diagram of TOF sensor acquisition in the first embodiment of the walking posture detection method of this application;

[0054] Figure 5 This is a schematic diagram of real-time leg projection in the first embodiment of the walking posture detection method of this application;

[0055] Figure 6 This is a schematic diagram of the walking stage in the first embodiment of the walking posture detection method of this application;

[0056] Figure 7 This is another data acquisition diagram of the TOF sensor in the first embodiment of the walking posture detection method of this application;

[0057] Figure 8 This is another real-time leg projection schematic diagram in the first embodiment of the walking posture detection method of this application;

[0058] Figure 9 This is another real-time leg projection schematic diagram in the first embodiment of the walking posture detection method of this application;

[0059] Figure 10 This is a flowchart illustrating the second embodiment of the walking posture detection method of this application;

[0060] Figure 11 This is a flowchart illustrating the third embodiment of the walking posture detection method of this application;

[0061] Figure 12 This is a structural block diagram of the first embodiment of the walking posture detection device of this application.

[0062] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0063] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0064] Reference Figure 1 , Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application.

[0065] like Figure 1As shown, the head-mounted device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen, and optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. In this application, the wired interface of the user interface 1003 may be a USB interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0066] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the above-described device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0067] like Figure 1 As shown, the memory 1005, which is identified as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a walking posture detection program.

[0068] exist Figure 1 In the device shown, the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server; the user interface 1003 is mainly used to connect to the user equipment; the device calls the walking posture detection program stored in the memory 1005 through the processor 1001 and executes the walking posture detection method provided in the embodiments of this application.

[0069] It should be noted that currently, when users perform walking posture correction (such as military training for marching in step or parade step), they need to use tools such as stride lines and sandbags to determine whether their posture is standard (e.g., whether the kick height and stride length are standard, and whether the legs are straight). However, because this method requires users to determine the posture themselves, the process is cumbersome and the user experience is poor.

[0070] Therefore, to address the aforementioned shortcomings, this embodiment provides a walking posture detection method. Since the projection of a user's legs on the ground varies at different times during walking, this embodiment can determine the user's real-time walking distance and real-time leg projection, and determine the user's real-time leg state based on the real-time leg projection. The walking posture is then detected based on the real-time leg state and real-time walking distance. Compared to existing methods that require users to manually determine their posture using stride lines, sandbags, etc., this embodiment can detect the user's walking posture based on the user's real-time walking distance and real-time leg projection, thus eliminating the need for user manual determination, simplifying the user's determination process, and improving the user experience.

[0071] For ease of understanding, the following is combined with Figure 2 to Figure 12 The walking posture detection method provided in the embodiments of this application will be described in detail.

[0072] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the walking posture detection method of this application. The first embodiment of the walking posture detection method of this application is presented as follows: Figure 2 As shown, in this embodiment, the method includes:

[0073] Step S10: When a user is detected walking, determine the user's real-time walking distance and real-time leg projection.

[0074] It is understood that the method in this embodiment can be applied to scenarios where a user's walking posture is detected. The walking posture can be the user's daily walking, running, or other postures, or it can be the user's stepping, marching, running, or parade stepping postures during training. This embodiment does not limit this. However, for the sake of ease of subsequent explanation, this embodiment uses the scenario of detecting the user's walking posture by taking a parade step during training for illustration.

[0075] It is also understood that the executing entity in this embodiment can be a walking posture detection device with walking posture detection, data processing, network communication, and program execution functions, such as a head-mounted device, or other devices capable of achieving the same or similar functions. The head-mounted device in this embodiment can be a device worn on the user's head, such as virtual reality (VR) glasses, augmented reality (AR) glasses, etc.

[0076] In this embodiment, the above-described head-mounted device is used for illustration, with reference to... Figure 3 , Figure 3 This is a schematic diagram of the head-mounted device in the first embodiment of the walking posture detection method of this application. Figure 3 As shown, the aforementioned head-mounted device may include: a front frame, temples, and a rear lens mount;

[0077] The front frame is connected to one end of each of the two temples, and the other ends of the two temples are connected to both sides of the rear mount. The temples and the rear mount work together to fix the head-mounted device to the user's head. The front frame can be used to display content and enable human-computer interaction. The following describes this embodiment and the embodiments described below in detail using the head-mounted device (hereinafter referred to as the device).

