CN104366752A - Waistcoat with motion state sensing and air bag active protection functions and working method thereof - Google Patents
Waistcoat with motion state sensing and air bag active protection functions and working method thereof Download PDFInfo
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Abstract
本发明涉及一种运动状态感知和气囊主动防护的马甲，其特征在于：包括马甲本体，所述马甲本体上嵌有运动状态感知装置、气囊装置、MCU、无线数据传输模块，电源模块，所述MCU作为所述感知装置、气囊装置的控制处理中心；所述感知装置包括第一、第二片上处理芯片；所述第一片上处理芯片包括三轴加速度计和片上处理电路，第二片上处理芯片包括三轴陀螺仪和片上处理电路；所述气囊装置包括点火充气电路与主、从气囊；所述主气囊设置于马甲靠近头部处，所述从气囊设置于马甲靠近腰部处；电源模块分别与第一、第二片上处理芯片、无线数据传输模块、MCU、点火充气电路相连，提供电能。
The invention relates to a vest for motion state perception and airbag active protection, which is characterized in that: it includes a vest body, and the vest body is embedded with a motion state perception device, an airbag device, an MCU, a wireless data transmission module, and a power supply module. MCU is as the control processing center of described sensing device, air bag device; Described sensing device comprises first, second on-chip processing chip; Described first on-chip processing chip comprises three-axis accelerometer and on-chip processing circuit, and second on-chip processing chip The chip includes a three-axis gyroscope and an on-chip processing circuit; the airbag device includes an ignition and inflation circuit, a master airbag, and a slave airbag; the master airbag is arranged on the vest near the head, and the slave airbag is arranged on the vest near the waist; the power supply module It is respectively connected with the first and second on-chip processing chips, the wireless data transmission module, the MCU, and the ignition and gas charging circuit to provide electric energy.
Description
技术领域 technical field
本发明涉及一种马甲，具体来说是一种运动状态感知和气囊主动防护的马甲及其工作方法，属于安全马甲技术领域。 The invention relates to a vest, specifically a vest for motion state perception and airbag active protection and a working method thereof, belonging to the technical field of safety vests. the
背景技术 Background technique
当今社会摔倒事故发生越来越频繁，摔倒事故已严重影响了人们的身体健康，甚至威胁到人们的生命安全。例如在一些地面比较湿滑的环境中工作的工作人员很容易摔倒，发生事故。同时由于现代社会老年人越来越多，老年人由于身体运动机能明显衰退，从而老年人摔倒发生率较高、后果严重，已经成为一个严重的医疗问题和社会问题。 Fall accidents occur more and more frequently in today's society, and fall accidents have seriously affected people's health and even threatened people's lives. For example, the staff working in some slippery environments are prone to fall and accidents. Simultaneously because there are more and more old people in modern society, the old people have become a serious medical problem and social problem because of the obvious decline of bodily motor function, thus the incidence rate of the old people falling is higher and the consequences are serious. the
发明内容 Contents of the invention
本发明旨提供一种智能安全马甲，能够减轻老年人摔倒事故带来的损伤。 The invention aims to provide an intelligent safety vest, which can reduce the damage caused by falling accidents of the elderly. the
本发明采取以下技术方案： The present invention takes the following technical solutions:
