Intelligent monitoring method for rehabilitation nursing

Abstract

The invention relates to an intelligent monitoring method for rehabilitation nursing, and the method comprises the steps: continuously collecting images of a rehabilitation object with the same collection parameters from the rehabilitation nursing of the rehabilitation object; determining whether a first trigger is acquired based on the image; if the first trigger is obtained, determining standard data based on the image; wherein the standard data comprises the type and action standard parameters of each key part of the rehabilitation object, the standard coordinates of the reference points, the standard coordinates of the standard points and the adjustment proportion value; and after determining that the second trigger is acquired based on the image, monitoring the rehabilitation nursing process according to the image and the standard data. According to the method, the standard data of the rehabilitation action process is determined based on the image of the rehabilitation object in the rehabilitation nursing process, and the rehabilitation nursing process is monitored based on the image and the standard data, so that the monitoring of the rehabilitation nursing process does not depend on subjective judgment any more but depends on objective standards, and the monitoring accuracy is improved. The rehabilitation nursing process is effectively and objectively monitored.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation nursing based on image data processing technology, and in particular to an intelligent monitoring method for rehabilitation nursing. Background Art

[0002] Rehabilitation nursing is an integral and important part of rehabilitation medicine, and it develops along with the development of rehabilitation medicine. Rehabilitation medicine is a medical discipline that aims to eliminate and alleviate human functional disorders, make up for and rebuild human functional deficiencies, and try to improve and enhance human functions in all aspects. Rehabilitation training is a major form of rehabilitation nursing.

[0003] During rehabilitation training, the rehabilitation subject needs to perform designated rehabilitation movements under the guidance of a professional doctor (e.g., a rehabilitation therapist). During this process, the professional doctor needs to judge whether the rehabilitation subject's rehabilitation movements are standard based on subjective feelings, so as to achieve the rehabilitation effect.

[0004] The existing rehabilitation effects are obtained through subjective judgment of professional doctors and lack objective standards. Different doctors and different states of the same doctor will produce different judgment results. Therefore, the existing plan cannot effectively and objectively monitor the rehabilitation care process. Summary of the invention

[0005] 1. Technical issues to be resolved In order to solve the above problems, the present invention provides an intelligent monitoring method for rehabilitation nursing.

[0006] (II) Technical solution In order to achieve the above object, the main technical solutions adopted by the present invention include: An intelligent monitoring method for rehabilitation nursing, the method comprising: Starting from the rehabilitation care for the rehabilitation subject, continuously acquiring the first image of the rehabilitation subject with the same acquisition parameters; wherein the range presented by the image includes the maximum range of the rehabilitation subject during the rehabilitation action; determining whether a first trigger is acquired based on the first image; If the first trigger is obtained, standard data is determined based on the first image; wherein the standard data includes: the type of each key part of the rehabilitation object and standard parameters of the action, the standard coordinates of the reference point, the standard coordinates of the standard point and the adjustment ratio value; the reference point is marked by a professional doctor, and the standard point is a point in the background of the first image; if the rehabilitation action is not a hand action, the key parts include one or more of the following: head, shoulder, elbow, wrist, hip, knee, ankle; if the rehabilitation action is a hand action, the key parts include one or more of the following: various joints of the hand; After determining that the second trigger is acquired based on the first image, the rehabilitation care process is monitored according to the first image and the standard data.

[0007] (III) Beneficial effects The present invention relates to an intelligent monitoring method for rehabilitation nursing, the method comprising: starting from rehabilitation nursing for a rehabilitation object, continuously acquiring images of the rehabilitation object with the same acquisition parameters; determining whether a first trigger is acquired based on the image; if the first trigger is acquired, determining standard data based on the image; wherein the standard data includes: the type and standard action parameters of each key part of the rehabilitation object, the standard coordinates of the reference point, the standard coordinates of the standard point and the adjustment ratio value; after determining based on the image that a second trigger is acquired, monitoring the rehabilitation nursing process according to the image and the standard data. The method of the present invention first determines the standard data of the rehabilitation action process based on the image of the rehabilitation object during the rehabilitation nursing process, and monitors the rehabilitation nursing process based on the image and the standard data, so that the monitoring of the rehabilitation nursing process no longer relies on subjective judgment, but relies on objective standards, thereby realizing effective and objective monitoring of the rehabilitation nursing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A flowchart of an intelligent monitoring method for rehabilitation care provided in one embodiment of the present application; Figure 2 A schematic diagram of a first triggering gesture provided in an embodiment of the present application; Figure 3 A schematic diagram of a third triggering gesture provided in an embodiment of the present application; Figure 4 A schematic diagram of a key part provided in one embodiment of the present application; Figure 5 Another schematic diagram of key parts provided in one embodiment of the present application; Figure 6 A schematic diagram of a second triggering gesture provided in an embodiment of the present application; Figure 7 A schematic diagram of a gesture for setting a preset value provided in an embodiment of the present application. DETAILED DESCRIPTION

[0009] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0010] During rehabilitation training, the rehabilitation subject needs to perform designated rehabilitation movements under the guidance of a professional doctor (e.g., a rehabilitation therapist). During this process, the professional doctor needs to judge whether the rehabilitation subject's rehabilitation movements are standard based on subjective feelings, so as to achieve the rehabilitation effect. The existing rehabilitation effect is obtained through the subjective judgment of professional doctors, and lacks objective standards. Different doctors and different states of the same doctor will produce different judgment results. Therefore, the existing scheme cannot effectively and objectively monitor the rehabilitation nursing process.

[0011] Based on this, the present invention provides an intelligent monitoring method for rehabilitation care, the method comprising: starting from the rehabilitation care of the rehabilitation object, continuously collecting images of the rehabilitation object with the same acquisition parameters; determining whether the first trigger is obtained based on the image; if the first trigger is obtained, determining standard data based on the image; wherein the standard data includes: the type and standard action parameters of each key part of the rehabilitation object, the standard coordinates of the reference point, the standard coordinates of the standard point and the adjustment ratio value; after determining that the second trigger is obtained based on the image, monitoring the rehabilitation care process according to the image and the standard data. The method of the present invention first determines the standard data of the rehabilitation action process based on the image of the rehabilitation object during the rehabilitation care process, and monitors the rehabilitation care process based on the image and the standard data, so that the monitoring of the rehabilitation care process no longer relies on subjective judgment, but relies on objective standards, thereby realizing effective and objective monitoring of the rehabilitation care process.

[0012] See also Figure 1 , this implementation provides an intelligent monitoring method for rehabilitation nursing, and its implementation process is as follows: 101 , starting from the rehabilitation care for the rehabilitation subject, continuously acquiring a first image of the rehabilitation subject with the same acquisition parameters.

[0013] The range presented by the image includes the maximum range of the rehabilitation subject during the rehabilitation movement.

[0014] When providing rehabilitation care to rehabilitation subjects, there are two stages, the first stage is the teaching stage, and the other stage is the rehabilitation stage. In the teaching stage, professional doctors will guide the rehabilitation subjects on the correct methods of rehabilitation movements and the standards to be achieved. In the rehabilitation stage, the rehabilitation subjects will perform rehabilitation movements independently based on the methods and standards learned in the teaching stage, with or without the assistance of professional doctors. In this step, the first image will be collected from the first stage, so that the collection of the first image runs through the entire process of the rehabilitation care of the rehabilitation subjects.

[0015] For example, after the rehabilitation subject enters the rehabilitation area, the professional doctor turns on the first image acquisition device, and the first image is continuously acquired until the rehabilitation subject completes the current rehabilitation and leaves the rehabilitation area, and the professional doctor turns off the first image acquisition device, or until the rehabilitation subject no longer appears in the first image, the first image acquisition device is automatically turned off.

[0016] In addition, during the rehabilitation movement, the displacement of the rehabilitation subject may not be large, such as performing supine hip adduction on a rehabilitation bed, or it may be relatively large, such as walking slowly for 10 meters. At this time, the acquisition parameters of the acquisition device of the first image can be adjusted so that the range captured by the first image includes the range of displacement of the rehabilitation subject when performing the rehabilitation movement. This ensures that the acquisition parameters of the acquisition device of the first image are not changed during the process of acquiring the first image, and that the rehabilitation movement of the rehabilitation subject can be captured throughout the process. At the same time, the proportion of the rehabilitation movement of the rehabilitation subject in the first image is the largest, thereby ensuring that the subsequent analysis data of the rehabilitation subject in the first image is more accurate.

[0017] It should be noted that the intelligent monitoring method for rehabilitation care provided in this embodiment is an auxiliary monitoring method for rehabilitation care. If the rehabilitation object has a large displacement during the rehabilitation exercise, it may affect the subsequent rehabilitation monitoring effect because the proportion of the rehabilitation object in the first image is small. Therefore, the intelligent monitoring method for rehabilitation care provided in this embodiment is optimally used to monitor rehabilitation exercises with small displacements. For rehabilitation exercises with large displacements, the intelligent monitoring method for rehabilitation care provided in this embodiment can also be used for monitoring, preferably as an auxiliary monitoring method for rehabilitation care.

[0018] 102. Determine whether a first trigger is acquired based on the first image.

[0019] Among them, the first trigger is the formal entry of representation into the first stage (i.e. the teaching stage).

[0020] When the professional doctor and the rehabilitation object are ready to carry out the rehabilitation care, the professional doctor will send a prepared instruction to the first image acquisition device. The instruction can be a voice, such as "rehabilitation care officially begins". In this case, the corresponding audio will be collected while the first image is collected. Every time a first image is collected, the corresponding audio will be recognized. If a voice such as "rehabilitation care officially begins" is recognized, it is determined that the first trigger is obtained. The instruction can also be a gesture, such as Figure 2 Whenever a first image is captured, its content is recognized. If the following Figure 2 The gesture shown in FIG. 1 is performed, then it is determined that the first trigger is obtained.

