Intelligent Monitoring Method for Rehabilitation Nursing

Abstract

The present invention relates to an intelligent monitoring method for rehabilitation care, and the method includes: starting from the beginning of rehabilitation care for a rehabilitation object, continuously collecting images of the rehabilitation object with the same acquisition parameters; determining whether a first trigger is obtained based on the images; if the first trigger is obtained, determining standard data based on the images; wherein the standard data includes: the types and action standard parameters of each key part of the rehabilitation object, the standard coordinates of reference points, the standard coordinates of standard points, and an adjustment ratio value; after determining that a second trigger is obtained based on the images, monitoring the rehabilitation care process according to the images and the standard data. The method of the present invention first determines the standard data of the rehabilitation action process based on the images of the rehabilitation object during the rehabilitation care process, and monitors the rehabilitation care process based on the images and the standard data, so that the monitoring of the rehabilitation care process no longer relies on subjective judgment, but on objective criteria, realizing effective and objective monitoring of the rehabilitation care process.

Description

Technical Field

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

[0002] Rehabilitation nursing is an important and integral part of rehabilitation medicine and develops with the development of rehabilitation medicine. Rehabilitation medicine is a medical discipline that aims to eliminate and alleviate people's functional impairments, compensate for and reconstruct people's missing functions, and improve people's various functions. Rehabilitation training is a main form of rehabilitation nursing.

[0003] During the rehabilitation training, the rehabilitation object needs to perform specified rehabilitation actions under the guidance of a professional doctor (e.g., a rehabilitation therapist). During this process, the professional doctor needs to subjectively judge whether the rehabilitation actions of the rehabilitation object are standard, so as to achieve the rehabilitation effect.

[0004] The existing rehabilitation effect is subjectively judged by professional doctors, lacking an objective standard. Thus, different doctors and different states of the same doctor will produce different judgment results. Therefore, the existing solutions cannot effectively and objectively monitor the rehabilitation nursing process. Summary of the Invention

[0005] (I) Technical Problems to be Solved

[0006] To solve the above problems, the present invention provides an intelligent monitoring method for rehabilitation nursing.

[0007] (II) Technical Solutions

[0008] To achieve the above object, the main technical solutions adopted by the present invention include:

[0009] An intelligent monitoring method for rehabilitation nursing, the method comprising:

[0010] From the start of rehabilitation nursing for the rehabilitation object, continuously collect the first image of the rehabilitation object with the same acquisition parameters; wherein, the range presented by the image includes the maximum range during the process of the rehabilitation object performing rehabilitation actions;

[0011] Determine whether a first trigger is obtained based on the first image;

[0012] If a first trigger is obtained, determine standard data based on the first image; wherein, the standard data includes: the types and motion 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 ratio value; the reference points are marked by professional doctors, and the standard points are a point in the background of the first image; if the rehabilitation motion is not a hand motion, the key parts include one or more of the following: head, shoulder, elbow, wrist, hip, knee, ankle; if the rehabilitation motion is a hand motion, the key parts include one or more of the following: each joint part of the hand;

[0013] After determining that a second trigger is obtained based on the first image, monitor the rehabilitation care process according to the first image and the standard data.

[0014] (III)Advantages

[0015] The present invention relates to an intelligent monitoring method for rehabilitation care, and the method includes: starting from the rehabilitation care of the rehabilitation object, continuously collecting images of the rehabilitation object with the same acquisition parameters; determining whether a first trigger is obtained based on the images; if a first trigger is obtained, determine standard data based on the images; wherein, the standard data includes: the types and motion 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 ratio value; after determining that a second trigger is obtained based on the images, monitor the rehabilitation care process according to the images and the standard data. The method of the present invention first determines the standard data of the rehabilitation motion process based on the images of the rehabilitation object during the rehabilitation care process, and monitors the rehabilitation care process according to the images and the standard data, so that the monitoring of the rehabilitation care process no longer relies on subjective judgment, but on objective criteria, realizing effective and objective monitoring of the rehabilitation care process. Description of the Drawings

[0016] Figure 1 It is a schematic flowchart of an intelligent monitoring method for rehabilitation care provided by an embodiment of the present application;

[0017] Figure 2 It is a schematic diagram of a gesture of a first trigger provided by an embodiment of the present application;

[0018] Figure 3 It is a schematic diagram of a gesture of a third trigger provided by an embodiment of the present application;

[0019] Figure 4 It is a schematic diagram of a key part provided by an embodiment of the present application;

[0020] Figure 5 It is another schematic diagram of a key part provided by an embodiment of the present application;

[0021] Figure 6A schematic diagram of a gesture for a second trigger provided by an embodiment of the present application;

[0022] Figure 7 A schematic diagram of a gesture for setting a preset value provided by an embodiment of the present application. Detailed implementation manners

[0023] For better explaining the present invention and facilitating understanding, the present invention will be described in detail below in conjunction with the accompanying drawings through specific implementation manners.

[0024] During the rehabilitation training, the rehabilitation object needs to perform specified rehabilitation actions under the guidance of a professional doctor (for example, a rehabilitation therapist). During this process, the professional doctor needs to subjectively judge whether the rehabilitation actions of the rehabilitation object are standard, so as to achieve the rehabilitation effect. The existing rehabilitation effect is obtained through the subjective judgment of professional doctors, lacking an objective standard. In this way, different doctors and different states of the same doctor will produce different judgment results. Therefore, the existing solution cannot effectively and objectively monitor the rehabilitation nursing process.

[0025] Based on this, the present invention provides an intelligent monitoring method for rehabilitation nursing, which includes: starting from the rehabilitation nursing of the rehabilitation object, continuously collecting images of the rehabilitation object with the same acquisition parameters; determining whether a first trigger is obtained based on the images; if the first trigger is obtained, determining standard data based on the images; where the standard data includes: the types 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 ratio value; after determining that a second trigger is obtained based on the images, monitoring the rehabilitation nursing process according to the images and the standard data. The method of the present invention first determines the standard data of the rehabilitation action process based on the images of the rehabilitation object during the rehabilitation nursing process, and monitors the rehabilitation nursing process based on the images and the standard data, so that the monitoring of the rehabilitation nursing process no longer depends on subjective judgment, but on objective standards, realizing effective and objective monitoring of the rehabilitation nursing process.

[0026] See Figure 1 , this embodiment provides an intelligent monitoring method for rehabilitation nursing, and its implementation process is as follows:

[0027] 101. Starting from the rehabilitation nursing of the rehabilitation object, continuously collect the first images of the rehabilitation object with the same acquisition parameters.

[0028] Among them, the range presented by the images includes the maximum range during the rehabilitation actions of the rehabilitation object.

[0029] When providing rehabilitation care for the rehabilitation object, it includes 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 correct ways of rehabilitation movements for the rehabilitation object and the achieved standards. In the rehabilitation stage, based on the methods and standards learned in the teaching stage, the rehabilitation object independently performs rehabilitation movements. During the process of independently performing rehabilitation movements, there may or may not be the assistance of professional doctors. In this step, the acquisition of the first image starts from the first stage, so that the acquisition of the first image runs through the entire process of this rehabilitation care for the rehabilitation object.

[0030] For example, after the rehabilitation object enters the rehabilitation area, the professional doctor turns on the first image acquisition device. At this time, continuous acquisition of the first image is carried out until the rehabilitation object completes this rehabilitation and leaves the rehabilitation area, and the professional doctor turns off the first image acquisition device, or until the rehabilitation object no longer appears in the first image, the first image acquisition device automatically turns off.

[0031] In addition, during the process of performing rehabilitation movements, the displacement of the rehabilitation object may be small, such as performing the supine hip adduction movement on a rehabilitation bed, or may be relatively large, such as a 10-meter slow walk. At this time, the acquisition parameters of the first image acquisition device can be adjusted so that the range captured by the first image includes the range within which the rehabilitation object can displace during the rehabilitation movement. This can ensure that during the process of the first image acquisition device acquiring the first image, the acquisition parameters remain unchanged, and the rehabilitation movements of the rehabilitation object can be captured throughout the process. At the same time, the proportion of the rehabilitation movements of the rehabilitation object in the first image is the largest, thereby ensuring that the subsequent analysis data of the rehabilitation object in the first image is more accurate.