一种运动状态感知和气囊主动防护的马甲，包括马甲本体，所述马甲本体上嵌有运动状态感知装置、气囊装置、MCU、无线数据传输模块，电源模块，所述MCU作为所述感知装置、气囊装置的控制处理中心；所述感知装置包括第一、第二片上处理芯片；所述第一片上处理芯片包括三轴加速度计和片上处理电路，第二片上处理芯片包括三轴陀螺仪和片上处理电路；所述气囊装置包括点火充气电路与主、从气囊；所述主气囊设置于马甲靠近头部处，所述从气囊设置于马甲靠近腰部处；电源模块分别与第一、第 二片上处理芯片、无线数据传输模块、MCU、点火充气电路相连，提供电能； A vest for motion state perception and airbag active protection, comprising a vest body, the vest body is embedded with a motion state perception device, an airbag device, an MCU, a wireless data transmission module, and a power supply module, and the MCU is used as the sensing device, The control processing center of the airbag device; the sensing device includes first and second on-chip processing chips; the first on-chip processing chip includes a three-axis accelerometer and on-chip processing circuit, and the second on-chip processing chip includes a three-axis gyroscope and On-chip processing circuit; the airbag device includes an ignition and inflation circuit and a main and a slave airbag; the main airbag is arranged at the vest near the head, and the slave airbag is arranged at the waist near the vest; the power module is respectively connected to the first and second The on-chip processing chip, wireless data transmission module, MCU, and ignition and gas charging circuit are connected to provide power;
进一步的，所述片上处理电路包含信息预处理模块和信号调理模块；所述信息预处理模块包括带宽处理电路和杂波滤波模块；所述带宽处理电路和杂波滤波模块的输入端皆与三轴加速度计或三轴陀螺仪相连，其输出端与信号调理模块相连；所述信号调理模块包括依次相连的放大器、采样保持器和A/D转换器，放大器连接信息预处理模块，A/D转换器连接MCU模块。 Further, the on-chip processing circuit includes an information preprocessing module and a signal conditioning module; the information preprocessing module includes a bandwidth processing circuit and a clutter filtering module; the input terminals of the bandwidth processing circuit and the clutter filtering module are connected to three Axis accelerometer or triaxial gyroscope are connected, and its output end is connected with signal conditioning module; Said signal conditioning module includes amplifier, sample holder and A/D converter connected in sequence, amplifier is connected with information preprocessing module, A/D The converter connects the MCU module. the
进一步的，所述无线数据传输模块为ZigBee模块。 Further, the wireless data transmission module is a ZigBee module. the
更进一步的，所述的电源模块包括柔性薄膜电池组件、低电报警电路、电源管理电路，电源管理电路引出的多路电压信号分别与片上处理芯片、MCU、ZigBee模块以及气囊的点火充气电路连接。 Furthermore, the power supply module includes a flexible thin-film battery assembly, a low-power alarm circuit, and a power management circuit. The multi-channel voltage signals drawn by the power management circuit are respectively connected to the on-chip processing chip, the MCU, the ZigBee module, and the ignition and inflation circuit of the airbag. . the
进一步的，主气囊比从气囊小。 Further, the master airbag is smaller than the slave airbag. the
一种运动状态感知和气囊主动防护的马甲的工作方法，运动状态感知装置的三轴加速度计实时检测马甲穿着者加速度值，并与加速度阈值进行比较；运动状态感知装置的三轴陀螺仪实时检测马甲穿着者身体倾角变化；当检测加速度、倾角均大于阈值，无线数据传输模块将检测信号发送至远端服务器；同时，点火充气电路开启，主气囊给头部气囊充气；延时一段时间，另一点火充气电路开启，从气囊给靠近腰部的次气囊充气。 A working method of a vest with motion state perception and airbag active protection. The three-axis accelerometer of the motion state perception device detects the acceleration value of the vest wearer in real time and compares it with the acceleration threshold; the three-axis gyroscope of the motion state perception device detects in real time The body inclination of the vest wearer changes; when the detected acceleration and inclination are greater than the threshold, the wireless data transmission module sends the detection signal to the remote server; at the same time, the ignition and inflation circuit is turned on, and the main airbag inflates the head airbag; When the ignition circuit is turned on, the secondary airbag near the waist is inflated from the airbag. the