[0021] The form and content of the first trigger are preset.

[0022] 103. If the first trigger is acquired, determine standard data based on the first image.

[0023] Among them, the standard data includes: the type and standard parameters of the key parts of the rehabilitation object, the standard coordinates of the reference point, the standard coordinates of the standard point and the adjustment ratio value. The reference point is marked by a professional doctor, and the standard point is a point in the background of the first image. If the rehabilitation movement is not a hand movement, the key parts include one or more of the following: head, shoulder, elbow, wrist, hip, knee, ankle. If the rehabilitation movement is a hand movement, the key parts include one or more of the following: various joints of the hand.

[0024] When the first trigger is obtained, it means that the first stage (i.e., the teaching stage) has officially begun. In step 103, the first stage (i.e., the teaching stage) will be identified to obtain the action standard of the rehabilitation subject for this rehabilitation exercise, so that the movement process of the second stage (i.e., the rehabilitation stage) can be monitored according to the action standard to ensure that the subsequent actions of the second stage (i.e., the rehabilitation stage) meet the action standard and achieve the effect of this rehabilitation care. The implementation process of step 103 is as follows: 103 - 1 , identifying each first image acquired after the first moment, and determining a second moment at which a third trigger is identified.

[0025] The first moment is the moment when the first trigger is obtained.

[0026] In the first stage (i.e., the teaching stage), professional doctors will help the rehabilitation subject to perform a correct rehabilitation action. The start of this action is signaled by the first trigger, and the end of this action is signaled by the third trigger. Therefore, after obtaining the first trigger, we will continue to pay attention to whether the third trigger exists in the first image collected later. If the third trigger is collected, it is considered that a standard rehabilitation action is completed, and the collection time of the third trigger is obtained, i.e., the second time.

[0027] Among them, the third trigger represents the end of the first stage (i.e., the teaching stage). After the professional doctor guides the rehabilitation subject to complete a standard rehabilitation action, the professional doctor will send an instruction to the first image acquisition device to end the first stage. The instruction can be a voice, such as "rehabilitation nursing standard action completed". In this case, the corresponding audio will be collected while collecting the first image. Every time a first image is collected, the corresponding audio will be recognized. If a voice such as "rehabilitation nursing standard action completed" is recognized, it is determined that the third trigger is obtained. The instruction can also be a gesture, such as Figure 3 Whenever a first image is captured, its content is recognized. If the following Figure 3 The gesture shown in FIG. 1 is performed, then it is determined that the third trigger is obtained.

[0028] The form and content of the third trigger are preset and need to be different from the first trigger.

[0029] In addition, during this process, the professional doctor will also mark a reference point, which is used to identify the overall displacement of the rehabilitation object. Therefore, the reference point is preferably located on the rehabilitation object, and the reference point does not displace during the rehabilitation movement of the rehabilitation object, or only displaces slightly (the displacement can be ignored). For example, the rehabilitation movement is supine hip adduction, and the reference point is a point on the left shoulder. If the rehabilitation object is displaced during the rehabilitation movement, the reference point can be located at a position where the relative displacement with the rehabilitation object theoretically remains unchanged. The reference point is flexibly determined by the professional doctor according to the movement of the rehabilitation object, rehabilitation movements, etc. After the professional doctor determines the reference point, it can be marked. For example, the professional doctor points his finger to the determined point for a period of time, and recognizes the first image. When it is recognized that the professional doctor's finger is stationary for more than a preset time (such as 5 seconds), the position of the fingertip is determined as the reference point.

[0030] 103-2, determine the first image collected between the first moment and the second moment as the second image.

[0031] Since the first moment is the start moment of the first stage (i.e., the teaching stage), and the second moment is the end moment of the first stage (i.e., the teaching stage), and the first stage (i.e., the teaching stage) is a time period including a standard rehabilitation action, the first image (i.e., the second image) acquired between the first moment and the second moment is all images of a standard rehabilitation action. The standard data of the rehabilitation action can be obtained based on all the second images.

[0032] 103-3, determine the first coordinate value of each key part of the rehabilitation object in each second image to form a first coordinate value sequence of each key part. Determine the second coordinate value of the reference point in each second image to form a second coordinate value sequence. Determine the third coordinate value of the standard point in each second image to form a third coordinate value sequence.

[0033] The coordinate values ​​in each coordinate value sequence are arranged from far to near according to the acquisition time of the second image to which they belong.

[0034] Since the acquisition parameters of the acquisition device of the first image remain unchanged when acquiring the first image, if the coordinate system is constructed with the upper left corner of any first image as the origin, and the left as the positive direction of the x-axis and the downward as the positive direction of the y-axis, then the coordinate systems of all the first images are the same, and the position of the same fixed object in the coordinate systems of each first image remains unchanged.

[0035] In addition, the key parts are related to the rehabilitation part. If the rehabilitation part is not the hand, such as the leg, the key parts include one or more of the following: head, shoulder, elbow, wrist, hip, knee, ankle. Among them, the shoulder, elbow, wrist, hip, knee, ankle can include 2, such as left shoulder, left elbow, left wrist, left hip, left knee, left ankle, right shoulder, right elbow, right wrist, right hip, right knee, right ankle, such as Figure 4 If the rehabilitation part is the hand, then the rehabilitation action is the hand action. In this case, the key parts include one or more of the following: the joints of the hand, where the joints of the hand are as follows: Figure 5 Black dots shown.

[0036] The reference points are marked by professional doctors.

[0037] The standard point is a point in the background of the first image. The intelligent monitoring method for rehabilitation care provided by this embodiment can identify the background of the first image through an object recognition scheme, and select a point that will not be covered or displaced, such as a point on the ceiling light.

[0038] In 103-3, the first coordinate values ​​of each key part of the rehabilitation object in each second image are obtained to form a first coordinate value sequence of each key part. The second coordinate value of the reference point in each second image is determined to form a second coordinate value sequence. The third coordinate value of the standard point in each second image is determined to form a third coordinate value sequence.

[0039] The key parts may be preset, such as presetting the correspondence between different rehabilitation exercises and key parts. Before executing step 101, a professional doctor inputs the name or identifier of the rehabilitation exercise, and obtains the key parts based on the correspondence.

[0040] In actual application, when executing 103 - 1 , the first second image may also be judged. If not all key parts are identified in the first second image, an early warning is issued to ensure that all key parts are included in the second image.

[0041] 103-4, calculate the first difference between each subsequent coordinate value and its previous coordinate value in each first coordinate value sequence, calculate the second difference between each subsequent coordinate value and its previous coordinate value in the second coordinate value sequence, and calculate the third difference between each subsequent coordinate value and its previous coordinate value in the third coordinate value sequence.

[0042] For example, if any first coordinate value sequence is coordinate value 11, coordinate value 12, coordinate value 13, and coordinate value 14, then there are three first difference values, namely coordinate value 12-coordinate value 11, coordinate value 13-coordinate value 12, and coordinate value 14-coordinate value 13.

[0043] 103-5, determine the first average value of all the first differences of each key part.

[0044] 103-6, determine a difference comparison value according to the second difference, the third difference and the second coordinate value sequence.

[0045] The implementation process of step 103-6 is: 1) determine the first second coordinate value Co1 in the second coordinate value sequence; 2) determine the absolute value of the difference between each second coordinate value in the second coordinate value sequence and Co1, and obtain the largest absolute value; 3) determine the standard deviation Sd1 of all second differences and the standard deviation Sd2 of all third differences; 4) determine the difference comparison value as the largest absolute value × (1+Sd1-Sd2).

[0046] Co1 represents the first position of the reference point, which is the normal position when no rehabilitation movement is performed. The absolute value of each difference represents the displacement difference between the reference point and the normal position in the second image. The maximum absolute value is the maximum value of all absolute values, which represents the maximum displacement of the reference point during the entire rehabilitation movement. Since the reference point is a point with theoretically unchanged displacement, the maximum absolute value is theoretically 0. If the rehabilitation object is displaced as a whole during the rehabilitation movement, such as the rehabilitation object moving upward as a whole, the maximum absolute value is not 0.

[0047] Sd1 is the degree of change in the displacement of the reference point during the rehabilitation exercise, which is the degree of change of the rehabilitation object itself. Sd2 is the degree of change in the displacement of the standard point during the rehabilitation exercise, which is the degree of change caused by the acquisition device of the first image due to uncontrollable factors. In theory, the displacement of the standard point does not change during the rehabilitation exercise, but it may change due to some uncontrollable external factors, and Sd2 represents the degree of this change.

[0048] The difference comparison value is a change value obtained by considering the overall changes of the rehabilitation object and the objective changes of the first image acquisition device. This value is considered to be the systematic error of this rehabilitation exercise. In other words, changes within the range of the difference comparison value are considered to be normal changes.

[0049] 103-7, determining the type of the key part whose first average value is less than the difference comparison value as a static type, and determining the type of the key part whose first average value is not less than the difference comparison value as a dynamic type.

[0050] The first average value represents the average change of the key part in the entire standard rehabilitation exercise. If the first average value is less than the difference comparison value, it can be considered that the displacement of the key part should remain unchanged during a standard rehabilitation exercise, so its type is determined as a static type. If the first average value is not less than the difference, it can be considered that the displacement of the key part should change during a standard rehabilitation exercise, so its type is determined as a dynamic type.

[0051] 103-8, determining the standard action parameters of each key part according to the type and the first coordinate value of each key part.

