Walking attitude measuring device based on multi-sensor cooperation

Abstract

The invention discloses a walking posture measuring device based on multi-sensor cooperation, and relates to the technical field of walking posture measurement, the walking posture measuring device comprises a walking compensation mechanism, the top of the walking compensation mechanism is fixedly provided with a first protection mechanism for performing three-side protection on old people, and the walking compensation mechanism is internally provided with a moving mechanism; a second protection mechanism used for being matched with the first protection mechanism to achieve four-side protection is arranged at the front end of the walking compensation mechanism, and the moving mechanism drives the second protection mechanism to rotate from the horizontal state to the vertical state and then unfold the second protection mechanism. The device does not need to be worn when the walking posture of an old person is measured, meanwhile, four-side protection can be provided for the old person in the testing process, then the probability that the old person is injured when an accident occurs is reduced, in addition, enough protection height can be provided on the premise that the occupied area is small, and the using effect is more ideal.

Description

Technical Field

[0001] This invention relates to the field of walking posture measurement technology, and in particular to a walking posture measurement device based on multi-sensor collaboration. Background Technology

[0002] As people age and their physical functions decline, especially their brain function, their walking ability will continue to decrease. Walking is a complex system that requires the coordinated work of multiple areas of the brain. In some high-end nursing homes and sanatoriums, elderly people are regularly organized to have their walking posture measured in order to assess their walking ability and develop different levels of care and rehabilitation plans based on their walking ability.

[0003] Most existing devices for measuring the gait posture of the elderly are wearable, requiring multiple sensors to be worn on the elderly person's waist, legs, and feet during measurement. For example, the wearable indoor positioning system and method for gait detection disclosed in the invention patent with authorization announcement number CN103267524B is too cumbersome to use and can cause obvious discomfort to the elderly after wearing it, which can lead to gait deformation and affect the measurement accuracy.

[0004] Existing technologies also include a dynamic gait detection device disclosed in the invention patent application publication number CN119423742A, which does not require wearing and is more convenient to use. However, since the measurement target is the elderly, there is a lack of effective protection for the measurement target during the measurement process. If the elderly standing on the top of the track falls or other accidents occur during the measurement process, it is impossible to protect the elderly in time, and the effect of use is not ideal.

[0005] Therefore, it is necessary to invent a walking posture measurement device based on multi-sensor collaboration to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a walking posture measurement device based on multi-sensor collaboration. This device eliminates the need for wearing protective gear when measuring the walking posture of elderly individuals. It provides four-sided protection during testing, reducing the likelihood of injury in case of accidents. Furthermore, it offers sufficient protective height while occupying a small footprint, resulting in a more ideal user experience. This addresses the problems of wearable detection devices in the background, which are cumbersome to use and cause significant discomfort to the elderly, leading to gait deformation and affecting measurement accuracy. Wearable detection devices also lack effective protection for the measured object during measurement, failing to provide timely protection in case of falls or other accidents while standing on top of the track, thus resulting in less than ideal performance.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a walking posture measurement device based on multi-sensor collaboration, comprising a walking compensation mechanism, a first protective mechanism for providing three-sided protection for the elderly fixedly installed on the top of the walking compensation mechanism, a moving mechanism installed inside the walking compensation mechanism, and a second protective mechanism for cooperating with the first protective mechanism to provide four-sided protection at the front end of the walking compensation mechanism, the moving mechanism driving the second protective mechanism to rotate from a horizontal state to a vertical state and then unfolding the second protective mechanism, two sets of locking reinforcement mechanisms installed inside the second protective mechanism, the two sets of locking reinforcement mechanisms interlocking with the walking compensation mechanism during the unfolding of the second protective mechanism, and a measuring mechanism for measuring the walking posture of the elderly is jointly provided on the walking compensation mechanism, the first protective mechanism, and the second protective mechanism.

[0008] Preferably, the walking compensation mechanism includes a base, on which a treadmill is fixedly nested, and two locking holes are provided inside the opening at the top of the base.

[0009] Preferably, the first protective mechanism includes a U-shaped enclosure fixedly installed on the top of the treadmill, and a protective pad A is adhered to the top of the inner side of the U-shaped enclosure.

