A waist support with hip joint function of anti-falling protection and a method for anti-falling protection

Abstract

The application discloses a waist support with hip joint protection function against falling, which comprises a waistband, the waistband comprises two symmetrical half waistbands arranged on the left and right sides, a safety air bag is arranged on the outer side of each of the two half waistbands, a CO2 cylinder is connected to each of the safety air bags, a cylinder detonating device is connected to each of the CO2 cylinders, two cylinder detonating devices are connected to a main control panel, and the main control panel is installed on one of the half waistbands; and the application further discloses a falling protection method. Through the structural arrangement of the waist support, the safety air bag can be opened before the user contacts the ground when falling, so that the buffering effect is greatly improved, the hip joint of the user is prevented from directly impacting the ground and being injured, the purpose of protecting the hip joint is achieved, the user's falling and positioning can be actively sent to emergency contacts, and the use safety of the waist support is further improved.

Description

Technical Field

[0001] This invention relates to the field of wearable protective equipment technology, and in particular to a lumbar support with fall protection and hip joint protection functions, as well as a fall protection method. Background Technology

[0002] Lumbar support devices are commonly worn protective equipment used in daily sports and work scenarios. They are mainly used to support and protect the lumbar spine, reducing the risk of lumbar injuries. Currently, conventional pulley lumbar support structures on the market have limited functionality and significantly limited protective dimensions. They only provide basic protection for the lumbar spine and lack specialized protection structures for the hip joint. When a user accidentally falls during sports, walking, or work, the hip joint will directly impact the ground, which can easily cause hip contusions, fractures, and other injuries, resulting in serious inadequacy in protection.

[0003] To optimize the performance of lumbar support devices, some existing lumbar support devices have added airbag structures. For example, the existing technology with patent publication number CN215778963U only has a single safety airbag. The placement and opening logic of the airbag are designed for daily protection of the lumbar spine. Its core function is to cushion the pressure on the lower back in daily life, rather than to protect against the impact of a fall. It cannot quickly inflate and cushion the fall before the user hits the ground, and therefore cannot meet the hip joint protection needs in fall situations.

[0004] Meanwhile, existing fall detection algorithms for wearable protective devices generally suffer from numerous technical defects, such as low accuracy, poor reliability, high energy consumption, and weak adaptability, severely restricting the practical application of intelligent protective waist support devices. Currently, most mainstream fall detection solutions rely on triaxial accelerometers for data acquisition and status determination. However, the data acquisition dimensions of a single sensor are limited, making it highly susceptible to interference from everyday human movements such as running, bending, and jumping. This results in poor accuracy and interference resistance in fall detection, leading to frequent misjudgments and missed detections, and an inability to accurately trigger protective actions. For example, a fall detection method and wearable device disclosed in patent publication number CN120753630A attempts to combine a triaxial accelerometer, tilt sensor, and camera to achieve fall detection; however, this technical solution suffers from inherent and unavoidable defects. On the one hand, the technology lacks publicly available dedicated wearable devices, making it incompatible with wearable protective structures like lumbar supports and extremely impractical. On the other hand, the solution relies on camera imaging for judgment, requiring highly precise shooting angles; the camera must be directly facing the body to effectively collect data. However, wearable devices like wristbands and lumbar supports are subject to varying postures and orientations when worn, resulting in a very low hit rate. Furthermore, external interference factors such as clothing patterns, ambient lighting, and object outlines can easily lead to misjudgments in image recognition, significantly reducing the accuracy of fall detection. In addition, the solution requires continuous AI image analysis, consuming significant power. Wearable devices generally have limited battery capacity, and continuous image processing rapidly depletes battery power, severely shortening battery life and failing to meet the needs of long-term wear. Moreover, the solution uses a monocular camera to collect image data, lacking depth information support. This leads to significant calculation errors when deriving the body's three-dimensional coordinates and fitting the ground plane equation in complex and unknown scenarios, further reducing the accuracy and stability of fall detection and making it unsuitable for the all-weather, high-precision protection requirements of lumbar supports.

[0005] In summary, current pulley-type waist protectors suffer from several drawbacks, including limited protection dimensions and lack of hip joint fall protection. The accompanying fall detection technology also suffers from numerous defects, such as low accuracy, weak anti-interference ability, high energy consumption, poor adaptability, and high false alarm rate. As a result, they cannot achieve accurate prediction and rapid protection at the moment of a fall, and thus cannot meet users' needs for comprehensive and highly reliable safety protection when falling. Summary of the Invention

[0006] The purpose of this invention is to provide a lumbar support and fall protection method with fall prevention and hip joint protection functions, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is: a waist support with fall prevention and hip joint protection function, comprising a waist belt, wherein the waist belt comprises two symmetrically arranged half waist belts, each half waist belt having an airbag on its outer side, each airbag being connected to a CO2 cylinder, each CO2 cylinder being connected to a cylinder detonation device, the two cylinder detonation devices being connected to a main control board, and the main control board being mounted on one half waist belt;

[0008] The main control board integrates a six-axis IMU, a main control chip, a low-pass filter, a complementary filter, an RF module, a GPS locator, a PI controller, a power supply, and a storage module. The storage module has a built-in fall detection algorithm.