[0032] 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 displacement of the rehabilitation object is relatively large during the rehabilitation movement, it may affect the subsequent rehabilitation monitoring effect because the proportion of the rehabilitation object in the first image is relatively small. Therefore, the intelligent monitoring method for rehabilitation care provided in this embodiment is optimally used for monitoring rehabilitation movements with small displacements. For rehabilitation movements 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 for rehabilitation care.

[0033] 102. Determine whether the first trigger is obtained based on the first image.

[0034] Among them, the first trigger indicates the formal entry into the first stage (i.e., the teaching stage).

[0035] When the professional doctor and the rehabilitation subject are ready for this rehabilitation care, the professional doctor will send a ready instruction to the acquisition device of the first image. This instruction can be a voice, such as "The rehabilitation care officially starts". In this case, the corresponding audio will be collected while collecting the first image. Whenever a first image is collected, the content of its corresponding audio will be recognized. If a voice such as "The rehabilitation care officially starts" is recognized, it is determined that the first trigger is obtained. This instruction can also be a gesture, such as Figure 2 The gesture shown. Whenever a first image is collected, its content will be recognized. If a gesture such as Figure 2 The gesture shown is recognized, it is determined that the first trigger is obtained.

[0036] The form and content of the first trigger are preset.

[0037] 103. If the first trigger is obtained, the standard data is determined based on the first image.

[0038] Among them, the standard data includes: the types and action standard parameters of each key part of the rehabilitation subject, the standard coordinates of the reference points, the standard coordinates of the standard points, and the adjustment ratio value. The reference points are marked by the professional doctor, and the standard points are 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 part of the hand.

[0039] Obtaining the first trigger indicates the official start of the first stage (i.e., the teaching stage). In step 103, the first stage (i.e., the teaching stage) will be recognized to obtain the action standard for the rehabilitation subject to perform this rehabilitation exercise, so as to monitor the movement process of the second stage (i.e., the rehabilitation stage) according to this action standard, so as to ensure that the actions in the subsequent second stage (i.e., the rehabilitation stage) all meet the action standard and achieve the effect of this rehabilitation care

[0040] The implementation process of step 103 is as follows:

[0041] 103-1. Recognize each first image collected after the first moment to determine the second moment when the third trigger is recognized.

[0042] Among them, the first moment is the moment when the first trigger is obtained.

[0043] In the first stage (i.e., the teaching stage), a professional doctor will help the rehabilitation subject perform a correct rehabilitation movement. The start of this movement is signaled by the first trigger, and the end of this movement is signaled by the third trigger. Therefore, upon receiving the first trigger, continuous attention will be paid to whether the third trigger exists in the subsequently collected first images. If the third trigger is collected, it is considered that a standard rehabilitation movement is completed, and at this time, the acquisition moment of the third trigger, i.e., the second moment, is obtained.

[0044] 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 movement, the professional doctor will send an instruction indicating the end of the first stage to the acquisition device of the first image. This instruction can be a voice, such as "The standard movement of rehabilitation care is completed". In this case, the corresponding audio will be collected while collecting the first image. Whenever a first image is collected, the content of its corresponding audio will be recognized. If a voice such as "The standard movement of rehabilitation care is completed" is recognized, it is determined that the third trigger is obtained. This instruction can also be a gesture, such as Figure 3 the gesture shown. Whenever a first image is collected, its content will be recognized. If a gesture such as Figure 3 the gesture shown is recognized, it is determined that the third trigger is obtained.

[0045] The form and content of the third trigger are preset and need to be different from the first trigger.

[0046] 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 subject. Therefore, the reference point is preferably located on the rehabilitation subject, and the reference point does not move or only moves slightly (the displacement can be ignored) during the rehabilitation movement of the rehabilitation subject. For example, the rehabilitation movement is hip adduction in the supine position, and the reference point is a point on the left shoulder. If the rehabilitation subject moves during the rehabilitation movement, the reference point can be located at a position where the theoretical relative displacement with the rehabilitation subject remains unchanged. The reference point is flexibly determined by the professional doctor according to the movement situation of the rehabilitation subject, the rehabilitation movement, etc. After the professional doctor determines the reference point, it can be marked. For example, the professional doctor points at the determined point for a period of time. By recognizing the first image, when it is recognized that the stationary time of the professional doctor's finger exceeds the preset time (such as 5 seconds), the position of the fingertip is determined as the reference point.

[0047] 103 - 2, determine the first images collected between the first moment and the second moment as the second images.

[0048] Since the first moment is the start moment of the first stage (i.e., the teaching stage), 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 one standard rehabilitation movement, therefore, the first images (i.e., the second images) collected between the first moment and the second moment are all the images of one standard rehabilitation movement. The standard data of the rehabilitation movement can be obtained based on all the second images.

[0049] 103 - 3, determine the first coordinate values of each key part of the rehabilitation object in each second image to form a sequence of the first coordinate values of each key part. Determine the second coordinate values of the reference point in each second image to form a sequence of the second coordinate values. Determine the third coordinate values of the standard point in each second image to form a sequence of the third coordinate values.

[0050] Among them, the coordinate values in each coordinate value sequence are arranged from the farthest to the nearest according to the acquisition moment of the second image to which they belong.

[0051] Since the acquisition parameters of the acquisition device of the first image are unchanged when acquiring the first image, therefore, if the upper left corner of any first image is taken as the origin of the coordinate system, with the left direction as the positive x - axis direction and the downward direction as the positive y - axis direction to construct a coordinate system, then the coordinate systems of all the first images are the same, and the coordinate system positions of the same stationary object in each first image are unchanged.

[0052] In addition, the key parts are related to the rehabilitation part. If the rehabilitation part is not the hand, such as the leg, then the key parts include one or more of the following: head, shoulder, elbow, wrist, hip, knee, ankle. Among them, there can be 2 of shoulder, elbow, wrist, hip, knee, ankle, 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, as Figure 4 shown by the black dots. If the rehabilitation part is the hand, then the rehabilitation movement is a hand movement, and at this time the key parts include one or more of the following: each joint part of the hand, where the hand joint parts are as Figure 5 shown by the black dots.

[0053] The reference point is marked by a professional doctor.

[0054] The standard point is a point in the background of the first image. It can be a point that will not be covered and will not be displaced selected from the background of the first image recognized by the object recognition scheme of the intelligent monitoring method for rehabilitation care provided by this embodiment, such as a point on the ceiling lamp.

[0055] In 103-3, the first coordinate values of each key part of the rehabilitation object in each second image are obtained to form a sequence of first coordinate values of each key part. The second coordinate values of the reference point in each second image are determined to form a sequence of second coordinate values. The third coordinate values of the standard point in each second image are determined to form a sequence of third coordinate values.

[0056] The key parts can be preset. For example, the corresponding relationships between different rehabilitation exercises and key parts are preset. Before step 101 is executed, a professional doctor inputs the name or identifier of this rehabilitation exercise, and the key parts are obtained based on this corresponding relationship.

[0057] In the actual application process, when 103-1 is executed, the first second image can also be judged. If not all key parts are recognized in the first second image, a warning is given to ensure that all key parts are included in the second image.

[0058] 103-4, calculate the first difference between each subsequent coordinate value and its previous coordinate value in each sequence of first coordinate values. Calculate the second difference between each subsequent coordinate value and its previous coordinate value in the sequence of second coordinate values. Calculate the third difference between each subsequent coordinate value and its previous coordinate value in the sequence of third coordinate values.

[0059] For example, any sequence of first coordinate values is coordinate value 11, coordinate value 12, coordinate value 13, coordinate value 14. Then there are 3 first differences, which are respectively coordinate value 12 - coordinate value 11, coordinate value 13 - coordinate value 12, coordinate value 14 - coordinate value 13.

[0060] 103-5, determine the first average value of all first differences of each key part.

[0061] 103-6, determine the difference comparison value according to the second difference, the third difference and the sequence of second coordinate values.

[0062] The implementation process of step 103-6 is as follows: 1) Determine the first second coordinate value Co1 in the sequence of second coordinate values; 2) Determine the absolute value of the difference between each second coordinate value in the sequence of second coordinate values 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).

[0063] Co1 represents the initial position of the reference point, which is the normal position when no rehabilitation action is taken. The absolute value of each difference represents the displacement difference between the reference point and the normal position in the second image. The largest absolute value is the maximum among all absolute values, which represents the maximum displacement of the reference point during the entire rehabilitation movement. Since the reference point is theoretically a point with no displacement change, therefore, the largest absolute value is theoretically 0. If the rehabilitation object undergoes an overall displacement during the rehabilitation movement, such as the overall upward movement of the rehabilitation object, the largest absolute value is non-zero at this time.