[0010] Preferably, the moving mechanism includes a side plate fixedly disposed inside the rear side of the base, a hydraulic cylinder fixedly disposed on the back of the side plate, a rear push plate slidably disposed inside the base and fixedly connected to the front end of the output shaft of the hydraulic cylinder, and a rack A fixedly disposed in the center of the front side of the rear push plate.

[0011] Preferably, guide rods are slidably provided on both sides of the rear push plate, and a front push plate is fixedly provided at the front ends of the two guide rods. A first spring is sleeved on the outer side of each guide rod and fixedly connected between the rear push plate and the front push plate. A rack B is fixedly provided on both sides of the front of the front push plate, and a limit stop is fixedly provided on the inner side of each rack B.

[0012] Preferably, the second protective mechanism includes two fixed plates fixedly disposed on the inner front end of the base. A rotating shaft is rotatably nested between the two fixed plates via bearings. Gears A that mesh with adjacent racks B are fixedly sleeved at both ends of the outer side of the rotating shaft. A foot-operated housing is fixedly sleeved at the middle of the outer side of the rotating shaft. A receiving chamber is opened at the bottom of the foot-operated housing. A support frame is fixedly disposed at the front end of the bottom of the foot-operated housing.

[0013] Preferably, a screw is provided through the cavity and rotatably connected to the foot pedal housing via a bearing. A gear B is fixedly sleeved at the rear end of the outer side of the screw. A lifting plate is slidably disposed in the cavity and drivenly sleeved at the front end of the outer side of the screw. A protective pad B is adhered to the top of the lifting plate.

[0014] Preferably, any set of the locking reinforcement mechanisms includes a locking rod that slides through the inner wall of the foot pedal housing. A magnet A is fixedly installed at the inner end of the locking rod. A second spring that is fixedly connected between the inner wall of the foot pedal housing and the magnet A and is in a stretched state is sleeved on the outer side of the locking rod. The first protective mechanism also includes a magnet B that is fixedly nested on the side of the lifting plate and magnetically attracted to the magnet A.

[0015] Preferably, the measuring mechanism includes multiple flexible pressure sensors fixedly mounted on the treadmill body and below the treadmill belt, a first measuring camera fixedly mounted in the middle of the inner side of the U-shaped enclosure, and a second measuring camera fixedly mounted at the top front end of the foot pedal housing. The output ends of the treadmill, the multiple flexible pressure sensors, the first measuring camera, and the second measuring camera are all connected to a processing module.

[0016] The technical effects and advantages of this invention are as follows:

[0017] This invention incorporates a first protective mechanism, a second protective mechanism, and a locking reinforcement mechanism. After the moving mechanism rotates the second protective mechanism from a horizontal to a vertical position, it continues to unfold, allowing the second protective mechanism to work in conjunction with the first protective mechanism to provide four-sided protection for the elderly during walking posture measurement. Simultaneously, the second protective mechanism can interlock with the locking reinforcement mechanism during unfolding, enhancing its support strength. Compared to existing technologies, this invention eliminates the need for wearing protective clothing during walking posture measurement and provides four-sided protection during testing, reducing the likelihood of injury in case of accidents. Furthermore, it provides sufficient protection height while occupying a smaller footprint, resulting in a more ideal performance. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the walking compensation mechanism, the first protective mechanism, and the measuring mechanism of the present invention.

[0020] Figure 3 This is a schematic diagram of the moving mechanism structure of the present invention;

[0021] Figure 4 This is a schematic diagram of the second protective mechanism of the present invention;

[0022] Figure 5 This is a schematic diagram of the second protective mechanism and the locking reinforcement mechanism of the present invention.