[0052] The action standard parameters include the action standard range and the action standard value. The action standard value includes the first maximum value, the second maximum value, the first time difference, and the angle sequence.

[0053] 1. Standard range of action For any key part, if the type of any key part is static, the standard range of action of any key part is determined to be the smallest circle containing all the first coordinate values ​​of any key part. If the type of any key part is dynamic, the standard range of action of any key part is determined to be the fitting curve of all the first coordinate values ​​of any key part.

[0054] Among them, the existing fitting method can be used to fit all the first coordinate values ​​of any key part to obtain a fitting curve.

[0055] The standard range of motion reflects the normal movement of the corresponding key parts. If it is a static key part, theoretically it does not move, so its normal movement is the smallest circle containing all the first coordinate values ​​during a standard rehabilitation exercise. If it is a dynamic key part, its normal movement is the fitting curve obtained by all the first coordinate values.

[0056] 2. The first maximum value and the second maximum value For any key part, if the rehabilitation action causes the distance between any key part and its distance comparison part to increase or remain unchanged, the maximum value of the distance between any key part and its distance comparison part in each second image is determined as the first maximum value, and the minimum value of the distance between any key part and its distance comparison part in each second image is determined as the second maximum value.

[0057] If the rehabilitation action reduces the distance between any key part and its distance comparison part, the minimum value of the distance between any key part and its distance comparison part in each second image is determined as the first maximum value, and the maximum value of the distance between any key part and its distance comparison part in each second image is determined as the second maximum value.

[0058] If any key part is neither the head nor the hand joint, the distance comparison part is the symmetrical part. If any key part is the head, the distance comparison part is the shoulder. If any key part is the hand joint, the distance comparison part is the corresponding joint of the adjacent finger.

[0059] like Figure 4 As shown in , if any key part is the head, then the distance comparison part is the shoulder, such as Figure 4 If any key part is the left shoulder, then the distance comparison part is the symmetrical part (i.e. the right shoulder).

[0060] like Figure 5 As shown, if any key part is the middle phalanx of the middle finger, then the distance comparison part is the corresponding joint (i.e., the middle phalanx) of the adjacent finger (such as the index finger or the ring finger).

[0061] The first maximum value is the maximum distance between the corresponding key part and the corresponding part during a rehabilitation exercise. For example, if any key part is the left shoulder, then the first maximum value is the maximum distance between the left shoulder and the right shoulder.

[0062] The second maximum value is the minimum distance between the corresponding key part and the corresponding part during a rehabilitation exercise. For example, if any key part is the left shoulder, then the second maximum value is the minimum distance between the left shoulder and the right shoulder.

[0063] 3. First time difference For any key part, the time difference between the third moment and the first moment is determined as the first time difference.

[0064] The third moment is the acquisition moment of the second image corresponding to the first maximum value.

[0065] The first time difference reflects the standard time from the initial position to the target position. Because the distance from the initial position to the target position of the key part is fixed, this time represents the standard speed of the rehabilitation subject's rehabilitation exercise.

[0066] 4. Angle sequence For any key part, determine the first angle value of the angle of any key part in each second image, and form a tuple <first angle value, acquisition time value> with the first angle value and the acquisition time of the second image to which it belongs. All tuples are formed into an angle sequence from far to near according to the time value.

[0067] The included angle of any key part is formed by any key part, its first angle comparison part and its second angle comparison part.

[0068] The first angle comparison position of any key position is its adjacent key position.

[0069] If any key part has another adjacent key part, the second angle comparison part is the other adjacent key part; if any key part has no other adjacent parts, the second angle comparison part is other key parts adjacent to the first angle comparison part.

[0070] For example, any key part is the left elbow, such as Figure 4 As shown, the key parts adjacent to it are the left wrist and the left shoulder. Then the first angle comparison part is the left wrist, and the second angle comparison part is the left shoulder, or the first angle comparison part is the left shoulder, and the second angle comparison part is the left wrist. Regardless of whether the first angle comparison part is the left wrist or the left shoulder, the angle of the left elbow is the angle formed by the left elbow, the left wrist and the left shoulder. In this case, the vertex of the angle is any key part (i.e., the left elbow), and any key part and the first angle comparison part (such as the left elbow and the left wrist) constitute one side of the angle, and any key part and the second angle comparison part (such as the left elbow and the left shoulder) constitute the other side of the angle.

[0071] For another example, any key part is the left wrist, such as Figure 4 As shown, there is only one left elbow as the key part adjacent to it. Then the first angle comparison part is the left elbow. Since there is no other adjacent part of the left wrist, the second angle comparison part is the other key parts adjacent to the left elbow, that is, the left shoulder. In this way, the angle of the left wrist is the angle formed by the left wrist, the left elbow, and the left shoulder. In this case, the vertex of the angle is the first angle comparison part (that is, the left elbow), any key part and the first angle comparison part (that is, the left elbow and the left wrist) constitute one side of the angle, and the first angle comparison part and the second angle comparison part (that is, the left elbow and the left shoulder) constitute the other side of the angle.

[0072] The angle represents the angle between any key part and the related key parts, and the relative position between any key part and the related key parts. This angle is used to evaluate whether the action of the key part is in place and standard. The angle sequence represents the change in the relative position between the corresponding key part and other key parts during a standard rehabilitation exercise.

[0073] 103-9, determine the standard coordinates of the reference point as the center coordinate value of all second coordinate values.

[0074] The center coordinate value is (the mean of the x-axis coordinates of all the second coordinate values, and the mean of the y-axis coordinates of all the second coordinate values).

[0075] The standard coordinates of the reference point are the central position of the reference point during a standard rehabilitation exercise. This position serves as the initial position of the rehabilitation object during the rehabilitation exercise and is a comparison standard for the subsequent overall displacement of the rehabilitation object.

[0076] 103-10, determine the standard coordinates of the standard point as the center coordinate value of all third coordinate values.

[0077] Among them, the center coordinate value is (the mean of the x-axis coordinates of all the third coordinate values, the mean of the y-axis coordinates of all the third coordinate values).

[0078] The standard coordinates of the reference point are the center position of the standard point during a standard rehabilitation exercise. This position serves as the initial position of the standard point during the rehabilitation exercise and is a comparison standard for the subsequent displacement of the acquisition device used as the first image.

[0079] 103-11, determine the adjustment ratio value as (a+the standard deviation of all elements in the third difference sequence) / 2.

[0080] Among them, a is a preset benchmark ratio value, which can be adjusted by professional doctors according to the age and health condition of the rehabilitation subject. a represents the degree of allowable fluctuation of rehabilitation movements caused by individual differences of rehabilitation subjects. For example, the rehabilitation subject is older and more seriously injured, and it is possible that he cannot guarantee that he can complete the standard movements every time. If he completes 80%, it is considered that the rehabilitation effect has been achieved, that is, it can fluctuate by 20%, so a can be 20%.

[0081] In a specific implementation, a may be provided by a professional doctor before executing step 101 .

[0082] The standard deviation of all elements in the third difference sequence represents the degree of change of the standard point, which is caused by uncontrollable reasons and is a systematic error. Therefore, the adjustment ratio value is determined to be (a + the standard deviation of all elements in the third difference sequence) / 2. This adjustment ratio value is obtained by combining the systematic error and the individual differences of the rehabilitation objects, and can more accurately reflect the adjustment ratio of the current rehabilitation objects.

[0083] 104 , after determining that a second trigger is obtained based on the first image, the rehabilitation nursing process is monitored according to the first image and the standard data.

[0084] After completing the first stage (i.e., the teaching stage), the formal rehabilitation exercise execution stage of this rehabilitation care will begin, which is the second stage (i.e., the rehabilitation stage). When you are ready to enter the rehabilitation stage, the professional doctor will send an instruction to the first image acquisition device to start the second stage. The instruction can be a voice, such as "rehabilitation exercise starts". In this case, the corresponding audio will be acquired while the first image is acquired. After the second moment, each time a first image is acquired, the corresponding audio will be content recognized. If a voice such as "rehabilitation exercise starts" is recognized, and before that, the first trigger and the third trigger are obtained to complete step 103, it means that the first stage (i.e., the teaching stage) is completed and the second stage (i.e., the rehabilitation stage) can be entered, then it is determined that the second trigger is obtained. The instruction can also be a gesture, such as Figure 6 After the second moment, whenever a first image is captured, content recognition is performed on it. If the following Figure 6 The gesture shown in the figure is performed, and before that, the first trigger and the third trigger are obtained to complete step 103, which means that the first stage (ie, the teaching stage) is completed and the second stage (ie, the rehabilitation stage) can be entered, then it is determined that the second trigger is obtained.

[0085] The form and content of the second trigger are preset and need to be different from the first trigger and the third trigger.

[0086] In addition, after the second trigger is identified, the number of times the rehabilitation action is performed will be determined. The number can be pre-set. For example, the professional doctor determines that the rehabilitation action should be performed 10 times based on the condition and age of the rehabilitation subject, and then the preset value will be set to 10 before the second trigger is issued. The professional doctor can also send a specific numerical setting instruction of the preset value to the acquisition device of the first image after issuing the second trigger. The instruction can be a voice, such as "rehabilitation action repeated 10 times". In this case, the corresponding audio will be collected while the first image is collected. After the second trigger is identified, each time a first image is collected, the corresponding audio will be recognized for content. If a voice such as "rehabilitation action repeated 10 times" is recognized, the preset value is set to 10. The instruction can also be a gesture. After issuing the second trigger, the professional doctor sends a gesture representing the number of times to the acquisition device of the first image, such as Figure 7 As shown, in this case, after the second trigger is recognized, each time a first image is collected, the content of the first image will be recognized. Figure 7 If a gesture is shown, the numerical value corresponding to the gesture is identified, such as 10, and the preset value is set to 10.