[0064] Sd1 is the degree of change in the displacement of the reference point during the rehabilitation movement, 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 movement, which is the degree of change brought by uncontrollable factors to the acquisition device of the first image. Theoretically, the displacement of the standard point does not change during the rehabilitation movement, but due to some uncontrollable external factors, displacement changes may occur. Sd2 characterizes the degree of this change.

[0065] The difference comparison value is a change value obtained by considering the overall change situation of the rehabilitation object and the objective change situation of the acquisition device of the first image. This value is considered to be the systematic error of this rehabilitation movement. That is to say, changes within the range of this difference comparison value are all considered normal changes.

[0066] 103 - 7, determine the type of the key part where the first average value is less than the difference comparison value as the static type, and determine the type of the key part where the first average value is not less than the difference comparison value as the dynamic type.

[0067] The first average value characterizes the average change situation of the key part in the standard actions of the entire standard rehabilitation movement. If the first average value is less than the difference comparison value, it can be considered that the displacement of this key part should remain unchanged during a standard rehabilitation movement. Therefore, its type is determined as the static type. If the first average value is not less than the difference, it can be considered that the displacement of this key part should change during a standard rehabilitation movement. Therefore, its type is determined as the dynamic type.

[0068] 103 - 8, determine the action standard parameters of each key part according to the type and the first coordinate value of each key part.

[0069] Among them, 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.

[0070] 1. Action standard range

[0071] For any key part, if the type of any key part is a static type, determine that the action standard range of any key part is the smallest circle that contains all the first coordinate values of any key part. If the type of any key part is a dynamic type, determine that the action standard range of any key part is the fitting curve of all the first coordinate values of any key part.

[0072] Among them, an existing fitting method can be used to fit all the first coordinate values of any key part to obtain a fitting curve.

[0073] The action standard range reflects the normal movement of the corresponding key part. If the key part is of the static type, theoretically it does not move, so its normal movement situation is the smallest circle that contains all the first coordinate values during a standard rehabilitation movement process. If the key part is of the dynamic type, its normal movement situation is the fitting curve obtained from all the first coordinate values.

[0074] 2. First maximum value, second maximum value

[0075] For any key part, if the rehabilitation action makes the distance between any key part and its distance comparison part increase or remain unchanged, then determine the maximum value of the distance between any key part and its distance comparison part in each second image as the first maximum value, and determine the minimum value of the distance between any key part and its distance comparison part in each second image as the second maximum value.

[0076] If the rehabilitation action makes the distance between any key part and its distance comparison part decrease, then determine the minimum value of the distance between any key part and its distance comparison part in each second image as the first maximum value, and determine the maximum value of the distance between any key part and its distance comparison part in each second image as the second maximum value.

[0077] Among them, if any key part is not the head and not a hand joint, then its distance comparison part is the symmetric part. If any key part is the head, then its distance comparison part is the shoulder. If any key part is a hand joint, then its distance comparison part is the corresponding joint of the finger adjacent to it.

[0078] As Figure 4 shown, if any key part is the head, then its distance comparison part is the shoulder, such as Figure 4 the left shoulder or the right shoulder in. If any key part is the left shoulder, then its distance comparison part is the symmetric part (i.e., the right shoulder).

[0079] As Figure 5 shown, if any key part is the middle phalanx of the middle finger, then its distance comparison part is the corresponding joint (i.e., the middle phalanx) of the finger adjacent to it (such as the index finger or the ring finger).

[0080] The first maximum value is the maximum distance between the corresponding key part and its corresponding part during one 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.

[0081] The second maximum value is the minimum distance between the corresponding key part and its corresponding part during one 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.

[0082] 3. First time difference

[0083] For any key part, the time difference between the third moment and the first moment is determined as the first time difference.

[0084] Among them, the third moment is the acquisition moment of the second image corresponding to the first maximum value.

[0085] The first time difference reflects the standard duration from the initial position to the target position. Since the distance between the key part from the initial position to the target position is fixed, this time characterizes the standard speed of the rehabilitation object during the rehabilitation exercise.

[0086] 4. Angle sequence

[0087] For any key part, determine the first angle value of the included angle of any key part in each second image, and form a binary group <first angle value, acquisition moment value> with the first angle value and the acquisition moment of its second image. Arrange all binary groups in order of the moment value from far to near to form an angle sequence.

[0088] Among them, the included angle of any key part is formed by any key part, its first angle comparison part, and its second angle comparison part.

[0089] The first angle comparison part of any key part is its adjacent key part.

[0090] If there is another adjacent key part for any key part, then the second angle comparison part is this other adjacent key part. If there is no other adjacent part for any key part, then the second angle comparison part is another key part adjacent to the first angle comparison part.

[0091] For example, if any key part is the left elbow, as Figure 4As shown, the adjacent key parts 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 included angle of the left elbow is the included angle formed by the left elbow, the left wrist, and the left shoulder. In this case, the vertex of this included angle is any key part (i.e., the left elbow), any key part and the first angle comparison part (such as the left elbow and the left wrist) form one side of this included angle, and any key part and the second angle comparison part (such as the left elbow and the left shoulder) form the other side of this included angle.

[0092] For another example, any key part is the left wrist. As Figure 4 shown, there is only one adjacent key part, the left elbow. Then the first angle comparison part is the left elbow. Since there are no other adjacent parts to the left wrist, the second angle comparison part is the other key part adjacent to the left elbow, that is, the left shoulder. In this way, the included angle of the left wrist is the included angle formed by the left wrist, the left elbow, and the left shoulder. In this case, the vertex of this included angle is the first angle comparison part (i.e., the left elbow), any key part and the first angle comparison part (i.e., the left elbow and the left wrist) form one side of this included angle, and the first angle comparison part and the second angle comparison part (i.e., the left elbow and the left shoulder) form the other side of this included angle.

[0093] The included angle characterizes the angle between any key part and the related key parts, and represents the relative position between any key part and the related key parts. This angle is used to evaluate whether the movement of this key part is in place and standard. The angle sequence characterizes the change in the relative position between the corresponding key part and other key parts during a standard rehabilitation movement process.

[0094] 103 - 9, the standard coordinate of the reference point is the central coordinate value of all second coordinate values.

[0095] Among them, the central coordinate value is (the mean value of the x-axis coordinates in all second coordinate values, the mean value of the y-axis coordinates in all second coordinate values).

[0096] The standard coordinate of the reference point is the central position of the reference point during a standard rehabilitation movement process. This position serves as the initial position of the rehabilitation object during the rehabilitation movement and is a comparison standard for the overall displacement of the rehabilitation object subsequently.

[0097] 103 - 10, the standard coordinate of the standard point is the central coordinate value of all third coordinate values.

[0098] Among them, the central coordinate value is (the mean value of the x-axis coordinates in all third coordinate values, the mean value of the y-axis coordinates in all third coordinate values).

[0099] The standard coordinates of the reference point are the central position of the standard point during a standard rehabilitation exercise process. This position serves as the initial position of the standard point during the rehabilitation exercise and is a comparison standard for the displacement of the acquisition device for the first image subsequently.

[0100] 103 - 11, determine the adjustment ratio value as (a + the standard deviation of all elements in the third difference sequence) / 2.

[0101] Among them, a is a preset reference ratio value, and a can be determined by a professional doctor according to the age and health condition of the rehabilitation object. a represents the degree of allowable fluctuation of the rehabilitation actions brought about by the individual differences of the rehabilitation object. For example, if the rehabilitation object is older and more severely injured, it is possible that they currently cannot guarantee to complete the standard actions every time. If they complete 80%, it is considered that the rehabilitation effect has been achieved, that is, a 20% fluctuation is allowed, then a can be 20%.

[0102] In specific implementation, a can be provided by a professional doctor before step 101 is executed.

[0103] The standard deviation of all elements in the third difference sequence represents the degree of change of the standard point. This degree is caused by uncontrollable reasons and is a systematic error. Therefore, the adjustment ratio value is determined as (a + the standard deviation of all elements in the third difference sequence) / 2. This adjustment ratio value is obtained by integrating the systematic error and the individual differences of the rehabilitation object and can more accurately reflect the adjustment ratio of the current rehabilitation object.

[0104] 104, after determining that the second trigger is obtained based on the first image, monitor the rehabilitation care process according to the first image and the standard data.

