A gait analysis method based on plantar pressure image and related equipment

Abstract

The present disclosure provides a gait analysis method and related equipment based on plantar pressure images. The method includes: acquiring a plantar pressure image of a target subject and determining a target position of the subject's center of gravity in the plantar pressure image; dividing the plantar pressure image into a left region and a right region based on the target position; determining key points of the foot contour in each of the left and right regions; and determining the subject's walking angle based on the key points of the foot contour.

Description

Technical Field

[0001] The present disclosure relates to the field of image processing, and in particular to a gait analysis method based on plantar pressure images and related equipment. Background Art

[0002] Existing gait analysis technologies often perform recognition based on the walking posture or footsteps images of the entire human body, and are easily affected by various complex scenarios and changes such as the objective environment, resulting in a decrease in recognition accuracy. Summary of the Invention

[0003] The present disclosure proposes a gait analysis method based on plantar pressure images and related equipment, which at least to a certain extent solves the technical problem of low accuracy of gait analysis in related technologies.

[0004] In a first aspect, the present disclosure provides a gait analysis method based on plantar pressure images, comprising:

[0005] Acquire a plantar pressure image of a target object, and determine a target position of the center of gravity of the target object in the plantar pressure image;

[0006] dividing the plantar pressure image into a left area and a right area based on the target position;

[0007] Determining foot contour key points in the left region and the right region respectively;

[0008] The walking angle of the target object is determined based on the foot contour key points.

[0009] In a second aspect of the present disclosure, a gait analysis device based on plantar pressure images is provided, comprising:

[0010] an acquisition module, configured to acquire a plantar pressure image of a target object and determine a target position of the center of gravity of the target object in the plantar pressure image;

[0011] a region division module, configured to divide the plantar pressure image into a left region and a right region based on the target position;

[0012] A key point module, configured to determine key points of the foot contour in the left region and the right region respectively;

[0013] A gait analysis module is used to determine the walking angle of the target object based on the key points of the foot contour.

[0014] According to a third aspect of the present disclosure, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0015] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in the first aspect.

[0016] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising computer program instructions, which, when executed on a computer, cause the computer to execute the method according to the first aspect.

[0017] As can be seen from the above, the gait analysis method and related equipment based on plantar pressure images provided by this disclosure accurately divide the plantar pressure image into left and right regions by acquiring the plantar pressure image of the target object and determining the target position. The key points of the foot contour are then identified in each region, and the walking angle of the target object is accurately calculated based on these key points. This not only improves the accuracy of walking angle measurement but also effectively simplifies the analysis process, providing accurate data support for gait analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 Schematic diagram of a gait analysis architecture based on plantar pressure images according to an embodiment of the present disclosure.

[0020] Figure 2 Schematic diagram of the hardware structure of an exemplary electronic device according to an embodiment of the present disclosure.

[0021] Figure 3 Schematic diagram of the process of gait analysis method based on plantar pressure image according to an embodiment of the present disclosure.

[0022] Figure 4 Schematic diagram of a plantar pressure image according to an embodiment of the present disclosure.

[0023] Figure 5 Schematic diagram of key points of foot contour according to an embodiment of the present disclosure.

[0024] Figure 6 Schematic diagram of a gait analysis device based on plantar pressure images according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0026] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the usual meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0027] It is understood that before using the technical solutions disclosed in each embodiment of the present disclosure, the user should be informed of the type, scope of use, and usage scenarios of the personal information involved in the present disclosure and obtain the user's authorization in an appropriate manner in accordance with relevant laws and regulations. For example, in response to receiving a user's active request, a prompt message is sent to the user to clearly remind the user that the operation requested will require the acquisition and use of the user's personal information. In this way, the user can independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operation of the technical solution of the present disclosure based on the prompt message.

[0028] It is understandable that the above notification and user authorization process are merely illustrative and do not limit the implementation of the present disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0029] Figure 1 FIG. 1 is a schematic diagram showing a gait analysis architecture based on plantar pressure images according to an embodiment of the present disclosure. Figure 1 The plantar pressure image-based gait analysis architecture 100 may include a server 110, a terminal 120, and a network 130 providing a communication link. The server 110 and the terminal 120 may be connected via a wired or wireless network 130. The server 110 may be an independent physical server, a server cluster or a distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, security services, and CDN.