[0087] When the second trigger is identified and the preset value is set, it is confirmed that the second stage (i.e., the rehabilitation stage) has officially begun. At this time, the rehabilitation nursing process will be monitored according to the first image and standard data through step 104. The specific monitoring process is as follows: 104-1, the count value of the initialization counter is 1.

[0088] The counter is used to record the number of times the rehabilitation movements are completed.

[0089] 104-2, determining the moment when the second trigger is obtained as the fourth moment.

[0090] The fourth moment is the start moment of each rehabilitation exercise. The start moment of the first rehabilitation exercise is the moment when the second trigger is received, so in step 104-2, the moment when the second trigger is obtained is determined as the fourth moment.

[0091] 104-3, initialize the monitoring image queue to be empty.

[0092] The monitoring image queue is used to store all images of a standard rehabilitation exercise process.

[0093] 104-4, starting from the fourth moment, every time a first image is collected, it is determined as the third image, and the fourth coordinate values ​​of each key part of the rehabilitation subject in the third image are determined. The rehabilitation monitoring value of each key part is determined according to the fourth coordinate values ​​of all key parts, standard data and the current monitoring image queue.

[0094] Among them, the rehabilitation monitoring value of any key part is normal, or,abnormal, or,completed.

[0095] The standard data includes: the type and standard parameters of the key parts of the rehabilitation object, the standard coordinates of the reference point, the standard coordinates of the standard point and the adjustment ratio value. The reference point is marked by a professional doctor, and the standard point is a point in the background of the first image. If the rehabilitation movement is not a hand movement, the key parts include one or more of the following: head, shoulder, elbow, wrist, hip, knee, ankle. If the rehabilitation movement is a hand movement, the key parts include one or more of the following: various joints of the hand.

[0096] In step 104-4, for each first image (i.e., third image) starting from the fourth moment, the fourth coordinate value of each key part of the rehabilitation subject in the third image (i.e., each key part has a fourth coordinate value) is determined. Then, the rehabilitation monitoring value of each key part is determined based on all the fourth coordinate values, the standard data obtained in step 103, and the current monitoring image queue.

[0097] For example, for any key part (such as the left elbow) in the third image, the process of determining the rehabilitation monitoring value of each key part according to all the fourth coordinate values, the standard data obtained in step 103 and the current monitoring image queue is as follows: 1. Determine the first target coordinate value, the second target coordinate value, the third target coordinate value, and the fourth target coordinate value among all fourth coordinate values.

[0098] Among them, the first target coordinate value is the fourth coordinate value of any key part, the second target coordinate value is the fourth coordinate value of the distance comparison part of any key part. The third target coordinate value is the fourth coordinate value of the first angle comparison part of any key part. The fourth target coordinate value is the fourth coordinate value of the second angle comparison part of any key part.

[0099] Taking the left elbow as an example of any key part, in this step, the coordinate value of the left elbow in the third image (i.e., the most recently acquired first image) (i.e., the first target coordinate value), the coordinate value of the right elbow (i.e., the distance comparison part of the left elbow) in the third image (i.e., the second target coordinate value), the coordinate value of the left wrist (i.e., the first angle comparison part of the left elbow) in the third image (i.e., the third target coordinate value), and the coordinate value of the left shoulder (i.e., the second angle comparison part of the left elbow) in the third image (i.e., the fourth target coordinate value) are obtained.

[0100] 2. Determine a second angle value of the included angle of any key part according to the first target coordinate value, the third target coordinate value, and the fourth target coordinate value.

[0101] The included angle of any key part is formed by any key part, its first angle comparison part and its second angle comparison part.

[0102] The angle here is the same as the angle in step 103. If any key part has two adjacent key parts, the vertex of the angle of any key part is any key part, any key part and the first angle comparison part constitute one side of the angle, and any key part and the second angle comparison part constitute the other side of the angle. If any key part has only one adjacent key part, the vertex of the angle of any key part is the first angle comparison part, any key part and the first angle comparison part constitute one side of the angle, and the first angle comparison part and the second angle comparison part constitute the other side of the angle.

[0103] After obtaining the coordinate values ​​of any key part and its first angle comparison part and its second angle comparison part in the third image, the angle value of the angle formed by the three points can be obtained according to the coordinate values ​​of the three points, that is, the second angle value of the angle of any key part is determined according to the first target coordinate value (that is, the coordinate value of any key part in the third image), the third target coordinate value (that is, the coordinate value of the first angle comparison part of any key part in the third image), and the fourth target coordinate value (that is, the coordinate value of the second angle comparison part of any key part in the third image).

[0104] The second angle value represents the relative relationship between any key part of the rehabilitation subject and other adjacent key parts at the third image acquisition moment (ie, the current moment).

[0105] 3. Determine a first distance between the first target coordinate value and the second target coordinate value.

[0106] After obtaining the coordinate values ​​of any key part and its distance comparison part in the third image, the distance between the two points can be obtained according to the coordinate values ​​of the two points, that is, the distance (that is, the first distance) between any key part and its corresponding key part is determined according to the first target coordinate value (that is, the coordinate value of any key part in the third image) and the second target coordinate value (that is, the coordinate value of the distance comparison part of any key part in the third image).

[0107] The first distance represents the distance between any key part of the rehabilitation subject and its corresponding key part at the third image acquisition moment (ie, the current moment).

[0108] 4. Determine the actual coordinate values ​​of the standard point and the actual coordinate values ​​of the reference point in the third image.

[0109] In this step, the coordinate value of the standard point in the third image (ie, the actual coordinate value of the standard point) and the coordinate value of the reference point in the third image (ie, the actual coordinate value of the reference point) are determined.

[0110] The actual values ​​are the coordinate values ​​of the standard point and the reference point in the third image at the current moment.

[0111] 5. Determine the second distance between the standard coordinates of the standard point and the actual coordinate value of the standard point, and the third distance between the standard coordinates of the reference point and the actual coordinate value of the reference point.

[0112] The standard coordinates of the standard point are the reference position of the standard point, and the actual coordinate value of the standard point is the actual position of the current standard point. The distance between the two (i.e., the second distance) indicates the displacement of the standard point. Since the standard point is a point in the background object, it will not change. If the second distance is not 0, it means that the acquisition device of the first image has caused a deviation in the image acquisition area due to some uncontrollable factors. This displacement can be regarded as an acquisition error displacement.

[0113] Similarly, the standard coordinates of the reference point are the reference position of the reference point, the actual coordinate value of the reference point is the actual position of the current reference point, and the distance between the two (i.e., the third distance) indicates the displacement of the reference point. Since the reference point is a point that theoretically does not change during the rehabilitation exercise, if the third distance is not 0, it means that the rehabilitation object has shifted as a whole during the exercise (such as the body moving upward as a whole during the supine hip adduction movement), and this displacement can be regarded as a basic displacement of the rehabilitation object.

[0114] The displacement of any key part is jointly determined by three aspects. The first aspect is the acquisition error displacement caused by the acquisition device of the first image. The second aspect is the basic displacement caused by the overall movement of the rehabilitation object. The third aspect is the actual displacement of any key part during the rehabilitation movement.

[0115] 6. Determine the basic change interval as [second distance × (1-adjustment ratio value), second distance × (1 + adjustment ratio value)].

[0116] Since the adjustment ratio value is the floating adjustment value of the action obtained by integrating the system error and the individual differences of the rehabilitation subjects, the basic change range reflects the reasonable change range caused by the acquisition error displacement.

[0117] 7. Determine the movement change interval as [third distance × (1-adjustment ratio value), third distance × (1 + adjustment ratio value)].

[0118] Since the adjustment ratio value is the floating adjustment value of the action obtained by integrating the system error and the individual differences of the rehabilitation object, the movement change range reflects the reasonable change range caused by the overall displacement of the rehabilitation object.

[0119] 8. Determine the angle change range as [the target first angle value in the angle sequence of any key part × (1-adjustment ratio value), the target first angle value in the angle sequence of any key part × (1+adjustment ratio value)].

[0120] If the rehabilitation action increases or keeps the angle of any key part unchanged, the target first angle value is the maximum value of the first angle value in the angle sequence of any key part. If the rehabilitation action reduces the angle of any key part, the target first angle value is the minimum value of the first angle value in the angle sequence of any key part.

[0121] The first target angle value is the maximum target value of the angle of any key part during the rehabilitation exercise process (for example, when the rehabilitation action increases or keeps the angle of any key part unchanged, the maximum target value is the maximum value of the angle; when the rehabilitation action reduces the angle of any key part, the maximum target value is the minimum value of the angle). In addition, since the adjustment ratio value is the floating adjustment value of the action obtained by combining the system error and the individual differences of the rehabilitation object, the angle change range reflects the normal change range of the maximum target value of the angle of any key part during the rehabilitation exercise process.

[0122] 9. If the first distance is greater than the first maximum value of any key part × (1 + adjustment ratio value), the first judgment value is determined to be 0; if the first distance is not greater than the first maximum value of any key part × (1 + adjustment ratio value), the first judgment value is determined to be 1.

[0123] Since the adjustment ratio value is an adjustment value that can be floated by the action obtained by integrating the system error and the individual differences of the rehabilitation object, the first maximum value × (1 + adjustment ratio value) represents the maximum value of the first target distance between the corresponding key part and its corresponding part during a rehabilitation exercise. The first target distance is the target distance for rehabilitation exercise. If the rehabilitation action increases or keeps the distance between any key part and its distance comparison part unchanged, the first target distance is the maximum distance, and the first maximum value × (1 + adjustment ratio value) is the maximum distance between the corresponding key part and its corresponding part during a rehabilitation exercise. If the rehabilitation action reduces the distance between any key part and its distance comparison part, the first target distance is the minimum distance, and the first maximum value × (1 + adjustment ratio value) is the minimum distance between the corresponding key part and its corresponding part during a rehabilitation exercise.