[0105] After completing the first stage (i.e., the teaching stage), it will enter the formal rehabilitation exercise execution stage of this rehabilitation care, that is, the second stage (i.e., the rehabilitation stage). When ready to enter the rehabilitation stage, a professional doctor will send an instruction to start the second stage to the acquisition device of the first image. This instruction can be voice, such as "Rehabilitation exercise starts". In this case, the corresponding audio will be collected while collecting the first image. After the second moment, whenever a first image is collected, the content of its corresponding audio will be recognized. If a voice such as "Rehabilitation exercise starts" is recognized, and the first trigger and the third trigger are obtained to complete step 103 before this, it means that the first stage (i.e., the teaching stage) has been completed and the second stage (i.e., the rehabilitation stage) can be entered, then it is determined that the second trigger is obtained. This instruction can also be a gesture, such as Figure 6 the gesture shown. After the second moment, whenever a first image is collected, its content will be recognized. If a recognition is made such as Figure 6If the gesture shown is obtained and the first trigger and the third trigger are both completed in step 103 before this, it indicates 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.

[0106] The form and content of the second trigger are preset and need to be different from both the first trigger and the third trigger.

[0107] In addition, after the second trigger is recognized, the number of times of performing the rehabilitation action will also be determined. This number can be preset. For example, if a professional doctor determines that the rehabilitation action is to be performed 10 times according to the condition and age of the rehabilitation object, then the preset value will be set to 10 before the second trigger is issued. It is also possible that after the professional doctor issues the second trigger, a specific numerical setting instruction of the preset value is sent to the acquisition device of the first image. This instruction can be voice, such as "Repeat the rehabilitation action 10 times". In this case, the corresponding audio will be collected while the first image is collected. After the second trigger is recognized, every time a first image is collected, the content of its corresponding audio will be recognized. If the voice such as "Repeat the rehabilitation action 10 times" is recognized, the preset value will be set to 10. This instruction can also be a gesture. After the professional doctor issues the second trigger, a gesture representing the number of times is sent to the acquisition device of the first image, such as Figure 7 as shown, in this case, after the second trigger is recognized, every time a first image is collected, its content will be recognized. If Figure 7 the gesture shown is recognized, the corresponding numerical value of the gesture, such as 10, will be recognized, and the preset value will be set to 10.

[0108] When the second trigger is recognized and the preset value is set, it is confirmed that the second stage (i.e., the rehabilitation stage) is officially entered. At this time, the rehabilitation care process will be monitored according to the first image and the standard data through step 104. The specific monitoring process is as follows:

[0109] 104-1, Initialize the count value of the counter to 1.

[0110] The counter is used to record the number of times the rehabilitation action is completed completely.

[0111] 104-2, Determine the moment when the second trigger is obtained as the fourth moment.

[0112] The fourth moment is the start moment of each rehabilitation movement. The start moment of the first execution of the rehabilitation movement is the moment when the second trigger is received. Therefore, in step 104-2, the moment when the second trigger is obtained is determined as the fourth moment.

[0113] 104-3, Initialize the monitoring image queue to be empty.

[0114] The monitoring image queue is used to store all the images of a standard rehabilitation movement process.

[0115]

[0115] Starting from the fourth moment, whenever a first image is collected, it is determined as the third image, and the fourth coordinate values of each key part of the rehabilitation object in the third image are determined. The rehabilitation monitoring values of each key part are determined according to the fourth coordinate values of all key parts, the standard data, and the current monitoring image queue.

[0116] Among them, the rehabilitation monitoring value of any key part is normal, or abnormal, or completed.

[0117] The standard data includes: the types 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 ratio values. The reference points are marked by professional doctors, and the standard points are 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 part of the hand.

[0118] In step 104-4, for each first image (i.e., the third image) starting from the fourth moment, the fourth coordinate values of each key part of the rehabilitation object in the third image are determined (i.e., each key part has a fourth coordinate value). Then, the rehabilitation monitoring values of each key part are determined according to all the fourth coordinate values, the standard data obtained in step 103, and the current monitoring image queue.

[0119] 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:

[0120] 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 the fourth coordinate values.

[0121] 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.

[0122] Taking any key part, such as the left elbow, as an example, in this step, the coordinate value of the left elbow in the third image (i.e., the latest 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 (such as 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 (such as the second angle comparison part of the left elbow) in the third image (i.e., the fourth target coordinate value) will be obtained.

[0123] 2. Determine the 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.

[0124] Wherein, the included angle of any key part is formed by any key part, its first angle comparison part, and its second angle comparison part.

[0125] The included angle here is the same as the included angle in step 103. If any key part has two adjacent key parts, the vertex of the included angle of any key part is any key part, any key part and the first angle comparison part form one side of the included angle, and any key part and the second angle comparison part form the other side of the included angle. If any key part has only one adjacent key part, the vertex of the included angle of any key part is the first angle comparison part, any key part and the first angle comparison part form one side of the included angle, and the first angle comparison part and the second angle comparison part form the other side of the included angle.

[0126] After obtaining the coordinate values of any key part, its first angle comparison part, and its second angle comparison part in the third image, the angle value of the included 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 included angle of any key part is determined according to the first target coordinate value (i.e., the coordinate value of any key part in the third image), the third target coordinate value (i.e., the coordinate value of the first angle comparison part of any key part in the third image), and the fourth target coordinate value (i.e., the coordinate value of the second angle comparison part of any key part in the third image).

[0127] The second angle value represents the relative relationship between the any key part of the rehabilitation object and other adjacent key parts at the moment when the third image is acquired (i.e., the current moment).

[0128] 3. Determine the first distance between the first target coordinate value and the second target coordinate value.

[0129] 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 based on the coordinate values of the two points, that is, the distance (i.e., the first distance) between any key part and its corresponding key part is determined according to the first target coordinate value (i.e., the coordinate value of any key part in the third image) and the second target coordinate value (i.e., the coordinate value of the distance comparison part of any key part in the third image).

[0130] The first distance represents the distance between any key part of the rehabilitation object and its corresponding key part at the time of collecting the third image (i.e., the current time).

[0131] 4. Determine the actual coordinate value of the standard point and the actual coordinate value of the reference point in the third image.

[0132] In this step, the coordinate value of the standard point in the third image (i.e., the actual coordinate value of the standard point) and the coordinate value of the reference point in the third image (i.e., the actual coordinate value of the reference point) will be determined.

[0133] The actual value is the coordinate value of the standard point and the reference point in the third image at the current time.

[0134] 5. Determine the second distance between the standard coordinate of the standard point and the actual coordinate value of the standard point, and the third distance between the standard coordinate of the reference point and the actual coordinate value of the reference point.

[0135] The standard coordinate of the standard point is 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 and will not change, if the second distance is non-zero, it means that the image 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 the acquisition error displacement.

[0136] Similarly, the standard coordinate of the reference point is the reference position of the reference point, and the actual coordinate value of the reference point is the actual position of the current reference point. 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 movement, if the third distance is non-zero, it means that the rehabilitation object has undergone an overall displacement during the movement (such as the whole body moving upward during the supine hip adduction movement). This displacement can be regarded as a basic displacement of the rehabilitation object.

[0137] The displacement of any key part is jointly determined by three aspects. The first aspect is the acquisition error displacement caused by the image 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 real displacement of the any key part during the rehabilitation movement.

[0138] 6. Determine the basic change range as [Second Distance × (1 - Adjustment Ratio Value), Second Distance × (1 + Adjustment Ratio Value)].

[0139] Since the adjustment ratio value is the adjustable value for actions obtained by comprehensively considering system errors and the individual differences of the rehabilitation object, the basic change range reflects the reasonable change range due to the displacement error in data collection.

[0140] 7. Determine the movement change range as [Third Distance × (1 - Adjustment Ratio Value), Third Distance × (1 + Adjustment Ratio Value)].

[0141] Since the adjustment ratio value is the adjustable value for actions obtained by comprehensively considering system errors and the individual differences of the rehabilitation object, the movement change range reflects the reasonable change range due to the overall displacement of the rehabilitation object.

[0142] 8. Determine the angle change range as [Target First Angle Value in the angle sequence of any key part × (1 - Adjustment Ratio Value), Target First Angle Value in the angle sequence of any key part × (1 + Adjustment Ratio Value)].

[0143] Among them, if the rehabilitation action causes the included 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 included 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.