本发明的有益效果在于：在马甲服装中嵌入集成运动感知、气囊主动防护和ZigBee无线通信技术，能实时感知穿着马甲者的运动状态，通过三轴加速度计和三轴陀螺仪分别感知人体摔倒过程中上躯干加速度变化和偏离竖直方向的倾斜角度变化，使采集到的数据更准确更可靠，此外智能安全马甲还可以将信息通过无线通信传送到监控中心的服务器，以便做出后续处理。本发明采用的是集成电路，同时对气囊做了适当处理，使马甲更加小巧轻便，从而使马甲穿起来既轻便又不会有异物感，并采用各种抗干 扰技术，使马甲更加安全可靠。当马甲穿着者将要摔倒时，能快速及时做出处理，减少伤亡事故。 The beneficial effects of the present invention are: embedded motion perception, air bag active protection and ZigBee wireless communication technology in the vest clothing, can sense the motion state of the wearer in real time, and sense the human body fall through the three-axis accelerometer and the three-axis gyroscope respectively During the process, changes in the acceleration of the upper torso and changes in the tilt angle from the vertical direction make the collected data more accurate and reliable. In addition, the smart safety vest can also transmit information to the server in the monitoring center through wireless communication for subsequent processing. The invention adopts an integrated circuit, and at the same time properly handles the airbag to make the vest more compact and light, so that the vest is light and has no foreign body sensation when worn, and adopts various anti-interference technologies to make the vest safer and more reliable . When the vest wearer is about to fall, it can be dealt with quickly and in time to reduce casualties. the
附图说明 Description of drawings
图1是智能安全马甲功能部件的连接框图； Figure 1 is a connection block diagram of the functional components of the smart safety vest;
图2为地面坐标系及人体加速度、躯干转角定义图； Figure 2 is a definition diagram of the ground coordinate system and the acceleration of the human body and the rotation angle of the torso;
图3电源系统结构框图； Fig. 3 block diagram of power supply system;
图4为智能安全马甲的工作拓扑图； Figure 4 is the working topology of the smart security vest;
图5为智能安全马甲的工作流程图。 Figure 5 is a workflow diagram of the smart safety vest. the
具体实施方式 Detailed ways
微机电系统(MEMS)是源于微电子加工技术，融合了微机械制造、传感、致动及微控制于一体的系统。其特征尺寸极小，学科交叉广泛；技术研究包括微系统理论、设计建模、微机械加工、微器件集成等多个方面；学科分类涵盖了机械、力学、光学、流体、电磁学、生物学等各领域，在民品和军品领域有许多热点应用。 Micro-Electro-Mechanical Systems (MEMS) is a system derived from microelectronics processing technology that integrates micro-mechanical manufacturing, sensing, actuation and micro-control. Its feature size is extremely small, and the disciplines intersect widely; technical research includes microsystem theory, design modeling, micromachining, microdevice integration, etc.; subject classification covers mechanics, mechanics, optics, fluids, electromagnetism, biology There are many hot applications in civilian and military fields. the
安全气囊现阶段主要应用在汽车方面，旨在减轻汽车碰撞后驾驶员因为惯性发生碰撞的伤害程度。本发明将安全气囊应用在马甲中开创了将安全气囊应用于服装的先例。 Airbags are mainly used in automobiles at this stage, aiming to reduce the degree of injury caused by the driver's collision due to inertia after a car collision. The application of the airbag in the waistcoat in the present invention creates a precedent of applying the airbag to clothing. the