[0124] If the first distance is greater than the first maximum value of any key part × (1 + adjustment ratio value), it means that the distance between any key part and its corresponding part exceeds the first target distance. If the first distance is not greater than the first maximum value of any key part × (1 + adjustment ratio value), it means that the distance between any key part and its corresponding part does not exceed the first target distance.

[0125] Therefore, the first judgment value represents whether the distance between any key part and its corresponding part exceeds the first target distance. If it exceeds, the first judgment value is 0, and if it does not exceed, the first judgment value is 1.

[0126] 10. If the first distance is less than the second maximum value of any key part × (1 + adjustment ratio value), the second judgment value is determined to be 1; if the first distance is not less than the second maximum value of any key part × (1 + adjustment ratio value), the second judgment value is determined to be 0.

[0127] Since the adjustment ratio value is an adjustment value that can be floated by the action obtained by integrating the system error and the individual differences of the rehabilitation object, the second maximum value × (1 + adjustment ratio value) represents the maximum value of the second target distance between the corresponding key part and its corresponding part during a rehabilitation exercise. The second target distance is the minimum distance to complete the rehabilitation exercise. If it is smaller than the second target distance, it is determined that the rehabilitation exercise is completed. If the rehabilitation action increases or remains unchanged the distance between any key part and its distance comparison part, the second target distance is the minimum distance, and the second maximum value × (1 + adjustment ratio value) is the minimum distance between the corresponding key part and its corresponding part during a rehabilitation exercise. If the rehabilitation action reduces the distance between any key part and its distance comparison part, the second target distance is the maximum distance, and the second maximum value × (1 + adjustment ratio value) is the maximum distance between the corresponding key part and its corresponding part during a rehabilitation exercise.

[0128] If the first distance is less than the second maximum value of any key part × (1 + adjustment ratio value), it means that the distance between any key part and its corresponding part exceeds the second target distance. If the first distance is not less than the second maximum value of any key part × (1 + adjustment ratio value), it means that the distance between any key part and its corresponding part does not exceed the second target distance.

[0129] Therefore, the second judgment value represents whether the distance between any key part and its corresponding part reaches the completion distance. If the distance is reached, the second judgment value is 1, and if the distance is not reached, the second judgment value is 0.

[0130] 11. If the second angle value is within the angle variation interval, the first angle judgment value is determined to be 1; if the second angle value is outside the angle variation interval, the first angle judgment value is determined to be 0.

[0131] If the second angle value is within the angle variation interval, the angle of any key part currently meets the normal variation interval. If the second angle value is outside the angle variation interval, the angle of any key part currently does not meet the normal variation interval. Therefore, the first angle judgment value represents whether the current angle meets the normal variation interval. If it meets the variation interval, the first angle judgment value is 1, and if it does not meet the variation interval, the first angle judgment value is 0.

[0132] 12. Determine the rehabilitation monitoring value of any key part based on the first target coordinate value, the type and standard action parameters of any key part, the basic change interval, the movement change interval, the first angle judgment value, the first judgment value, the second judgment value and the current monitoring image queue.

[0133] The implementation process of this step is as follows: 1) If the first target coordinate value is within the standard range of the action of any key part, it means that the current coordinate value of any key part (such as the left elbow) is within the normal range, so: 1.1 When the type of any key part is a static type, it is determined that the rehabilitation monitoring value of any key part is normal.

[0134] 1.2 When the type of any key part is a dynamic type, the rehabilitation monitoring value of any key part is determined according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue.

[0135] (1) If the first judgment value is 0, since the first judgment value indicates whether the distance between any key part and its corresponding part exceeds the first target distance, the first judgment value of 0 indicates that the distance between any key part and its corresponding part exceeds the first target distance, which indicates that any key part is abnormal. Therefore, it is determined that the rehabilitation monitoring value of any key part is abnormal.

[0136] (2) If the first judgment value is 1, it means that the distance between any key part and its corresponding part does not exceed the first target distance, and the following steps 301 to 303 are executed: 301, determine whether there is a target image in the current monitoring image queue, and obtain a determination result.

[0137] The distance between the coordinate value of any key part in the target image and the coordinate value of the distance comparison part is within [first maximum value × (1-adjustment ratio value), first maximum value × (1+adjustment ratio value)].

[0138] That is, in step 301, it is determined whether a first image of any key part reaching the target position appears before the current one.

[0139] 302. If the second judgment value is 0, since the second judgment value represents whether the distance between any key part and its corresponding part has reached the completion distance, the second judgment value of 0 indicates that the distance between any key part and its corresponding part has not reached the completion distance. At this time, the rehabilitation monitoring value of any key part is determined according to the action standard parameters and judgment results of any key part.

[0140] The implementation process of step 302 is: (1) Determine the second time difference between the fifth moment and the fourth moment.

[0141] The fifth moment is the acquisition moment of the third image.

[0142] The second time difference represents the duration of the current rehabilitation exercise performed by the rehabilitation subject.

[0143] (2) When the judgment result is that the target image exists, it means that the first image of any key part reaching the target position appears before the current one, which means that at this time, any key part is in the process of returning to the normal position and has reached the completion distance, so the following steps 401 and 402 are executed: 401. If the second time difference is smaller than the first time difference of any key part, since the first time difference represents the time length for any key part to reach the target position, if the second time difference is smaller than the first time difference of any key part, it means that the current actual movement time length has not reached the standard time length, and the target image has appeared at present. Therefore, the current movement speed is faster than the standard speed, so it is determined that the rehabilitation monitoring value of any key part is abnormal.

[0144] 402, if the second time difference is not less than the first time difference, the current motion speed meets the standard speed requirement, and the following steps 402-1 to 402-7 are executed: 402-1, determine the first target binary group in the angle sequence of any key part.

[0145] Among them, if there is one binary group with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group is the first target binary group; if there are two binary groups with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group with the largest collection time among the two binary groups is the first target binary group; if there are multiple binary groups with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group with the smallest difference between the execution time and the second time difference among the multiple binary groups is the first target binary group, wherein the execution time of any binary group is the difference between its collection time and the minimum collection time value in the angle sequence.

[0146] In executing step 402-1, the difference between the first angle value and the second angle value in all binary groups in the angle sequence is compared to determine the binary group with the smallest difference. If there is only one binary group with the smallest difference, it is the first target binary group. If there are two binary groups with the smallest difference (for example, during the rehabilitation process, the angle gradually decreases from 180 degrees and then gradually increases, then there is a first angle value with the same difference as the second angle value in both the decreasing process and the increasing process), at this time, since any key part is in the process of returning to the normal position at this time, the binary group with the largest acquisition time, that is, the binary group that satisfies the angle relationship last, will be selected as the first target binary group. If there are multiple binary groups with the smallest difference (for example, the angle remains unchanged during rehabilitation movements), then determine the difference between the acquisition time in each binary group with the smallest difference and the minimum acquisition time value in the angle sequence (that is, the execution time corresponding to each binary group). The difference is recorded as the execution time, and the binary group whose execution time is closest to the second time difference (that is, the difference between the execution time and the second time difference is the smallest) is determined as the first target binary group. In this way, the first target binary group is the binary group whose execution time is most similar to the current one, ensuring comparability.

[0147] 402-2, determine the third time difference = the minimum value of the acquisition time value in the acquisition time of the first target binary group - the angle sequence.

[0148] The third time difference is the standard movement duration of the first target binary group.

[0149] 402-3, determine the fourth time difference = the acquisition time of the target image - the fourth time.

[0150] The fourth time difference is the movement time of any key part from the beginning to the reaching of the target position during the current rehabilitation movement.

[0151] 402-4, determine the first ratio=the third time difference / the first time difference.

[0152] The first ratio represents the ratio of the standard movement duration of the first target binary group to the standard time for any key part to move from the initial position to the target position during the standard rehabilitation movement.

[0153] 402-5, determine the second ratio=the second time difference / the fourth time difference.

[0154] The second ratio represents the ratio of the duration of the current rehabilitation exercise performed by the rehabilitation subject to the duration of the exercise of any key part from the beginning to the reaching of the target position during the current rehabilitation action.

[0155] 402-6, determine the first judgment value=|first ratio-second ratio|.

[0156] The first judgment value represents the difference between the current time ratio to the current angle and the standard time ratio to the current angle. The larger the difference, the greater the degree of abnormality.

[0157] 402-7, if the second angle value is within [the first angle value of the first target binary group × (1-adjustment ratio value), the first angle value of the first target binary group × (1-adjustment ratio value)], and the first judgment value is not greater than the preset first threshold value (the first threshold value represents the largest gap, and if the first judgment value is greater than the first threshold value, it means that the gap is abnormal), then the second angle value is normal, and the difference between the current time ratio to the current angle and the standard time ratio to the current angle is also normal, then the rehabilitation monitoring value of any key part is determined to be normal. Otherwise, the rehabilitation monitoring value of any key part is determined to be abnormal.

[0158] (3) When the judgment result is that there is no target image, it means that there is no first image of any key part reaching the target position before, which means that at this time, any key part is moving to the target position, and the following steps 501 and 502 are executed: 501, if the second time difference is greater than the first time difference of any key part, it is determined that the rehabilitation monitoring value of any key part is abnormal.

