Intelligent shoes and identification method capable of identifying falling risk of ascending and descending steps

Abstract

The application discloses an intelligent shoe capable of identifying falling risk of ascending and descending steps and an identification method, and the method comprises the following steps: calculating a step force risk assessment value of ascending and descending steps according to force information of a force foot when ascending and descending steps; calculating a step emptying risk assessment value of ascending and descending steps according to emptying information of an empty foot when ascending and descending steps; calculating a step alternation risk assessment value of ascending and descending steps according to switching information of the force foot and the empty foot when ascending and descending steps; and calculating a risk assessment value of ascending and descending steps according to the step force risk assessment value of ascending and descending steps and / or the step emptying risk assessment value of ascending and descending steps and / or the step alternation risk assessment value of ascending and descending steps, and judging whether there is falling risk when ascending and descending steps according to the risk assessment value. The application solves the problem of how to identify falling hazards caused by deviation of a force foot and an empty foot when ascending and descending steps, thereby effectively reminding personnel to avoid falling.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent shoes, in particular to an intelligent shoe capable of identifying falling risk when ascending or descending stairs and an identification method. BACKGROUND

[0002] Falling is extremely harmful to the human body, especially to the elderly, and can even endanger life. It is very difficult for the elderly to ascend or descend stairs, and falling is extremely likely to occur. Related technologies for detecting falling, such as the Chinese patent CN109830086A, "Falling detection system for elderly people in walking state based on single-chip microcomputer", proposes a system including a single-chip microcomputer processing module, an inertial sensor module, a GPS positioning module, a GPRS communication module, a pressure sensor module, and a power module. The inertial sensor module is installed at the ankle joint of the elderly user, with the x-axis positive direction horizontal forward, the y-axis positive direction horizontal right, and the z-axis positive direction vertical downward. The single-chip microcomputer processing module, GPS positioning module, GPRS communication module, pressure sensor module, and power module are all integrated and installed at the bottom of the shoe of the elderly user. The GPRS communication module realizes communication with the elderly guardian's mobile phone through the GSW public network. The Chinese patent CN103976739B, "Wearable falling dynamic real-time detection method and device", proposes a wearable detection device including a specific hardware structure composed of feet, waist, wrist, and back. The falling dynamic real-time detection method can complete real-time discrimination of falling in any state of the human body, and its core algorithm includes three steps: (1) threshold opening logic structure caused by gait acceleration mutation; (2) human body posture dynamic stability discrimination algorithm based on zero moment point (ZMP); and (3) falling mode recognition algorithm based on human body motion database.

[0003] The above technical solution is a technology for judging whether a real-time falling action occurs by monitoring the posture and gait of a person, but the above solution cannot effectively identify the falling hazards caused by the deviation of the stepping foot and the empty foot when ascending or descending stairs, and cannot timely prevent and remind of falling. There is currently no technical solution to identify the falling hazards caused by the deviation of the stepping foot and the empty foot when ascending or descending stairs to effectively remind personnel to avoid falling. Therefore, an intelligent shoe capable of identifying falling risk when ascending or descending stairs and an identification method are proposed. SUMMARY

[0004] The present application is proposed to solve the above problems, and an intelligent shoe capable of identifying falling risk when ascending or descending stairs and an identification method are proposed.

[0005] The identification method for falling risk when ascending or descending stairs of the present application is characterized by comprising:

[0006] The force information of the force foot is used to calculate a foot force risk assessment value of the step up and down, and whether there is a falling risk when the step is up and down is judged.

[0007] Preferably, the force information of the force foot includes any one or more combinations of the position information of the pressure distribution of the force foot, the average pressure value information of the force foot, the maximum pressure value information of the force foot, and the position information of the maximum pressure of the force foot. The force foot and the empty foot are distinguished according to the difference in the pressure value and / or the difference in the position height.

[0008] Preferably, the force information of the force foot is used to calculate a foot force risk assessment value of the step up and down, and whether there is a falling risk when the step is up and down is judged.

[0009] The deviation of the position of the pressure distribution of the force foot from the force model of the foot force when the step is normally up and down and / or the deviation of the average pressure value of the force foot from the force model of the foot force when the step is normally up and down is used to calculate a foot force deviation value when the step is up and down.

[0010] The difference between the maximum pressure value of the force foot and the average pressure value of the force foot in the previous time period and / or the distance between the position of the maximum pressure of the force foot and the edge of the step is used to calculate an abnormal value of the foot force when the step is up and down.

[0011] The foot force risk assessment value of the step up and down is calculated according to the foot force deviation value when the step is up and down and / or the abnormal value of the foot force when the step is up and down.

[0012] The method for identifying the falling risk when the step is up and down, characterized in that it comprises:

[0013] The empty information of the empty foot is used to calculate a foot empty risk assessment value of the step up and down, and whether there is a falling risk when the step is up and down is judged.