[0078] It should be understood that the aforementioned user can be a user wearing the aforementioned device. The aforementioned real-time walking distance can be the distance the user has walked from the moment they started walking to the current moment. In this embodiment, the aforementioned head-mounted device may further include: a first sensor. The aforementioned memory 1005, processor 1001, and the first sensor can all be disposed within the aforementioned front frame, but of course, they can also be in other locations, and this embodiment does not limit this.

[0079] The first sensor is used to acquire the user's real-time walking distance and transmit the real-time walking distance to the processor 1001.

[0080] The aforementioned first sensor can be a sensor used to measure real-time walking distance, such as an inertial sensor. This embodiment uses an inertial sensor as the first sensor for explanation. Furthermore, in practical use, an inertial sensor installed in the head-mounted device (…) Figure 3 (Not shown in the image) was collected, but it can also be obtained through other means, which are not limited in this embodiment.

[0081] The aforementioned real-time leg projection can be a projection of the user's leg movements onto the ground, obtained by measuring the user's leg movements using a head-mounted device. In this embodiment, the head-mounted device may further include a second sensor, which is used to acquire the user's real-time leg projection and transmit the real-time leg projection to the processor 1001.

[0082] The aforementioned second sensor can be a sensor used to measure leg projection, such as a Time-of-Flight (TOF) sensor. This embodiment uses a TOF sensor for illustration, and thus, this embodiment can incorporate a TOF sensor into the head-mounted device, such as... Figure 3 As shown, the TOF sensor can be placed at the bottom of the front frame, but it can also be placed in other locations; this embodiment does not limit this. Since the TOF sensor is placed at the bottom of the front frame, when the user wears the device, the TOF sensor can face the ground and collect images of objects between the user and the ground. Furthermore, since the user's legs are positioned between the device and the ground, the TOF sensor can collect the user's real-time leg projection.

[0083] Step S20: Determine the user's real-time leg status based on the real-time leg projection.

[0084] It should be noted that the aforementioned real-time leg status can be the user's current spatial posture of the legs, such as standing still with both feet, left foot raised, left leg straight, right leg raised, right leg straight, etc. This embodiment does not impose any restrictions on this.

[0085] In practical use, when a user is walking, the device can detect changes in the user's center of gravity in real time through an inertial sensor, thereby obtaining the user's real-time acceleration. By integrating the acceleration, the user's real-time walking distance can be obtained. Simultaneously, the device can emit ultrasonic pulses through a Time-of-Flight (TOF) sensor, receive the reflected signals, and measure the time of flight of the ultrasonic pulses. This allows it to detect objects in the pulse propagation path and their distance from the TOF sensor, thus obtaining a real-time leg projection based on the collected results. For ease of understanding, refer to... Figure 4 as well as Figure 5 To explain, Figure 4 This is a schematic diagram of TOF sensor data acquisition in the first embodiment of the walking posture detection method of this application. Figure 5 This is a schematic diagram of real-time leg projection in the first embodiment of the walking posture detection method of this application. Figure 4 As shown, after the user wears the aforementioned head-mounted device, the TOF sensor emits ultrasonic pulses downwards. Since the user is standing upright on the ground, the acquisition results are recorded at the location corresponding to the detection area of ​​the TOF sensor. Figure 5 As shown, in this embodiment, the detection area of ​​the TOF sensor can also be divided into several cells (i.e., Figure 5 The system uses 0 to 63 cells (and other numbers of cells, which are not limited in this embodiment), and records the detection results in the corresponding cells of the detection area. When the user is standing upright on the ground, with their feet aligned, the device can use the 3rd and 4th cells as the current position of their feet (i.e., ...). Figure 5 The system marks the position of the user's feet (in the middle) to form a real-time leg projection corresponding to the user's standing position with both feet at attention.

[0086] After obtaining the aforementioned real-time leg projection, since the leg projection varies depending on the walking state, the user's current real-time leg state can be obtained based on this projection. Specifically, step S20 includes:

[0087] Step S21: Determine the user's current walking stage based on the real-time leg projection.

[0088] Understandably, the aforementioned walking stages can correspond to the stages of leg movements during walking, as shown in the reference. Figure 6 ,Figure 6 This is a schematic diagram of the walking stage in the first embodiment of the walking posture detection method of this application. Figure 6 As shown, this embodiment can divide the stages of marching (i.e., the current walking stage mentioned above) into the start stage, the first walking stage, the second walking stage, the third walking stage, and the end stage.

