A gait detection method, device, electronic equipment and storage medium

Abstract

The application discloses a gait detection method and device, electronic equipment and storage medium, which are characterized by comparing the obtained foot pressure image with a normal foot image to determine whether it is a normal foot, extracting the contour of the foot pressure image if it is normal, determining the contour image of the subject under the condition of normal foot through an abnormal image if the detected foot pressure image is abnormal, identifying the foot contour image interval according to the foot contour image, determining the interval between the feet of the subject, and adjusting the interval between the feet of the subject according to the subject option. The interval between the feet is automatically identified through the image recognition of the foot pressure, and the interval between the feet of the subject is adjusted through the interval between the feet adjusting device, which is convenient for accurately adjusting the step interval, makes the test result more accurate, avoids the multiple adjustment of the step interval by the subject, and reduces the burden of the subject.

Description

Technical Field

[0001] This invention belongs to the field of gait detection technology, specifically relating to gait detection methods, devices, electronic equipment, and storage media. Background Technology

[0002] The three-posture gait testing methods are as follows: 1. Stand with your feet together for 10 seconds; 2. Stand with your feet shoulder-width apart, with the toes of one foot pointing towards the middle of the sole of the other foot and together for 10 seconds; 3. Stand with your feet shoulder-width apart, with the heel of one foot pointing towards the toes of the other foot and maintaining this position for 10 seconds. Maintaining the above actions for 10 seconds or more is considered normal. If it is less than 10 seconds or cannot be completed, it indicates poor balance.

[0003] With the increasing severity of modern aging, the trend of sarcopenia among the elderly has risen significantly. Sarcopenia is a syndrome caused by the continuous loss of skeletal muscle mass, strength, and function. In the current technology, although there are various fitness guidance and correction devices, there is a lack of devices on the market specifically for measuring three-posture gait balance. Existing balance testing instruments differ from three-posture gait measuring instruments in terms of application scope and function. Some instruments that measure three-posture gait can only measure the three-posture gait by having the subject perform the measurement according to the requirements. However, in actual use, because the elderly have more difficulty controlling and adjusting their gait, it is difficult to quickly and accurately adjust to a suitable gait, resulting in low measurement accuracy and long gait adjustment time, which increases the burden on the subject. Summary of the Invention

[0004] The purpose of this invention is to provide a gait detection method, device, electronic device, and storage medium, which aims to automatically acquire and actively adjust the distance between the feet of a subject in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a gait detection method, comprising the following steps:

[0006] 1) Acquire foot pressure information, measure the pressure value of the detection area, and transmit it to the display terminal via current signal;

[0007] 2) Compare the obtained foot pressure images with normal foot images to determine whether they are normal feet;

[0008] 3) If normal, extract the contour of the foot pressure image;

[0009] 4) If the detected foot pressure image is determined to be abnormal, the contour image of the subject's foot under normal conditions is determined through the abnormal image; the specific method is as follows: the abnormal condition of the subject's foot is determined by the image recognition method, and the contour of the foot pressure image is extracted. According to the severity of the abnormal condition, the compensation distance of the foot contour image that needs to be compensated is determined, and the position of the subject's foot contour image is adjusted according to the required compensation distance.

[0010] 5) Based on the foot contour image, identify the distance between the foot contour images to determine the distance between the test subject's feet, and adjust the distance between the test subject's feet according to the test subject's options.

[0011] Preferably, the test options include standing with feet together, standing with feet at half-length, and standing with feet at full length.

[0012] Preferably, the image recognition method in step 4) is specifically as follows:

[0013] Collect a dataset of foot inversion images that need to be recognized, with enough samples to cover various situations for target recognition;

[0014] The acquired image data is preprocessed to improve the accuracy and efficiency of subsequent recognition; the preprocessing steps include image denoising, image enhancement, and image resizing.

[0015] Computer vision algorithms are used to extract feature information from preprocessed images. These features typically include edges, corners, textures, and color histograms. They can describe key information in the image and be stored in a database.

[0016] The input image is compared with images in the database, and the most similar image is identified as the output to determine the subject's foot inversion condition and the inversion angle.