[0144] The target first angle value is the maximum target value of the included angle of any key part during the rehabilitation movement (for example, when the rehabilitation action causes the included angle of any key part to increase or remain unchanged, the maximum target value is the maximum value of the angle value; when the rehabilitation action causes the included angle of any key part to decrease, the maximum target value is the minimum value of the angle value). In addition, since the adjustment ratio value is the adjustable value for actions obtained by comprehensively considering system errors and the individual differences of the rehabilitation object, the angle change range reflects the normal change range of the maximum target value of the included angle of any key part during the rehabilitation movement.

[0145] 9. If the First Distance is greater than the First Extreme Value of any key part × (1 + Adjustment Ratio Value), then determine the First Judgment Value as 0. If the First Distance is not greater than the First Extreme Value of any key part × (1 + Adjustment Ratio Value), then determine the First Judgment Value as 1.

[0146] Since the adjustment ratio value is an adjustable value for actions obtained by integrating the system error and the individual differences of the rehabilitation object, the maximum value of the first type × (1 + adjustment ratio value) represents the maximum value of the first target distance between the corresponding key part and its corresponding part during one rehabilitation exercise. This first target distance is the target distance for the rehabilitation exercise. If the rehabilitation action causes the distance between any key part and its distance comparison part to increase or remain unchanged, then the first target distance is the maximum distance, and the maximum value of the first type × (1 + adjustment ratio value) is the maximum distance between the corresponding key part and its corresponding part during one rehabilitation exercise. If the rehabilitation action causes the distance between any key part and its distance comparison part to decrease, then the first target distance is the minimum distance, and the maximum value of the first type × (1 + adjustment ratio value) is the minimum distance between the corresponding key part and its corresponding part during one rehabilitation exercise.

[0147] If the first distance is greater than the maximum value of the first type × (1 + adjustment ratio value) of any key part, it indicates 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 maximum value of the first type × (1 + adjustment ratio value) of any key part, it indicates that the distance between any key part and its corresponding part does not exceed the first target distance.

[0148] 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; if it does not exceed, the first judgment value is 1.

[0149] 10. If the first distance is less than the maximum value of the second type × (1 + adjustment ratio value) of any key part, determine the second judgment value as 1. If the first distance is not less than the maximum value of the second type × (1 + adjustment ratio value) of any key part, determine the second judgment value as 0.

[0150] Since the adjustment ratio value is an adjustable value for actions obtained by integrating the system error and the individual differences of the rehabilitation object, the maximum value of the second type × (1 + adjustment ratio value) represents the maximum value of the second target distance between the corresponding key part and its corresponding part during one rehabilitation exercise. This second target distance is the minimum distance for completing the rehabilitation exercise. If it is smaller than the second target distance, it is determined that this rehabilitation exercise is completed. If the rehabilitation action causes the distance between any key part and its distance comparison part to increase or remain unchanged, then the second target distance is the minimum distance, and the maximum value of the second type × (1 + adjustment ratio value) is the minimum distance between the corresponding key part and its corresponding part during one rehabilitation exercise. If the rehabilitation action causes the distance between any key part and its distance comparison part to decrease, then the second target distance is the maximum distance, and the maximum value of the second type × (1 + adjustment ratio value) is the maximum distance between the corresponding key part and its corresponding part during one rehabilitation exercise.

[0151] If the first distance is less than the second maximum value of any key part × (1 + adjustment ratio value), it indicates 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 indicates that the distance between any key part and its corresponding part does not exceed the second target distance.

[0152] Therefore, the second judgment value represents whether the distance between any key part and its corresponding part reaches the completion distance. If it reaches the completion distance, the second judgment value is 1; if it does not reach the completion distance, the second judgment value is 0.

[0153] 11. If the second angle value is within the angle change interval, determine the first angle judgment value as 1. If the second angle value is outside the angle change interval, determine the first angle judgment value as 0.

[0154] If the second angle value is within the angle change interval, the included angle of the current any key part conforms to the normal change interval. If the second angle value is outside the angle change interval, the included angle of the current any key part does not conform to the normal change interval. Therefore, the first angle judgment value represents whether the current angle conforms to the normal change interval. If it conforms to the change interval, the first angle judgment value is 1; if it does not conform to the change interval, the first angle judgment value is 0.

[0155] 12. Determine the rehabilitation monitoring value of any key part according to the first target coordinate value, the type of any key part, the action standard parameters, the basic change interval, the motion change interval, the first angle judgment value, the first judgment value, the second judgment value, and the current monitoring image queue.

[0156] The implementation process of this step is as follows:

[0157] 1) If the first target coordinate value is within the action standard range of any key part, it indicates that the current coordinate value of any key part (such as the left elbow) is within the normal range. Therefore:

[0158] 1.1 When the type of any key part is a static type, determine the rehabilitation monitoring value of any key part as normal.

[0159] 1.2 When the type of any key part is a dynamic type, determine the rehabilitation monitoring value of any key part according to the action standard parameters of any key part, the first judgment value, the second judgment value, and the current monitoring image queue.

[0160] (1) If the first judgment value is 0, since the first judgment value represents whether the distance between any key part and its corresponding part exceeds the first target distance, a first judgment value of 0 indicates that the distance between any key part and its corresponding part exceeds the first target distance. At this time, it indicates that any key part is abnormal. Therefore, determine that the rehabilitation monitoring value of any key part is abnormal.

[0161] (2) If the first judgment value is 1, it indicates that the distance between any key part and its corresponding part does not exceed the first target distance, then perform the following steps 301 to 303:

[0162] 301, Determine whether there is a target image in the current monitoring image queue to obtain a judgment result.

[0163] Among them, the distance between the coordinate value of any key part in the target image and the coordinate value of its distance comparison part is within [the first maximum value × (1 - adjustment ratio value), the first maximum value × (1 + adjustment ratio value)].

[0164] That is to say, in step 301, it will be judged whether there is a first image in which any key part reaches the target position before.

[0165] 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 reaches the completion distance, a second judgment value of 0 indicates that the distance between any key part and its corresponding part does not reach the completion distance. At this time, determine the rehabilitation monitoring value of any key part according to the action standard parameters of any key part and the judgment result.

[0166] The implementation process of step 302 is as follows:

[0167] (1) Determine the second time difference between the fifth moment and the fourth moment.

[0168] Among them, the fifth moment is the acquisition moment of the third image.

[0169] The second time difference represents the duration of the rehabilitation object doing the current rehabilitation exercise.

[0170] (2) When the judgment result is that there is a target image, it indicates that there is a first image in which any key part reaches the target position before. Then it indicates that at this time, during the process of any key part returning to the normal position and reaching the completion distance, so perform the following steps 401 and 402:

[0171] 401. If the second time difference is less than the first time difference of any key part, since the first time difference represents the duration for any key part to reach the target position, if the second time difference is less than the first time difference of any key part, it indicates that the current actual movement duration has not reached the standard duration, and the target image has appeared currently. 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.

[0172] 402. If the second time difference is not less than the first time difference, then the current movement speed meets the standard speed requirement, and the following steps 402-1 to 402-7 are executed:

[0173] 402-1. In the angle sequence of any key part, determine the first target binary group.

[0174] Among them, if there is only one binary group with the smallest difference between the first angle value and the second angle value in the angle sequence, then this 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 acquisition moment among these 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 duration and the second time difference among these multiple binary groups is the first target binary group, where the execution duration of any binary group is the difference between its acquisition moment and the minimum value of the acquisition moment values in the angle sequence.

[0175] In the execution of step 402-1, the differences between the first angle value and the second angle value in all binary groups of the angle sequence will be compared to determine the binary group with the smallest difference. If there is only one binary group with the smallest difference, then it is the first target binary group. If there are two binary groups with the smallest difference (for example, during the rehabilitation movement, the angle slowly decreases and then slowly increases, then there is a first angle value with the same difference from the second angle value both during the decreasing process and the increasing process), at this time, since it is the process of any key part returning to the normal position, the binary group with the largest acquisition moment will be selected, that is, the last binary group that satisfies the angle relationship, and it is used as the first target binary group. If there are multiple binary groups with the smallest difference (for example, during the rehabilitation movement, the angle remains unchanged), at this time, determine the difference between the acquisition moment in each binary group with the smallest difference and the minimum value of the acquisition moment values in the angle sequence (that is, the execution time corresponding to each binary group), and this difference is recorded as the execution duration. The binary group with the execution duration closest to the second time difference (that is, the smallest difference between the execution duration and the second time difference) is determined as the first target binary group. In this way, the first target binary group is the binary group with the execution duration most similar to the current one, ensuring comparability.