[0009] The gas cylinder detonation device includes a cylindrical connector. One end of the connector is installed on the mouth of a CO2 gas cylinder, which is placed inside an airbag. The connector has a threaded portion in the middle, which is screwed onto the air inlet of the airbag. An exhaust port is provided on the connector between the threaded portion and the CO2 gas cylinder. The connector contains a striking pin for puncturing the mouth of the CO2 gas cylinder, which is propelled by a deflagration thrust.

[0010] Further optimization includes a sliding sleeve at the end of the firing pin away from the CO2 cylinder, which is equipped with a sliding connector. The end of the sliding sleeve away from the firing pin is equipped with an electric ignition head connected to the main control board. Gunpowder is provided between the sliding sleeve and the electric ignition head. A spring is provided between the sliding sleeve and the firing pin. An electric wire is connected between the main control board and the electric ignition head.

[0011] Further optimization involves providing a first connector for connecting the safety airbag on the split waist belt. The first connector adopts a double-layer fabric structure, with one layer sewn onto the split waist belt, and the inner sides of the two layers of fabric are respectively provided with Velcro with a rough surface and a hook surface.

[0012] Further optimization involves providing second connectors for connection on both the inner and outer sides of the two opposite ends of the two half-belts, with the two second connectors on the inner and outer sides of the two half-belts being Velcro with a rough surface and a hook surface, respectively; and connecting the opposite ends of the half-belts with a third connector that can adjust the distance between them.

[0013] Further optimization involves the third connector comprising multiple pulleys, with a total number of 4N pulleys, where N is not less than 2. The pulleys are arranged in two rows on two separate waistbands. The upper and lower halves of the two rows of pulleys are each connected to a pull rope. After passing over the corresponding pulleys, the two pull ropes are each connected to an adjusting member. The two adjusting members are connected to the second connectors on the outer sides of the two waistbands. The inner side of the adjusting member is provided with a hook and loop fastener or a loop fastener corresponding to the second connector.

[0014] This invention also discloses a fall protection method, based on the aforementioned lumbar support with fall prevention and hip joint protection functions, comprising the following steps:

[0015] Step 1: Wear the lumbar support around the user's waist, with the two airbags positioned on either side of the user's hip joint;

[0016] Step 2: When a user falls, the main control board determines that the user has entered a fall state based on the built-in fall judgment algorithm and the data collected by the six-axis IMU, and then sends an ignition signal to the gas cylinder detonation device.

[0017] Step 3: The gas cylinder detonation device is activated, and the firing pin inside punctures the mouth of the CO2 gas cylinder under the thrust of the deflagration. The safety airbag inflates and opens before the user falls and hits the ground, protecting the user's hip joint and preventing the user's hip joint from directly hitting the ground and causing injury.

[0018] Step 4: The radio frequency module built into the main control board synchronously sends information to the user's mobile phone via Bluetooth signal, and notifies the user's emergency contact through a pre-installed APP on the mobile phone, informing them that the user has fallen and the GPS location of the fall.

[0019] Further optimization is achieved by the following fall detection algorithm logic:

[0020] (1) Obtain the raw data output by the six-axis IMU, including three-axis acceleration and three-axis angular velocity, as the input source of the algorithm;

[0021] (2) The original data is filtered by a low-pass filter to remove high-frequency noise and retain the effective low-frequency signals related to human movement;

[0022] (3) Based on the filtered effective data, four key features strongly related to falling behavior are extracted: acceleration amplitude, angular velocity amplitude, vertical velocity and vertical angle, which provide a basis for subsequent threshold judgment. The vertical angle includes the roll angle and pitch angle.

[0023] (4) The six-axis IMU collects human motion data continuously after the device is started, and when the acceleration amplitude... Less than 0.82g and angular velocity amplitude Greater than 47.3° / s, and vertical velocity When the speed is less than -1.2 m / s, it is determined that the human body has entered a state of weightlessness; then, the attitude of the human body is determined by the vertical angle obtained by Euler transformation, and the roll angle is... The absolute value is greater than 28° or the pitch angle When the angle is greater than 45°, it is determined that the human body has begun to roll or tilt; when it is determined that the human body has entered a state of weightlessness and has begun to roll or tilt, it is determined that the human body has entered a state of falling.

[0024] Further optimization, the acceleration amplitude The calculation formula is:

[0025] ,

[0026] Among them, a x a y a z These are the accelerations along the x, y, and z axes, respectively.

[0027] The angular velocity amplitude The calculation formula is:

[0028] ,

[0029] Where, ω x ω y ω z The angular velocities are the x, y, and z axes, respectively.

[0030] The vertical velocity The vertical acceleration in the world coordinate system is obtained by integrating the vertical acceleration. From triaxial acceleration a x a y a z By roll angle and pitch angle The formula for calculating this is: (Projected onto the vertical direction of the world and subtracted from the acceleration due to gravity).