[0023] In the diagram: 1. Walking compensation mechanism; 11. Base; 12. Treadmill; 13. Locking hole; 2. First protective mechanism; 21. U-shaped enclosure; 22. Protective pad A; 3. Moving mechanism; 31. Side plate; 32. Hydraulic cylinder; 33. Rear push plate; 34. Rack A; 35. Guide rod; 36. Front push plate; 37. First spring; 38. Rack B; 39. Limiting block; 4. Second protective mechanism; 41. Fixing plate; 42. Rotating shaft; 43. Gear A; 44. Foot pedal housing; 45. Support frame; 46. Screw; 47. Gear B; 48. Lifting plate; 49. Protective pad B; 5. Locking reinforcement mechanism; 51. Locking rod; 52. Magnet A; 53. Second spring; 54. Magnet B; 6. Measuring mechanism; 61. First measuring camera; 62. Second measuring camera. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] This invention provides, for example Figures 1-5 The illustrated walking posture measurement device, based on multi-sensor collaboration, achieves wearless measurement and all-around protection of elderly people's walking posture through multi-mechanism collaboration. It includes a walking compensation mechanism 1, which serves as the basic supporting component of the device, providing support, a walking platform, and locking functionality. A first protective mechanism 2, providing three-sided protection for the elderly, is fixedly mounted on the top of the walking compensation mechanism 1. The first protective mechanism 2 acts as the initial protective component, providing a three-sided safety barrier. A moving mechanism 3, serving as the power transmission core, is located inside the walking compensation mechanism 1. A second protective mechanism 4, cooperating with the first protective mechanism 2 to achieve four-sided protection, is located at the front end of the walking compensation mechanism 1. The moving mechanism 3 rotates the second protective mechanism 4 from a horizontal to a vertical position, thus unfolding the second protective mechanism 4. Two sets of locking reinforcement mechanisms 5 are installed inside the second protective mechanism 4, interlocking with the walking compensation mechanism 1 during its unfolding process. A measuring mechanism 6 for measuring the elderly person's walking posture is jointly installed on the walking compensation mechanism 1, the first protective mechanism 2, and the second protective mechanism 4.

[0026] like Figure 2As shown, the walking compensation mechanism 1 includes a base 11, which is die-cast from high-strength aluminum alloy and has anti-slip pads (not shown) on the bottom to ensure that the device does not shake during the elderly's walking and protective deployment. The base 11 provides an installation position for the first protective mechanism 2, the moving mechanism 3, and the second protective mechanism 4. A treadmill 12 is fixedly nested on the top of the base 11. The treadmill 12 is a prior art device and can be a silent variable frequency treadmill with a belt width of 450mm, a length of 1200mm, and a speed adjustment range of 0.5-3km / h. It can be remotely controlled through a processing module to adapt to the walking ability of different elderly people. A sensor mounting slot is reserved under the belt on the machine body to provide a stable installation base for the measuring mechanism 6. Two locking holes 13 are opened inside the top opening of the base 11. The locking holes 13 are used to cooperate with the locking reinforcement mechanism 5 to achieve locking and reinforcement, thereby improving the overall support stability of the second protective mechanism 4.

[0027] like Figure 2 As shown, the first protective mechanism 2 includes a U-shaped guardrail 21 fixedly installed on the top of the treadmill 12. It is made of lightweight ABS engineering plastic injection molding and fixed to the top edge of the treadmill 12. The U-shaped guardrail 21 can provide three-sided protection for the elderly after they stand on the top of the belt. A protective soft pad A22 is glued to the top of the inner side of the U-shaped guardrail 21. The protective soft pad A22 can provide cushioning support when the elderly fall. The protective soft pad A22 is 50mm thick high-density memory foam, covered with breathable and stain-resistant fabric, which has both cushioning and easy cleaning properties, and can absorb 80% of the impact force when the elderly accidentally collide.

[0028] like Figure 3 As shown, the moving mechanism 3 includes a side plate 31 fixedly installed inside the rear side of the base 11. A hydraulic cylinder 32 is fixedly installed on the back of the side plate 31. The hydraulic cylinder 32 is a small high-pressure single-piston rod hydraulic cylinder with a rated thrust of 500N and a stroke of 150mm. It is equipped with a stroke sensor (accuracy ±1mm) and can accurately control the extension and retraction through the processing module. A rear push plate 33 is fixedly connected to the front end of the output shaft of the hydraulic cylinder 32 and is slidably installed inside the base 11. A rack A34 is fixedly installed in the center of the front of the rear push plate 33. Guides are slidably installed through both sides of the rear push plate 33. The guide rod 35 has a front push plate 36 fixedly installed at the front end of the two guide rods 35. A first spring 37 is sleeved on the outside of each guide rod 35 and fixedly connected between the rear push plate 33 and the front push plate 36. The first spring 37 is made of 65Mn spring steel with a wire diameter of 5mm, a free length of 100mm, and an elastic coefficient of 50N / mm. The initial state is natural elongation. Racks B38 are fixedly installed on both sides of the front of the front push plate 36. The racks B38 are made of 45 steel milled teeth. Limit blocks 39 are fixedly installed on the inner side of the two racks B38.