[0030] Terminal 120 can be implemented in hardware or software. For example, when implemented in hardware, terminal 120 can be any electronic device with a display screen that supports page display, including but not limited to smartphones, tablet computers, e-book readers, laptop computers, and desktop computers. When terminal 120 is implemented in software, it can be installed in the electronic devices listed above; it can be implemented as multiple software or software modules (such as software or software modules used to provide distributed services), or it can be implemented as a single software or software module, and no specific limitations are given here.

[0031] It should be noted that the gait analysis method based on plantar pressure images provided in the embodiment of the present application can be executed by the terminal 120 or by the server 110. Figure 1 The number of terminals, networks, and servers in the embodiment is for illustration only and is not intended to limit the number of terminals, networks, and servers.

[0032] Figure 2 FIG. 2 shows a schematic diagram of the hardware structure of an exemplary electronic device 200 provided in an embodiment of the present disclosure. Figure 2 As shown, electronic device 200 may include: processor 202, memory 204, network module 206, peripheral interface 208 and bus 210. Processor 202, memory 204, network module 206 and peripheral interface 208 are connected to each other through bus 210 in communication with each other within electronic device 200.

[0033] The processor 202 may be a central processing unit (CPU), a neural network processor (NPU), a microcontroller (MCU), a programmable logic device, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or one or more integrated circuits. The processor 202 may be used to perform functions related to the technology described in this disclosure. In some embodiments, the processor 202 may also include multiple processors integrated into a single logical component. For example, Figure 2 As shown, the processor 202 may include a plurality of processors 202a, 202b, and 202c.

[0034] The memory 204 may be configured to store data (eg, instructions, computer code, etc.). Figure 2As shown, the data stored in the memory 204 may include program instructions (e.g., program instructions for implementing the plantar pressure image-based gait analysis method according to an embodiment of the present disclosure) and data to be processed (e.g., the memory may store configuration files for other modules, etc.). The processor 202 may also access the program instructions and data stored in the memory 204 and execute the program instructions to operate on the data to be processed. The memory 204 may include a volatile storage device or a non-volatile storage device. In some embodiments, the memory 204 may include a random access memory (RAM), a read-only memory (ROM), an optical disk, a magnetic disk, a hard disk, a solid-state drive (SSD), a flash memory, a memory stick, etc.

[0035] The network module 206 can be configured to provide the electronic device 200 with communication with other external devices via a network. The network can be any wired or wireless network capable of transmitting and receiving data. For example, the network can be a wired network, a local wireless network (e.g., Bluetooth, WiFi, near-field communication (NFC)), a cellular network, the Internet, or a combination thereof. It will be appreciated that the type of network is not limited to the specific examples above. In some embodiments, the network module 206 can include any combination of any number of network interface controllers (NICs), radio frequency modules, transceivers, modems, routers, gateways, adapters, cellular network chips, and the like.

[0036] The peripheral interface 208 can be configured to connect the electronic device 200 to one or more peripheral devices to implement information input and output. For example, the peripheral devices can include input devices such as a keyboard, a mouse, a touchpad, a touch screen, a microphone, and various sensors, and output devices such as a display, a speaker, a vibrator, and an indicator light.

[0037] The bus 210 can be configured to transmit information between various components of the electronic device 200 (e.g., the processor 202, the memory 204, the network module 206, and the peripheral interface 208), such as an internal bus (e.g., a processor-memory bus), an external bus (USB port, PCI-E bus), etc.

[0038] It should be noted that although the architecture of the electronic device 200 shown above only shows the processor 202, the memory 204, the network module 206, the peripheral interface 208, and the bus 210, in a specific implementation, the architecture of the electronic device 200 may also include other components necessary for normal execution. In addition, it will be understood by those skilled in the art that the architecture of the electronic device 200 may also include only the components necessary to implement the embodiments of the present disclosure, and does not necessarily include all the components shown in the figure.