[0014] Preferably, the empty information of the empty foot includes any one or more combinations of the time length information of the empty foot in the empty state, the average empty time length information of the empty foot in a certain time period, the empty height information of the empty foot, and the time length information of the empty foot at different heights. The empty time information of the empty foot is calculated according to the time length within a certain range when the pressure value of the empty foot is within a certain range and / or according to the time length within a certain range when the height of the empty foot is lifted.

[0015] Preferably, the empty information of the empty foot is used to calculate a foot empty risk assessment value of the step up and down, and whether there is a falling risk when the step is up and down is judged.

[0016] The footstep swing time deviation value when ascending and descending the stairs is calculated according to the deviation of the time length of the swing foot in the swing state when ascending and descending the stairs from the footstep swing model of normal ascending and descending the stairs and / or the deviation of the time length of the swing foot at different heights from the footstep swing model of normal ascending and descending the stairs.

[0017] The footstep swing height deviation value when ascending and descending the stairs is calculated according to the deviation of the swing height of the swing foot when ascending and descending the stairs from the footstep swing model of normal ascending and descending the stairs and / or the deviation of the time length of the swing foot at different heights from the footstep swing model of normal ascending and descending the stairs.

[0018] The footstep swing risk assessment value when ascending and descending the stairs is calculated according to the footstep swing time deviation value when ascending and descending the stairs and / or the footstep swing height deviation value when ascending and descending the stairs.

[0019] The method for identifying the falling risk when ascending and descending the stairs comprises the following steps.

[0020] The footstep alternation risk assessment value when ascending and descending the stairs is calculated according to the switching information of the force foot and the swing foot when ascending and descending the stairs, and whether there is a falling risk when ascending and descending the stairs is judged according to the footstep alternation risk assessment value.

[0021] Preferably, the switching information of the force foot and the swing foot comprises any one or more combinations of the switching frequency information of the force foot and the swing foot, the time interval information of the force foot switching to the swing foot, the force point position information when the swing foot switches to the force foot, and the switching sequence information of the force foot and the swing foot.

[0022] Preferably, the calculation of the footstep alternation risk assessment value when ascending and descending the stairs according to the switching information of the force foot and the swing foot when ascending and descending the stairs comprises the following steps.

[0023] The footstep alternation frequency abnormal value when ascending and descending the stairs is calculated according to the instantaneous change value of the switching frequency of the force foot and the swing foot when ascending and descending the stairs and / or the deviation of the switching frequency of the force foot and the swing foot from the footstep alternation model of normal ascending and descending the stairs.

[0024] The footstep alternation parameter deviation value when ascending and descending the stairs is calculated according to the deviation of the time interval of the force foot switching to the swing foot from the footstep alternation model of normal ascending and descending the stairs and / or the deviation of the force point position when the swing foot switches to the force foot from the footstep alternation model of normal ascending and descending the stairs and / or the deviation of the switching sequence of the force foot and the swing foot from the footstep alternation model of normal ascending and descending the stairs.

[0025] The footstep alternation risk assessment value when ascending and descending the stairs is calculated according to the footstep alternation frequency abnormal value when ascending and descending the stairs and / or the footstep alternation parameter deviation value when ascending and descending the stairs.

[0026] The method for identifying the falling risk when ascending and descending the stairs comprises the following steps.

[0027] The step-up / down risk assessment value is calculated according to the step-up / down foot force risk assessment value and / or the step-up / down foot clearance risk assessment value and / or the step-up / down foot alternation risk assessment value, and whether there is a falling risk when stepping up / down is determined according to the step-up / down risk assessment value.

[0028] A computer readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the above method.

[0029] An intelligent shoe capable of identifying a falling risk when stepping up / down, characterized in that it comprises a shoe body, a movement detection device, a data transmission device, a processor, a memory, a reminding device and one or more programs installed in the shoe, wherein the movement detection device is used to detect foot force information and foot clearance information when stepping up / down, the data transmission device is used to transmit the collected data to the processor, the reminding device is used to remind a person to pay attention to safety when stepping up / down when a falling risk is detected, the one or more programs are stored in the memory and configured to be executed by the processor, and the programs cause a computer to execute the above method.

[0030] The present application has the advantages that:

[0031] (1) The step-up / down foot force risk assessment value is calculated according to the position of the pressure distribution on the foot force and / or the deviation of the average pressure value of the foot force from the force model of the foot force when normally stepping up / down and the difference between the maximum pressure value of the foot force and the average pressure value of the foot force in the previous time period and / or the distance between the position of the maximum pressure of the foot force and the edge of the step, which can effectively identify whether the foot force position and the foot force size deviate when stepping up / down, and facilitate the identification of the falling hazards caused by the deviation of the foot force when stepping up / down.