[0029] By setting the above structure, the hydraulic cylinder 32 can drive the rear push plate 33 to move forward continuously after starting. The rear push plate 33 pushes the front push plate 36 forward through the first spring 37, which in turn causes the front push plate 36 to drive the gear A43 to rotate clockwise through the rack B38. When the rack B38 can no longer move forward, the first spring 37 is continuously compressed as the rear push plate 33 continues to move forward. At the same time, the rear push plate 33 drives the rack A34 to move closer to the gear B47.

[0030] like Figure 4 and Figure 5 As shown, the second protective mechanism 4 includes two fixed plates 41 fixedly mounted on the inner front end of the base 11. A rotating shaft 42 is rotatably nested between the two fixed plates 41 via bearings. The rotating shaft 42 is a 30mm diameter 40Cr alloy shaft. Gears A43 that mesh with adjacent racks B38 are fixedly sleeved at both ends of the outer side of the rotating shaft 42. A foot pedal housing 44 is fixedly sleeved at the middle of the outer side of the rotating shaft 42. A receiving cavity is opened at the bottom of the foot pedal housing 44. A support frame 45 is fixedly mounted at the front end of the bottom of the foot pedal housing 44. A bearing is used to pass through the receiving cavity and connect to the foot pedal housing 44. A rotatable screw 46 is connected to a gear B47 fixedly sleeved at the outer rear end of the screw 46. A lifting plate 48 is slidably disposed inside the receiving cavity and driven sleeved at the outer front end of the screw 46. A protective soft pad B49, made of the same material as the protective soft pad A22, is adhered to the top of the lifting plate 48. When unfolded, it forms a closed protective ring with the protective soft pad A22. When the walking posture is not measured, the lifting plate 48 and the protective soft pad B49 are stored inside the receiving cavity, which can reduce the floor space occupied and at the same time cover the protective soft pad B49 to prevent it from being stepped on and getting dirty.

[0031] By setting up the above structure, when the rack B38 drives the gear A43 to rotate clockwise, until the foot-operated housing 44 rotates from a horizontal state to a vertical state, the foot-operated housing 44 blocks the lower part of the opening of the U-shaped enclosure 21. Subsequently, as the rack A34 continues to move forward, it meshes with the gear B47 and drives the gear B47 to rotate. The gear B47 drives the lifting plate 48, which is guided by the foot-operated housing 44, to move upward continuously through the screw 46 until the lifting plate 48 moves upward to the preset height. At this time, the lifting plate 48 blocks the upper part of the opening of the U-shaped enclosure 21. The protective soft pad B49 on the inner side of the lifting plate 48, together with the protective soft pad A22 on the inner top of the U-shaped enclosure 21, protects the elderly from all four sides. If the elderly accidentally falls during the test, the U-shaped enclosure 21 and the lifting plate 48 support the elderly, while the protective soft pad A22 and the protective soft pad B49 cushion and protect the elderly during the fall.

[0032] like Figure 5As shown, any set of locking reinforcement mechanisms 5 includes a locking rod 51 that slides through the inner wall of the foot pedal housing 44. The locking rod 51 is a No. 45 steel rod. A magnet A52 is fixedly installed at the inner end of the locking rod 51. A second spring 53, which is fixedly connected between the inner wall of the foot pedal housing 44 and the magnet A52 and is in a stretched state, is sleeved on the outer side of the locking rod 51. The first protective mechanism 2 also includes a magnet B54 that is fixedly nested on the side of the lifting plate 48 and magnetically attracted to the magnet A52. Both magnet A52 and magnet B54 are neodymium iron boron strong magnets (attractive force ≥50N).