[0039] Existing gait analysis technologies often rely on whole-body walking posture or footstep images for identification. For example, they can collect walking trajectories to determine a pedestrian's gait. However, these methods are susceptible to various complex scenarios and changes in the objective environment, resulting in reduced recognition accuracy. Therefore, improving the accuracy of gait analysis has become a pressing technical challenge.

[0040] In view of this, embodiments of the present disclosure provide a gait analysis method and related equipment based on plantar pressure images. By acquiring a plantar pressure image of a target subject and determining the target position, the plantar pressure image is precisely divided into left and right regions. Key points of the foot contour are identified within each region, and the target subject's walking angle is accurately calculated based on these key points. This not only improves the accuracy of walking angle measurement but also effectively simplifies the analysis process, providing accurate data support for gait analysis.

[0041] See also Figure 3 , Figure 3 The schematic flow chart of the gait analysis method based on plantar pressure images according to an embodiment of the present disclosure is shown. The gait analysis method based on plantar pressure images according to an embodiment of the present disclosure can be deployed on a server or a terminal. Figure 3 In the embodiment, the gait analysis method 300 based on plantar pressure image may further include the following steps.

[0042] In step S310 , a plantar pressure image of a target object is acquired, and a target position of the center of gravity of the target object in the plantar pressure image is determined.

[0043] The target object may refer to an individual subject requiring plantar pressure analysis. For example, in fields such as medicine, biomechanics, and sports science, the plantar pressure and center of gravity distribution of individuals (e.g., athletes or patients) may be of interest to assess their gait, balance, or potential health issues. These individuals may be target objects. A plantar pressure image may be an image showing the pressure distribution in various regions of the target object's foot. Plantar pressure images can be generated by sensing and recording pressure values ​​in different regions of the foot using a pressure distribution measurement system (e.g., a pressure plate or pressure insole) and converting these pressure values ​​into a visual image, such as color coding to indicate the pressure magnitude in different regions. In a plantar pressure image, the target location refers to the equivalent gravity point calculated based on the pressure distribution in various regions of the foot.

[0044] In some embodiments, obtaining a plantar pressure image of a target object includes:

[0045] In response to the target object walking on the plantar pressure collecting device, obtaining pressure data of both feet of the target object on the plantar pressure collecting device;

[0046] The plantar pressure image is obtained based on the pressure data.

[0047] Specifically, when the target subject walks (for example, walking back and forth) on a plantar pressure collection device equipped with a pressure sensor, the pressure sensor will capture and record the pressure data exerted by the feet on the device in real time. These pressure data can be converted into intuitive plantar pressure images, such as Figure 4 As shown, Figure 4 A schematic diagram of a plantar pressure image according to an embodiment of the present disclosure is shown. The plantar pressure image can accurately display the pressure distribution in various areas of the target subject's foot and also provides an important basis for analyzing gait characteristics and assessing foot health.

[0048] In some embodiments, determining a target position of the center of gravity of the target object in the plantar pressure image includes:

[0049] Calculating the product of the pressure at each measuring point in the plantar pressure image and the distance from the measuring point to a reference point to obtain the torque at the measuring point;

[0050] Obtaining an average moment distance based on the sum of all the moments and the sum of the pressures at all the measuring points;

[0051] The target position is determined based on the average moment distance and the reference point.

[0052] The target position can be the center position of the plantar pressure image, or the center of gravity of the target object mapped to the center position of the plantar pressure image. In order to determine the center of gravity position of the target object in the plantar pressure image, the product of the pressure at each measuring point and the distance from the point to a preset reference point (such as the center of the plantar pressure image or a specific point) can be calculated to obtain the torque of each measuring point. Subsequently, all the torques are added together to obtain the total torque, and then divided by the sum of the pressures at all measuring points (i.e., the total pressure) to obtain the average torque distance. This average torque distance reflects the average deviation of the pressure distribution relative to the reference point. Based on this average deviation and the position of the reference point, the specific position of the center of gravity in the plantar pressure image can be accurately determined. This not only improves the accuracy of the center of gravity position calculation, but also provides a data basis for subsequent gait analysis, which is conducive to improving the accuracy of gait analysis.