[0032] (2) The step-up / down foot clearance risk assessment value is calculated according to the deviation of the length of time that the foot clearance is in the clearance state from the foot clearance model when normally stepping up / down and / or the deviation of the average clearance time of the foot clearance in the previous time period and the deviation of the clearance height of the foot clearance and / or the length of time that the foot clearance stays at different heights from the foot clearance model when normally stepping up / down, which can effectively identify whether the foot clearance time and the foot clearance position deviate when stepping up / down, and facilitate the identification of the falling hazards caused by the deviation of the foot clearance when stepping up / down.

[0033] (3) According to the instantaneous change value of the switching frequency of the force foot and the take-off foot when ascending and descending the stairs and / or the deviation of the switching frequency from the normal foot exchange model of ascending and descending the stairs and the time interval of the force foot switching to the take-off foot and / or the force point position when the take-off foot switches to the force foot and / or the deviation of the switching sequence of the force foot and the take-off foot from the normal foot exchange model of ascending and descending the stairs, the foot alternation risk assessment value of ascending and descending the stairs is calculated, which can effectively identify whether the foot alternation when ascending and descending the stairs is regular, and facilitate the identification of the falling hazards caused by irregular foot alternation when ascending and descending the stairs.

[0034] (4) According to the foot force risk assessment value of ascending and descending the stairs and / or the foot take-off risk assessment value of ascending and descending the stairs and / or the foot alternation risk assessment value of ascending and descending the stairs, the risk hidden danger value when ascending and descending the stairs is calculated, and whether there is a falling hazard when ascending and descending the stairs is judged according to the risk hidden danger value, which can effectively identify the falling risk that may be caused by the deviation of the force foot, the deviation of the take-off foot, and the imbalance of the foot alternation when the personnel wearing the smart shoes ascend and descend the stairs, so as to timely remind the personnel to pay attention to the safety of ascending and descending the stairs and prevent falling. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a step flow chart of the method for identifying the falling risk of ascending and descending the stairs according to an embodiment of the present application;

[0036] Figure 2 is a structural schematic diagram of the smart shoes capable of identifying the falling risk of ascending and descending the stairs according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present application will be described in detail below. The wearing object of the smart shoes of the present application is not limited to human beings, but also includes animals (such as pet shoes), smart robots, etc. When applied to animals or smart robots with more than two feet, the left and right feet can be expanded to multiple feet.

[0038] An embodiment of the method for identifying the falling risk of ascending and descending the stairs according to the present application, characterized in that, comprising:

[0039] obtaining the force information of the force foot when ascending and descending the stairs;

[0040] calculating the foot force risk assessment value of ascending and descending the stairs according to the force information of the force foot when ascending and descending the stairs, and judging whether there is a falling risk when ascending and descending the stairs.

[0041] Preferably, the force information of the force foot includes any one or more combinations of the position information of the pressure distribution on the force foot, the average pressure value information of the force foot, the maximum pressure value information of the force foot, and the position information of the maximum pressure on the force foot. The force foot and the free foot are distinguished according to the difference in the pressure value and / or the difference in the position height. In this embodiment, different types of shoes, such as old people's shoes, children's shoes, leather shoes, sports shoes, high-heeled shoes, sandals, etc., have different force requirements. The force foot and the free foot are distinguished according to the difference in the pressure value and / or the difference in the position height. The force information of the force foot includes any one or more combinations of the position information of the pressure distribution on the force foot, the average pressure value information of the force foot, the maximum pressure value information of the force foot, and the position information of the maximum pressure on the force foot.

[0042] Preferably, the step of calculating the footstep force risk assessment value of the step climbing and descending according to the force information of the force foot when climbing and descending the steps includes the steps of:

[0043] calculating the footstep force deviation value when climbing and descending the steps according to the deviation of the position of the pressure distribution on the force foot when climbing and descending the steps from the force model of the footstep force when normally climbing and descending the steps and / or the deviation of the average pressure value of the force foot from the force model of the footstep force when normally climbing and descending the steps;

[0044] calculating the footstep force abnormal value when climbing and descending the steps according to the difference between the maximum pressure value of the force foot when climbing and descending the steps and the average pressure value of the force foot in the previous time period and / or the distance between the position of the maximum pressure on the force foot and the edge of the step;

[0045] calculating the footstep force risk assessment value of the step climbing and descending according to the footstep force deviation value when climbing and descending the steps and / or the footstep force abnormal value when climbing and descending the steps.

