Gait detection device

Abstract

The gait detection device is worn on the shank part and comprises a shell, and a power module and an electric control board are arranged in the shell; the power supply module is electrically connected with the electric control board, an inertial sensor, an array distance measuring sensor and a processing unit are arranged on the electric control board, and the processing unit is electrically connected with the inertial sensor and the array distance measuring sensor. The acceleration information, the magnetic field information, the angular velocity information and the depth map of the shank part can be obtained through the inertial sensor and the array distance measuring sensor, and the influence of the external optical environment is avoided; furthermore, accurate positioning of the lower limbs is achieved through acceleration information, magnetic field information, angular velocity information and a depth map, a gait detection result is obtained after fusion is conducted through a processing unit, interference of an external magnetic field environment to an inertial sensor is avoided, the problem of course drift is solved, course errors are reduced, and the gait detection result is more accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of sports biomechanics, in particular to a gait detection device. Background Art

[0002] Gait detection and analysis are crucial for studying sports biomechanics, as it provides time and space parameters related to walking patterns. By analyzing the collected lower limb movement data, gait analysis has various applications, including physical activity assessment, disease diagnosis, fall detection, and promoting human-machine interaction of exoskeletons. Motion capture systems are the main tools for gait analysis and can obtain kinematic information related to the lower limbs. Although optical systems are commonly used for gait analysis, they have limitations such as high cost, complex setup, and sensitivity to lighting conditions. In addition, due to their complex setup requirements, these optical motion capture systems can only be used indoors.

[0003] Many studies aim to simplify wearable motion capture systems for obtaining outdoor gait information. These systems typically use inertial measurement units (IMUs) mounted on the thighs, calves, and feet. However, due to problems such as magnetic field interference and long-term heading drift, basic IMU setups face challenges in accurately estimating lower limb postures. To address the heading drift problem, the zero velocity update (ZUPT) method has been introduced. However, ZUPT still faces challenges from acceleration interference caused by foot strikes. Some have explored combining IMUs with other sensors such as ultrasonic ranging sensors to improve positioning accuracy and reduce heading drift. However, this work does not show how to use the distance sensor on the foot to calculate the foot's posture. In addition, the sensing system mounted on the foot does not have good wear resistance. The sensor system mounted on the calf focuses on detecting the movement of the calf. In biomechanics, the calf-mounted sensor system does not have a zero velocity state (ZVS). Integrating cameras, global positioning systems, and IMUs can perform gait parameter detection and positioning simultaneously, but the weight of this system may impede walking, and its update rate may not meet the needs of dynamic gait detection. Another method integrates a wind flow sensor with an IMU for gait parameter detection, but lacks a positioning function and cannot eliminate environmental wind speed interference. Summary of the Utility Model

[0004] The utility model provides a gait detection device, which solves the problem that the existing motion capture system is easily interfered by the external light environment and magnetic field environment during gait detection and analysis, resulting in inaccurate positioning, inaccurate motion parameters, easy occurrence of heading drift, and thus inaccurate gait detection and analysis.

[0005] To solve the above technical problems, a technical solution adopted by the present utility model is to provide a gait detection device worn on the calf, including a housing, wherein a power supply module and an electronic control board are arranged in the housing; the power supply module is electrically connected to the electronic control board for supplying power to the electronic control board, and an inertial sensor, an array ranging sensor and a processing unit are arranged on the electronic control board, and the processing unit is respectively electrically connected to the inertial sensor and the array ranging sensor; the inertial sensor is used to obtain the acceleration information, magnetic field information and angular velocity information of the calf; the array ranging sensor is used to obtain the depth map of the calf; the processing unit is used to fuse the acceleration information, magnetic field information, angular velocity information and depth map and output a gait detection result.

[0006] In some embodiments, the electronic control board is horizontally arranged in the middle of the housing, the inertial sensor and the processing unit are arranged on the upper part of the electronic control board, and the array ranging sensor is arranged on the lower part of the electronic control board.

[0007] In some embodiments, a communication unit is further arranged in the housing, and the communication unit is respectively electrically connected to the processing unit and the power supply module, and is used to receive and output the gait detection result, and is also used to implement one or more of cellular, Bluetooth, WiFi, RF and mobile communication protocols.