[0053] For example, a plantar pressure image has four measurement points (A, B, C, and D). Each point records the pressure value and distance to a reference point (O, typically set as the center of the plantar pressure image or a fixed point). For example, at measurement point A, the pressure value is 50 N, and the distance to reference point O is 10 cm; at measurement point B, the pressure value is 30 N, and the distance to reference point O is 15 cm; at measurement point C, the pressure value is 20 N, and the distance to reference point O is 20 cm; and at measurement point D, the pressure value is 40 N, and the distance to reference point O is 25 cm. The torque at each measurement point is calculated as follows: the torque at measurement point A is 50 N × 10 cm = 500 N·cm; the torque at measurement point B is 30 N × 15 cm = 450 N·cm; the torque at measurement point C is 20 N × 20 cm = 400 N·cm; and the torque at measurement point D is 40 N × 25 cm = 1000 N·cm.

[0054] Calculate the sum of all moments: Total moment = 500 N·cm + 450 N·cm + 400 N·cm + 1000 N·cm = 2350 N·cm. Calculate the sum of the pressures at all measurement points: Total pressure = 50 N + 30 N + 20 N + 40 N = 140 N. Calculate the average moment distance: Average moment distance = Total moment / Total pressure = 2350 N·cm / 140 N ≈ 16.79 cm. Based on the average moment distance and reference point O, it can be determined that the center of gravity is offset by approximately 16.79 cm from reference point O in a certain direction (usually perpendicular to the plane of the plantar pressure image).

[0055] In step S320, the plantar pressure image is divided into a left area and a right area based on the target position.

[0056] Among them, based on the determined target position, the plantar pressure image can be accurately divided into the left foot area and the right foot area. Specifically, a straight line perpendicular to the center line of the image and passing through the target position can be determined as the dividing line to divide the plantar pressure image into two. The area to the right of the dividing line is identified as the right area including the right foot, while the left side corresponds to the left area including the left foot. In this way, the pressure distribution characteristics of the left and right feet can be analyzed separately, and then the gait symmetry, balance stability and whether there are potential foot problems of the target object can be evaluated.

[0057] In step S330, key points of foot contours in the left region and the right region are determined respectively.

[0058] Foot contour keypoints can refer to characteristic points in the plantar pressure images of the left region (left foot area) and the right region (right foot area) that represent the shape and structure of the foot. For example, foot contour keypoints can be medial and lateral edge points, which represent key structures for maintaining balance and stability. In plantar pressure images, medial and lateral edge keypoints can be identified by identifying changes in pressure distribution in the edge regions, which helps assess foot stability and gait symmetry.

[0059] In some embodiments, determining the foot silhouette key points in the left region and the right region respectively includes:

[0060] Dividing the left area and the right area into upper and lower parts from top to bottom based on the target position, respectively, to obtain an upper part of the left area, a lower part of the left area, an upper part of the right area, and a lower part of the right area;

[0061] The candidate points whose pressure is greater than a preset pressure value in the upper part of the left area, the lower part of the left area, the upper part of the right area and the lower part of the right area are traversed, and the candidate points that meet the preset conditions are determined as the key points of the foot contour.

[0062] The left and right areas divided based on the target position can be further subdivided into upper and lower parts to more accurately locate the key points of the foot contour. By traversing the candidate points whose pressure values ​​exceed the preset threshold in these areas and filtering out the points that meet the requirements according to the preset conditions, the key points of the foot contour are finally determined. For example, the left and right areas can be divided into upper and lower parts respectively to obtain four sub-areas, such as Figure 4 As shown. The pressure threshold can be set to 0N, and all measurement points with pressure values ​​exceeding 0N in these four sub-areas are traversed as candidate points. This can improve the accuracy of key point recognition, and also help to deeply analyze the force conditions of the foot in different areas, and provide more detailed data support for gait analysis, balance assessment, etc. For example, based on the force in different areas, the higher force areas and high-pressure points can be analyzed; for specific populations such as diabetic patients, the high-pressure areas obtained by analysis can indicate high-risk areas for diabetic foot. For early patients, the use of decompression insoles and other measures can be prompted to alleviate the symptoms. For another example, abnormal force indicates that the area may have common foot diseases such as calluses and corns, which can prompt the user to go to the hospital for examination.