[0046] In the embodiment, the deviation of the force of the foot in the process of ascending and descending the stairs is calculated according to the deviation of the position of the pressure distribution of the force foot in the process of ascending and descending the stairs from the force model of the foot in the process of ascending and descending the stairs and / or the deviation of the average pressure value of the force foot from the force model of the foot in the process of ascending and descending the stairs, which is any one of the following: the deviation of the position of the pressure distribution of the force foot in the process of ascending and descending the stairs from the force model of the foot in the process of ascending and descending the stairs is calculated according to the positive correlation between the deviation of the position of the pressure distribution of the force foot in the process of ascending and descending the stairs from the force model of the foot in the process of ascending and descending the stairs (the ratio of the number of deviation positions to the total number of positions) and the deviation of the force of the foot in the process of ascending and descending the stairs, the deviation of the average pressure value of the force foot from the force model of the foot in the process of ascending and descending the stairs is calculated according to the positive correlation between the deviation of the average pressure value of the force foot from the force model of the foot in the process of ascending and descending the stairs (the difference between the average pressure value and the pressure threshold value in the force model) and the deviation of the force of the foot in the process of ascending and descending the stairs, and the deviation of the force of the foot in the process of ascending and descending the stairs is calculated according to the positive correlation between the deviation of the position of the pressure distribution of the force foot in the process of ascending and descending the stairs from the force model of the foot in the process of ascending and descending the stairs and the deviation of the average pressure value of the force foot from the force model of the foot in the process of ascending and descending the stairs and the deviation of the force of the foot in the process of ascending and descending the stairs, and the deviation of the force of the foot in the process of ascending and descending the stairs is represented by a variable m.

[0047] The abnormal value of the force of the foot in the process of ascending and descending the stairs is calculated according to the difference between the maximum pressure value of the force foot in the process of ascending and descending the stairs and the average pressure value of the force foot in the previous time period and / or the distance between the position of the maximum pressure of the force foot and the edge of the stairs, which is any one of the following: the abnormal value of the force of the foot in the process of ascending and descending the stairs is calculated according to the positive correlation between the difference between the maximum pressure value of the force foot in the process of ascending and descending the stairs and the average pressure value of the force foot in the previous time period and the abnormal value of the force of the foot in the process of ascending and descending the stairs, the abnormal value of the force of the foot in the process of ascending and descending the stairs is calculated according to the negative correlation between the distance between the position of the maximum pressure of the force foot and the edge of the stairs and the abnormal value of the force of the foot in the process of ascending and descending the stairs, and the abnormal value of the force of the foot in the process of ascending and descending the stairs is calculated according to the positive correlation between the difference between the maximum pressure value of the force foot in the process of ascending and descending the stairs and the average pressure value of the force foot in the previous time period and the abnormal value of the force of the foot in the process of ascending and descending the stairs and the negative correlation between the distance between the position of the maximum pressure of the force foot and the edge of the stairs and the abnormal value of the force of the foot in the process of ascending and descending the stairs, and the abnormal value of the force of the foot in the process of ascending and descending the stairs is represented by a variable n.

[0048] The risk assessment value of the force of the foot in the process of ascending and descending the stairs is calculated according to the deviation of the force of the foot in the process of ascending and descending the stairs and / or the abnormal value of the force of the foot in the process of ascending and descending the stairs, which is calculated according to the positive correlation between the risk assessment value of the force of the foot in the process of ascending and descending the stairs and the deviation of the force of the foot in the process of ascending and descending the stairs and / or the abnormal value of the force of the foot in the process of ascending and descending the stairs, and the risk assessment value of the force of the foot in the process of ascending and descending the stairs is represented by a variable a.

[0049] A1-A3 in Table A represent different embodiments of the calculation of the footstep force risk assessment value a of ascending and descending stairs, wherein the footstep force deviation value m and the footstep force abnormality value n of ascending and descending stairs involved in Table A are calculated by the calculation formula in the above embodiments.

[0050] Different embodiments of the calculation of the footstep force risk assessment value of ascending and descending stairs in Table A

[0051]

[0052]

[0053]

[0054] The footstep force abnormality threshold value X is set in advance, the footstep force risk assessment value a of ascending and descending stairs is obtained according to the calculation method of any one of Table A, and if a>X (for example, X=0.6), it is determined that there is a risk of falling when ascending and descending stairs.

[0055] In another preferred embodiment, a method for identifying the falling risk of ascending and descending stairs according to the present application comprises:

[0056] Obtaining the take-off information of the take-off foot when ascending and descending stairs;

[0057] Calculating the footstep take-off risk assessment value of ascending and descending stairs according to the take-off information of the take-off foot when ascending and descending stairs, and determining whether there is a risk of falling when ascending and descending stairs.

[0058] Preferably, the take-off information of the take-off foot includes any one or a combination of the time length information of the take-off foot in the take-off state, the average take-off time length information of the take-off foot within a certain time period, the take-off height information of the take-off foot, and the time length information of the take-off foot at different heights. The take-off time information of the take-off foot is calculated according to the time length within a certain range when the pressure value of the take-off foot is within a certain range and / or according to the time length within a certain range when the height of the take-off foot is lifted. In this embodiment, different types of shoes, such as old shoes, children's shoes, leather shoes, sports shoes, high-heeled shoes, sandals, etc., have different force and take-off requirements. The force foot and the take-off foot are distinguished according to the difference in the pressure value and / or the difference in the position height, and the take-off information of the take-off foot includes any one or a combination of the time length information of the take-off foot in the take-off state, the average take-off time length information of the take-off foot within a certain time period, the take-off height information of the take-off foot, and the time length information of the take-off foot at different heights.