[0159] 502, if the second time difference is not greater than the first time difference, the current motion speed meets the standard speed requirement, and the following steps 502-1 to 502-5 are executed: 502-1, determine a second target binary group in the angle sequence of any key part.

[0160] Among them, if there is one binary group with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group is the second target binary group; if there are two binary groups with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group with the smallest collection time among the two binary groups is the second target binary group; if there are multiple binary groups with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group with the smallest difference between the execution time and the second time difference among the multiple binary groups is the second target binary group; the execution time of any binary group is the difference between its collection time and the minimum collection time value in the angle sequence.

[0161] In executing step 502-1, the difference between the first angle value and the second angle value in all binary groups in the angle sequence is compared to determine the binary group with the smallest difference. If there is only one binary group with the smallest difference, it is the second target binary group. If there are two binary groups with the smallest difference (for example, during the rehabilitation process, the angle gradually decreases from 180 degrees and then gradually increases, then there is a first angle value with the same difference as the second angle value in both the decreasing process and the increasing process), at this time, since it is the process of moving from any key part to the target position at this time, the binary group with the smallest acquisition time, that is, the binary group that satisfies the angle relationship last, will be selected as the second target binary group. If there are multiple binary groups with the smallest difference (for example, the angle remains unchanged during rehabilitation movements), then determine the difference between the acquisition time in each binary group with the smallest difference and the minimum acquisition time value in the angle sequence (that is, the execution time corresponding to each binary group). The difference is recorded as the execution time, and the binary group whose execution time is closest to the second time difference (that is, the difference between the execution time and the second time difference is the smallest) is determined as the second target binary group. In this way, the second target binary group is the binary group whose execution time is most similar to the current one, ensuring comparability.

[0162] 502-2, determine the third time difference = the minimum value of the acquisition time value in the acquisition time of the second target binary group - the angle sequence.

[0163] The third time difference determination process here is the same as step 402-2, see 402-2 for details, and will not be repeated here.

[0164] 502-3, determine the fourth time difference = the acquisition time of the target image - the fourth time.

[0165] The fourth time difference determination process here is the same as step 402-3, see 402-3 for details, and will not be repeated here.

[0166] 502-4, determine the second judgment value=|third time difference-fourth time difference|.

[0167] The second judgment value represents the difference between the standard exercise duration for the appearance of the second target binary group and the exercise duration of any key part from the beginning to the target position during the current rehabilitation movement. The larger the difference, the greater the degree of abnormality.

[0168] 502-5, if the second angle value is within [the first angle value of the second target binary group × (1-adjustment ratio value), the first angle value of the second target binary group × (1-adjustment ratio value)], and the second judgment value is not greater than the preset second threshold value (the second threshold value represents the largest gap, and if the second judgment value is greater than the second threshold value, it means that the gap is abnormal), then the rehabilitation monitoring value of any key part is determined to be normal. Otherwise, the rehabilitation monitoring value of any key part is determined to be abnormal.

[0169] 303, if the second judgment value is 1, since the second judgment value represents whether the distance between any key part and its corresponding part has reached the completion distance, the second judgment value is 1, indicating that the distance between any key part and its corresponding part has reached the completion distance, and at this time, the following steps 303-1 to 303-2 are executed: 303-1, if the result of the judgment is that the target image exists, it means that the first image of any key part reaching the target position appears before the current one, which means that at this time, any key part is in the process of returning to the normal position and has reached the completion distance, therefore: (1) When the second angle value is within [the minimum first angle value in the angle sequence of any key part × (1-adjustment ratio value), the maximum first angle value in the angle sequence of any key part × (1-adjustment ratio value)], it means that the angle of any key part is normal at this time, and any key part has completed the requirements of the rehabilitation action normally. Therefore, the rehabilitation monitoring value of any key part is determined to be completed.

[0170] (2) When the second angle value is outside [the minimum first angle value in the angle sequence of any key part × (1-adjustment ratio value), the maximum first angle value in the angle sequence of any key part × (1-adjustment ratio value)], it means that the angle of any key part is abnormal at this time, and any key part has not completed the requirements of the rehabilitation action. Therefore, the rehabilitation monitoring value of any key part is determined to be abnormal.

[0171] 303-2, if the result of the judgment is that there is no target image, it means that the first image of any key part reaching the target position has not appeared before the current time, so it means that at this time, any key part is in the process of moving to the target position, but has reached the completion distance. It is impossible that the target position is not reached and then returns to the completion distance, so it is determined that the rehabilitation monitoring value of any key part is abnormal.

[0172] 2) If the first target coordinate value is outside the standard range of the action of any key part, it means that the current coordinate value of any key part (such as the left elbow) is not within the standard range, and the following steps 201 to 205 are executed: 201, determine the minimum distance between the first target coordinate value and the standard range of motion of any key part.

[0173] The minimum distance is the degree to which any key part (such as the left elbow) deviates from the standard range of movement.

[0174] 202. If the minimum distance is within the basic variation interval, since the basic variation interval reflects the reasonable variation interval caused by the acquisition error displacement caused by the uncontrollable factors of the acquisition device of the first image, therefore, the minimum distance is within the basic variation interval, which means that the degree of deviation of any key part from the standard range of movement is normal, that is, the deviation is caused by the uncontrollable factors of the acquisition device of the first image, not by the failure of the rehabilitation subject to move up to the standard. Therefore: 2.1 When the type of any key part is a static type, it is determined that the rehabilitation monitoring value of any key part is normal.

[0175] 2.2 When the type of any key part is a dynamic type, the rehabilitation monitoring value of any key part is determined according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue.

[0176] The execution process of this step is the same as that of step 1.2, which will not be repeated here. For details, see step 1.2.

[0177] 203. If the minimum distance is outside the basic change interval and within the motion change interval, and the first angle judgment value is 1, since the basic change interval reflects the reasonable change interval caused by the acquisition error displacement caused by the uncontrollable factors of the acquisition device of the first image, and the motion change interval reflects the reasonable change interval caused by the overall displacement of the rehabilitation object, therefore, if the minimum distance is outside the basic change interval, it means that the degree of deviation of any key part from the standard range of action is abnormal, but it does not exceed the reasonable change interval caused by the overall displacement of the rehabilitation object. In other words, this deviation is caused by the overall movement of the rehabilitation object, not by the failure of the rehabilitation object to meet the standard movement. In addition, the first angle judgment value is 1, which means that the current angle meets the normal change interval, so: 3.1 When the type of any key part is a static type, it is determined that the rehabilitation monitoring value of any key part is normal.

[0178] 3.2 When the type of any key part is a dynamic type, the rehabilitation monitoring value of any key part is determined according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue.

[0179] The execution process of this step is the same as that of step 1.2, which will not be repeated here. For details, see step 1.2.

[0180] 204. If the minimum distance is outside the basic change interval and within the motion change interval, and the first angle judgment value is 0, it means that the minimum distance is outside the basic change interval, which means that the degree of deviation of any key part from the standard range of movement is abnormal, but it does not exceed the reasonable change interval caused by the overall displacement of the rehabilitation object. In other words, this deviation is caused by the overall movement of the rehabilitation object, not by the failure of the rehabilitation object to move up to standard. However, the first angle judgment value is 0, which means that the current angle does not meet the normal change interval, that is, the angle of any key part (such as the left elbow) is abnormal, so: 4.1 When the type of any key part is a static type, the rehabilitation monitoring value of any key part is determined to be abnormal.

[0181] 4.2 When the type of any key part is a dynamic type, the rehabilitation monitoring value of any key part is determined according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue.

[0182] The execution process of this step is the same as that of step 1.2, which will not be repeated here. For details, see step 1.2.

[0183] 205, otherwise, it is determined that the rehabilitation monitoring value of any key part is abnormal.

[0184] 104-5, if there are key parts whose rehabilitation monitoring values ​​are abnormal, an abnormal motion warning is issued.

[0185] If there are key parts with abnormal rehabilitation monitoring values, it means that the execution of the abnormal key parts does not meet the standards, so an abnormal movement warning is issued, which can assist professional doctors in providing rehabilitation care guidance.

[0186] After the abnormal action warning is performed, the intelligent monitoring method for rehabilitation care provided by this embodiment is terminated. If the professional doctor determines that the rehabilitation care can continue, a signal for continuing execution is issued, such as voice or gesture. After the intelligent monitoring method for rehabilitation care provided by this embodiment obtains the signal, when the value of the counter does not reach the preset value, the fourth moment is updated to the acquisition moment of the third image, the value of the counter is increased by one, and the step of initializing the monitoring image queue to be empty (i.e., step 104-3) and subsequent steps are re-executed. When the value of the counter reaches the preset value, it is considered that all the rehabilitation actions have been executed, and a prompt for completion of rehabilitation care is issued.

[0187] If no signal to continue execution is obtained after a preset time (such as 3 minutes), it is considered that the rehabilitation care monitoring task is completed, and the intelligent monitoring method for rehabilitation care provided in this embodiment is terminated.

[0188] Among them, the voice is such as "rehabilitation action continues to be executed", and the gesture is such as a pre-set gesture that is different from the first trigger, the second trigger, the third trigger and the gesture of setting a preset value.

[0189] 104-6, if there is no critical part with abnormal rehabilitation monitoring value, and the ratio of the number of dynamic key parts with completed rehabilitation monitoring value to the total number of dynamic key parts reaches the preset ratio threshold, then when the value of the counter does not reach the preset value, the fourth moment is updated to the acquisition moment of the third image, the value of the counter is increased by 1, and the step of initializing the monitoring image queue to be empty (i.e., step 104-3) and subsequent steps are re-executed. When the value of the counter reaches the preset value, a prompt of completion of rehabilitation care is given.