[0063] In some embodiments, determining the candidate points that meet preset conditions as the foot contour key points includes:

[0064] The candidate point whose abscissa is closest to the abscissa of the target position among the candidate points is determined as the key point of the foot contour.

[0065] Among them, when determining the key points of the foot contour, the candidate point whose horizontal coordinate is closest to the horizontal coordinate of the target position can be selected. By comparing the horizontal coordinate of each candidate point with the horizontal coordinate of the target position and selecting the candidate point with the smallest distance, the key position of the foot contour can be accurately located. This not only simplifies the key point identification process, but also ensures that the selected key points can accurately reflect the structural characteristics and force conditions of the foot, providing a more reliable data basis for subsequent gait analysis, balance assessment, etc. For example, in the upper part of the left area of ​​the plantar pressure image, the horizontal coordinates of the candidate points are different. The horizontal coordinate of the target position is known, and these candidate points can be traversed to calculate the difference between the horizontal coordinate of each candidate point and the horizontal coordinate of the target position, and the candidate point with the smallest difference can be found to determine it as the key point of the foot contour. In this way, the corresponding key points of the foot contour can be determined in the upper and lower parts of the left and right areas, such as Figure 5 As shown, Figure 5 A schematic diagram showing key points of a foot silhouette according to an embodiment of the present disclosure is shown.

[0066] In step S340 , the walking angle of the target object is determined based on the key points of the foot contour.

[0067] The walking angle refers to the angle formed by the subject's foot relative to a fixed direction (such as the walking direction or the ground level) while walking. This angle can reflect the subject's gait characteristics, walking habits, and possible foot problems.

[0068] In some embodiments, determining the walking angle of the target object based on the foot contour key points includes:

[0069] Determine the left foot walking angle of the target object by taking the included angle between the first straight line where the key points of the foot contour in the upper part of the left area and the lower part of the left area are located and the vertical direction;

[0070] The right foot walking angle of the target object is determined by taking the included angle between the second straight line where the key points of the foot contour in the upper part of the right area and the lower part of the right area are located and the vertical direction.

[0071] A first straight line is fitted based on the key points of the foot contour in the upper and lower left regions, and the angle between this line and the vertical is measured to obtain the left foot's walking angle. Similarly, a second straight line is fitted based on the key points of the foot contour in the upper and lower right regions, and the angle between this line and the vertical is measured to obtain the right foot's walking angle. This direct use of the positional information of the key points of the foot contour allows for accurate and rapid determination of the target subject's walking angle, providing powerful data support for gait analysis, balance assessment, and other applications.

[0072] Specifically, the user walks back and forth on a pressure plate, collecting pressure measurements from both feet. Program processing generates a two-dimensional image (the color in the image indicates a force greater than 0 on the pressure plate, with different colors representing higher and lower pressure values), along with the coordinates of the body's center of gravity during walking. The image is divided into four rectangular regions centered on the center of gravity. The two regions on the left contain the upper and lower parts of the left foot, and the two regions on the right contain the upper and lower parts of the right foot. The coordinates in each region with a pressure greater than 0 are traversed to obtain the outermost coordinates. The walking angle of a single foot is then determined by calculating the angle between the line connecting the outermost coordinates of the upper and lower parts of the foot and the vertical.