[0059] Preferably, the calculation of the footstep take-off risk assessment value of ascending and descending stairs according to the take-off information of the take-off foot when ascending and descending stairs comprises the steps of:

[0060] The footstep flight time deviation value when ascending or descending the stairs is calculated according to the deviation of the flight time of the foot in the flight state from the footstep flight model of normal ascending or descending the stairs and / or the deviation of the flight time of the foot in the flight state from the average flight time of the foot in the flight state in the previous time period.

[0061] The footstep flight height deviation value when ascending or descending the stairs is calculated according to the deviation of the flight height of the foot in the flight state from the footstep flight model of normal ascending or descending the stairs and / or the deviation of the flight time of the foot in the flight state at different heights from the footstep flight model of normal ascending or descending the stairs.

[0062] The footstep flight risk assessment value of ascending or descending the stairs is calculated according to the footstep flight time deviation value when ascending or descending the stairs and / or the footstep flight height deviation value when ascending or descending the stairs.

[0063] In the embodiment, the footstep flight time deviation value when ascending or descending the stairs is calculated according to the deviation of the flight time of the foot in the flight state from the footstep flight model of normal ascending or descending the stairs and / or the deviation of the flight time of the foot in the flight state from the average flight time of the foot in the flight state in the previous time period, which is any one of the following: the footstep flight time deviation value when ascending or descending the stairs is calculated according to the positive correlation between the difference between the flight time of the foot in the flight state and the preset footstep flight time threshold of normal ascending or descending the stairs and the footstep flight time deviation value when ascending or descending the stairs, the footstep flight time deviation value when ascending or descending the stairs is calculated according to the positive correlation between the difference between the flight time of the foot in the flight state and the average flight time of the foot in the flight state in the previous time period and the footstep flight time deviation value when ascending or descending the stairs, and the footstep flight time deviation value when ascending or descending the stairs is calculated according to the positive correlation between the difference between the flight time of the foot in the flight state and the preset footstep flight time threshold of normal ascending or descending the stairs and the difference between the flight time of the foot in the flight state and the average flight time of the foot in the flight state in the previous time period and the footstep flight time deviation value when ascending or descending the stairs, and the footstep flight time deviation value when ascending or descending the stairs is denoted by variable u.

[0064] The deviation of the footstep clearance height of the foot during ascending / descending stairs from the footstep clearance model of normal ascending / descending stairs and / or the deviation of the length of time the foot stays at different heights from the footstep clearance model of normal ascending / descending stairs is calculated as the footstep clearance deviation value during ascending / descending stairs, which is calculated according to any one of the following: the positive correlation between the difference between the footstep clearance height of the foot during ascending / descending stairs and the preset footstep clearance height of normal ascending / descending stairs and the footstep clearance deviation value during ascending / descending stairs, the positive correlation between the average of the difference between the length of time the foot stays at different heights and the preset length of time the foot stays at the same height of normal ascending / descending stairs and the footstep clearance deviation value during ascending / descending stairs, and the positive correlation between the difference between the footstep clearance height of the foot during ascending / descending stairs and the preset footstep clearance height of normal ascending / descending stairs and the average of the difference between the length of time the foot stays at different heights and the preset length of time the foot stays at the same height of normal ascending / descending stairs and the footstep clearance deviation value during ascending / descending stairs, and the footstep clearance deviation value during ascending / descending stairs is represented by variable v.

[0065] The footstep clearance risk assessment value of ascending / descending stairs is calculated according to the positive correlation between the footstep clearance risk assessment value of ascending / descending stairs and the footstep clearance time deviation value during ascending / descending stairs and / or the footstep clearance height deviation value during ascending / descending stairs, and the footstep clearance risk assessment value of ascending / descending stairs is represented by variable b.

[0066] B1-B3 in Table B represent different embodiments of calculating the footstep clearance risk assessment value b of ascending / descending stairs, wherein the footstep clearance time deviation value u during ascending / descending stairs and the footstep clearance height deviation value v during ascending / descending stairs involved in Table B are calculated according to the calculation formula in the above embodiments.

[0067] Different embodiments of calculating the footstep clearance risk assessment value of ascending / descending stairs in Table B

[0068]

[0069]

[0070]

[0071] A footstep clearance abnormality threshold value Y is preset, the footstep clearance risk assessment value b of ascending / descending stairs is calculated according to any one of the calculation methods in Table B, and if b>Y (for example, Y=0.6), it is determined that there is a risk of falling during ascending / descending stairs.