无线通信是一种仅利用电磁波自由空间传播而不通过线缆进行的通信方式，伴随着当今通信技术的迅猛发展，人们更可以依靠新型无线通信技术实现信息的实时交换；其中，ZigBee是一种基于IEEE802.15.4标准和应用于无线监测与控制的全球性无线通信标准，强调简单易用、近距离、低功耗且极廉价的市场定位，广泛应用于工业控制、医疗护理、远程控制等 领域。 Wireless communication is a communication method that only uses electromagnetic waves to propagate in free space without passing through cables. With the rapid development of today's communication technology, people can rely on new wireless communication technologies to achieve real-time exchange of information; among them, ZigBee is a Based on the IEEE802.15.4 standard and the global wireless communication standard applied to wireless monitoring and control, it emphasizes easy-to-use, short-distance, low power consumption and extremely cheap market positioning, and is widely used in industrial control, medical care, remote control and other fields . the
利用上述现有技术，并结合附图和具体实施例对本发明进一步说明。 The present invention will be further described by using the above-mentioned prior art in conjunction with the accompanying drawings and specific embodiments. the
参见图1，一种运动状态感知和气囊主动防护的马甲，包括马甲本体，所述马甲本体上嵌有运动状态感知装置、气囊装置、MCU、用于无线传输的ZigBee模块，电源模块，所述MCU作为所述感知装置、气囊装置的控制处理中心；所述感知装置包括第一、第二片上处理芯片；所述第一片上处理芯片包括三轴加速度计和片上处理电路，第二片上处理芯片包括三轴陀螺仪和片上处理电路；所述气囊装置包括点火充气电路与主、从气囊；所述主气囊设置于马甲靠近头部处，所述从气囊设置于马甲靠近腰部处；电源模块分别与第一、第二片上处理芯片、无线数据传输模块、MCU、点火充气电路相连，提供电能。 Referring to Fig. 1 , a vest for motion state perception and airbag active protection includes a vest body, which is embedded with a motion state perception device, an airbag device, an MCU, a ZigBee module for wireless transmission, and a power supply module. MCU is as the control processing center of described sensing device, air bag device; Described sensing device comprises first, second on-chip processing chip; Described first on-chip processing chip comprises three-axis accelerometer and on-chip processing circuit, and second on-chip processing chip The chip includes a three-axis gyroscope and an on-chip processing circuit; the airbag device includes an ignition and inflation circuit, a master airbag, and a slave airbag; the master airbag is arranged on the vest near the head, and the slave airbag is arranged on the vest near the waist; the power supply module It is respectively connected with the first and second on-chip processing chips, the wireless data transmission module, the MCU, and the ignition and gas charging circuit to provide electric energy. the
参见图2，设在人体运动过程中躯干部位沿x轴方向的加速度为ax，沿y轴方向的加速度为ay，沿z轴方向的加速度为az，则其合加速度可以用公式(1)来计算： Referring to Fig. 2, assuming that the acceleration of the trunk along the x-axis direction is a x , the acceleration along the y-axis direction is a y , and the acceleration along the z-axis direction is a z during the human body movement, the resulting acceleration can be calculated by the formula ( 1) to calculate:
可根据计算出的合加速度a与设定的摔倒阈值加速度值am进行比较来判断穿着马甲者是否将要摔倒。若a≥am说明穿着马甲者将要摔倒，若a＜am说明穿着马甲者不会摔倒。但若仅如此，则当行走及落座等非摔倒动作也会产生同样的加速度，有可能出现误操作。因此需要在加速度上组合使用检测身体倾斜状态的角速度传感器来检测马甲穿着者的身体姿势的变化，从而消除误操作。 Whether the person wearing the vest is about to fall can be judged by comparing the calculated resultant acceleration a with the set fall threshold acceleration value a m . If a≥a m, it means that the person wearing the vest will fall, and if a<a m , it means that the person wearing the vest will not fall. However, if only this is the case, non-falling actions such as walking and sitting will also produce the same acceleration, and misoperation may occur. Therefore, it is necessary to use an angular velocity sensor that detects the tilted state of the body in combination with the acceleration to detect changes in the body posture of the vest wearer, thereby eliminating misuse.