[0073] For example, let's take a 100*100px (Pixel) image of the sole of the foot. The origin of the coordinate system is the upper left corner, and the starting point is (0,0). ， The coordinates of the center of gravity of the body are (50,50), which are divided into four rectangular areas. Taking the left foot as an example: two rectangles contain the left foot. The coordinates of the area connected to rectangle 1 are (0,0), (50,0), (50,50), and (0,50), and the coordinates of the area connected to rectangle 2 are (0,50), (50,50), (50,100), and (0,100). Each point in the rectangular area where the pressure value is not 0 is traversed separately to determine the innermost coordinate. In this way, two coordinates can be obtained. By calculating the angle between the line connecting the two coordinates and the vertical direction, the walking angle of the left foot can be calculated.

[0074] In some embodiments, method 300 may further include:

[0075] The gait type of the target object is determined based on the left foot walking angle and the right foot walking angle; wherein the gait type includes an inward-turned-toe type, an outward-turned-toe type, or a standard type.

[0076] A pigeon-toed gait can be identified when both the left and right foot walking angles are less than the standard angle (generally considered to be close to 0 degrees from vertical, meaning the feet move in a nearly straight line), and the toes deflect inward. A pigeon-toed gait can be identified when both the left and right foot walking angles are greater than the standard angle, and the toes deflect outward, forming a figure-eight shape. A standard gait can be identified when both the left and right foot walking angles are close to the standard angle, meaning the feet move in a nearly straight line, with no obvious inward or outward deflection. For example, pigeon-toed or outward-toed gait can be determined by comparing the horizontal coordinates of the upper and lower key points on the left or right foot. The origin of the coordinate system can be the upper left corner of the plantar pressure image. A pigeon-toed gait can be identified when the horizontal coordinate of the upper key point is greater than that of the lower key point; a pigeon-toed gait can be identified when the horizontal coordinate of the upper key point is less than that of the lower key point. Furthermore, when the walking angle is less than 22.5 degrees, it is a standard type; when the walking angle is between 22.5-45 degrees, it is a slight pigeon-toed type or a slight pigeon-toed type; and when the walking angle is greater than 45 degrees, it is a severe pigeon-toed type or a severe pigeon-toed type.

[0077] Specifically, a user walks normally, passing over a pressure plate on the sole of the foot back and forth, placing their left and right feet on the pressure plate respectively. Images of the soles of the feet walking can be obtained. The two outermost coordinates of the inner side of the foot are obtained by calculation, roughly the first metatarsal area and the inner heel area. These two coordinates are used to calculate the angle with the vertical direction to obtain the walking angle. This angle can be used to determine whether the user is walking with their feet turned inward or outward. For example, the target subject's left foot walking angle is -5 degrees (the negative sign indicates that the toes are deflected inward), and the right foot walking angle is -4 degrees, both less than the standard angle, and the toes are deflected inward. Therefore, it can be determined that the target subject has a pigeon-toed gait. Another target subject's left foot walking angle is 8 degrees, and the right foot walking angle is 7 degrees, both greater than the standard angle, and the toes are deflected outward, forming a figure-eight shape. Therefore, it can be determined that the target subject has a pigeon-toed gait. If a subject's left foot walking angle is 1 degree and their right foot walking angle is 0.5 degrees, both close to the standard angles, with no obvious inward or outward deflection, then the subject can be judged to have a standard gait. This shows that by measuring the left and right foot walking angles and comparing them with the standard angles, the subject's gait type can be effectively determined, providing strong support for gait analysis, balance assessment, and foot health diagnosis.

[0078] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario, where multiple devices cooperate with each other to complete the method. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present disclosure, and the multiple devices will perform gait analysis based on plantar pressure images to complete the method.

[0079] It should be noted that the above description is limited to some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0080] Based on the same technical concept, corresponding to any of the above embodiments and methods, the present disclosure also provides a gait analysis device based on plantar pressure images, see Figure 6 The gait analysis device based on plantar pressure images comprises:

[0081] an acquisition module, configured to acquire a plantar pressure image of a target object and a target position of the center of gravity of the target object in the plantar pressure image;

[0082] a region division module, configured to divide the plantar pressure image into a left region and a right region based on the target position;

[0083] A key point module, configured to determine key points of the foot contour in the left region and the right region respectively;

[0084] A gait analysis module is used to determine the walking angle of the target object based on the key points of the foot contour.