[0089] The initial phase is when the user is standing and has not yet started moving (i.e., Figure 6 Step 0); The first walking stage is the stage when one foot is in a standard position after the user begins to move (i.e., Figure 6 Step 1), the standard state can be kicking the toes out about 75 cm in a straight forward direction, with both legs straight, toes pointed down, and the soles of the feet parallel to the ground and about 25 cm off the ground. Of course, other required states are also possible, and this embodiment does not limit them; the second walking stage is the stage where the user lifts their feet and lands, and the degree of opening of both feet is the same (i.e. Figure 6 Step 2); The third walking stage is the stage where the user lifts their foot and lands, and the user's body and the landed foot are in a vertical line (i.e., Figure 6 Step 3); the ending stage is when the user stops moving and returns to a standing position (i.e. Figure 6 (Stepn).

[0090] It should be emphasized that in this embodiment, the first walking stage, the second walking stage and the third walking stage can be divided into a movement cycle, that is, Step 1, Step 2 and Step 3 are taking one step. Similarly, Step 4, Step 5 and Step 6 are the process of lifting the other leg to move. Like Step 1, Step 2 and Step 3, they can also be divided into a movement cycle, that is, taking one step.

[0091] Therefore, in actual use, the aforementioned device can determine the specific cell occupied by the leg based on the real-time leg projection, and thus determine the current walking stage based on the occupied cell. For example, Figure 5 The real-time leg projection shown can be identified as the starting stage, i.e., Step 0; for example, refer to... Figure 7 and Figure 8 , Figure 7 This is another data acquisition diagram of the TOF sensor in the first embodiment of the walking posture detection method of this application. Figure 8 This is another real-time leg projection diagram in the first embodiment of the walking posture detection method of this application, as shown below. Figure 7 As shown, when the user steps out with their left foot to the standard position, i.e., in the first walking stage, the real-time leg projection collected and obtained by the TOF sensor is as follows: Figure 8 As shown, due to the extension of the left leg, thus... Figure 8The cells on the left are marked as 3, while the cells on the right, since they haven't been moved, are marked as 1. Therefore, as shown... Figure 8 The real-time leg projection shown can be identified as the first walking stage, which can be considered as Step 1; for example, refer to... Figure 9 , Figure 9 This is another real-time leg projection diagram in the first embodiment of the walking posture detection method of this application, as shown below. Figure 9 As shown, after the user steps forward with their left leg, since the left leg is currently behind the body and the right leg is on a vertical line with the body, then... Figure 9 Only one cell on the right is marked, therefore, as shown... Figure 9 The real-time leg projection shown can be identified as the third walking stage, which is Step 3.

[0092] Step S22: Determine the user's real-time leg status based on the current walking stage.

[0093] After obtaining the current walking stage, since the leg state is different for different walking stages, for example, the first walking stage corresponds to one leg being extended, while the third walking stage corresponds to only one leg being in the detection area, the device can determine the user's real-time leg state in the current walking stage.

[0094] Step S30: Detect the user's walking posture based on the real-time leg status and the real-time walking distance.

[0095] After obtaining the real-time leg status, the system can determine whether the user's legs are straight, whether the user's walking speed is within the required range, whether the legs are lifted to the correct position, and whether the stride length is within the required range, thereby completing the detection of the user's walking posture.

[0096] In this embodiment, the device described above can determine the user's real-time walking distance and real-time leg projection while the user is walking, and determine the user's real-time leg state based on the real-time leg projection. Based on the real-time leg state and real-time walking distance, the device can detect the user's walking posture. Compared to existing methods that require users to use tools such as stride lines and sandbags to determine their posture, this embodiment can detect the user's walking posture based on the user's real-time walking distance and real-time leg projection, thus eliminating the need for the user to determine their posture manually, simplifying the user's determination process, and improving the user experience.

[0097] Reference Figure 10 , Figure 10 This is a flowchart illustrating the second embodiment of the walking posture detection method of this application. Based on the first embodiment described above, a second embodiment of the walking posture detection method of this application is proposed.