[0017] Preferably, the specific steps for identifying the distance between the two foot images in step 4) are as follows: First, compare the sizes of the two foot contour images. If the sizes of the two foot images are the same, select the two points with the smallest gray values ​​in the grayscale images of the ball of the foot and the heel. Divide the foot contour image into left and right parts by connecting these two points. Connect the midpoints of the left and right parts. Then, obtain a mirror image of the left foot contour image. Shift the mirror image to the right and shift the right foot contour image up and down so that the midpoint of the line connecting the midpoints of the mirror image and the right foot contour image coincides. Measure the distance between the mirror image and the left foot contour image at this position, which is the distance between the subject's two feet. The purpose of this step is to avoid the problem of incorrect measurement of the distance between the two feet caused by different angles when the subject is standing.

[0018] Preferably, if the images of the two feet are different sizes, the images of the two feet are scaled according to the average pressure of the two feet and the ratio of the pressure of each foot, so that the scaled images of the two feet are the same size, and the problem of incorrect measurement of the distance between the two feet caused by different angles when standing is solved by following the above steps.

[0019] Preferably, the specific method for determining the compensation distance of the foot contour image that needs compensation in step 4) is as follows: with the ankle joint as the center A, the length from the ankle joint to the sole of the foot as l, and the inversion angle b of the foot inversion, the contour of the subject's foot can be equated to an arc. The offset distance can be determined by calculation. The offset distance is πlb / 180. To improve accuracy, the calculated offset distance is often greater than the actual value. Usually, the error value is subtracted from the calculation result.

[0020] Preferably, in step 1), foot pressure information is obtained by a pressure sensor. The pressure sensor is set on the foot spacing adjustment device. The foot spacing adjustment device also includes a housing. A plate that can move left and right is set on the housing. The pressure sensor is installed on the plate. The housing has a motor-driven ball screw module. The ball screw module is connected to the plate. The motor drives the plates on both sides to move inward or outward, thereby adjusting the distance between the subject's feet.

[0021] A gait detection device, comprising:

[0022] Pressure acquisition module: used to acquire foot pressure information, measure the pressure value of the detection area, and transmit it to the display terminal through current signal;

[0023] Image comparison module: Used to compare the obtained foot pressure image with a normal foot image to determine whether it is a normal foot;

[0024] Contour extraction module: used for contour extraction from normal foot pressure images;

[0025] Distance compensation module: If the detected foot pressure image is judged to be abnormal, the contour image of the subject's foot under normal conditions is determined through the abnormal image; the specific method is as follows: the abnormal condition of the subject's foot is determined by the image recognition method, and the contour of the foot pressure image is extracted. According to the severity of the abnormal condition, the compensation distance of the foot contour image that needs to be compensated is determined, and the position of the subject's foot contour image is adjusted according to the required compensation distance.

[0026] Spacing adjustment module: It is used to identify the spacing between the feet based on the foot contour image, thereby determining the distance between the test subject's feet, and adjusting the distance between the subject's feet according to the test subject's options.

[0027] An electronic device, the electronic device comprising:

[0028] At least one processor; and

[0029] A memory communicatively connected to the at least one processor; wherein,

[0030] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the gait detection method according to any one of claims 1-7.

[0031] A computer-readable storage medium storing computer instructions for causing a processor to execute the gait detection method according to any one of claims 1-7.

[0032] The technical effects and advantages of this invention are as follows: By visually recognizing foot pressure, the distance between the two feet is automatically identified, and the distance between the two feet of the subject is adjusted by the distance adjustment device, which facilitates accurate adjustment of the stride length, making the test results more accurate, avoiding the subject having to adjust the stride length multiple times, and reducing the burden on the subject.