[0031] ,

[0032] The vertical velocity It is obtained through integration, and its calculation formula is as follows:

[0033] ,

[0034] in, The vertical acceleration at the current moment, For the acceleration of the previous moment, The vertical velocity at the current moment, The vertical velocity at the previous moment. The sampling interval;

[0035] The roll angle and pitch angle The calculations are based on the collected triaxial acceleration data, and the specific calculation formulas are as follows:

[0036] ,

[0037] .

[0038] Further optimization involves using a PI controller and a complementary filter to correct the roll and pitch angles.

[0039] Further optimization involves employing a dual PMOS transistor drive circuit for the gas cylinder detonation device. The operating procedure of the gas cylinder detonation device is as follows:

[0040] a. When the main control board determines that the user has entered a fall state based on the fall detection algorithm, the main control board sends an ignition signal, and the onboard chip I / O port of the main control board outputs a voltage signal to the electric ignition head through a wire.

[0041] b, The electric ignition head of the gas cylinder detonation device ignites the gunpowder, and the explosion of the gunpowder causes the sliding sleeve to move towards the CO2 gas cylinder, and the sliding sleeve pushes the firing pin to pierce the mouth of the CO2 gas cylinder;

[0042] c. The high-pressure CO2 gas in the CO2 cylinder enters the airbag through the exhaust port, filling the airbag.

[0043] Beneficial effects: The waist support of the present invention has the function of preventing falls and protecting the hip joint. Through the structural design of the waist support, the safety airbag can be deployed before the user falls and hits the ground, thereby greatly cushioning the impact and preventing the user's hip joint from directly hitting the ground and causing injury, thus achieving the purpose of protecting the hip joint. At the same time, it can actively send the user's fall and location to the emergency contact, further improving the safety of the waist support.

[0044] Through the structural design of the main control board and the built-in fall detection algorithm, the core logic of the algorithm is completed in four stages: preprocessing, attitude calculation, feature extraction, and state judgment. By determining thresholds for acceleration amplitude, angular velocity amplitude, vertical velocity, and vertical angle, the algorithm can determine that the human body has entered a fall state only after all threshold conditions are met. This ensures accurate judgment of whether the user has entered a fall state, and thus accurately deploys the airbag to effectively protect the user. At the same time, it can effectively avoid the problem of insufficient battery power for long-term wearable use due to image capture and analysis.

[0045] By using a low-pass filter to filter the raw data, high-frequency noise can be removed, while effective low-frequency signals related to human motion are retained, thus improving the accuracy of subsequent feature extraction. By using a complementary filter to fuse data from different sensors, it can work with a PI controller to correct the attitude angle. This avoids the cumulative error caused by long-term integration due to zero-point drift and temperature drift of the gyroscope in the six-axis IMU, which ultimately leads to the angle gradually deviating from the true value.

[0046] The first connector enables convenient installation of the airbag; the second connector enables quick connection of the two halves of the waist support belt; and the third connector facilitates the connection and adjustment of the two halves of the waist support belt, as well as the overall length adjustment of the belt, ensuring that it can be used and worn comfortably by users with different waist sizes.

[0047] Through the structural design of the airbags, CO2 cylinders, cylinder detonation device, and main control board, the airbags can be fully inflated within 0.18 seconds when the user enters a fall state. This ensures that both airbags deploy before the user hits the ground, protecting both sides of the user's hip joints and preventing injury from direct impact. Furthermore, the airbags remain in an undeployed state before the user enters a fall state, effectively preventing any impact on the user's normal activities while still providing the protective effect of the airbags. Attached Figure Description

[0048] Figure 1 This is a three-dimensional structural diagram of the lumbar support with fall prevention and hip joint protection function disclosed in this invention;

[0049] Figure 2 This is a schematic diagram of the main structure of the lumbar support with fall prevention and hip joint protection function disclosed in this invention;

[0050] Figure 3 This is a three-dimensional structural diagram of the lumbar support with anti-fall and hip joint protection function disclosed in this invention from another perspective;

[0051] Figure 4 This is a schematic diagram of the cooperative structure of the airbag, CO2 cylinder, cylinder detonation device and main control board disclosed in this invention.

[0052] Figure 5 This is a schematic diagram of the combined structure of the CO2 cylinder and the cylinder detonation device disclosed in this invention;

[0053] Figure 6 This is a schematic diagram of the mating structure between the belt and the third connector disclosed in this invention;

[0054] Figure 7 This is a schematic flowchart of the fall protection method disclosed in this invention;

[0055] Figure 8 This is a schematic diagram of the fall detection algorithm disclosed in this invention;

[0056] Figure 9 This is a schematic diagram of the gas cylinder ignition drive circuit disclosed in this invention. Detailed Implementation

[0057] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0058] like Figure 1-3 As shown, this application discloses a waist support with fall prevention and hip joint protection function, including a waist belt 1. The waist belt 1 includes two symmetrically arranged half waist belts 11. Each half waist belt 11 has a safety airbag 3 on its outer side. Each safety airbag 3 is connected to a CO2 cylinder 4. Each CO2 cylinder 4 is connected to a cylinder detonation device 5. The two cylinder detonation devices 5 are connected to a main control board 6. The main control board 6 is installed on one half waist belt 11.