[0098] To accurately detect whether a user's walking posture meets the requirements, such as Figure 10 As shown, in this embodiment, step S30 includes:

[0099] Step S31: Determine the real-time distance from the user's foot to the user's leg in the real-time leg state.

[0100] It should be noted that the aforementioned real-time distance from the foot can be the real-time vertical distance between the device and the user's foot, which can be obtained through the aforementioned TOF sensor. For example, as shown... Figure 4 As shown, when the user is in the initial stage, the device can determine that the real-time leg state corresponding to the initial stage is an upright standing position. The TOF sensor can obtain the vertical distance from the user's leg in this real-time leg state (i.e., Figure 4 H) represents the real-time distance from the foot in this real-time leg state; for example, Figure 7 As shown, when the user is in the first walking stage, the device can determine that the real-time leg state corresponding to the first walking stage is the left leg extended. The TOF sensor can measure the vertical distance from the user's leg in this real-time leg state (i.e., Figure 7 H1) is the real-time distance from the foot in this real-time leg state.

[0101] Step S32: Detect the user's walking posture based on the real-time distance from the foot and the real-time walking distance.

[0102] After determining the real-time distance from the foot, the user's walking posture can be detected by combining the real-time walking distance to determine whether the posture is standard. This can be done by comparing the real-time distance from the foot with a preset standard distance from the foot based on the real-time walking distance, and determining if it falls within a preset range. However, to improve the accuracy of the detection, in this embodiment, step S32 includes:

[0103] Step S321: Obtain the historical distance from the foot and the historical walking distance corresponding to each historical walking stage before the current walking stage;

[0104] Step S322: Determine the real-time curve coefficients based on the real-time distance from the foot, the real-time walking distance, each of the historical distances from the foot, and each of the historical walking distances, and construct the user's real-time walking curve based on the real-time curve coefficients.

[0105] It is understood that the aforementioned real-time walking curve can be a curve relating the real-time distance from the foot to the real-time walking distance. The aforementioned historical walking stage can be a walking stage preceding the current walking stage. The aforementioned historical distance from the foot can be the real-time distance from the foot corresponding to a historical walking stage. The aforementioned historical walking distance can be the real-time walking distance corresponding to a historical walking stage. The aforementioned real-time curve coefficient can be the coefficient of the real-time walking curve. This embodiment can record and store the real-time distance from the foot and the real-time walking distance corresponding to each walking stage in real time. In actual detection, since there is a certain relationship between the real-time distance from the foot and the indicated walking distance within a movement cycle, that is, the user's leg elevation changes regularly when walking different distances within a movement cycle, in this embodiment, the user's real-time walking curve within a movement cycle can be constructed based on the distance from the foot and the walking distance corresponding to each walking stage.

[0106] For example, the above curve can be any curve that expresses the relationship. This embodiment uses a quadratic curve for illustration because the real-time distance from the foot varies within the range of [H1, H1+H2], which allows us to define y = ax 2 +b, where a and b are real-time curve coefficients, which can be constants. The walking distance corresponding to each walking stage can be used as x, and the distance from the foot corresponding to each walking stage can be used as y. Substituting these values ​​into the equation y = ax... 2 +b will give the values ​​of the real-time curve coefficients a and b, and the real-time walking curve mentioned above can be constructed based on the values ​​of the real-time curve coefficients a and b.

[0107] Step S323: Detect the user's walking posture based on the real-time walking curve and the user's preset walking curve.

[0108] After obtaining the real-time walking curve, it can be compared with the user's preset walking curve. The preset walking curve can be a curve constructed by the device before actual detection based on the user's standard walking posture. In this embodiment, before detecting the user's walking posture, the device can pre-require the user to walk a short distance according to standard marching steps. During this process, the device can collect the user's real-time walking distance and real-time distance from the foot using inertial sensors and TOF sensors. The collection process is consistent with the collection process described in the actual use, and will not be elaborated upon in this embodiment. After the collection is completed, it can also be substituted into y = ax 2 In +b, the values ​​of a and b are obtained by solving, and thus the user's preset walking curve can be obtained.

[0109] As another implementation, this embodiment can also pre-store walking curves of users of different heights in the above-mentioned device. When actually used, the real-time distance from the foot at the beginning stage can be obtained by measurement (i.e., Figure 4The system (H) determines the current user's elevation based on the real-time distance from the feet, and selects the corresponding walking curve as the preset walking curve, thus eliminating the need for user input and further improving the user experience.