[0176] 402-2, determine the third time difference = the acquisition moment of the first target binary group - the minimum value of the acquisition moment values in the angle sequence.

[0177] The third time difference is the standard motion duration when the first target binary group appears.

[0178] 402-3, determine the fourth time difference = the acquisition moment of the target image - the fourth moment.

[0179] The fourth time difference is the motion duration of any key part from the start to the target position during the current rehabilitation action.

[0180] 402-4, determine the first ratio = the third time difference / the first time difference.

[0181] The first ratio represents the ratio of the standard motion duration when the first target binary group appears to the standard time of any key part from the initial position to the target position during the standard rehabilitation motion.

[0182] 402-5, determine the second ratio = the second time difference / the fourth time difference.

[0183] The second ratio represents the ratio of the duration of the current rehabilitation motion of the rehabilitation object to the motion duration of any key part from the start to the target position during the current rehabilitation action.

[0184] 402-6, determine the first judgment value = |the first ratio - the second ratio|.

[0185] The first judgment value represents the gap between the current time ratio to the current angle and the standard time ratio to the current angle. The larger this gap is, the greater the degree of abnormality.

[0186] 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 (the first threshold represents the maximum gap, and if the first judgment value is larger than the first threshold, it means this gap is abnormal), then the second angle value is normal, and the gap between the current time ratio to the current angle and the standard time ratio to the current angle is also normal, then determine the rehabilitation monitoring value of any key part to be normal. Otherwise, determine the rehabilitation monitoring value of any key part to be abnormal.

[0187] (3) When the judgment result 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. Then, it means that at this time, during the process of any key part moving to the target position, execute the following steps 501 and 502:

[0188] 501. If the second time difference is greater than the first time difference of any key part, determine that the rehabilitation monitoring value of any key part is abnormal.

[0189] 502. If the second time difference is not greater than the first time difference, the speed of the current movement meets the standard speed requirement, and perform the following steps 502-1 to 502-5:

[0190] 502-1. In the angle sequence of any key part, determine the second target binary group.

[0191] Among them, if there is only one binary group with the smallest difference between the first angle value and the second angle value in the angle sequence, then this 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 one 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 one with the smallest difference between the execution duration and the second time difference among the multiple binary groups is the second target binary group; the execution duration of any binary group is the difference between its acquisition time and the minimum value of the acquisition time values in the angle sequence.

[0192] In performing step 502-1, the differences between the first angle value and the second angle value in all binary groups of the angle sequence will be compared to determine the binary group with the smallest difference. If there is only one binary group with the smallest difference, then it is the second target binary group. If there are two binary groups with the smallest difference (for example, during the rehabilitation movement, the angle slowly decreases and then slowly increases, then there is a first angle value with the same difference from the second angle value during both the decreasing and increasing processes), at this time, since the movement of any key part reaches the target position at this time, the binary group with the smallest acquisition time will be selected, that is, the last binary group that satisfies the angle relationship, and it will be used as the second target binary group. If there are multiple binary groups with the smallest difference (for example, during the rehabilitation movement, the angle remains unchanged), at this time, determine the difference between the acquisition time of each binary group with the smallest difference and the minimum value of the acquisition time values in the angle sequence (that is, the execution time corresponding to each binary group), and this difference is recorded as the execution duration. The binary group with the closest execution duration to the second time difference (that is, the smallest difference between the execution duration and the second time difference) is determined as the second target binary group. In this way, the second target binary group is the binary group with the execution duration most similar to the current one, ensuring comparability.

[0193] 502-2. Determine the third time difference = the acquisition time of the second target binary group - the minimum value of the acquisition time values in the angle sequence.

[0194] The process of determining the third time difference here is the same as that in step 402-2. See 402-2 for details and will not be elaborated here.

[0195] 502-3, Determine the fourth time difference = Acquisition time of the target image - Fourth moment.

[0196] The process of determining the fourth time difference here is the same as that in step 402-3. For details, see 402-3 and will not be elaborated here.

[0197] 502-4, Determine the second judgment value = |Third time difference - Fourth time difference|.

[0198] The second judgment value represents the difference between the standard movement duration of the second target binary group and the movement duration of any key part from the start to the target position during the current rehabilitation action. The greater this difference, the greater the degree of abnormality.

[0199] 502-5, If the second angle value is within [First angle value of the second target binary group × (1 - adjustment ratio value), 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 (the second threshold represents the maximum difference. If the second judgment value is greater than the second threshold, it means this difference is abnormal), then determine that the rehabilitation monitoring value of any key part is normal. Otherwise, determine that the rehabilitation monitoring value of any key part is abnormal.

[0200] 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 reaches the completion distance, a second judgment value of 1 indicates that the distance between any key part and its corresponding part reaches the completion distance. At this time, perform the following steps 303-1 to 303-2:

[0201] 303-1, If the judgment result is that there is a target image, it means that the first image of any key part reaching the target position appeared before. Then it means that at this time, during the process of any key part returning to the normal position and reaching the completion distance. Therefore:

[0202] (1) When the second angle value is within [Minimum first angle value in the angle sequence of any key part × (1 - adjustment ratio value), 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 normally completed the requirements of this rehabilitation action. Therefore, determine that the rehabilitation monitoring value of any key part is completed.

[0203] (2) When the second angle value is outside [Minimum first angle value in the angle sequence of any key part × (1 - adjustment ratio value), 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 this rehabilitation action. Therefore, determine that the rehabilitation monitoring value of any key part is abnormal.

[0204] 303-2. If the judgment result is that the target image does not exist, it indicates that no first image in which any key part reaches the target position has appeared before. Then it means that during the process of any key part moving to the target position, the completion distance has been reached. It is impossible to have not reached the target position and then returned to the completion distance. Therefore, it is determined that the rehabilitation monitoring value of any key part is abnormal.

[0205] 2) If the first target coordinate value is outside the action standard range 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. At this time, perform the following steps 201 to 205:

[0206] 201. Determine the minimum distance between the first target coordinate value and the action standard range of any key part.

[0207] The minimum distance is the degree to which any key part (such as the left elbow) deviates from the action standard range.

[0208] 202. If the minimum distance is within the basic change interval, since the basic change interval reflects the reasonable change interval caused by the acquisition error displacement due to the uncontrollable factors of the acquisition device of the first image, therefore, if the minimum distance is within the basic change interval, it means that the degree to which any key part deviates from the action standard range is normal. That is to say, this kind of deviation is caused by the uncontrollable factors of the acquisition device of the first image, rather than the non-compliance of the movement of the rehabilitation object. Therefore:

[0209] 2.1 When the type of any key part is a static type, determine that the rehabilitation monitoring value of any key part is normal.

[0210] 2.2 When the type of any key part is a dynamic type, determine the rehabilitation monitoring value of any key part according to the action standard parameters, the first judgment value, the second judgment value and the current monitoring image queue of any key part.

[0211] The execution process of this step is the same as that of step 1.2 and will not be elaborated here. For details, please refer to step 1.2.

[0212] 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 due to 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, the minimum distance being outside the basic change interval indicates that the degree of deviation of any key part from the action standard range is abnormal, but it does not exceed the reasonable change interval caused by the overall displacement of the rehabilitation object. That is to say, this kind of deviation is caused by the overall movement of the rehabilitation object, rather than the substandard movement of the rehabilitation object. In addition, the first angle judgment value of 1 indicates that the current angle conforms to the normal change interval. Therefore:

[0213] 3.1 When the type of any key part is a static type, determine that the rehabilitation monitoring value of any key part is normal.

[0214] 3.2 When the type of any key part is a dynamic type, determine the rehabilitation monitoring value of any key part according to the action standard parameters, the first judgment value, the second judgment value of any key part, and the current monitoring image queue.

[0215] The execution process of this step is the same as that of step 1.2, which will not be elaborated here. For details, see step 1.2.

[0216] 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 being outside the basic change interval indicates that the degree of deviation of any key part from the action standard range is abnormal, but it does not exceed the reasonable change interval caused by the overall displacement of the rehabilitation object. That is to say, this kind of deviation is caused by the overall movement of the rehabilitation object, rather than the substandard movement of the rehabilitation object. However, the first angle judgment value of 0 indicates that the current angle does not conform to the normal change interval, that is, the angle of any key part (such as the left elbow) is abnormal. Therefore:

[0217] 4.1 When the type of any key part is a static type, determine that the rehabilitation monitoring value of any key part is abnormal.