[0059] In this application, the lumbar support is worn by a user to protect the user's hip joint, especially for the elderly. It includes a waist belt 1, an airbag 3, a CO2 cylinder 4, a cylinder detonation device 5, and a main control board 6. The waist belt 1 is worn around the user's waist; the airbag 3 protects the user's hip joint in the event of a fall; the CO2 cylinder 4 inflates the airbag 3 to ensure its protective function; the cylinder detonation device 5 opens the opening of the CO2 cylinder 4, releasing the high-pressure CO2 gas inside and filling the airbag 3 to form a soft cushion; the main control board 6 determines whether the user has fallen and, upon determining that the user has fallen, immediately activates the cylinder detonation device 5 to open the opening of the CO2 cylinder 4, allowing the CO2 gas to be released and fill the airbag 3. In this application, the airbag 3 is in an uninflated state when the user is not in a fall state, and it will only inflate immediately when it is determined that the user has entered a fall state. This can effectively prevent the airbag 3 from inflating when the user is not in a fall state and affecting the user's daily activities.

[0060] In this application, the waist belt 1 includes two symmetrically arranged half-waist belts 11, which facilitates the user's wearing. The connection gap between the two half-waist belts is adjustable to accommodate users with different waist sizes. There are two airbags 3, located on either side of the user's hip joint, ensuring protection of the hip joint. The two airbags 3 are controlled by a main control board 6, ensuring that the two airbags 3 can be deployed synchronously, ensuring that the user's hip joints are properly protected even after a fall and roll.

[0061] In this application, the main control board 6 integrates a six-axis IMU, a main control chip, a low-pass filter, a complementary filter, an RF module, a GPS locator, a PI controller, a power supply, and a storage module. The storage module contains a fall detection algorithm. The six-axis IMU is used for user posture perception and motion capture, collecting human motion data, including three-axis acceleration and three-axis angular velocity data, as input to the algorithm. The main control chip is the core of the main control board 6's computing power and processing center; it is a highly integrated integrated circuit used for issuing all commands. The low-pass filter filters the raw data, removing high-frequency noise, such as slight tremors of the user's limbs and high-frequency clutter from environmental interference, while retaining effective low-frequency signals related to human motion, improving the accuracy of subsequent feature extraction. The complementary filter fuses data from different sensors and works with the PI controller to correct attitude angles—roll and pitch angles. This avoids the cumulative error caused by long-term integration due to zero-point drift and temperature drift of the six-axis IMU's gyroscope, which ultimately leads to angles gradually deviating from the true value. The PI controller is a proportional-integral controller, which can calculate a smooth, continuous output value based on the current error to correct for roll and pitch angles. The RF module integrates a Bluetooth protocol stack, enabling it to synchronously send information to the user's mobile phone via Bluetooth. A pre-installed app on the phone then notifies the user's emergency contacts, informing them of the fall and providing the GPS location. The GPS location is calculated using a GPS locator to determine the user's current geographical location and precise time. The power supply provides power to the main control board 6. The storage module stores configuration parameters and historical data; the fall detection algorithm is programmed into the storage module and accessed by the main control chip.

[0062] In this application, the gas cylinder detonation device 5 includes a cylindrical connector 51. One end of the connector 51 is installed on the mouth of the CO2 gas cylinder 4, which is located inside the airbag 3. The middle part of the connector 51 is provided with a threaded part 53, which is screwed onto the air inlet of the airbag 3. An exhaust port 54 is provided on the connector 51 between the threaded part 53 and the CO2 gas cylinder 4. The connector 51 is provided with a striking pin 57 for puncturing the mouth of the CO2 gas cylinder 4. The striking pin 57 is pushed by a deflagration thrust.

[0063] The connector 51 is a cylindrical structure used not only to connect the CO2 cylinder 4 but also to the airbag 3. Specifically, one end of the connector 51 is screwed onto the neck of the CO2 cylinder 4, and then the connector 51 and the CO2 cylinder 4 are screwed together inside the airbag 3. At this time, the CO2 cylinder 4 is completely inside the airbag 3, and half of the connector 51 is screwed into the airbag 3, connecting to the air inlet of the airbag 3 through the threaded part 53 in the middle of the connector 51. The other half of the connector 51 protrudes from the outside of the airbag 3, and the protruding part of the connector 51 is used to connect to the main control board 6. The exhaust port 54 is used for the high-pressure CO2 gas in the CO2 cylinder 4 to enter the airbag 3. Specifically, the high-pressure CO2 gas flows out from the neck of the CO2 cylinder 4 and enters the cavity of the cylindrical connector 51, and then enters the airbag 3 through the exhaust port 54. The firing pin 57 is used to puncture the mouth of the CO2 cylinder 4. The firing pin 57 is propelled by a deflagration thrust. The thrust is generated by chemical explosion and deflagration, which in turn propels the firing pin 57 toward the CO2 cylinder 4, thereby achieving the purpose of puncturing the mouth of the CO2 cylinder 4.