[0033] By setting the above structure, when the foot pedal housing 44 rotates, it drives the locking rod 51 to rotate synchronously until the locking rod 51 is collinear with the locking hole 13. When the lifting plate 48 drives the magnet B54 to disengage from the magnet A52, the stretched second spring 53 drives the locking rod 51 to move outward, so that the outer end of the locking rod 51 is inserted into the inner side of the adjacent locking hole 13 for reinforcement. When the lifting plate 48 drives the magnet B54 to reset, the magnet B54 attracts the adjacent magnet A52, so that the magnet A52 drives the locking rod 51 to move inward. After the locking rod 51 moves inward, it moves out of the inner side of the adjacent locking hole 13, thus avoiding obstruction to the subsequent rotation and reset of the foot pedal housing 44.

[0034] like Figure 2 As shown, the measuring mechanism 6 includes multiple flexible pressure sensors fixedly mounted on the treadmill 12 body and located below the treadmill 12 belt, a first measuring camera 61 fixedly mounted in the middle of the inner side of the U-shaped enclosure 21, and a second measuring camera 62 fixedly mounted on the top front end of the foot pedal housing 44. The multiple flexible pressure sensors are arranged in an array below the treadmill belt (50mm×50mm spacing), with a range of 0-500N, an accuracy of ±2%FS, and a sampling frequency of 100Hz, to collect real-time data on the distribution and dynamic changes of foot pressure. The first measuring camera 61 is set as an IR depth camera (640×480 resolution, 30fps frame rate) to capture the three-dimensional posture (hip joint, knee joint, and other joints) of the elderly person while walking. The second measuring camera 62 is a high-precision camera (1920×1080 resolution, 60fps) that records gait details (such as stride length, stride width, and foot eversion angle). The output terminals of the treadmill 12, multiple flexible pressure sensors, the first measuring camera 61, and the second measuring camera 62 are all connected to a processing module. The processing module is equipped with an industrial-grade microcontroller (1GHz main frequency), which integrates a data acquisition card and an image processor. It can process sensor data (generate pressure-time curves) and image information in real time (calculate gait cycle, stride speed, and other parameters through gait analysis algorithms), and finally generate an evaluation report containing 12 indicators (such as gait symmetry and pressure center trajectory).

[0035] By setting up the above structure, flexible pressure sensors located below the treadmill 12 can measure the pressure distribution and dynamic changes in different areas of the soles of the elderly person's feet while they are walking continuously on the top of the track. The first measuring camera 61 and the second measuring camera 62 collect the elderly person's gait information, including gait cycle, stride length, stride speed, and three-dimensional motion images. All of the above data are uploaded to the processing module, which analyzes and processes the collected information and generates a detailed evaluation report. If the elderly person falls unexpectedly during the test, the processing module will control the treadmill 12 to stop based on the sudden change data fed back by the flexible pressure sensor, due to the sudden change in sole pressure, to avoid causing secondary damage to the elderly person.

[0036] This invention also discloses a measurement method for a walking posture measurement device based on multi-sensor collaboration, the method specifically including the following steps:

[0037] S1. At the start of the measurement, the elderly person steps on the top of the footrest housing 44 and then walks from the top of the footrest housing 44 to the top of the treadmill 12's belt. At this time, the hydraulic cylinder 32 is activated, and the hydraulic cylinder 32 drives the rear push plate 33 to move forward. The rear push plate 33 pushes the front push plate 36 to move forward through the first spring 37, which in turn causes the front push plate 36 to drive the gear A43 to rotate clockwise through the rack B38 until the footrest housing 44 rotates from a horizontal state to a vertical state. At this time, the footrest housing 44 blocks the lower part of the opening of the U-shaped enclosure 21.