[0190] The rehabilitation monitoring value is that the ratio of the number of key parts of the completed dynamic type to the total number of key parts of the dynamic type reaches the preset ratio threshold, indicating that among all the key parts, the ratio of key parts that need to be displaced and changed, reaching the ratio threshold (such as 95%, which is determined by professional doctors based on the age, condition, etc. of the rehabilitation subject. The older the age and the more serious the condition, the smaller the ratio threshold). At this time, it is considered that the current rehabilitation exercise is completed and the next rehabilitation exercise is performed. Therefore, if the value of the counter reaches the preset value, it means that the number of successfully completed rehabilitation actions has reached the preset standard, which means that the current rehabilitation nursing task is completed, and the rehabilitation nursing completion prompt is given to complete the execution of the intelligent monitoring method for rehabilitation nursing provided in this embodiment. At this time, the images in the monitoring image queue can be stored, and then the images of the rehabilitation nursing process can be saved.

[0191] If the value of the counter does not reach the preset value, it means that the number of successfully completed rehabilitation movements does not reach the preset standard, and the next rehabilitation exercise needs to be performed again. Therefore, the moment of capturing the current image (i.e., the moment of capturing the third image) is determined as the starting moment of the next rehabilitation exercise (i.e., the fourth moment), the value of the counter is increased by one, and the step of initializing the monitoring image queue to be empty (i.e., step 104-3) and subsequent steps are re-executed.

[0192] In addition, if it is necessary to save images of the rehabilitation care process, the images in the monitoring image queue may be stored before re-executing the step of initializing the monitoring image queue to be empty (ie, step 104 - 3 ) and subsequent steps.

[0193] 104-7, if there is no critical part with abnormal rehabilitation monitoring value, but the ratio of the number of key parts of the completed dynamic type of rehabilitation monitoring value to the total number of key parts of the dynamic type does not reach the preset ratio threshold, the third image is placed at the end of the monitoring image queue.

[0194] There are no critical parts with abnormal rehabilitation monitoring values, indicating that all critical parts meet the standards. However, if the ratio of the number of key parts of the completed dynamic type to the total number of key parts of the dynamic type does not reach the preset ratio threshold, it means that the proportion of key parts of the completed dynamic type is small. At this time, it is considered that the current rehabilitation exercise has not been completed. Therefore, the third image is placed at the end of the monitoring image queue. When the next image is collected, step 104-4 and subsequent steps are re-executed until an abnormal critical part appears, or the current rehabilitation exercise is completed.

[0195] The present embodiment provides an intelligent monitoring method for rehabilitation care, which starts with rehabilitation care for the rehabilitation object, continuously collects images of the rehabilitation object with the same acquisition parameters; determines whether the first trigger is obtained based on the image; if the first trigger is obtained, determines standard data based on the image; wherein the standard data includes: the type and standard action parameters of each key part of the rehabilitation object, the standard coordinates of the reference point, the standard coordinates of the standard point, and the adjustment ratio value; after determining that the second trigger is obtained based on the image, the rehabilitation care process is monitored according to the image and the standard data. The method of the present embodiment first determines the standard data of the rehabilitation action process based on the image of the rehabilitation object during the rehabilitation care process, and monitors the rehabilitation care process based on the image and the standard data, so that the monitoring of the rehabilitation care process no longer relies on subjective judgment, but relies on objective standards, thereby realizing effective and objective monitoring of the rehabilitation care process.

[0196] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0197] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0198] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent monitoring method for rehabilitation nursing, characterized in that: The method comprises: Starting from the rehabilitation care for the rehabilitation subject, continuously acquiring the first image of the rehabilitation subject with the same acquisition parameters; wherein the range presented by the image includes the maximum range of the rehabilitation subject during the rehabilitation action; determining whether a first trigger is acquired based on the first image; If the first trigger is obtained, standard data is determined based on the first image; wherein the standard data includes: the type and standard parameters of each key part of the rehabilitation object, the standard coordinates of the reference point, the standard coordinates of the standard point and the adjustment ratio value; the reference point is marked by a professional doctor, and the standard point is a point in the background of the first image; if the rehabilitation action is not a hand action, the key parts include one or more of the following: head, shoulder, elbow, wrist, hip, knee, ankle; if the rehabilitation action is a hand action, the key parts include one or more of the following: each joint of the hand; After determining that the second trigger is acquired based on the first image, the rehabilitation care process is monitored according to the first image and the standard data.

2. The method according to claim 1, characterized in that The determining of standard data based on the first image comprises: Recognize each first image acquired after the first moment, and determine a second moment at which the third trigger is recognized; wherein the first moment is the moment at which the first trigger is acquired; Determine a first image acquired between the first moment and the second moment as a second image; Determine the first coordinate value of each key part of the rehabilitation subject in each second image to form a first coordinate value sequence of each key part; determine the second coordinate value of the reference point in each second image to form a second coordinate value sequence; determine the third coordinate value of the standard point in each second image to form a third coordinate value sequence; wherein the coordinate values ​​in each coordinate value sequence are arranged from far to near according to the acquisition time of the second image to which they belong; Calculate the first difference between each subsequent coordinate value in each first coordinate value sequence and its previous coordinate value; calculate the second difference between each subsequent coordinate value in the second coordinate value sequence and its previous coordinate value; calculate the third difference between each subsequent coordinate value in the third coordinate value sequence and its previous coordinate value; Determine a first average value of all first differences of each key part; Determine a difference comparison value according to the second difference, the third difference and the second coordinate value sequence; The type of the key part whose first average value is less than the difference comparison value is determined as a static type, and the type of the key part whose first average value is not less than the difference comparison value is determined as a dynamic type; Determine the standard action parameters of each key part according to the type and the first coordinate value of each key part; Determine the standard coordinates of the reference point as the center coordinate value of all second coordinate values; Determine the standard coordinates of the standard point as the center coordinate value of all third coordinate values; Determine the adjustment ratio value as (a+the standard deviation of all elements in the third difference sequence) / 2; Wherein, a is a preset reference ratio value.

3. The method according to claim 2, characterized in that The determining of the difference comparison value according to the second difference, the third difference and the second coordinate value sequence comprises: Determine the first second coordinate value Co1 in the second coordinate value sequence; Determine the absolute value of the difference between each second coordinate value in the second coordinate value sequence and Co1, and obtain the maximum absolute value; Determine the standard deviation Sd1 of all second differences, and the standard deviation Sd2 of all third differences; The difference comparison value is determined to be the maximum absolute value × (1 + Sd1 - Sd2).

4. The method according to claim 2, characterized in that: The action standard parameters include an action standard range and an action standard value; the action standard value includes a first maximum value, a second maximum value, a first time difference, and an angle sequence; Determining the standard action parameters of each key part according to the type of each key part and the first coordinate value includes: For any key part, if the type of any key part is a static type, the action standard range of any key part is determined to be a minimum circle containing all first coordinate values ​​of any key part; if the type of any key part is a dynamic type, the action standard range of any key part is determined to be a fitting curve of all first coordinate values ​​of any key part; For any key part, if the rehabilitation action causes the distance between any key part and its distance comparison part to increase or remain unchanged, the maximum value of the distance between any key part and its distance comparison part in each second image is determined as the first maximum value, and the minimum value of the distance between any key part and its distance comparison part in each second image is determined as the second maximum value; if the rehabilitation action causes the distance between any key part and its distance comparison part to decrease, the minimum value of the distance between any key part and its distance comparison part in each second image is determined as the first maximum value, and the maximum value of the distance between any key part and its distance comparison part in each second image is determined as the second maximum value; For any key part, the time difference between the third moment and the first moment is determined as the first time difference; wherein the third moment is the acquisition moment of the second image corresponding to the first maximum value; For any key part, determine the first angle value of the angle of any key part in each second image, and form a tuple <first angle value, acquisition time value> with the first angle value and the acquisition time of the second image to which it belongs; form all tuples into an angle sequence according to the time value from far to near; wherein, the angle of any key part is formed by the any key part, its first angle comparison part and its second angle comparison part.

5. The method according to claim 1, characterized in that The monitoring of the rehabilitation nursing process according to the first image and the standard data includes: Initialize the counter to 1; determining the moment when the second trigger is obtained as a fourth moment; Initialize the monitoring image queue to be empty; Starting from the fourth moment, whenever a first image is acquired, it is determined as the third image, and the fourth coordinate values ​​of each key part of the rehabilitation subject in the third image are determined; the rehabilitation monitoring value of each key part is determined according to the fourth coordinate values ​​of all key parts, standard data and the current monitoring image queue; wherein the rehabilitation monitoring value of any key part is normal, or, abnormal, or, completed; If there are critical parts with abnormal rehabilitation monitoring values, an abnormal motion warning will be issued; If there is no critical part with abnormal rehabilitation monitoring value, and the ratio of the number of key parts of the dynamic type that are completed with rehabilitation monitoring value to the total number of key parts of the dynamic type reaches a preset ratio threshold, then when the value of the counter does not reach the preset value, the fourth moment is updated to the acquisition moment of the third image, the value of the counter is increased by one, and the step of initializing the monitoring image queue to be empty and subsequent steps are re-executed; when the value of the counter reaches the preset value, a prompt of completion of rehabilitation care is given; If there is no critical part with abnormal rehabilitation monitoring value, but the ratio of the number of key parts of the completed dynamic type with rehabilitation monitoring value to the total number of key parts of the dynamic type does not reach the preset ratio threshold, the third image is placed at the end of the monitoring image queue.