摔倒过程中通常伴随身体姿态的变化，一般来说，摔倒前躯干接近于竖直方向，摔倒后接近于水平方向，只是在少数情况下会出现不同点，所 以可以不考虑，可以把躯干方向的改变可以作为识别摔倒行为的一个辅助依据。躯干方向的改变可以用躯干转角来表示。如图2所示，定义身体躯干相对于地面坐标系OXYZ的转角为θx、θy、θz，θx为自旋角，绕x轴转到；θy为侧倾角，绕y轴转动；θz为俯仰角，绕z轴转动。在人体摔倒过程中，通常会出现侧倾角θy或俯仰角θz有较大的变化，当向两侧倒时侧倾角θy有较大的变化，当向后倒时俯仰角θz有较大的变化，自旋角θx在人体摔倒过程中并没有突出变化特点，故一般不作为摔倒过程的特征。然而，陀螺仪测量的是旋转速度，不是旋转角度，因此需要通过不断积分得到角度。假设三轴角速度传感器在某一时刻测得绕y轴的角速度为ωy，绕z轴的角速度为ωz，则t1时刻到t2时刻的倾仰角θy和俯仰角θz可以用公式(2)和公式(3)来计算： The process of falling is usually accompanied by changes in body posture. Generally speaking, the torso is close to the vertical direction before the fall, and close to the horizontal direction after the fall. Only in a few cases, there will be differences, so it can be ignored. Changes in the orientation of the torso can be used as an auxiliary basis for identifying falling behavior. A change in the orientation of the torso can be represented by a torso rotation angle. As shown in Figure 2, define the rotation angles of the body trunk relative to the ground coordinate system OXYZ as θ x , θ y , θ z , θ x is the spin angle, which rotates around the x-axis; θ y is the roll angle, which rotates around the y-axis ; θ z is the pitch angle, which rotates around the z axis. In the process of a human fall, there is usually a large change in the roll angle θ y or pitch angle θ z . When falling to both sides, the roll angle θ y has a large change. When falling backward, the pitch angle θ z There is a large change, and the spin angle θ x has no prominent change characteristics during the fall process of the human body, so it is generally not used as a feature of the fall process. However, the gyroscope measures the rotation speed, not the rotation angle, so the angle needs to be obtained by continuous integration. Assuming that the angular velocity around the y-axis measured by the three-axis angular velocity sensor is ω y at a certain moment, and the angular velocity around the z-axis is ω z , then the inclination angle θ y and the pitch angle θ z from time t 1 to t 2 can be calculated by the formula (2) and formula (3) to calculate:
由此在根据计算出的的加速度变化的基础上，再组合计算出的倾仰角或俯仰角的变化就能很准确可靠的判断马甲穿着者是不是将要摔倒。 Therefore, on the basis of the calculated acceleration change, combined with the calculated tilt angle or pitch angle change, it is possible to accurately and reliably judge whether the vest wearer is about to fall. the
所述的信息预处理模块包括带宽处理电路和杂波滤波电路，带宽处理电路和杂波滤波电路的输入端皆与运动状态感知模块相连，带宽处理电路和杂波滤波模块的输出端皆与MCU相连。三轴加速度计和三轴陀螺仪检测到的信号，经过带宽处理电路和杂波滤波电路的作用，可以滤除电路中的干扰信号，得到所需的电压信号。此外，信号调理模块包括依次相连的放大器、采样保持器和A/D转换器，放大器分别连接信息预处理模块的带宽处理电路和杂波滤波电路，A/D转换器连接MCU。由于传感器检测到的信号很微 弱，必须经过放大器放大，然后经过A/D转换器将模拟信号转换为数字信号后，将转换的数字信号送到MCU进行处理。 The information preprocessing module includes a bandwidth processing circuit and a clutter filtering circuit, the input terminals of the bandwidth processing circuit and the clutter filtering circuit are all connected to the motion state sensing module, and the output ends of the bandwidth processing circuit and the clutter filtering module are connected to the MCU connected. The signals detected by the three-axis accelerometer and the three-axis gyroscope can filter out the interference signals in the circuit through the bandwidth processing circuit and the clutter filter circuit to obtain the required voltage signal. In addition, the signal conditioning module includes an amplifier, a sample-and-hold device and an A/D converter connected in sequence, the amplifier is respectively connected to the bandwidth processing circuit and the clutter filtering circuit of the information preprocessing module, and the A/D converter is connected to the MCU. Since the signal detected by the sensor is very weak, it must be amplified by the amplifier, and then the analog signal is converted into a digital signal by the A/D converter, and then the converted digital signal is sent to the MCU for processing. the