[0072] In another preferred embodiment, the method for identifying the risk of falling down stairs according to the present application comprises the following steps:

[0073] acquiring the switching information of the force foot and the empty foot when going up and down stairs;

[0074] calculating the footstep alternation risk assessment value of going up and down stairs according to the switching information of the force foot and the empty foot when going up and down stairs, and determining whether there is a risk of falling down stairs according to the footstep alternation risk assessment value.

[0075] Preferably, the switching information of the force foot and the empty foot comprises any one or a combination of the switching frequency information of the force foot and the empty foot, the time interval information of the force foot switching to the empty foot, the force point position information when the empty foot switches to the force foot, and the switching sequence information of the force foot and the empty foot. In this embodiment, different types of shoes, such as old people's shoes, children's shoes, leather shoes, sports shoes, high-heeled shoes, sandals, etc., have different force and empty requirements, and the switching information of the force foot and the empty foot comprises any one or a combination of the switching frequency information of the force foot and the empty foot, the time interval information of the force foot switching to the empty foot, the force point position information when the empty foot switches to the force foot, and the switching sequence information of the force foot and the empty foot.

[0076] Preferably, the calculation of the footstep alternation risk assessment value of going up and down stairs according to the switching information of the force foot and the empty foot when going up and down stairs comprises the following steps:

[0077] calculating the footstep exchange frequency abnormal value when going up and down stairs according to the instantaneous change value of the switching frequency of the force foot and the empty foot and / or the deviation of the switching frequency of the force foot and the empty foot from the normal footstep exchange model of going up and down stairs;

[0078] calculating the footstep alternation parameter deviation value when going up and down stairs according to the deviation of the time interval of the force foot switching to the empty foot from the normal footstep exchange model of going up and down stairs and / or the deviation of the force point position when the empty foot switches to the force foot from the normal footstep exchange model of going up and down stairs and / or the deviation of the switching sequence of the force foot and the empty foot from the normal footstep exchange model of going up and down stairs;

[0079] calculating the footstep alternation risk assessment value of going up and down stairs according to the footstep exchange frequency abnormal value when going up and down stairs and / or the footstep alternation parameter deviation value when going up and down stairs.

[0080] In this embodiment, the step of calculating the footstep exchange frequency abnormal value when ascending / descending stairs according to the instantaneous change value of the switching frequency of the force application foot and the take-off foot when ascending / descending stairs and / or the deviation of the switching frequency of the force application foot and the take-off foot from the normal footstep exchange frequency model when ascending / descending stairs is any one of: calculating the footstep exchange frequency abnormal value when ascending / descending stairs according to the positive correlation between the instantaneous change value of the switching frequency of the force application foot and the take-off foot when ascending / descending stairs and the footstep exchange frequency abnormal value when ascending / descending stairs, calculating the footstep exchange frequency abnormal value when ascending / descending stairs according to the positive correlation between the difference between the switching frequency of the force application foot and the take-off foot and the normal footstep exchange frequency set in advance when ascending / descending stairs and the footstep exchange frequency abnormal value when ascending / descending stairs, and calculating the footstep exchange frequency abnormal value when ascending / descending stairs according to the positive correlation between the instantaneous change value of the switching frequency of the force application foot and the take-off foot when ascending / descending stairs and the difference between the switching frequency of the force application foot and the take-off foot and the normal footstep exchange frequency set in advance when ascending / descending stairs and the footstep exchange frequency abnormal value when ascending / descending stairs. The footstep exchange frequency abnormal value when ascending / descending stairs is represented by a variable p.

[0081] The deviation of the time interval of the force application foot switching to the floating foot when ascending or descending the stairs from the normal foot exchange model of ascending or descending the stairs and / or the deviation of the force point position when the floating foot switches to the force application foot from the normal foot exchange model of ascending or descending the stairs and / or the deviation of the switching sequence of the force application foot and the floating foot from the normal foot exchange model of ascending or descending the stairs is calculated as the foot alternation parameter deviation value when ascending or descending the stairs, which is calculated according to any one of the positive correlation of the difference between the time interval of the force application foot switching to the floating foot when ascending or descending the stairs and the previously set foot exchange time interval of the normal ascending or descending the stairs and the foot alternation parameter deviation value when ascending or descending the stairs, the positive correlation of the deviation ratio of the force point position when the floating foot switches to the force application foot and the previously set force point position of the normal foot exchange of ascending or descending the stairs and the foot alternation parameter deviation value when ascending or descending the stairs, the positive correlation of the deviation ratio of the switching sequence of the force application foot and the floating foot and the previously set switching sequence of the normal foot exchange of ascending or descending the stairs and the foot alternation parameter deviation value when ascending or descending the stairs, the positive correlation of the difference between the time interval of the force application foot switching to the floating foot when ascending or descending the stairs and the previously set foot exchange time interval of the normal ascending or descending the stairs and the deviation ratio of the force point position when the floating foot switches to the force application foot and the previously set force point position of the normal foot exchange of ascending or descending the stairs and the foot alternation parameter deviation value when ascending or descending the stairs, the positive correlation of the difference between the time interval of the force application foot switching to the floating foot when ascending or descending the stairs and the previously set foot exchange time interval of the normal ascending or descending the stairs and the deviation ratio of the switching sequence of the force application foot and the floating foot and the previously set switching sequence of the normal foot exchange of ascending or descending the stairs and the foot alternation parameter deviation value when ascending or descending the stairs, the positive correlation of the deviation ratio of the force point position when the floating foot switches to the force application foot and the previously set force point position of the normal foot exchange of ascending or descending the stairs and the deviation ratio of the switching sequence of the force application foot and the floating foot and the previously set switching sequence of the normal foot exchange of ascending or descending the stairs and the foot alternation parameter deviation value when ascending or descending the stairs, and the positive correlation of the difference between the time interval of the force application foot switching to the floating foot when ascending or descending the stairs and the previously set foot exchange time interval of the normal ascending or descending the stairs and the deviation ratio of the force point position when the floating foot switches to the force application foot and the previously set force point position of the normal foot exchange of ascending or descending the stairs and the deviation ratio of the switching sequence of the force application foot and the floating foot and the previously set switching sequence of the normal foot exchange of ascending or descending the stairs and the foot alternation parameter deviation value when ascending or descending the stairs. The foot alternation parameter deviation value when ascending or descending the stairs is represented by a variable q.