[0008] In some embodiments, the inertial sensor includes a chip ICM-20948, and the serial data input terminal, serial data output terminal, serial clock terminal and chip select terminal of the chip ICM-20948 are respectively electrically connected to the processing unit; the power supply voltage terminal of the chip ICM-20948 is connected to a first DC power supply; the IO voltage terminal of the chip ICM-20948 is connected to a second DC power supply.

[0009] In some embodiments, the array ranging sensor includes a chip VL53L5CX, and the clock signal terminal and data terminal of the chip VL53L5CX are respectively electrically connected to the processing unit, and a first pull-up resistor is electrically connected to the electrical connection part between the clock signal terminal and the processing unit and then connected to a first DC power supply, and a second pull-up resistor is electrically connected to the electrical connection part between the data terminal and the processing unit and then connected to a first DC power supply; the reserved terminal, communication start terminal and interrupt terminal of the chip VL53L5CX are respectively electrically connected to a third pull-up resistor, a fourth pull-up resistor and a fifth pull-up resistor and then connected to a first DC power supply, and the reset terminal of the chip VL53L5CX is electrically connected to a first pull-down resistor and then grounded.

[0010] In some embodiments, an interface circuit is further provided on the electronic control board. The interface circuit includes a USB converter, a first crimp connector, and a second crimp connector. The power voltage terminal of the USB converter is electrically connected to the power supply module. The positive data signal terminal and the negative data signal terminal of the USB converter are respectively electrically connected to the processing unit, and the positive data signal terminal and the negative data signal terminal are also respectively electrically connected to the fourth terminal and the third terminal of the first crimp connector. The second terminal of the first crimp connector is connected to a first DC power supply. The second terminal and the third terminal of the second crimp connector are respectively electrically connected to the processing unit, and the first terminal of the second crimp connector is connected to the first DC power supply.

[0011] In some embodiments, the power supply module includes a power management chip. The first enable terminal, the second enable terminal, and the input terminal of the power management chip are electrically connected to the USB converter. The first sensing terminal of the power management chip is electrically connected to the first output terminal, and the first output terminal outputs a second DC power supply. The second sensing terminal of the power management chip is electrically connected to the second output terminal, and the second output terminal outputs the first DC power supply.

[0012] In some embodiments, the processing unit includes a single-chip microcomputer. The data input pin, the data output pin, the chip select communication pin, and the clock communication pin of the single-chip microcomputer are respectively electrically connected to the inertial sensor. The clock control pin and the bidirectional data pin of the single-chip microcomputer are respectively electrically connected to the array ranging sensor. The serial clock pin and the serial data input / output pin of the single-chip microcomputer are respectively electrically connected to the second crimp connector. The transmit pin and the receive pin of the single-chip microcomputer are respectively electrically connected to the USB converter. A crystal resonator is connected in series between the withstand voltage input pin and the withstand voltage output pin of the single-chip microcomputer. The bidirectional reset pin of the single-chip microcomputer is grounded after being connected to a switch. The three power pins of the single-chip microcomputer are respectively connected to the first DC power supply.

[0013] The beneficial effects of the present utility model are as follows: The present utility model discloses a gait detection device worn on the calf, which includes a housing, and a power module and an electronic control board are arranged inside the housing; the power module is electrically connected to the electronic control board for supplying power to the electronic control board, and an inertial sensor, an array ranging sensor and a processing unit are arranged on the electronic control board, and the processing unit is respectively electrically connected to the inertial sensor and the array ranging sensor; the inertial sensor is used to obtain the acceleration information, magnetic field information and angular velocity information of the calf; the array ranging sensor is used to obtain the depth map of the calf; the processing unit is used to fuse the acceleration information, magnetic field information, angular velocity information and depth map and output the gait detection result. The present utility model can obtain the acceleration information, magnetic field information, angular velocity information and depth map of the calf through the inertial sensor and the array ranging sensor, and is not affected by the external optical environment; further, the accurate positioning of the lower limbs is realized through the acceleration information, magnetic field information, angular velocity information and depth map, and the gait detection result is obtained through the fusion of the processing unit, avoiding the interference of the external magnetic field environment on the inertial sensor, solving the problem of heading drift, reducing the heading error, and making the gait detection result more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is the principle block diagram of a gait detection device of the present utility model;