如图3所示，为电源系统结构框图，所述的电源系统包括柔性薄膜电池组件、低电报警电路、电源管理电路，电源管理电路引出的多路电压信号分别与片上处理芯片、MCU模块、ZigBee模块以及气囊的点火充气电路连接。电源模块用于所有模块供电。因为所述的智能安全马甲本体在使用中不可避免的有弯曲、折叠等动作，采用硅基薄膜柔性电池可以很好的适应智能安全马甲本体的动作。同时当电池电压过低时报警电路还会自动报警。 As shown in Figure 3, it is a structural block diagram of the power supply system. The power supply system includes a flexible thin-film battery assembly, a low-power alarm circuit, and a power management circuit. The ZigBee module and the ignition and inflation circuit of the airbag are connected. The power module is used to supply power to all modules. Because the body of the smart safety vest inevitably has actions such as bending and folding during use, the use of silicon-based thin-film flexible batteries can well adapt to the movements of the body of the smart safety vest. At the same time, the alarm circuit will automatically alarm when the battery voltage is too low. the
如图4所示为多个智能安全马甲的工作拓扑图。可以将多个智能安全马甲通过无线通信模块ZigBee连接起来，以无线的方式将各个马甲穿着者的信息通过无线通信的方式发送出去，传输到监控中心的服务器。 Figure 4 shows the working topology of multiple smart security vests. Multiple smart safety vests can be connected through the wireless communication module ZigBee, and the information of each vest wearer can be sent wirelessly to the server in the monitoring center. the
参见图5，图5为智能安全马甲的工作流程图。通过该流程图可以清晰的看出智能安全马甲的工作过程：一种运动状态感知和气囊主动防护的马甲的工作方法，运动状态感知装置的三轴加速度计实时检测马甲穿着者加速度值，并与加速度阈值进行比较；运动状态感知装置的三轴陀螺仪实时检测马甲穿着者身体倾角变化；当检测加速度、倾角均大于阈值，无线数据传输模块将检测信号发送至远端服务器；同时，点火充气电路开启，主气囊给头部气囊充气；延时一段时间，另一点火充气电路开启，从气囊给靠近腰部的次气囊充气。 Referring to Fig. 5, Fig. 5 is a working flow chart of the smart safety vest. Through this flow chart, we can clearly see the working process of the intelligent safety vest: a working method of the vest with motion state perception and airbag active protection. The three-axis accelerometer of the motion state perception device detects the acceleration value of the vest wearer in real time, and communicates with it The acceleration threshold is compared; the three-axis gyroscope of the motion state sensing device detects the change of the vest wearer's body inclination in real time; when the detected acceleration and inclination are greater than the threshold, the wireless data transmission module sends the detection signal to the remote server; at the same time, the ignition and inflation circuit When it is turned on, the main airbag inflates the head airbag; after a period of delay, another ignition and inflation circuit is turned on, and the secondary airbag near the waist is inflated from the airbag. the
所述的两个气囊分别设于马甲靠近头部和靠近腰部两个部位，其中靠近头部的气囊为主气囊，靠近腰部的气囊为从气囊，主气囊比从气囊小。当传感器检测到马甲穿着者将要摔倒时，MCU控制气囊点火充气电路先对靠近头部的主气囊进行充气，一段时间以后再对靠近腰部的从气囊进行充气。 设计主/从两个气囊并分先后顺序充气，是因为如果刚开始就对比较大的从气囊进行充气可能瞬间冲力比较大，人体有时不一定能够承受，特别是老年人。除此之外两个气囊同时作用可以更好的保护马甲穿着者的安全。 The two airbags are respectively arranged on the vest near the head and near the waist, wherein the airbag near the head is the main airbag, and the airbag near the waist is the slave airbag, and the master airbag is smaller than the slave airbag. When the sensor detects that the vest wearer is about to fall, the MCU controls the airbag ignition and inflation circuit to inflate the main airbag near the head first, and then inflate the secondary airbag near the waist after a period of time. The master/slave airbags are designed to be inflated sequentially, because if the relatively large slave airbag is inflated at the beginning, the instantaneous momentum may be relatively large, and the human body may not be able to bear it sometimes, especially for the elderly. In addition, the two airbags function at the same time to better protect the safety of the vest wearer. the
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