[0218] 4.2 When the type of any key part is a dynamic type, determine the rehabilitation monitoring value of any key part according to the action standard parameters, the first judgment value, the second judgment value of any key part, and the current monitoring image queue.

[0219] The execution process of this step is the same as that of step 1.2, which will not be elaborated here. For details, see step 1.2.

[0220] 205. Otherwise, determine that the rehabilitation monitoring value of any key part is abnormal.

[0221] 104 - 5, if there is a key part with an abnormal rehabilitation monitoring value, an action abnormality warning is given.

[0222] If there is a key part with an abnormal rehabilitation monitoring value, it indicates that the execution of this abnormal key part does not meet the standard. Therefore, an action abnormality warning is given, which can assist professional doctors in providing rehabilitation nursing guidance.

[0223] After giving the action abnormality warning, the intelligent monitoring method for rehabilitation nursing provided in this embodiment is aborted. If the professional doctor determines that this rehabilitation nursing can continue, a signal to continue execution is sent, such as a voice or a gesture. After the intelligent monitoring method for rehabilitation nursing provided in this embodiment obtains this signal, when the value of the counter has not reached the preset value, the fourth moment is updated to the acquisition moment of the third image, the value of the counter is incremented by one, and the steps of initializing the monitoring image queue to be empty (i.e., step 104 - 3) and subsequent steps are executed again. When the value of the counter reaches the preset value, it is considered that all the rehabilitation actions of this time have been completed, and a rehabilitation nursing completion prompt is given.

[0224] If the signal to continue execution is still not obtained after the preset time (such as 3 minutes, etc.), it is considered that the rehabilitation nursing monitoring task of this time is completed, and the intelligent monitoring method for rehabilitation nursing provided in this embodiment is terminated.

[0225] Among them, the voice is like "Continue to execute the rehabilitation action", and the gesture is a gesture that is different from the gestures for the first trigger, the second trigger, the third trigger, and setting the preset value that are set in advance.

[0226] 104 - 6, if there is no key part with an abnormal rehabilitation monitoring value, and the ratio of the number of key parts with a completed dynamic type in the rehabilitation monitoring value to the total number of key parts of the dynamic type reaches the preset ratio threshold, when the value of the counter has not reached the preset value, the fourth moment is updated to the acquisition moment of the third image, the value of the counter is incremented by one, and the steps of initializing the monitoring image queue to be empty (i.e., step 104 - 3) and subsequent steps are executed again. When the value of the counter reaches the preset value, a rehabilitation nursing completion prompt is given.

[0227] When the ratio of the number of key parts with a completed dynamic type to the total number of key parts of the dynamic type in the rehabilitation monitoring value reaches a preset ratio threshold, it indicates that among all the key parts, the proportion of key parts that need displacement changes and meet the standards has reached the ratio threshold (such as 95%, which is comprehensively determined by professional doctors according to the age, condition, etc. of the rehabilitation object. 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 has been completed, and the next rehabilitation exercise is carried out. 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, indicating that the current rehabilitation care task has been completed. A rehabilitation care completion prompt is given, and the execution of the intelligent monitoring method for rehabilitation care provided in this embodiment is completed. At this time, the images in the monitoring image queue can be stored, thereby saving the images of the rehabilitation care process.

[0228] If the value of the counter does not reach the preset value, it means that the number of successfully completed rehabilitation actions has not reached the preset standard, and the next rehabilitation exercise needs to be executed again. Therefore, the time when the current image is collected (i.e., the collection time of the third image) is determined as the start time of the next rehabilitation exercise (i.e., the fourth time), the value of the counter is incremented by one, and the steps of initializing the monitoring image queue to be empty (i.e., step 104-3) and subsequent steps are re-executed.

[0229] In addition, if it is necessary to save the images of the rehabilitation care process, the images in the monitoring image queue can be stored before re-executing the steps of initializing the monitoring image queue to be empty (i.e., step 104-3) and subsequent steps.

[0230] 104-7, if there are no key parts with an abnormal rehabilitation monitoring value, but the ratio of the number of key parts with a completed dynamic type to the total number of key parts of the dynamic type in the rehabilitation monitoring value does not reach the preset ratio threshold, then the third image is placed at the end of the monitoring image queue.

[0231] The absence of key parts with an abnormal rehabilitation monitoring value indicates that all key parts meet the standards. However, if the ratio of the number of key parts with a completed dynamic type to the total number of key parts of the dynamic type in the rehabilitation monitoring value does not reach the preset ratio threshold, it means that the proportion of key parts with a completed dynamic type is relatively 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, steps 104-4 and subsequent steps will be re-executed until abnormal key parts appear or the current rehabilitation exercise is completed.

[0232] In an intelligent monitoring method for rehabilitation care in this embodiment, starting from the rehabilitation care of a rehabilitation object, images of the rehabilitation object are continuously collected with the same acquisition parameters; based on the images, it is determined whether a first trigger is obtained; if the first trigger is obtained, standard data is determined based on the images; wherein the standard data includes: the types and action standard parameters of each key part of the rehabilitation object, the standard coordinates of reference points, the standard coordinates of standard points, and adjustment ratio values; after it is determined based on the images that a second trigger is obtained, the rehabilitation care process is monitored according to the images and the standard data. The method in this embodiment first determines the standard data of the rehabilitation action process based on the images of the rehabilitation object during the rehabilitation care process, and monitors the rehabilitation care process based on the images and the standard data, so that the monitoring of the rehabilitation care process no longer relies on subjective judgment, but on objective criteria, realizing effective and objective monitoring of the rehabilitation care process.

[0233] It should be clear that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are 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. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present invention.

[0234] It should also be noted that in the exemplary embodiments mentioned in the present invention, some methods or systems are described 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 executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0235] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An intelligent monitoring method for rehabilitation care, characterized in that The method includes: Starting from the rehabilitation care of the rehabilitation object, continuously collecting the first images of the rehabilitation object with the same acquisition parameters; wherein, the range presented by the images includes the maximum range during the rehabilitation object's performance of rehabilitation actions; Determining whether a first trigger is obtained based on the first images; If the first trigger is obtained, determining standard data based on the first images; wherein, the standard data includes: the types and action 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 part of the hand; After determining that a second trigger is obtained based on the first images, monitoring the rehabilitation care process according to the first images and the standard data; The determining the standard data based on the first images includes: Identifying each first image collected after the first moment to determine the second moment when a third trigger is identified; wherein, the first moment is the moment when the first trigger is obtained; Determining the first images collected between the first moment and the second moment as the second images; Determining the first coordinate values of each key part of the rehabilitation object in each second image to form a first coordinate value sequence of each key part; determining the second coordinate values of the reference point in each second image to form a second coordinate value sequence; determining the third coordinate values 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 moment of the second image to which they belong; Calculating the first difference between each subsequent coordinate value and its previous coordinate value in each first coordinate value sequence; calculating the second difference between each subsequent coordinate value and its previous coordinate value in the second coordinate value sequence; calculating the third difference between each subsequent coordinate value and its previous coordinate value in the third coordinate value sequence; Determining the first average value of all the first differences of each key part; Determining a difference comparison value according to the second difference, the third difference, and the second coordinate value sequence; Determining the type of the key part with the first average value less than the difference comparison value as the static type, and determining the type of the key part with the first average value not less than the difference comparison value as the dynamic type; Determining the action standard parameters of each key part according to the type of each key part and the first coordinate values; Determining the standard coordinates of the reference point as the central coordinate value of all the second coordinate values; Determining the standard coordinates of the standard point as the central coordinate value of all the third coordinate values; Determining 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.

2. The method according to claim 1, wherein The determining the difference comparison value according to the second difference, the third difference, and the second coordinate value sequence includes: Determining the first second coordinate value Co1 in the second coordinate value sequence; Determining the absolute value of the difference between each second coordinate value in the second coordinate value sequence and Co1, and obtaining the largest absolute value; Determine the standard deviation Sd1 of all second differences and the standard deviation Sd2 of all third differences; Determine the difference comparison value as the maximum absolute value × (1 + Sd1 - Sd2).