[0015] Figure 2 is the circuit diagram of the processing unit in a gait detection device of the present utility model;

[0016] Figure 3 is the circuit diagram of the inertial sensor in a gait detection device of the present utility model;

[0017] Figure 4 is the circuit diagram of the array ranging sensor in a gait detection device of the present utility model;

[0018] Figure 5 is the circuit diagram of the power module in a gait detection device of the present utility model;

[0019] Figure 6 is the circuit diagram of the interface circuit in a gait detection device of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] For the convenience of understanding the present utility model, the present utility model will be described in more detail below with reference to the accompanying drawings and specific embodiments. The preferred embodiments of the present utility model are given in the accompanying drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure content of the present utility model more thorough and comprehensive.

[0021] It should be noted that unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used in the specification of the present utility model are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0022] As Figure 1 shown, the present utility model provides a gait detection device, which is worn on the calf part and includes a housing 5. A power module 7 and an electronic control board 6 are arranged in the housing 5; the power module 7 is electrically connected to the electronic control board 6 for supplying power to the electronic control board 6. An inertial sensor 2, an array ranging sensor 1 and a processing unit 4 are arranged on the electronic control board 6. The processing unit 4 is electrically connected to the inertial sensor 2 and the array ranging sensor 1 respectively; the inertial sensor 2 is used to obtain the acceleration information, magnetic field information and angular velocity information of the calf part; the array ranging sensor 1 is used to obtain the depth map of the calf part; the processing unit 4 is used to fuse the acceleration information, magnetic field information, angular velocity information and depth map and output the gait detection result.

[0023] The present utility model can obtain the acceleration information, magnetic field information, angular velocity information and depth map of the calf part through the inertial sensor 2 and the array ranging sensor 1, without being affected by the external optical environment; further, through the acceleration information, magnetic field information, angular velocity information and depth map, the precise positioning of the lower limbs is realized, and the gait detection result is obtained through the fusion of the processing unit 4, avoiding the interference of the external magnetic field environment on the inertial sensor 2, solving the problem of heading drift, reducing the heading error, and making the gait detection result more accurate.

[0024] The following will Figures 1 to 6 be described in detail with specific embodiments of the present application as shown.

[0025] As Figure 1 shown, it is a principle block diagram of a gait detection device of the present application, which includes a housing 5. A power module 7, an electronic control board 6 and a communication unit 3 are arranged in the housing 5. An inertial sensor 2, an array ranging sensor 1, a processing unit 4 and an interface circuit 8 are arranged on the electronic control board 6.

[0026] Specifically, the power module 7 is electrically connected to the electronic control board 6 and the communication unit 3 respectively for supplying power to the electronic control board 6 and the communication unit 3. The electronic control board 6 is horizontally arranged in the middle of the housing 5. The inertial sensor 2 and the processing unit 4 are arranged on the upper part of the electronic control board 6, and the array ranging sensor 1 is arranged on the lower part of the electronic control board 6.

[0027] The processing unit 4 is electrically connected to the inertial sensor 2, the array ranging sensor 1, and the communication unit 3 respectively; the inertial sensor 2 is used to obtain the acceleration information, magnetic field information, and angular velocity information of the calf part; the array ranging sensor 1 is used to obtain the depth map of the calf part; the processing unit 4 is used to fuse the acceleration information, magnetic field information, angular velocity information, and depth map, and output the gait detection result; the communication unit 3 is used to receive the gait detection result of the processing unit 4 and output it, and is also used to implement one or more of cellular, Bluetooth, WiFi, RF, and mobile communication protocols.

[0028] Further, as Figure 1 , Figure 2 shown, the processing unit 4 includes a single-chip microcomputer U2. In this embodiment, the model of the single-chip microcomputer U2 is STM32L432KCU6.

[0029] Specifically, the data input pin PB4, the data output pin PB5, the chip select communication pin PA11, and the clock communication pin PB3 of the single-chip microcomputer U2 are electrically connected to the inertial sensor 2 respectively. The clock control pin PB6 and the bidirectional data pin PB7 of the single-chip microcomputer U2 are electrically connected to the array ranging sensor 1 respectively. The serial clock pin PA14 and the serial data input / output pin PA13 of the single-chip microcomputer U2 are electrically connected to the corresponding ports of the second crimp connector CN2 in Figure 6 respectively. The transmit pin PA9 and the receive pin PA10 of the single-chip microcomputer U2 are electrically connected to the corresponding ports of the USB converter USB3 in Figure 6 respectively.