[0033] It also has a compensation function for abnormal foot spacing, which solves the problem of abnormal stride caused by changes in the pressure position of the foot due to foot diseases, resulting in a shift in the acquired foot pressure image, and further improves the accuracy of the test. Attached Figure Description

[0034] Figure 1 This is a flowchart of the gait detection method of the present invention;

[0035] Figure 2 This is a schematic diagram of the foot spacing adjustment device of the present invention;

[0036] Figure 3 This is a schematic diagram illustrating the compensation distance calculation of the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of an electronic device provided by the present invention. Detailed Implementation

[0038] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding the present invention, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] This invention provides a gait detection method as shown in the figure, comprising the following steps:

[0040] Step 1: Obtain foot pressure information through the thin-film pressure sensor on the foot spacing adjustment device. The thin-film pressure sensor can measure the pressure value of the detection area by the change of the piezoresistive pressure of the pressure acquisition plate with pressure, and transmit it to the display terminal through the current signal; the displayed foot pressure image shows the pressure level through different colors.

[0041] Step 2: Compare the obtained foot pressure image with a normal foot image to determine if it is a normal foot. If it is normal, extract the contour of the foot pressure image.

[0042] Step 3: Obtain the foot pressure distribution map and convert the image to grayscale; use the Sobel operator to calculate the gradient magnitude and direction of the image; traverse the image, and if the grayscale value of a pixel is not the maximum in its gradient direction, set it to zero, i.e., it is a non-edge point; use the double thresholding algorithm to detect and connect edge points to obtain the final contour image.

[0043] Step 4: Identify the distance between the two feet in the images to determine the distance between the test subject's feet, and remind the subject to adjust the appropriate distance between their feet according to the test subject's options;

[0044] The specific steps for identifying the distance between two feet are as follows: First, compare the sizes of the two foot contour images. If the two foot images are the same size, select the two points with the smallest gray values ​​in the grayscale images: the ball of the foot and the heel. The ball of the foot and the heel are the two areas with the greatest pressure on the sole of the foot, and these two positions are easily identified through image recognition. Then, compare the gray values ​​of the pixels in these two areas to identify the point with the smallest gray value. If there are several points with the smallest gray value in the two areas, take the outermost smallest point as the contour and identify the center point of the contour. Use the center point as the representation of the point with the smallest gray value. Divide the foot contour image into left and right parts by connecting these two points, and connect the midpoints of the left and right parts. Then, obtain a mirror image of the left foot contour image. Shift the mirror image to the right and shift the right foot contour image up and down so that the midpoint of the line connecting the midpoints of the mirror image and the right foot contour image coincides. Measure the distance between the mirror image and the left foot contour image at this position, which is the distance between the subject's two feet. This step aims to avoid the problem of incorrect measurement of the distance between the two feet due to different angles when the subject is standing.

[0045] If the images of the two feet are different sizes, the images of the two feet are scaled according to the average pressure of the two feet and the ratio of the pressure of each foot, so that the scaled images of the two feet are the same size. The above steps are used to solve the problem of incorrect measurement of the distance between the two feet caused by different angles when standing.

[0046] Step 5: If the detected foot pressure image is determined to be abnormal, then the contour image of the subject's foot under normal conditions is determined from the abnormal image. Here, we take foot inversion as an example. When foot inversion occurs, the subject's foot contour image does not accurately reflect the normal standing position of the foot; it appears further outward compared to the normal foot contour image. Therefore, image recognition methods can be used to determine the specific degree of foot inversion in the subject, thereby determining the foot contour image of the subject under normal conditions. The specific method is as follows:

[0047] Data acquisition: Collect a dataset of foot inversions that need to be image-recognized. The dataset contains enough samples to cover various situations for target recognition.

[0048] Data preprocessing: The acquired image data is preprocessed to improve the accuracy and efficiency of subsequent recognition. The preprocessing steps include image denoising (smoothing the image by calculating the weighted average of pixels within the window using a Gaussian function), image enhancement (adjusting the histogram distribution of the image through histogram equalization to make the gray level distribution of the image more uniform, thereby improving contrast), and image resizing (correcting geometric distortions in the image, such as rotation, scaling, and translation).

[0049] Feature extraction: Using computer vision algorithms to extract useful feature information from preprocessed images. These features typically include edges, corners, textures, color histograms, etc., which can describe key information in the image and are stored in a database.