[0064] In one embodiment of this application, the end of the firing pin 57 away from the CO2 cylinder 4 is provided with a sliding sleeve 56 in the sliding connector 51. The end of the sliding sleeve 56 away from the firing pin 57 is provided with an electric ignition head 55 connected to the main control board 6. Gunpowder 58 is provided between the sliding sleeve 56 and the electric ignition head 55. A spring 59 is provided between the sliding sleeve 56 and the firing pin 57. A wire 52 is connected between the main control board 6 and the electric ignition head 55.

[0065] In this embodiment, the sliding sleeve 56 is slidably disposed within the cavity of the connector 51. A spring 59 is provided between the sliding sleeve 56 and the firing pin 57 for the elastic setting of the firing pin 57. The electric ignition head 55 is connected to the main control board 6 via a wire 52. Gunpowder 58 is provided on the side of the sliding sleeve 56 near the electric ignition head 55. When the main control board 6 determines that the user has entered a fall state, its onboard chip I / O port outputs a voltage signal to the electric ignition head 55. The electric ignition head 55 emits sparks, which can ignite and detonate the gunpowder 58, thereby generating a large thrust that pushes the sliding sleeve 56 to move. The sliding sleeve 56 pushes the firing pin 57 to strike the CO2 cylinder 4, achieving the purpose of piercing the mouth of the CO2 cylinder 4.

[0066] In another embodiment of this application, the half-belt 11 is provided with a first connector 2 for connecting the airbag 3. The first connector 2 adopts a double-layer fabric structure, one layer of which is sewn onto the half-belt 11, and the inner sides of the two layers of fabric are respectively provided with Velcro with a rough surface and a hook surface.

[0067] In this embodiment, the first connector 2 is used for the installation of the airbag 3. It has a double-layer fabric structure. The upper inner part of the double-layer fabric is sewn onto the waist belt 11. The lower inner part of the double-layer fabric has a hook and loop fastener, and the corresponding waist belt 11 also has a corresponding hook and loop fastener, which facilitates the fixation of the lower inner part of the double-layer fabric. The left and right sides and the upper side of the double-layer fabric are sewn together. The lower side of the double-layer fabric is open to facilitate the storage of the airbag 3 and the deployment of the airbag 3. The double-layer fabric has an outlet on the side near the main control board 6 to provide an outlet for the installation of the gas cylinder detonation device 5.

[0068] In another embodiment of this application, the inner and outer sides of the two far apart ends of the two half-belts 11 are provided with second connectors 7 for connection, and the two second connectors 7 on the inner and outer sides of the two half-belts 11 are Velcro with a rough surface and a hook surface, respectively; a third connector 8 is connected between the close adjacent ends of the half-belts 11 to adjust the distance between them.

[0069] In this embodiment, the second connector 7 facilitates the connection of the ends of the two half-belts 11, thereby enabling the belt 1 to be worn around the waist. The second connector 7 is a Velcro fastener and is respectively located at the connecting end of the half-belts 11, facilitating the connection of the two half-belts 11. There are four second connectors 7, located on the inner and outer sides of both ends of the two half-belts 11, and the second connectors 7 located on the inner or outer sides of the two half-belts 11 are both hook and loop fasteners. Specifically, the two second connectors 7 on the inner side of the two half-belts 11 are hook and loop fasteners, and the two second connectors 7 on the outer side of the two half-belts 11 are loop fasteners. When the two half-belts 11 are connected, a quick connection is achieved by using hook and loop fasteners on the inner and outer sides of both ends of the two half-belts 11, regardless of which half-belt 11 is on the inner or outer side. Furthermore, the hook and loop fastener is positioned on the outer side of the half-belt 11 to prevent the hook and loop fastener from pricking the user. At the same time, a second connector 7 with a hook and loop fastener structure is provided on the outer side of the half-belt 11 to facilitate connection with the adjustment member 83 of the third connector 8 and to adjust the position of the adjustment member 83.

[0070] Based on the above embodiments, the third connector 8 further includes a plurality of pulleys 81, the number of pulleys 81 being 4N, where N is not less than 2. The plurality of pulleys 81 are divided into two rows and are respectively disposed on two half waist belts 11. The upper half and lower half of the two rows of pulleys 81 are respectively connected to a pull rope 82. The two pull ropes 82 pass around the corresponding plurality of pulleys 81 and are respectively connected to an adjusting member 83. The two adjusting members 83 are respectively connected to the second connector 7 on the outside of the two half waist belts 11. The inner side of the adjusting member 83 is provided with a hook and loop fastener or a loop fastener corresponding to the second connector 7.