[0030] A crystal resonator X1 is connected in series between the withstand voltage input pin PC14 - OSC32_IN and the withstand voltage output pin PC15 - OSC32_OUT of the single-chip microcomputer U2; a capacitor C1 is also electrically connected to the electrical connection point between the withstand voltage input pin PC14 - OSC32_IN of the single-chip microcomputer U2 and the crystal resonator X1 and then grounded, and a capacitor C2 is also electrically connected to the electrical connection point between the withstand voltage output pin PC15 - OSC32_OUT of the single-chip microcomputer U2 and the crystal resonator X1 and then grounded. The bidirectional reset pin NRST of the single-chip microcomputer U2 is electrically connected to the switch SW1 and then grounded; a capacitor C11 is also electrically connected to the electrical connection point between the bidirectional reset pin NRST of the single-chip microcomputer U2 and the switch SW1 and then grounded. The three power supply pins (VDD, VDD, VDDA / VREF+) of the single-chip microcomputer U2 are respectively connected to the first DC power supply V3.3. The trigger event pin PH3 / BOOT0 of the single-chip microcomputer U2 is electrically connected to a resistor R7 and then grounded.

[0031] Further, as Figure 1 , Figure 3 shown, the inertial sensor 2 includes a chip ICM - 20948.

[0032] Specifically, in this embodiment, the serial data input terminal SDA / SDI of the chip ICM-20948 is electrically connected to Figure 2 the data output pin PB5 of the microcontroller U2 in

[0033] The power supply voltage terminal VDD of the chip ICM-20948 is connected to the first DC power supply V3.3. A capacitor C10 is also electrically connected and grounded at the electrical connection point between the power supply voltage terminal VDD of the chip ICM-20948 and the first DC power supply V3.3. The IO voltage terminal VDDIO of the chip ICM-20948 is connected to the second DC power supply V1.8. A capacitor C8 is also electrically connected and grounded at the electrical connection point between the IO voltage terminal VDDIO and the second DC power supply V1.8. The regulated output terminal REGOUT of the chip ICM-20948 is electrically connected to a capacitor C9 and then grounded.

[0034] In this embodiment, after the inertial sensor 2 obtains the acceleration information, magnetic field information, and angular velocity information of the calf part, the above information is output to the data input pin PB4 of the microcontroller U2 through the serial data output terminal SDO / AD0 of the chip ICM-20948 for further processing.

[0035] Furthermore, as Figure 1 、 Figure 4 shown, the array ranging sensor 1 includes the chip VL53L5CX.

[0036] Specifically, in this embodiment, the clock signal terminal SCL of the chip VL53L5CX is electrically connected to Figure 2 the clock control pin PB6 of the microcontroller U2 in

[0037] The reserved terminal RSVD6, communication start terminal LPn, and interrupt terminal INT of the chip VL53L5CX are respectively electrically connected to the third pull-up resistor R3, the fourth pull-up resistor R1, and the fifth pull-up resistor R4, and then connected to the first DC power supply V3.3. The reset terminal I2C_RST of the chip VL53L5CX is electrically connected to the first pull-down resistor R2 and then grounded. The IO power supply terminal IOVDD of the chip VL53L5CX is connected to the first DC power supply V3.3, and a capacitor C4 is also electrically connected and grounded at the electrical connection point between the IO power supply terminal IOVDD and the first DC power supply V3.3; the two power supply terminals AVDD of the chip VL53L5CX are respectively connected to the first DC power supply V3.3, and a capacitor C3 is also electrically connected and grounded at the electrical connection point between the power supply terminal AVDD and the first DC power supply V3.3.

[0038] In this embodiment, after the array ranging sensor 1 obtains the depth map of the calf part, the depth map is output to the bidirectional data pin PB7 of the single-chip microcomputer U2 through the data terminal SDA of the chip VL53L5CX for further processing.

[0039] Furthermore, as Figure 1 , Figure 5 shown, the power supply module 7 includes a power management chip U5. In this embodiment, the model of the power management chip U5 is ADP222ACPZ-1833-R7.