[0050] Search and match: The input image is compared with images in the database, and the most similar image is identified as the output to determine the subject's foot inversion condition and the inversion angle of the subject's foot inversion.

[0051] Based on the condition of foot inversion, determine the compensation distance of the foot contour image that needs compensation. This compensation distance can be determined based on experience according to the severity level, or it can be determined by calculation. Based on the required compensation distance, adjust the position of the subject's foot contour image, and calculate the distance between the two feet according to the adjusted foot contour image.

[0052] Specifically, the test options include standing with feet together, standing with feet at half-length, and standing with feet at full length.

[0053] Specifically, such as Figure 3 As shown, the method for calculating and determining the compensation distance is as follows: with the ankle joint as the center A and the length from the ankle joint to the sole of the foot as l, the inversion angle b of the foot (i.e., the deflection angle of the line connecting the ankle joint to the sole of the foot) can be known from step five. Since the inversion angle is limited, the outline of the subject's foot can be equated to an arc. The offset distance can be determined by calculation. The offset distance is πlb / 180. To improve accuracy, the calculated offset distance is often greater than the actual value. Usually, the error value is subtracted from the calculated result. The error value is 0.2-1cm.

[0054] Specifically, such as Figure 2As shown, the foot spacing adjustment device includes a housing 1, on which a plate that can move left and right is provided. A pressure sensor 2 is installed on the plate, and the pressure sensor 2 is a thin-film pressure sensor. The housing 1 contains a ball screw module driven by a motor, which is connected to the plate. The motor drives the plates on both sides to move inward or outward, thereby adjusting the foot spacing of the subject.

[0055] Figure 4 This is a schematic diagram of the structure of an electronic device 10 used to implement embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0056] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a CAN bus 14; the host computer 15 is also connected to the bus 14 via a CAN control module.

[0057] Multiple components in the electronic device 10 are connected to the host computer 15, including: an input unit 16, which refers herein to a pressure sensor for inputting foot pressure; an output unit 17, which refers herein to a display for outputting foot pressure images; a storage unit 18, such as a disk, optical disk, etc.; and a controller 19, such as a PLC controller, for controlling the movement of the ball screw module.

[0058] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a gait detection method.

[0059] In some embodiments, the gait detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded into and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the gait detection method described above may be performed, including motion control of the ball screw module via controller 19 to adjust the distance between the subject's feet.

[0060] In actual use, the subject stands barefoot on the tablet and begins the three-posture test. After hearing the voice prompt "Start test" from the device, the subject performs the first action.

[0061] The first exercise was 'standing with feet together'. The subjects stood according to the image of feet on the tablet and achieved the requirement of standing with feet together.

[0062] Only after completing the first movement can you proceed to the second movement test, 'half-foot stance';

[0063] After completing the second movement test, 'half-stance standing', proceed to the third movement test, 'full-stance standing'.

[0064] After completing the second step test, 'half-foot stance', proceed to the third step test, 'full-foot stance'.

[0065] Each test action can be held for 10 seconds to complete the test.

[0066] The tablet displays images of both feet with at least four detection points to detect pressure. A test can be performed when eight or more pressure detection points are detected on both feet. If fewer than four pressure detection points are detected on both feet, or if all detection points on one foot show no pressure value, the user is prompted to check if their standing position is correct.

[0067] Compared with traditional methods, this invention does not rely on the subjective judgment of the tester and automatically and accurately adjusts the distance between the feet, which greatly improves the accuracy of the test results.

[0068] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A gait detection method, characterized in that, Includes the following steps: 1) Acquire foot pressure information, measure the pressure value of the detection area, and transmit it to the display terminal via current signal; 2) Compare the obtained foot pressure images with normal foot images to determine whether they are normal feet; 3) If normal, extract the contour of the foot pressure image; 4) If the detected foot pressure image is judged to be abnormal, the contour image of the subject's foot under normal conditions is determined through the abnormal image; the specific method is as follows: the abnormal condition of the subject's foot is determined by the image recognition method, and the contour of the foot pressure image is extracted. According to the severity of the abnormal condition, the compensation distance of the foot contour image that needs to be compensated is determined, and the position of the subject's foot contour image is adjusted according to the required compensation distance. The specific method for determining the compensation distance of the foot contour image that needs compensation is as follows: with the ankle joint as the center A, the length from the ankle joint to the sole of the foot as l, and the inversion angle of the foot as b, the contour of the subject's foot can be equated to an arc. The offset distance is determined by calculation as πlb / 180, and the error value is subtracted from the calculation result. 5) Based on the foot contour image after compensation, identify the distance between the foot contour images to determine the distance between the test subject's feet, and adjust the distance between the test subject's feet according to the test subject's options.