3. The method according to claim 1, wherein The action standard parameters include an action standard range and an action standard value; the action standard value includes a first extreme value, a second extreme value, a first time difference, and an angle sequence; The determination of the action standard parameters for each key part according to the type and the first coordinate value includes: For any key part, if the type of the any key part is a static type, determine the action standard range of the any key part as the smallest circle containing all the first coordinate values of the any key part; if the type of the any key part is a dynamic type, determine the action standard range of the any key part as the fitting curve of all the first coordinate values of the any key part; For any key part, if the rehabilitation action causes the distance between the any key part and its distance comparison part to increase or remain unchanged, determine the maximum value of the distance between the any key part and its distance comparison part in each second image as the first extreme value, and determine the minimum value of the distance between the any key part and its distance comparison part in each second image as the second extreme value; if the rehabilitation action causes the distance between the any key part and its distance comparison part to decrease, determine the minimum value of the distance between the any key part and its distance comparison part in each second image as the first extreme value, and determine the maximum value of the distance between the any key part and its distance comparison part in each second image as the second extreme value; For any key part, determine the time difference between the third moment and the first moment as the first time difference; wherein, the third moment is the acquisition moment of the second image corresponding to the first extreme value; For any key part, determine the first angle value of the included angle of the any key part in each second image, and form a binary group <first angle value, acquisition moment value> with the first angle value and its acquisition moment of the second image; form an angle sequence with all the binary groups in order of the moment value from far to near; wherein, the included angle of the any key part is formed by the any key part, its first angle comparison part, and its second angle comparison part.

4. The method according to claim 1, wherein The monitoring of the rehabilitation care process according to the first image and the standard data includes: Initialize the count value of the counter to 1; Determine the moment when the second trigger is obtained as the fourth moment; Initialize the monitoring image queue to be empty; Starting from the fourth moment, whenever a first image is acquired, determine it as the third image, and determine the fourth coordinate values of each key part of the rehabilitation object in the third image; determine the rehabilitation monitoring values of each key part according to the fourth coordinate values of all key parts, the 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 is a key part with an abnormal rehabilitation monitoring value, perform an action abnormality warning; If there is no key part with an abnormal rehabilitation monitoring value, and the ratio of the number of key parts with a completed dynamic type in the 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 has not reached the preset value, update the fourth moment to the acquisition moment of the third image, increment the value of the counter by one, and re - execute the step of initializing the monitoring image queue to be empty and subsequent steps; when the value of the counter reaches the preset value, give a prompt for the completion of rehabilitation care. If there is no key part with an abnormal rehabilitation monitoring value, but the ratio of the number of key parts with a completed dynamic type in the rehabilitation monitoring value to the total number of key parts of the dynamic type does not reach the preset ratio threshold, then place the third image at the end of the monitoring image queue.

5. The method according to claim 4, wherein The action standard parameters include action standard values; the action standard values include first maximum and minimum values, second maximum and minimum values, and an angle sequence; the angle sequence is composed of binary tuples <first angle value, acquisition moment value>. For any key part, determining the rehabilitation monitoring value of the any key part according to the fourth coordinate values of all key parts, standard data, and the current monitoring image queue includes: Determine a first target coordinate value, a second target coordinate value, a third target coordinate value, and a fourth target coordinate value among all the fourth coordinate values; where the first target coordinate value is the fourth coordinate value of the any key part, the second target coordinate value is the fourth coordinate value of the distance comparison part of the any key part; the third target coordinate value is the fourth coordinate value of the first angle comparison part of the any key part; the fourth target coordinate value is the fourth coordinate value of the second angle comparison part of the any key part. Determine a second angle value of the included angle of the any key part according to the first target coordinate value, the third target coordinate value, and the fourth target coordinate value; where the included angle of the any key part is formed by the any key part, its first angle comparison part, and its second angle comparison part. Determine a first distance between the first target coordinate value and the second target coordinate value. Determine the actual coordinate value of the standard point and the actual coordinate value of the reference point in the third image. Determine a second distance between the standard coordinate of the standard point and the actual coordinate value of the standard point, and a third distance between the standard coordinate 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)]. Determine the angle change interval as [the target first angle value in the angle sequence of any of the key parts × (1 - adjustment ratio value), the target first angle value in the angle sequence of any of the key parts × (1 + adjustment ratio value)]; wherein, if the rehabilitation movement causes the included angle of any of the key parts 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 of the key parts; if the rehabilitation movement causes the included angle of any of the key parts to decrease, the target first angle value is the minimum value of the first angle value in the angle sequence of any of the key parts; If the first distance is greater than the first maximum value of any of the key parts × (1 + adjustment ratio value), then determine the first judgment value as 0; if the first distance is not greater than the first maximum value of any of the key parts × (1 + adjustment ratio value), then determine the first judgment value as 1; If the first distance is less than the second maximum value of any of the key parts × (1 + adjustment ratio value), then determine the second judgment value as 1; if the first distance is not less than the second maximum value of any of the key parts × (1 + adjustment ratio value), then determine the second judgment value as 0; If the second angle value is within the angle change interval, then determine the first angle judgment value as 1; if the second angle value is outside the angle change interval, then determine the first angle judgment value as 0; Determine the rehabilitation monitoring value of any of the key parts according to the first target coordinate value, the type of any of the key parts, the action standard parameters, 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.

6. The method according to claim 5, wherein The action standard parameters also include the action standard range; The determining the rehabilitation monitoring value of any of the key parts according to the first target coordinate value, the type of any of the key parts, the action standard parameters, 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 of the key parts, then when the type of any of the key parts is a static type, determine the rehabilitation monitoring value of any of the key parts as normal; when the type of any of the key parts is a dynamic type, determine the rehabilitation monitoring value of any of the key parts according to the action standard parameters, the first judgment value, the second judgment value, and the current monitoring image queue; If the first target coordinate value is outside the action standard range of any of the key parts, then perform the following steps 201 to 205:

201. Determine the minimum distance between the first target coordinate value and the action standard range of any of the key parts; 202. If the minimum distance is within the basic change interval, then when the type of any of the key parts is a static type, determine the rehabilitation monitoring value of any of the key parts as normal; when the type of any of the key parts is a dynamic type, determine the rehabilitation monitoring value of any of the key parts according to the action standard parameters, the first judgment value, the second judgment value, and the current monitoring image queue; 203. If the minimum distance is outside the basic change range and within the motion change range, and the first angle judgment value is 1, then when the type of any key part is a static type, determine that the rehabilitation monitoring value of any key part is normal; when the type of any key part is a dynamic type, determine the rehabilitation monitoring value of any key part according to the action standard parameters, the first judgment value, the second judgment value, and the current monitoring image queue of any key part; 204. If the minimum distance is outside the basic change range and within the motion change range, and the first angle judgment value is 0, then when the type of any key part is a static type, determine that the rehabilitation monitoring value of any key part is abnormal; when the type of any key part is a dynamic type, determine the rehabilitation monitoring value of any key part according to the action standard parameters, the first judgment value, the second judgment value, and the current monitoring image queue of any key part; 205. Otherwise, determine that the rehabilitation monitoring value of any key part is abnormal.

7. The method according to claim 6, characterized in that, The determining the rehabilitation monitoring value of any key part according to the action standard parameters, the first judgment value, the second judgment value, and the current monitoring image queue of any key part includes: If the first judgment value is 0, then determine that the rehabilitation monitoring value of any key part is abnormal; If the first judgment value is 1, then perform the following steps 301 to 303:

301. Determine whether there is a target image in the current monitoring image queue to obtain a judgment result; wherein, the distance between the coordinate value of any key part in the target image and the coordinate value of its distance comparison part is within [the first maximum value × (1 - adjustment ratio value), the first maximum value × (1 + adjustment ratio value)]; 302. If the second judgment value is 0, then determine the rehabilitation monitoring value of any key part according to the action standard parameters of any key part and the judgment result; 303. If the second judgment value is 1, then perform the following steps 303-1 to 303-2: 303-1. If the judgment result is that there is a target image, then 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)], determine 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)], determine that the rehabilitation monitoring value of any key part is abnormal; 303-2. If the judgment result is that there is no target image, determine that the rehabilitation monitoring value of any key part is abnormal.

8. The method according to claim 3, 4 or 6, characterized in that If any key part is not the head and not a hand joint, then its distance comparison part is the symmetric part; if any key part is the head, then its distance comparison part is the shoulder; if any key part is a hand joint, then its distance comparison part is the corresponding joint of the finger adjacent to it; The first angle comparison part of any of the key parts is the adjacent key part; If there is another adjacent key part for any of the key parts, the second angle comparison part is the other adjacent key part. If there is no other adjacent part for any of the key parts, the second angle comparison part is another key part adjacent to the first angle comparison part.

Images