[0038] S2. When the foot pedal housing 44 rotates, it drives the locking rod 51 to rotate synchronously until the locking rod 51 is collinear with the locking hole 13. At this time, the limit block 39 is in contact with the rear end of the adjacent fixing plate 41. Due to the obstruction of the fixing plate 41, the rack B38 cannot continue to move forward. At the same time, as the push plate 33 continues to move forward, the first spring 37 is continuously compressed. Meanwhile, the push plate 33 drives the rack A34 to continuously move closer to the gear B47.

[0039] S3, rack A34 continuously moves forward and meshes with gear B47, causing gear B47 to rotate. When gear B47 rotates, it drives the lifting plate 48 guided by the stepped housing 44 to move upward continuously through screw 46. During this process, the lifting plate 48 drives magnet B54 to disengage from magnet A52. At this time, the stretched second spring 53 drives the locking rod 51 to move outward, thereby allowing the outer end of the locking rod 51 to be inserted into the inner side of the adjacent locking hole 13 for reinforcement.

[0040] S4. After the lifting plate 48 is moved up to the preset height, the hydraulic cylinder 32 is stopped. At this time, the lifting plate 48 blocks the upper part of the opening of the U-shaped fence 21. The protective soft pad B49 on the inner side of the lifting plate 48, together with the protective soft pad A22 on the top inner side of the U-shaped fence 21, protects the elderly from all four sides.

[0041] S5. Start the treadmill 12. After the treadmill 12 is started, the belt on the treadmill 12 begins to rotate. At this time, the elderly person walks continuously on the top of the belt (duration 30-60s, adjustable). The flexible pressure sensor located below the treadmill 12 measures the pressure distribution and dynamic changes in various areas of the elderly person's feet while walking. The first measuring camera 61 and the second measuring camera 62 collect the elderly person's gait information. All of the above data are uploaded to the processing module, which analyzes and processes the collected information and generates a detailed evaluation report.

[0042] S6. If an elderly person falls accidentally during the test, the U-shaped barrier 21 and the lifting plate 48 will support the elderly person, while the protective pads A22 and B49 will cushion and protect the elderly person during the fall. At the same time, due to the sudden change in foot pressure, the processing module will control the treadmill 12 to stop based on the sudden change data fed back by the flexible pressure sensor to avoid causing secondary damage to the elderly person.

[0043] S7. After the test is completed, the hydraulic cylinder 32 drives the rear push plate 33 to move backward. During the backward movement of the rear push plate 33, the rack A34 drives the screw 46 to rotate in the opposite direction through the gear B47, so that the lifting plate 48 and the protective soft pad B49 are once again stored in the receiving chamber inside the foot shell 44. During this process, the magnet B54 attracts the adjacent magnet A52, so that the magnet A52 drives the locking rod 51 to move inward. After the locking rod 51 moves inward, it moves out from the inside of the adjacent locking hole 13.

[0044] S8. As the rear push plate 33 continues to move backward, the compressed first spring 37 gradually recovers. Then, the rear push plate 33 drives the front push plate 36 to move backward synchronously through the first spring 37. When the front push plate 36 moves backward, it drives the gear A43 to rotate in the opposite direction through the rack B38. This causes the gear A43 to drive the foot pedal housing 44 to rotate from a vertical state to a horizontal state through the fixed plate 41, so as to release the obstruction of the opening of the U-shaped enclosure 21. At this time, the hydraulic cylinder 32 is stopped.

[0045] S9. Measurement complete. The elderly person walks from the top of the treadmill 12 to the top of the stepping shell 44, and then walks down from the top of the stepping shell 44.

[0046] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A walking posture measurement device based on multi-sensor collaboration, characterized in that: The system includes a walking compensation mechanism (1), a first protective mechanism (2) for three-sided protection of the elderly is fixedly installed on the top of the walking compensation mechanism (1), a moving mechanism (3) is installed inside the walking compensation mechanism (1), and a second protective mechanism (4) for cooperating with the first protective mechanism (2) to achieve four-sided protection is installed at the front end of the walking compensation mechanism (1). The moving mechanism (3) drives the second protective mechanism (4) to rotate from a horizontal state to a vertical state and then unfolds the second protective mechanism (4). Two sets of locking reinforcement mechanisms (5) are installed inside the second protective mechanism (4). The two sets of locking reinforcement mechanisms (5) cooperate with the walking compensation mechanism (1) to complete interlocking during the unfolding of the second protective mechanism (4). A measuring mechanism (6) for measuring the walking posture of the elderly is jointly installed on the walking compensation mechanism (1), the first protective mechanism (2) and the second protective mechanism (4).