[0040] Specifically, the first enable terminal EN1, the second enable terminal EN2, and the input terminal VIN of the power management chip U5 are all electrically connected to Figure 6 the power supply voltage terminal VBUS of the USB converter USB3 in

[0041] ; a capacitor C7 is also electrically connected and grounded at the electrical connection point between the input terminal VIN and the power supply voltage terminal VBUS of the USB converter USB3. The first sensing terminal SENSE1 of the power management chip U5 is electrically connected to the first output terminal VOUT1, and the first output terminal VOUT1 outputs the second DC power supply V1.8; the first output terminal VOUT1 is also electrically connected to a capacitor C5 and then grounded. The second sensing terminal SENSE2 of the power management chip U5 is electrically connected to the second output terminal VOUT2, and the second output terminal VOUT2 outputs the first DC power supply V3.3; the second output terminal VOUT2 is also electrically connected to a capacitor C6 and then grounded.

[0042] Furthermore, as Figure 1 , Figure 6As shown, the interface circuit 8 includes a USB converter USB3, a first crimp connector CN1, and a second crimp connector CN2. In this embodiment, the model of the USB converter USB3 is Micro USB 5P_c21377, and the models of both the first crimp connector CN1 and the second crimp connector CN2 are DF13-4P-1.25DSA.

[0043] Specifically, the power supply voltage terminal VBUS of the USB converter USB3 is electrically connected to Figure 5 the first enable terminal EN1, the second enable terminal EN2, and the input terminal VIN of the power management chip U5 in Figure 2 . The positive data signal terminal D+ of the USB converter USB3 is electrically connected to the receiving pin PA10 of the microcontroller U2 in

[0044] . The negative data signal terminal D- of the USB converter USB3 is electrically connected to the transmitting pin PA9 of the microcontroller U2; the positive data signal terminal D+ is also electrically connected to the fourth terminal 4 of the first crimp connector CN1, and the negative data signal terminal D- is also electrically connected to the third terminal 3 of the first crimp connector CN1.

[0045] The second terminal 2 of the first crimp connector CN1 is connected to the first DC power supply V3.3; the first terminal 1 of the first crimp connector CN1 is grounded. The second terminal 2 of the second crimp connector CN2 is electrically connected to the serial clock pin PA14 of the microcontroller U2, and the third terminal 3 of the second crimp connector CN2 is electrically connected to the serial data input / output pin PA13 of the microcontroller U2; the first terminal 1 of the second crimp connector CN2 is connected to the first DC power supply V3.3, and the fourth terminal 4 of the second crimp connector CN2 is grounded.

[0046] The inertial sensor 2 and the array ranging sensor 1 in this application are not affected by the external optical environment; at the same time, accurate positioning of the lower limbs is achieved through acceleration information, magnetic field information, angular velocity information, and depth maps, avoiding interference from the external magnetic field environment on the inertial sensor 2, solving the problem of heading drift, reducing heading errors, and making the gait detection results more accurate.

[0047] It can be seen that the present utility model discloses a gait detection device, which is worn on the calf part and includes a housing. A power module and an electronic control board are arranged inside the housing; the power module is electrically connected to the electronic control board for supplying power to the electronic control board. An inertial sensor, an array ranging sensor, and a processing unit are arranged on the electronic control board. The processing unit is electrically connected to the inertial sensor and the array ranging sensor respectively; the inertial sensor is used to obtain acceleration information, magnetic field information, and angular velocity information of the calf part; the array ranging sensor is used to obtain the depth map of the calf part; the processing unit is used to fuse the acceleration information, magnetic field information, angular velocity information, and depth map and output the gait detection result. The present utility model can obtain acceleration information, magnetic field information, angular velocity information, and depth maps of the calf part through the inertial sensor and the array ranging sensor, and is not affected by the external optical environment; further, accurate positioning of the lower limbs is achieved through the acceleration information, magnetic field information, angular velocity information, and depth maps, and the gait detection result is obtained through fusion by the processing unit, avoiding interference from the external magnetic field environment on the inertial sensor, solving the problem of heading drift, reducing heading errors, and making the gait detection results more accurate.

[0048] The above are only embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present utility model.