[0085] For the convenience of description, the above devices are described as being functionally divided into various modules. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0086] The device of the above embodiment is used to implement the corresponding gait analysis method based on plantar pressure images in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

[0087] Based on the same technical concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the gait analysis method based on plantar pressure images as described in any of the above embodiments.

[0088] The computer-readable media of this embodiment includes permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0089] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the gait analysis method based on plantar pressure images as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0090] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Within the scope of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0091] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of the present disclosure, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. Furthermore, devices may be shown in block diagram form to avoid obscuring the embodiments of the present disclosure, and this also takes into account the fact that the implementation details of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (i.e., such details should be fully understood by those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without or with variations in these specific details. Accordingly, these descriptions should be considered illustrative rather than restrictive.

[0092] Although the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the discussed embodiments.

[0093] The embodiments of the present disclosure are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A gait analysis method based on plantar pressure images, comprising: Acquire a plantar pressure image of a target object, and determine a target position of the center of gravity of the target object in the plantar pressure image; Dividing the plantar pressure image into a left area and a right area based on the target position as the center; the left area includes the upper and lower parts of the left foot, and the right area includes the upper and lower parts of the right foot; Determining foot contour key points in the left region and the right region respectively, comprising: traversing candidate points having pressures greater than a preset pressure value in the upper and lower parts of the left foot in the left region and the upper and lower parts of the right foot in the right region, and determining the candidate point whose abscissa is closest to the abscissa of the target position as the foot contour key point; Determining the walking angle of the target object based on the foot contour key points includes: determining the left foot walking angle of the target object by taking the angle between a first straight line where the foot contour key points of the upper and lower parts of the left foot in the left area are located and the vertical direction; determining the right foot walking angle of the target object by taking the angle between a second straight line where the foot contour key points of the upper and lower parts of the right foot in the right area are located and the vertical direction.

2. The method according to claim 1, further comprising: The gait type of the target object is determined based on the left foot walking angle and the right foot walking angle; wherein the gait type includes an inward-turned-toe type, an outward-turned-toe type, or a standard type.

3. The method according to claim 1, wherein Acquire a plantar pressure image of a target object, including: In response to the target object walking on the plantar pressure collecting device, obtaining pressure data of both feet of the target object on the plantar pressure collecting device; The plantar pressure image is obtained based on the pressure data.

4. The method according to claim 3, wherein: Determining a target position of the center of gravity of the target object in the plantar pressure image includes: Calculating the product of the pressure at each measuring point in the plantar pressure image and the distance from the measuring point to a reference point to obtain the torque at the measuring point; Obtaining an average moment distance based on the sum of all the moments and the sum of the pressures at all the measuring points; The target position is determined based on the average moment distance and the reference point.

5. A gait analysis device based on plantar pressure images, comprising: an acquisition module, configured to acquire a plantar pressure image of a target object and determine a target position of the center of gravity of the target object in the plantar pressure image; a region division module, configured to divide the plantar pressure image into a left region and a right region based on the target position as the center; the left region includes the upper and lower parts of the left foot, and the right region includes the upper and lower parts of the right foot; a key point module, configured to determine key points of the foot contour in the left region and the right region, respectively, comprising: traversing candidate points having pressures greater than a preset pressure value in the upper and lower parts of the left foot in the left region and the upper and lower parts of the right foot in the right region, and determining the candidate point whose abscissa is closest to the abscissa of the target position as the key point of the foot contour; The gait analysis module is used to determine the walking angle of the target object based on the key points of the foot contour, including: determining the walking angle of the left foot of the target object by taking the angle between a first straight line at the upper and lower parts of the left foot's foot contour key points and the vertical direction in the left region; and determining the walking angle of the right foot of the target object by taking the angle between a second straight line at the upper and lower parts of the right foot's foot contour key points and the vertical direction in the right region.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the gait analysis method based on plantar pressure images as claimed in any one of claims 1 to 4 is implemented.

7. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the gait analysis method based on plantar pressure images according to any one of claims 1 to 4.

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