[0082] The step alternation risk assessment value of the step up and down is calculated according to the abnormal value of the step exchange frequency when the step is up and down and / or the deviation value of the step alternation parameter when the step is up and down, and the step alternation risk assessment value of the step up and down is calculated according to the positive correlation between the step alternation risk assessment value of the step up and down and the abnormal value of the step exchange frequency when the step is up and down and / or the deviation value of the step alternation parameter when the step is up and down, and the step alternation risk assessment value of the step up and down is represented by variable c.

[0083] Table C shows different embodiments of calculating the step alternation risk assessment value of the step up and down, wherein the abnormal value p of the step exchange frequency when the step is up and down and the deviation value q of the step alternation parameter when the step is up and down are obtained by the above-mentioned formula.

[0084] Table C shows different embodiments of calculating the step alternation risk assessment value of the step up and down

[0085]

[0086]

[0087]

[0088] The step alternation abnormal threshold Z is set in advance, the step alternation risk assessment value c of the step up and down is obtained according to the calculation method of any one of Table C, and if c>Z (for example, Z=0.6), it is determined that there is a risk of falling when the step is up and down.

[0089] In a preferred embodiment, a method for identifying the risk of falling when the step is up and down according to the present application has a flow chart as shown in Figure 1 The method comprises the following steps:

[0090] calculating the step force risk assessment value of the step up and down according to the force information of the force foot when the step is up and down;

[0091] calculating the step emptying risk assessment value of the step up and down according to the emptying information of the empty foot when the step is up and down;

[0092] calculating the step alternation risk assessment value of the step up and down according to the switching information of the force foot and the empty foot when the step is up and down;

[0093] calculating the step up and down risk assessment value according to the step force risk assessment value of the step up and down and / or the step emptying risk assessment value of the step up and down and / or the step alternation risk assessment value of the step up and down, and determining whether there is a risk of falling when the step is up and down according to the step up and down risk assessment value.

[0094] In the embodiment, the up-and-down-stair risk assessment value is calculated according to the positive correlation between the up-and-down-stair risk assessment value and the up-and-down-stair step force risk assessment value and / or the up-and-down-stair step flight risk assessment value and / or the up-and-down-stair step alternation risk assessment value, and the up-and-down-stair risk assessment value is represented by variable x.

[0095] D1-D7 in Table D represent different embodiments of calculating the up-and-down-stair risk assessment value, wherein the up-and-down-stair step force risk assessment value a, the up-and-down-stair step force risk assessment value b, and the up-and-down-stair step alternation risk assessment value c involved in Table D are obtained by using the formula in the above embodiments.

[0096] Table D: Different embodiments of calculating the up-and-down-stair risk assessment value

[0097]

[0098]

[0099]

[0100]

[0101] The up-and-down-stair risk assessment value x is calculated according to any one of the methods in Table D, and the up-and-down-stair risk threshold value U (for example, U = 0.6) is set in advance. If x > U, it is determined that there is a risk of falling when going up and down stairs.

[0102] A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the above method.

[0103] An intelligent shoe capable of identifying the risk of falling when going up and down stairs, as shown in the schematic diagram Figure 2 characterized in that it comprises a shoe body, a movement detection device, a data transmission device, a processor, a memory, a reminding device, and one or more programs installed in the shoe; the movement detection device is used to detect the force information and the flight information of the step when going up and down stairs, the data transmission device is used to transmit the collected data to the processor, the reminding device is used to remind the person to pay attention to the safety of going up and down stairs when detecting the risk of falling, the one or more programs are stored in the memory and configured to be executed by the processor, and the programs cause the computer to execute the above method.