[0071] The pulleys 81 are used to connect and guide the pull ropes 82. The structure of two rows and multiple pulleys 81 ensures that the pull ropes 82 can wind from top to bottom, allowing both halves of the waist belt 11 to be connected together from top to bottom, ensuring a secure and stable connection. The number of pulleys 81 is 4N, where N is not less than 2, ensuring that the number of pulleys 81 in both rows is an even number, thus guaranteeing that the number of pulleys 81 in the upper and lower halves is the same. There are two pull ropes 82, which are wound around multiple pulleys 81 in the upper and lower halves of the two waist belts 11 respectively. This allows for adjustment of the spacing between the upper and lower halves of the two waist belts 11, ensuring that the two waist belts 11 connected by the third connector 8 can fit the user's clothing comfortably. The adjusting member 83 is used to connect with the pull cord 82 and the second connecting member 7. The inner side of the adjusting member 83 is provided with Velcro, which can be quickly connected with the second connecting member 7 and the connection position can be adjusted, thereby facilitating the adjustment of the spacing between the two half-belts 11. Since the second connecting member 7 on the outer side of the two half-belts 11 is a loop Velcro, a hook Velcro is provided on the inner side of the adjusting member 83 to facilitate the connection between the adjusting member 83 and the second connecting member 7.

[0072] This invention also discloses a fall protection method, based on the aforementioned lumbar support with fall prevention and hip joint protection functions, comprising the following steps:

[0073] Step 1: Wear the waist support 1 on the user's waist and connect it with the second connector 7 on the two half waist belts 11 and adjust the tightness. At the same time, ensure that the two airbags 3 are located on both sides of the user's hip joint to ensure that the two airbags 3 can protect the user's hip joint.

[0074] Step 2: When the user falls, the main control board 6 determines that the user has entered a fall state based on the built-in fall detection algorithm and the data collected by the six-axis IMU, and then sends an ignition signal to the gas cylinder detonation device 5; the logic of the fall detection algorithm is as follows:

[0075] (1) Obtain the raw data output by the six-axis IMU, including three-axis acceleration and three-axis angular velocity, as the input source of the algorithm;

[0076] (2) A 5Hz low-pass filter is used to filter the original data to remove high-frequency noise, such as small limb tremors and high-frequency noise caused by environmental interference, while retaining the effective low-frequency signals related to human movement and improving the accuracy of subsequent feature extraction.

[0077] (3) Based on the filtered effective data, four key features strongly related to falling behavior are extracted: acceleration amplitude, angular velocity amplitude, vertical velocity and vertical angle, which provide a basis for subsequent threshold judgment. The vertical angle includes the roll angle and pitch angle.

[0078] (4) The six-axis IMU collects human motion data continuously after the device is started, and when the acceleration amplitude... Less than 0.82g and angular velocity amplitude Greater than 47.3° / s, and vertical velocity When the speed is less than -1.2 m / s, it is determined that the human body has entered a state of weightlessness; then, the attitude of the human body is determined by the vertical angle obtained by Euler transformation, and the roll angle is... The absolute value is greater than 28° or the pitch angle When the angle is greater than 45°, it is judged that the human body has begun to roll or tilt; when it is judged that the human body has entered a state of weightlessness and has begun to roll or tilt, it is judged that the human body has entered a state of falling.

[0079] Step 3: The gas cylinder detonation device 5 is activated. The firing pin 57 inside punctures the opening of the CO2 gas cylinder 4 under the force of the deflagration. The safety airbag 3 inflates and deploys before the user falls and hits the ground, protecting the user's hip joint and preventing injury from direct impact. Specifically, the operating procedure of the gas cylinder detonation device 5 is as follows:

[0080] a. When the main control board 6 determines that the user has entered a fall state based on the fall judgment algorithm, the main control board 6 sends an ignition signal, and the onboard chip I / O port of the main control board 6 outputs a voltage signal of about 3V to the electric ignition head 55 through the wire 52.

[0081] b. The electric ignition head 55 of the gas cylinder detonation device 5 ignites the gunpowder 58. The explosion of the gunpowder 58 causes the sliding sleeve 56 to move towards the CO2 gas cylinder 4. The sliding sleeve 56 pushes the firing pin 57 to pierce the mouth of the CO2 gas cylinder 4.

[0082] c. The high-pressure CO2 gas in CO2 cylinder 4 enters the airbag 3 through exhaust port 54, filling the airbag 3.

[0083] Step 4: The radio frequency module built into the main control board 6 synchronously sends information to the user's mobile phone via Bluetooth signal, and notifies the user's emergency contact through the pre-installed APP on the mobile phone, informing them that the user has fallen and the GPS location of the fall.

[0084] In the fall protection method disclosed in this invention, because the human body experiences weightlessness and impact with the ground during a fall, the acceleration undergoes significant changes due to the fall and impact, accompanied by rapid posture deflection (such as tilting or rotation), resulting in a sudden and significant change in angular velocity. Simultaneously, the body falls rapidly downwards, with a significantly negative vertical velocity (downwards), and the posture tilts dramatically, sometimes even resulting in a prone position. The roll and pitch angles exceed the normal range for daily activities. Therefore, based on these characteristics of fall behavior, a threshold detection method is used to identify and predict fall behavior, which is the fall judgment algorithm logic in this invention.

[0085] In the fall protection method disclosed in this invention, the acceleration amplitude The calculation formula is:

[0086] ,

[0087] Among them, a x a y a z These are the accelerations along the x, y, and z axes, respectively.

[0088] angular velocity amplitude The calculation formula is:

[0089] ,

[0090] Where, ω x ω y ω z The angular velocities are the x, y, and z axes, respectively.