2. The walking posture measurement device based on multi-sensor collaboration according to claim 1, characterized in that: The walking compensation mechanism (1) includes a base (11), on which a treadmill (12) is fixedly nested. Two locking holes (13) are opened inside the top opening of the base (11).

3. The walking posture measurement device based on multi-sensor collaboration according to claim 2, characterized in that: The first protective mechanism (2) includes a U-shaped enclosure (21) fixedly installed on the top of the treadmill (12), and a protective soft pad A (22) is glued to the top of the inner side of the U-shaped enclosure (21).

4. The walking posture measurement device based on multi-sensor collaboration according to claim 3, characterized in that: The moving mechanism (3) includes a side plate (31) fixedly installed inside the rear side of the base (11). A hydraulic cylinder (32) is fixedly installed on the back of the side plate (31). A rear push plate (33) slidably installed inside the base (11) is fixedly connected to the front end of the output shaft of the hydraulic cylinder (32). A rack A (34) is fixedly installed in the center of the front of the rear push plate (33).

5. The walking posture measurement device based on multi-sensor collaboration according to claim 4, characterized in that: Guide rods (35) are slidably provided on both sides of the rear push plate (33). A front push plate (36) is fixedly provided at the front ends of the two guide rods (35). A first spring (37) is sleeved on the outside of any one of the guide rods (35) and fixedly connected between the rear push plate (33) and the front push plate (36). A rack B (38) is fixedly provided on both sides of the front of the front push plate (36). A limit stop (39) is fixedly provided on the inner side of the two racks B (38).

6. The walking posture measurement device based on multi-sensor collaboration according to claim 5, characterized in that: The second protective mechanism (4) includes two fixed plates (41) fixedly installed on the inner front end of the base (11). A rotating shaft (42) is rotatably nested between the two fixed plates (41) through a bearing. Gears A (43) that mesh with adjacent racks B (38) are fixedly sleeved at both ends of the outer side of the rotating shaft (42). A foot-operated housing (44) is fixedly sleeved at the middle of the outer side of the rotating shaft (42). A receiving chamber is opened at the bottom of the foot-operated housing (44). A support frame (45) is fixedly installed at the front end of the bottom of the foot-operated housing (44).

7. A walking posture measurement device based on multi-sensor collaboration according to claim 6, characterized in that: A screw (46) is rotatably connected to the foot pedal housing (44) through a bearing inside the receiving chamber. A gear B (47) is fixedly sleeved on the outer rear end of the screw (46). A lifting plate (48) is slidably sleeved on the outer front end of the screw (46) inside the receiving chamber. A protective soft pad B (49) is adhered to the top of the lifting plate (48).

8. The walking posture measurement device based on multi-sensor collaboration according to claim 7, characterized in that: Each of the locking reinforcement mechanisms (5) includes a locking rod (51) that slides through the inner wall of the foot pedal housing (44). A magnet A (52) is fixedly installed at the inner end of the locking rod (51). A second spring (53) is sleeved on the outer side of the locking rod (51) and is fixedly connected between the inner wall of the foot pedal housing (44) and the magnet A (52) and is in a stretched state. The first protective mechanism (2) also includes a magnet B (54) that is fixedly nested on the side of the lifting plate (48) and magnetically attracted to the magnet A (52).

9. A walking posture measurement device based on multi-sensor collaboration according to claim 8, characterized in that: The measuring mechanism (6) includes multiple flexible pressure sensors fixedly mounted on the body of the treadmill (12) and located below the treadmill (12) belt, a first measuring camera (61) fixedly mounted in the middle of the inner side of the U-shaped enclosure (21), and a second measuring camera (62) fixedly mounted on the top front end of the foot pedal housing (44). The output ends of the treadmill (12), multiple flexible pressure sensors, first measuring camera (61) and second measuring camera (62) are all connected to a processing module.

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