[0110] In actual use, after obtaining the user's real-time walking curve, it can be compared with the preset walking curve to determine whether the similarity between the two walking curves is within the preset similarity range; if so, it can indicate that the user's walking posture is a standard posture and display it through the device; otherwise, it can indicate that the user's walking posture is not a standard posture, and the device can display which specific walking stage is standard, etc. The specific display content is not limited in this embodiment.

[0111] As another implementation, after obtaining the real-time walking distance and the real-time distance from the foot, the device can use the real-time distance from the foot as y, and substitute the values ​​of a and b in the preset walking curve into y = ax 2 In step +b, the real-time walking distance at each real-time distance from the foot is obtained. This real-time walking distance is then compared with the collected real-time walking distance. If it is within a certain deviation range, it can be considered a standard posture; otherwise, it is considered a non-standard posture and a prompt is given. Of course, other judgment methods can also be used, and this embodiment does not limit this.

[0112] This embodiment can construct a real-time walking curve based on the user's real-time distance from their feet and real-time walking distance, and compare it with a preset walking curve, thereby accurately detecting whether the user's walking posture meets the requirements and improving the accuracy of detection.

[0113] Reference Figure 11 , Figure 11 This is a flowchart illustrating the third embodiment of the walking posture detection method of this application. Based on the above embodiments, the third embodiment of the walking posture detection method of this application is proposed.

[0114] To improve the comprehensiveness of the test, such as Figure 11 As shown, in this embodiment, after step S30, the following step is also included:

[0115] Step S41: Determine the user's real-time walking duration;

[0116] Step S42: Determine the user's real-time walking speed based on the real-time walking duration and the real-time walking distance.

[0117] It should be noted that the aforementioned real-time walking duration can be the walking duration within one movement cycle. The aforementioned real-time walking speed can be the step speed of the user during one movement cycle. In actual use, the device can start timing when it determines that the user has started lifting their leg based on the real-time leg status. For ease of understanding, combined with... Figure 6To explain, timing begins when the user transitions from Step 0 to Step 1. The time taken to transition from Step 0 to Step 1 is denoted as T1, and the time taken to transition from Step 1 through Step 2 to Step 3 is denoted as T2. The real-time walking time within one movement cycle is then calculated as T1 + T2. The distance walked by the user within that movement cycle is determined from the real-time walking distance. Let's denot the distance walked by the user within that movement cycle as L1 (i.e., ...). Figure 7 In the middle L1), the real-time step speed during the movement cycle is recorded as V1, then V1=L1 / (T1+T2), and is displayed on the above device.

[0118] Similarly, for the next movement cycle, the device can start timing from the transition from Step 3 to Step 4, recording the time from Step 3 to Step 4 as T3, and the time from Step 4 through Step 5 to Step 6 as T4. Thus, the real-time walking time within one movement cycle is T3 + T4. If the distance walked by the user within this movement cycle is recorded as L2, and the real-time step speed within this movement cycle is recorded as V2, then V2 = L2 / (T3 + T4), and this is displayed on the device. This method can be used to calculate other movement cycles as well; this embodiment does not impose any limitations on this.

[0119] Furthermore, in order to determine the height of the step lifted by the user in each step, in this embodiment, after step S30 above, the method further includes:

[0120] Step S51: Determine the initial ground clearance based on the current walking stage and the real-time distance from the foot;

[0121] Step S52: Determine the user's real-time step height based on the initial distance from the ground and the real-time distance from the foot.

[0122] Understandably, the aforementioned initial ground clearance can be the distance between the device and the ground at the beginning stage. The aforementioned real-time step height can be the height at which the user lifts their step during that movement cycle. In actual use, the device can measure the distance between the device and the feet using a TOF sensor at the beginning stage, and this distance can be used as the aforementioned initial ground clearance (i.e., Figure 4 (H). After obtaining the initial ground clearance, when the user begins walking, because the TOF sensor can measure the distance between the device and the feet in real time, when the user is in the first walking stage, refer to... Figure 7 If the real-time distance from the foot is H1, then the real-time step height H2 can be H-H1, and the device can also display this real-time step height H2. Similarly, the real-time step height can be determined in the same way for subsequent movement cycles, which will not be elaborated on in this embodiment.