[0104] Of course, those skilled in the art should recognize that the above embodiments are only used to illustrate the present application, and are not intended to limit the present application, as long as the changes and modifications of the above embodiments within the scope of the present application will fall within the protection scope of the present application.

Claims

1. A method for identifying the risk of falling while going up or down stairs, characterized in that, include: Calculate the risk assessment value of foot exertion when going up and down stairs based on the force information of the foot exerting force when going up and down stairs; The method of calculating the risk assessment value of foot force exertion when going up and down stairs based on the force information of the exerting foot when going up and down stairs includes the following steps: calculating the foot force deviation value when going up and down stairs based on the deviation between the pressure distribution position of the exerting foot when going up and down stairs and the force model of normal foot force exertion when going up and down stairs, and / or the deviation between the average pressure value of the exerting foot and the force model of normal foot force exertion when going up and down stairs; calculating the abnormal value of foot force exertion when going up and down stairs based on the difference between the maximum pressure value of the exerting foot when going up and down stairs and the average pressure value of the exerting foot in the previous time period, and / or the distance between the position of the maximum pressure of the exerting foot and the edge of the step; and calculating the foot force exertion risk assessment value when going up and down stairs based on the foot force deviation value and the abnormal value of foot force exertion when going up and down stairs. The risk assessment value of foot flight when going up or down stairs is calculated based on the airborne information of the foot during the ascent or descent. This calculation includes the following steps: calculating the foot flight time deviation value based on the deviation between the length of time the foot is airborne and the normal foot flight model for going up or down stairs, and / or the deviation between the length of time the foot is airborne and the average airborne time of the foot in the previous time period; calculating the foot flight height deviation value based on the deviation between the foot flight height and the normal foot flight model for going up or down stairs, and / or the deviation between the length of time the foot remains at different heights and the normal foot flight model for going up or down stairs; and calculating the foot flight risk assessment value based on the foot flight time deviation value and the foot flight height deviation value. The risk assessment value of foot alternation when going up and down stairs is calculated based on the switching information of the force-generating foot and the airborne foot when going up and down stairs. The step-alternation risk assessment value for ascending and descending stairs based on the switching information of the power foot and the free-flying foot during ascent and descent includes the following steps: calculating the abnormal value of the foot-alternation frequency during ascent and descent based on the instantaneous change value of the switching frequency of the power foot and the free-flying foot during ascent and descent and / or the deviation of the switching frequency of the power foot and the free-flying foot from the normal foot-alternation model for ascending and descending stairs; calculating the deviation value of the foot-alternation parameter during ascent and descent based on the deviation of the time interval between the power foot and the free-flying foot during ascent and descent from the normal foot-alternation model for ascending and descending stairs and / or the deviation of the switching order of the power foot and the free-flying foot from the normal foot-alternation model for ascending and descending stairs; and calculating the foot-alternation risk assessment value for ascending and descent based on the abnormal value of the foot-alternation frequency during ascent and descent and the deviation value of the foot-alternation parameter during ascent and descent. The risk assessment value for going up and down stairs is calculated based on the risk assessment value of the force exerted by the steps when going up and down stairs, the risk assessment value of the steps being airborne when going up and down stairs, and the risk assessment value of the alternation of steps when going up and down stairs, and this value is used to determine whether there is a risk of falling when going up and down stairs.

2. The method for identifying the risk of falling down stairs according to claim 1, characterized in that, The airborne information of the free-flying foot includes any one or a combination of the following: the length of time the free-flying foot is in the air; the average airborne time of the free-flying foot within a certain time period; the airborne height of the free-flying foot; and the length of time the free-flying foot stays at different heights. The airborne time information of the free-flying foot is calculated based on the length of time the pressure value of the free-flying foot is within a certain range and / or based on the length of time the height of the free-flying foot is raised within a certain range.

3. The method for identifying the risk of falling down stairs according to claim 1, characterized in that, The switching information between the power foot and the airborne foot includes any one or more of the following: switching frequency information between the power foot and the airborne foot, time interval information between switching the power foot to the airborne foot, position of the force point when switching the airborne foot to the power foot, and switching sequence information between the power foot and the airborne foot.

4. A smart shoe capable of recognizing the risk of falling while going up or down stairs, characterized in that... include: The shoe body, a motion detection device, a data transmission device, a processor, a memory and an alerting device installed inside the shoe, and one or more programs; The action detection device is used to detect the information of the exerting foot and the airborne foot when going up or down the steps. The data transmission device is used to transmit the collected data to the processor. The reminder device is used to remind people to pay attention to safety when going up or down the steps when a risk of falling is detected. The one or more programs are stored in a memory and configured to be executed by the processor. The programs cause the computer to perform the method as described in any one of claims 1-3.

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