[0091] Vertical velocity The vertical acceleration in the world coordinate system is obtained by integrating the vertical acceleration. From triaxial acceleration a x a y a z By roll angle and pitch angle The formula for calculating this is: Projected onto the vertical direction of the world (upward is positive) and then subtracted from the acceleration due to gravity.

[0092] ,

[0093] Vertical velocity It is obtained through integration, and its calculation formula is as follows:

[0094] ,

[0095] in, The vertical acceleration at the current moment, For the acceleration of the previous moment, The vertical velocity at the current moment, The vertical velocity at the previous moment. The sampling interval;

[0096] Roll angle and pitch angle The calculations are based on the collected triaxial acceleration data, and the specific calculation formulas are as follows:

[0097] ,

[0098] .

[0099] Among them, roll angle and pitch angle The three-axis acceleration and three-axis angular velocity acquired by a six-axis IMU are used to calculate the posture characteristics of the human waist. To address the issue that a single sensor cannot simultaneously provide both dynamic response and long-term stability, this invention employs a PI controller and a complementary filter to correct the calculated roll and pitch angles. This avoids the cumulative errors caused by long-term integration due to zero-point drift and temperature drift of the gyroscope, preventing the angles from gradually deviating from the true values.

[0100] In the fall protection method disclosed in this invention, the roll angle and pitch angle are corrected using a PI controller and a complementary filter. The complementary filter balances static stability and dynamic tracking capability, while the integral adjustment characteristics of the PI controller address the steady-state residual error and long-term small drift issues present in the complementary filter, thus achieving the desired attitude angle (roll angle). and pitch angle The zero steady-state error output is achieved through a dual-layer correction architecture that combines complementary filtering with precise PI closed-loop correction, which simultaneously suppresses high-frequency vibration noise, low-frequency integral drift, and fixed deviation error.

[0101] In the fall protection method disclosed in this invention, the gas cylinder detonation device 5 adopts a dual PMOS transistor drive circuit. The dual PMOS transistor drive circuit is a high-side bidirectional drive architecture with a symmetrical overall structure and compact layout. It can adapt to the miniaturized installation requirements of embedded carriers and can block the forward residual current and the reverse backflow current of the load, effectively protecting the main control board 6 and avoiding attitude data distortion caused by voltage surges.

[0102] As shown in the figure, this is the ignition drive circuit for CO2 cylinder 4. According to the figure, this ignition drive circuit is a safety ignition control circuit with status detection, comprising a detection unit, an ignition control unit, and an ignition execution unit. The detection unit is used for real-time detection of the cylinder's installation status. The ignition control unit consists of the power switch branches QA4 and QA5 controlled by pin P0.08, and the grounding switch branches QA6 and Q2 controlled by pin P0.09. The ignition circuit is only activated when both are triggered simultaneously. The ignition execution unit consists of interface U12 and protection diode DA3, realizing high-voltage ignition drive for the electric igniter 55. Initially, pin P0.08 is set to low level, pin P0.09 is set to high level, and pin P0.10 detects the voltage through an ADC analog-to-digital converter to determine whether a cylinder is connected to interface U12. If connected, it is high level; otherwise, it is low level, thus detecting the cylinder's installation status. When a fall is detected, pin P0.08 is set to a high level and pin P0.09 is set to a low level, the circuit is turned on, and a voltage of about 3V is generated at interface U12 to detonate the gas cylinder.

[0103] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A lumbar support with fall prevention and hip joint protection functions, comprising a waist belt, said waist belt consisting of two symmetrically arranged halves, characterized in that, Each of the two waist belts is equipped with an airbag on its outer side. Each airbag is connected to a CO2 cylinder. Each CO2 cylinder is connected to a cylinder detonation device. The two cylinder detonation devices are connected to a main control board, which is mounted on one of the waist belts. The main control board integrates a six-axis IMU, a main control chip, a low-pass filter, a complementary filter, an RF module, a GPS locator, a PI controller, a power supply, and a storage module. The storage module has a built-in fall detection algorithm. The gas cylinder detonation device includes a cylindrical connector. One end of the connector is installed on the mouth of a CO2 gas cylinder, which is placed inside an airbag. The connector has a threaded portion in the middle, which is screwed onto the air inlet of the airbag. An exhaust port is provided on the connector between the threaded portion and the CO2 gas cylinder. The connector contains a striking pin for puncturing the mouth of the CO2 gas cylinder, which is propelled by a deflagration thrust.

2. The lumbar support with fall prevention and hip joint protection function according to claim 1, characterized in that, The end of the firing pin away from the CO2 cylinder is provided with a sliding sleeve in a sliding connector. The end of the sliding sleeve away from the firing pin is provided with an electric ignition head connected to the main control board. Gunpowder is provided between the sliding sleeve and the electric ignition head. A spring is provided between the sliding sleeve and the firing pin. An electric wire is connected between the main control board and the electric ignition head.

3. The lumbar support with fall prevention and hip joint protection function according to claim 1, characterized in that, The split waist belt is provided with a first connector for connecting the airbag. The first connector adopts a double-layer fabric structure, with one layer sewn onto the split waist belt, and the inner sides of the two layers of fabric are respectively provided with Velcro with a rough side and a hook side.