[0123] Furthermore, in order to determine the stride length of each step taken by the user, in this embodiment, after step S30 above, the following is also included:

[0124] Step S61: When the current walking stage is the target walking stage, the real-time walking distance within the target walking stage is taken as the user's real-time stride.

[0125] It should be understood that the aforementioned real-time stride length can be the stride length of a single step taken by the user while walking. The aforementioned target walking stage can be the stage at which the user takes a step, and further combined with... Figure 6 as well as Figure 7 Since the user's steps can be divided into three walking stages, these stages can be used as the target walking stage. In practical use, the device can extract the distance traveled by the user from the first to the third walking stage from the real-time walking distance and use this distance as the user's real-time stride within that movement cycle (i.e.,...). Figure 7 (L1), and displayed through the aforementioned device.

[0126] In this embodiment, the device described above can obtain and display the user's real-time walking speed, real-time step height, and real-time stride, enriching the display content, visualizing the relevant parameters of the user's walking, and further improving the user experience.

[0127] Furthermore, this application also proposes a storage medium storing a walking posture detection program, which, when executed by a processor, implements the walking posture detection method described above.

[0128] In addition, refer to Figure 12 , Figure 12 This is a structural block diagram of the first embodiment of the walking posture detection device of this application; as shown Figure 12 As shown in the embodiments of this application, a walking posture detection device is also proposed, the device comprising:

[0129] The information determination module 121 is used to determine the user's real-time walking distance and real-time leg projection when the user's walking is detected;

[0130] The status determination module 122 is used to determine the user's real-time leg status based on the real-time leg projection;

[0131] The posture detection module 123 is used to detect the user's walking posture based on the real-time leg status and the real-time walking distance.

[0132] In this embodiment, the device described above can determine the user's real-time walking distance and real-time leg projection while the user is walking, and determine the user's real-time leg state based on the real-time leg projection. Based on the real-time leg state and real-time walking distance, the device can detect the user's walking posture. Compared to existing methods that require users to use tools such as stride lines and sandbags to determine their posture, this embodiment can detect the user's walking posture based on the user's real-time walking distance and real-time leg projection, thus eliminating the need for the user to determine their posture manually, simplifying the user's determination process, and improving the user experience.

[0133] In one implementation, the state determination module 122 is further configured to determine the user's current walking stage based on the real-time leg projection; and to determine the user's real-time leg state based on the current walking stage.

[0134] In one implementation, the current walking stage can be any one of the following: a start stage, a first walking stage, a second walking stage, a third walking stage, and an end stage; the start stage is when the user is standing and has not yet started moving; the first walking stage is when the user starts moving and one foot is in a standard position; the second walking stage is when the user lifts their foot and lands it, with both feet open to the same degree; the third walking stage is when the user lifts their foot and lands it, and the user's body and the landed foot are in a vertical line; the end stage is when the user stops moving and returns to the standing position.

[0135] Based on the first embodiment of the walking posture detection device described in this application, a second embodiment of the walking posture detection device of this application is proposed.

[0136] In this embodiment, the posture detection module 123 is further configured to determine the real-time distance from the user's foot in the real-time leg state; and to detect the user's walking posture based on the real-time distance from the foot and the real-time walking distance.

[0137] As one implementation, the posture detection module 123 is further configured to acquire the historical distance from the foot and the historical walking distance corresponding to each historical walking stage before the current walking stage; determine the real-time curve coefficient based on the real-time distance from the foot, the real-time walking distance, each of the historical distances from the foot and each of the historical walking distances, and construct the user's real-time walking curve based on the real-time curve coefficient; and detect the user's walking posture according to the real-time walking curve and the user's preset walking curve.

[0138] As one implementation method, the real-time walking curve is: y = ax 2+b; where y is the distance from the foot corresponding to each walking stage, x is the walking distance corresponding to each walking stage, and a and b are real-time curve coefficients.

[0139] Based on the above embodiments of the walking posture detection device of this application, a third embodiment of the walking posture detection device of this application is proposed.

[0140] In this embodiment, the posture detection module 123 is also used to determine the user's real-time walking duration and to determine the user's real-time walking speed based on the real-time walking duration and the real-time walking distance.