2. The gait detection method according to claim 1, characterized in that: The subjects' options included standing with feet together, standing with feet at half-length, and standing with feet at full length.

3. The gait detection method according to claim 1, characterized in that: The image recognition method in step 4) is specifically as follows: Collect a dataset of foot inversion images that need to be recognized, with enough samples to cover various situations for target recognition; The acquired image data is preprocessed to improve the accuracy and efficiency of subsequent recognition; the preprocessing steps include image denoising, image enhancement, and image resizing. Computer vision algorithms are used to extract feature information from preprocessed images. These features typically include edges, corners, textures, and color histograms. They can describe key information in the image and be stored in a database. The input image is compared with images in the database, and the most similar image is identified as the output to determine the subject's foot inversion condition and the inversion angle.

4. The gait detection method according to claim 1, characterized in that: The specific steps for identifying the distance between the two foot images in step 4) are as follows: First, compare the sizes of the two foot contour images. If the sizes of the two foot images are the same, select the two points with the smallest gray values ​​in the grayscale images of the ball of the foot and the heel. Divide the foot contour image into left and right parts by connecting these two points. Connect the midpoints of the left and right parts. Then, obtain a mirror image of the left foot contour image. Shift the mirror image to the right and shift the right foot contour image up and down so that the midpoint of the line connecting the midpoints of the mirror image and the right foot contour image coincides. Measure the distance between the mirror image and the left foot contour image at this position. This is the distance between the subject's two feet. The purpose of this step is to avoid the problem of incorrect measurement of the distance between the two feet caused by different angles when the subject is standing.

5. The gait detection method according to claim 4, characterized in that: If the images of the two feet are different sizes, the images of the two feet are scaled according to the average pressure of the two feet and the ratio of the pressure of each foot, so that the scaled images of the two feet are the same size. The above steps are used to solve the problem of incorrect measurement of the distance between the two feet caused by different angles when standing.

6. The gait detection method according to claim 1, characterized in that: In step 1), foot pressure information is obtained by pressure sensor (2). Pressure sensor (2) is set on foot spacing adjustment device. Foot spacing adjustment device also includes housing (1). A plate that can move left and right is set on housing (1). Pressure sensor (2) is installed on plate. There is a ball screw module driven by motor inside housing (1). The ball screw module is connected to plate. The plate on both sides is moved inward or outward by motor drive, thereby adjusting the distance between the subject's feet.

7. A gait detection device, characterized in that, include: Pressure acquisition module: used to acquire foot pressure information, measure the pressure value of the detection area, and transmit it to the display terminal through current signal; Image comparison module: Used to compare the obtained foot pressure image with a normal foot image to determine whether it is a normal foot; Contour extraction module: used for contour extraction from normal foot pressure images; Distance compensation module: If the detected foot pressure image is judged to be abnormal, the contour image of the subject's foot under normal conditions is determined through the abnormal image; the specific method is as follows: the abnormal condition of the subject's foot is determined by the image recognition method, and the contour of the foot pressure image is extracted. According to the severity of the abnormal condition, the compensation distance of the foot contour image that needs to be compensated is determined, and the position of the subject's foot contour image is adjusted according to the required compensation distance. Spacing adjustment module: It is used to identify the spacing of the foot contour image based on the foot contour image after compensation distance, thereby determining the distance between the test subject's feet, and adjusting the distance between the subject's feet according to the test subject's options.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the gait detection method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the gait detection method according to any one of claims 1-6.

Images