Claims

1. A gait detection device, worn on the calf, characterized in that: The invention comprises a shell, wherein a power module and an electric control board are arranged in the shell; the power module is electrically connected to the electric control board and is used to supply power to the electric control board; an inertial sensor, an array ranging sensor and a processing unit are arranged on the electric control board, and the processing unit is electrically connected to the inertial sensor and the array ranging sensor respectively; The inertial sensor is used to obtain acceleration information, magnetic field information and angular velocity information of the calf part; the array ranging sensor is used to obtain a depth map of the calf part; the processing unit is used to fuse the acceleration information, magnetic field information, angular velocity information and depth map, and output a gait detection result.

2. The gait detection device according to claim 1, characterized in that: The electric control board is arranged transversely in the middle of the shell, the inertial sensor and the processing unit are arranged on the upper part of the electric control board, and the array ranging sensor is arranged on the lower part of the electric control board.

3. The gait detection device according to claim 1, characterized in that: A communication unit is also provided in the shell, and the communication unit is electrically connected to the processing unit and the power module respectively, and is used to receive and output the gait detection result, and is also used to implement one or more of cellular, Bluetooth, WiFi, RF and mobile communication protocols.

4. The gait detection device according to claim 1, characterized in that: The inertial sensor includes a chip ICM-20948, a serial data input terminal, a serial data output terminal, a serial clock terminal and a chip select terminal of the chip ICM-20948 are electrically connected to the processing unit respectively; a power supply voltage terminal of the chip ICM-20948 is connected to a first DC power supply; and an IO voltage terminal of the chip ICM-20948 is connected to a second DC power supply.

5. The gait detection device according to claim 1, characterized in that: The array ranging sensor includes a chip VL53L5CX, a clock signal end and a data end of the chip VL53L5CX are electrically connected to the processing unit respectively, the electrical connection between the clock signal end and the processing unit is also electrically connected to a first pull-up resistor and then connected to a first DC power supply, and the electrical connection between the data end and the processing unit is also electrically connected to a second pull-up resistor and then connected to the first DC power supply; a reserved end, a communication start end and an interrupt end of the chip VL53L5CX are respectively electrically connected to a third pull-up resistor, a fourth pull-up resistor and a fifth pull-up resistor and then connected to the first DC power supply, and a reset end of the chip VL53L5CX is electrically connected to a first pull-down resistor and then grounded.

6. The gait detection device according to claim 1, characterized in that: The electric control board is also provided with an interface circuit, which includes a USB converter, a first crimping connector and a second crimping connector; The power supply voltage end of the USB converter is electrically connected to the power module, the data positive signal end and the data negative signal end of the USB converter are electrically connected to the processing unit respectively, and the data positive signal end and the data negative signal end are also electrically connected to the fourth end and the third end of the first crimping connector respectively; the second end of the first crimping connector is connected to the first DC power supply; the second end and the third end of the second crimping connector are electrically connected to the processing unit respectively, and the first end of the second crimping connector is connected to the first DC power supply.

7. The gait detection device according to claim 6, characterized in that: The power module includes a power management chip, and the first enable terminal, the second enable terminal and the input terminal of the power management chip are electrically connected to the USB converter; the first sensing terminal of the power management chip is electrically connected to the first output terminal, and the first output terminal outputs a second DC power supply; the second sensing terminal of the power management chip is electrically connected to the second output terminal, and the second output terminal outputs the first DC power supply.

8. The gait detection device according to claim 7, characterized in that: The processing unit includes a single-chip microcomputer, and a data input pin, a data output pin, a chip select communication pin and a clock communication pin of the single-chip microcomputer are electrically connected to the inertial sensor respectively; a clock control pin and a bidirectional data pin of the single-chip microcomputer are electrically connected to the array ranging sensor respectively; a serial clock pin and a serial data input and output pin of the single-chip microcomputer are electrically connected to the second crimping connector respectively; a sending pin and a receiving pin of the single-chip microcomputer are electrically connected to the USB converter respectively; a crystal resonator is connected in series between a withstand voltage input pin and a withstand voltage output pin of the single-chip microcomputer; a bidirectional reset pin of the single-chip microcomputer is electrically connected to a switch and then grounded; and three power pins of the single-chip microcomputer are respectively connected to the first DC power supply.

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