6. The method according to claim 5, characterized in that The action standard parameter includes an action standard value; the action standard value includes a first maximum value, a second maximum value, and an angle sequence; the angle sequence is composed of a binary group <first angle value, acquisition time value>; For any key part, the rehabilitation monitoring value of any key part is determined according to the fourth coordinate values ​​of all key parts, standard data and the current monitoring image queue, including: Determine the first target coordinate value, the second target coordinate value, the third target coordinate value, and the fourth target coordinate value among all the fourth coordinate values; wherein the first target coordinate value is the fourth coordinate value of any of the key parts, the second target coordinate value is the fourth coordinate value of the distance comparison part of any of the key parts; the third target coordinate value is the fourth coordinate value of the first angle comparison part of any of the key parts; and the fourth target coordinate value is the fourth coordinate value of the second angle comparison part of any of the key parts; Determine a second angle value of the angle of any key part according to the first target coordinate value, the third target coordinate value, and the fourth target coordinate value; wherein the angle of any key part is formed by the any key part, its first angle comparison part, and its second angle comparison part; Determining a first distance between the first target coordinate value and the second target coordinate value; Determining actual coordinate values ​​of the standard point and actual coordinate values ​​of the reference point in the third image; Determine a second distance between the standard coordinates of the standard point and the actual coordinate value of the standard point, and a third distance between the standard coordinates of the reference point and the actual coordinate value of the reference point; Determine the basic change interval as [second distance × (1-adjustment ratio value), second distance × (1 + adjustment ratio value)]; Determine the motion change interval as [third distance × (1-adjustment ratio value), third distance × (1 + adjustment ratio value)]; The angle change interval is determined as [the target first angle value in the angle sequence of any key part × (1-adjustment ratio value), the target first angle value in the angle sequence of any key part × (1+adjustment ratio value)]; wherein, if the rehabilitation action causes the angle of any key part to increase or remain unchanged, the target first angle value is the maximum value of the first angle value in the angle sequence of any key part; if the rehabilitation action causes the angle of any key part to decrease, the target first angle value is the minimum value of the first angle value in the angle sequence of any key part; If the first distance is greater than the first maximum value of any key part × (1 + adjustment ratio value), the first judgment value is determined to be 0; if the first distance is not greater than the first maximum value of any key part × (1 + adjustment ratio value), the first judgment value is determined to be 1; If the first distance is less than the second maximum value of any key part × (1 + adjustment ratio value), the second judgment value is determined to be 1; if the first distance is not less than the second maximum value of any key part × (1 + adjustment ratio value), the second judgment value is determined to be 0; If the second angle value is within the angle variation interval, the first angle judgment value is determined to be 1; if the second angle value is outside the angle variation interval, the first angle judgment value is determined to be 0; The rehabilitation monitoring value of any key part is determined according to the first target coordinate value, the type and standard action parameters of any key part, the basic change interval, the movement change interval, the first angle judgment value, the first judgment value, the second judgment value and the current monitoring image queue.

7. The method according to claim 6, characterized in that The action standard parameters also include an action standard range; The method of determining the rehabilitation monitoring value of any key part according to the first target coordinate value, the type and standard action parameter of any key part, the basic change interval, the movement change interval, the first angle judgment value, the first judgment value, the second judgment value and the current monitoring image queue includes: If the first target coordinate value is within the action standard range of any key part, then when the type of any key part is a static type, the rehabilitation monitoring value of any key part is determined to be normal; when the type of any key part is a dynamic type, the rehabilitation monitoring value of any key part is determined according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue; If the first target coordinate value is outside the standard range of the action of any key part, the following steps 201 to 205 are executed: 201, determining the minimum distance between the first target coordinate value and the standard range of motion of any key part; 202, if the minimum distance is within the basic change interval, when the type of any key part is a static type, determining the rehabilitation monitoring value of any key part is normal; when the type of any key part is a dynamic type, determining the rehabilitation monitoring value of any key part according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue; 203, if the minimum distance is outside the basic change interval and within the motion change interval, and the first angle judgment value is 1, when the type of any key part is a static type, the rehabilitation monitoring value of any key part is determined to be normal; when the type of any key part is a dynamic type, the rehabilitation monitoring value of any key part is determined according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue; 204, if the minimum distance is outside the basic change interval and within the motion change interval, and the first angle judgment value is 0, then when the type of any key part is a static type, the rehabilitation monitoring value of any key part is determined to be abnormal; when the type of any key part is a dynamic type, the rehabilitation monitoring value of any key part is determined according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue; 205, otherwise, determining that the rehabilitation monitoring value of any key part is abnormal.

8. The method according to claim 7, characterized in that Determining the rehabilitation monitoring value of any key part according to the action standard parameter of any key part, the first judgment value, the second judgment value and the current monitoring image queue includes: If the first judgment value is 0, it is determined that the rehabilitation monitoring value of any key part is abnormal; If the first judgment value is 1, the following steps 301 to 303 are executed: 301, determine whether there is a target image in the current monitoring image queue, and obtain a determination result; wherein the distance between the coordinate value of any key part in the target image and the coordinate value of the distance comparison part is within [first maximum value × (1-adjustment ratio value), first maximum value × (1+adjustment ratio value)]; 302, if the second judgment value is 0, determining the rehabilitation monitoring value of any key part according to the action standard parameter of any key part and the judgment result; 303, if the second judgment value is 1, execute the following steps 303-1 to 303-2: 303-1, if the judgment result is that the target image exists, when the second angle value is within [the minimum first angle value in the angle sequence of any key part × (1-adjustment ratio value), the maximum first angle value in the angle sequence of any key part × (1-adjustment ratio value)], it is determined that the rehabilitation monitoring value of any key part is completed; when the second angle value is outside [the minimum first angle value in the angle sequence of any key part × (1-adjustment ratio value), the maximum first angle value in the angle sequence of any key part × (1-adjustment ratio value)], it is determined that the rehabilitation monitoring value of any key part is abnormal; 303-2, if the judgment result is that the target image does not exist, determining that the rehabilitation monitoring value of any key part is abnormal.

9. The method according to claim 8, characterized in that The action standard value also includes a first time difference; Determining the rehabilitation monitoring value of any key part according to the action standard parameter of any key part and the judgment result includes: Determine a second time difference between a fifth moment and a fourth moment; wherein the fifth moment is a time at which the third image is acquired; When the result of the determination is that the target image exists, the following steps 401 and 402 are performed: 401, if the second time difference is less than the first time difference of any key part, determining that the rehabilitation monitoring value of any key part is abnormal; 402. If the second time difference is not less than the first time difference, execute the following steps 402-1 to 402-7: 402-1, in the angle sequence of any key part, determine the first target binary group; wherein, if there is one binary group with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group is the first target binary group; if there are two binary groups with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group with the largest collection time among the two binary groups is the first target binary group; if there are multiple binary groups with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group with the smallest difference between the execution time and the second time difference among the multiple binary groups is the first target binary group; the execution time of any binary group is the difference between its collection time and the minimum collection time value in the angle sequence; 402-2, determine the third time difference = the minimum value of the acquisition time value in the acquisition time of the first target binary group - the angle sequence; 402-3, determine the fourth time difference = the acquisition time of the target image - the fourth time; 402-4, determine the first ratio=the third time difference / the first time difference; 402-5, determine the second ratio=the second time difference / the fourth time difference; 402-6, determine the first judgment value=|first ratio-second ratio|; 402-7, if the second angle value is within [the first angle value of the first target binary group × (1-adjustment ratio value), the first angle value of the first target binary group × (1-adjustment ratio value)], and the first judgment value is not greater than the preset first threshold value, then the rehabilitation monitoring value of any key part is determined to be normal; otherwise, the rehabilitation monitoring value of any key part is determined to be abnormal; When the result of the determination is that the target image does not exist, the following steps 501 and 502 are performed: 501, if the second time difference is greater than the first time difference of any key part, determining that the rehabilitation monitoring value of any key part is abnormal; 502. If the second time difference is not greater than the first time difference, execute the following steps 502-1 to 502-5: 502-1, in the angle sequence of any key part, determine the second target binary group; wherein, if there is one binary group with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group is the second target binary group; if there are two binary groups with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group with the smallest acquisition time among the two binary groups is the second target binary group; if there are multiple binary groups with the smallest difference between the first angle value and the second angle value in the angle sequence, then the binary group with the smallest difference between the execution time and the second time difference among the multiple binary groups is the second target binary group; the execution time of any binary group is the difference between its acquisition time and the minimum acquisition time value in the angle sequence; 502-2, determine the third time difference = the minimum value of the acquisition time value in the acquisition time of the second target binary group - the angle sequence; 502-3, determine the fourth time difference = the acquisition time of the target image - the fourth time; 502-4, determine the second judgment value=|third time difference-fourth time difference|; 502-5, if the second angle value is within [the first angle value of the second target binary group × (1-adjustment ratio value), the first angle value of the second target binary group × (1-adjustment ratio value)], and the first judgment value is not greater than the preset second threshold value, then the rehabilitation monitoring value of any key part is determined to be normal; otherwise, the rehabilitation monitoring value of any key part is determined to be abnormal.

10. The method according to claim 4, 5 or 7, characterized in that: If any key part is neither the head nor the hand joint, the distance comparison part is the symmetrical part; if any key part is the head, the distance comparison part is the shoulder; if any key part is the hand joint, the distance comparison part is the corresponding joint of the adjacent finger; The first angle comparison part of any key part is its adjacent key part; If any of the key parts has another adjacent key part, the second angle comparison part is the other adjacent key part; if any of the key parts has no other adjacent parts, the second angle comparison part is other key parts adjacent to the first angle comparison part.

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