4. The lumbar support with fall prevention and hip joint protection function according to claim 1, characterized in that, The two halves of the belt are provided with a second connector on both the inner and outer sides of their far apart ends. The two second connectors on the inner and outer sides of the two halves of the belt are Velcro with a rough surface and a hook surface, respectively. A third connector is provided between the close ends of the two halves of the belt to adjust the distance between them.

5. The lumbar support with fall prevention and hip joint protection function according to claim 4, characterized in that, The third connector includes multiple pulleys, the number of which is 4N, where N is not less than 2. The multiple pulleys are divided into two rows and are respectively disposed on two half waist belts. The upper and lower halves of the two rows of pulleys are respectively connected to a pull rope. The two pull ropes pass around the corresponding multiple pulleys and are respectively connected to an adjusting member. The two adjusting members are respectively connected to the second connectors on the outside of the two half waist belts. The inner side of the adjusting member is provided with a hook and loop fastener or a loop fastener corresponding to the second connector.

6. A fall protection method, characterized in that, The lumbar support with fall prevention and hip joint protection function according to any one of claims 1-5 includes the following steps: Step 1: Wear the lumbar support around the user's waist, with the two airbags positioned on either side of the user's hip joint; Step 2: When a user falls, the main control board determines that the user has entered a fall state based on its built-in fall judgment algorithm and the data collected by the six-axis IMU, and then sends an ignition signal to the gas cylinder detonation device. Step 3: The gas cylinder detonation device is activated, and the firing pin inside punctures the mouth of the CO2 gas cylinder under the thrust of the deflagration. The safety airbag inflates and opens before the user falls and hits the ground, protecting the user's hip joint and preventing the user's hip joint from directly hitting the ground and causing injury. Step 4: The radio frequency module built into the main control board synchronously sends information to the user's mobile phone via Bluetooth signal, and notifies the user's emergency contact through a pre-installed APP on the mobile phone, informing them that the user has fallen and the GPS location of the fall.

7. The fall protection method according to claim 6, characterized in that, The logic of the fall detection algorithm is as follows: (1) Obtain the raw data output by the six-axis IMU, including three-axis acceleration and three-axis angular velocity, as the input source of the algorithm; (2) The original data is filtered by a low-pass filter to remove high-frequency noise and retain the effective low-frequency signals related to human movement; (3) Based on the filtered effective data, four key features strongly related to falling behavior are extracted: acceleration amplitude, angular velocity amplitude, vertical velocity and vertical angle, which provide a basis for subsequent threshold judgment. The vertical angle includes the roll angle and pitch angle. (4) The six-axis IMU collects human motion data continuously after the device is started, and when the acceleration amplitude... Less than 0.82g and angular velocity amplitude Greater than 47.3° / s, and vertical velocity When the speed is less than -1.2 m / s, it is determined that the human body has entered a state of weightlessness; then, the attitude of the human body is determined by the vertical angle obtained by Euler transformation, and the roll angle is... The absolute value is greater than 28° or the pitch angle When the angle is greater than 45°, it is determined that the human body has begun to roll or tilt; when it is determined that the human body has entered a state of weightlessness and has begun to roll or tilt, it is determined that the human body has entered a state of falling.

8. The fall protection method according to claim 7, characterized in that, The acceleration amplitude The calculation formula is: ， Among them, a x a y a z These are the accelerations along the x, y, and z axes, respectively. The angular velocity amplitude The calculation formula is: ， Where, ω x ω y ω z The angular velocities are the x, y, and z axes, respectively. The vertical velocity The vertical acceleration in the world coordinate system is obtained by integrating the vertical acceleration. From triaxial acceleration a x a y a z By roll angle and pitch angle The formula for calculating this is: (Projected onto the vertical direction of the world and subtracted from the acceleration due to gravity). ， The vertical velocity It is obtained through integration, and its calculation formula is as follows: ， in, The vertical acceleration at the current moment, For the acceleration of the previous moment, The vertical velocity at the current moment, The vertical velocity at the previous moment. The sampling interval; The roll angle and pitch angle The calculations are based on the collected triaxial acceleration data, and the specific calculation formulas are as follows: ， 。 9. The fall protection method according to claim 7, characterized in that, The roll and pitch angles are corrected using a PI controller and a complementary filter.

10. The fall protection method according to claim 6, characterized in that, The gas cylinder detonation device uses a dual PMOS transistor drive circuit, and the operation process of the gas cylinder detonation device is as follows: a. When the main control board determines that the user has entered a fall state based on the fall detection algorithm, the main control board sends an ignition signal, and the onboard chip I / O port of the main control board outputs a voltage signal to the electric ignition head through a wire. b, The electric ignition head of the gas cylinder detonation device ignites the gunpowder, and the explosion of the gunpowder causes the sliding sleeve to move towards the CO2 gas cylinder, and the sliding sleeve pushes the firing pin to pierce the mouth of the CO2 gas cylinder; c. The high-pressure CO2 gas in the CO2 cylinder enters the airbag through the exhaust port, filling the airbag.

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