[0141] As one implementation, the posture detection module 123 is also used to determine the initial ground clearance based on the current walking stage and the real-time foot clearance; and to determine the user's real-time step height based on the initial ground clearance and the real-time foot clearance.

[0142] As one implementation, the posture detection module 123 is also used to take the real-time walking distance within the target walking stage as the user's real-time stride when the current walking stage is the target walking stage.

[0143] Other embodiments or specific implementations of the walking posture detection device described in this application can be found in the above-described method embodiments, and will not be repeated here.

[0144] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0145] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0146] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0147] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for detecting walking posture, characterized in that, The method includes: When a user is detected walking, the user's real-time walking distance and real-time leg projection are determined. The user's real-time leg status is determined based on the real-time leg projection; The user's walking posture is detected based on the real-time leg status and the real-time walking distance.

2. The method as described in claim 1, characterized in that, The step of determining the user's real-time leg status based on the real-time leg projection includes: The user's current walking stage is determined based on the real-time leg projection; The user's real-time leg status is determined based on the current walking stage.

3. The method as described in claim 2, characterized in that, The current walking stage can be any one of the following: the start stage, the first walking stage, the second walking stage, the third walking stage, and the end stage. The initial stage is the stage in which the user is standing and has not yet begun to move; The first walking phase is the phase when one of the user's feet is in a standard position after the user begins to move. The second walking stage is the stage in which the user lifts their foot and lands, with both feet opening to the same degree; The third walking stage is the stage after the user lifts their foot and lands, and the user's body and the user's landed foot are in a vertical line; The ending phase is the phase in which the user stops moving and returns to the standing position.

4. The method as described in claim 2, characterized in that, The step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance includes: Determine the real-time distance from the user's foot to the user's leg in the real-time leg state; The user's walking posture is detected based on the real-time distance from the foot and the real-time walking distance.

5. The method as described in claim 4, characterized in that, The step of detecting the user's walking posture based on the real-time distance from the foot and the real-time walking distance includes: Obtain the historical distance from the foot and the historical walking distance corresponding to each historical walking stage before the current walking stage; The real-time curve coefficients are determined based on the real-time foot distance, the real-time walking distance, each of the historical foot distances, and each of the historical walking distances, and the real-time walking curve of the user is constructed based on the real-time curve coefficients. The user's walking posture is detected based on the real-time walking curve and the user's preset walking curve.

6. The method as described in claim 5, characterized in that, The real-time walking curve is: y=ax 2 +b; Where y is the distance from the foot corresponding to each walking stage, x is the walking distance corresponding to each walking stage, and a and b are real-time curve coefficients.

7. The method as described in claim 4, characterized in that, After the step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance, the method further includes: The initial distance off the ground is determined based on the current walking stage and the real-time distance off the feet. The user's real-time step height is determined based on the initial distance off the ground and the real-time distance off the foot.

8. The method as described in claim 1, characterized in that, After the step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance, the method further includes: Determine the user's real-time walking duration; The user's real-time walking speed is determined based on the real-time walking duration and the real-time walking distance.

9. The method as described in claim 1, characterized in that, After the step of detecting the user's walking posture based on the real-time leg status and the real-time walking distance, the method further includes: When the current walking stage is the target walking stage, the real-time walking distance within the target walking stage is taken as the user's real-time stride.

10. A walking posture detection device, characterized in that, The device includes: The information determination module is used to determine the user's real-time walking distance and real-time leg projection when the user's walking is detected; A status determination module is used to determine the user's real-time leg status based on the real-time leg projection; The posture detection module is used to detect the user's walking posture based on the real-time leg status and the real-time walking distance.

11. A storage medium, characterized in that, The storage medium stores a walking posture detection program, which, when executed by a processor, implements the walking posture detection method as described in any one of claims 1 to 9.

12. A head-mounted device, characterized in that, The head-mounted device includes: a first sensor, a second sensor, a memory, and a processor, wherein both the first sensor and the second sensor are connected to the processor; The first sensor is used to acquire the user's real-time walking distance and transmit the real-time walking distance to the processor; The second sensor is used to acquire the user's real-time leg projection and transmit the real-time leg projection to the processor; The processor is configured to run a walking posture detection program stored in the memory, wherein the walking posture detection program, when executed by the processor, implements the walking posture detection method as described in any one of claims 1 to 9.

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