KR102136171B1 - Belt device with hip airbag for hazardous removal and method of operation - Google Patents

Abstract

The present invention relates to a belt device having a hip airbag for preventing injury due to falling and a method of operating the belt device.
More specifically, the body portion formed in a belt shape to surround the wearer's waist; A fall risk sensing device unit that senses a wearer's fall risk and transmits a fall risk signal in consideration of the wearer's posture balanced reflection reaction; A compressed gas injection unit configured to receive the fall hazard signal and inject compressed gas into the hip airbag; And a hip airbag unit that is deployed to surround the wearer's buttocks when compressed gas is injected according to the fall hazard signal in a state stored in the rear of the main body unit. And a method of operating the belt device.

Description

Belt device equipped with a hip airbag for preventing injuries caused by falls and an operation method therefor {BELT DEVICE WITH HIP AIRBAG FOR HAZARDOUS REMOVAL AND METHOD OF OPERATION}

The present invention relates to a belt device having a hip airbag for preventing injury due to falls, and a method for operating the same, comprising a structure of an airbag that wraps and protects the back of a user's hips and a compressed gas injection device for instantaneous airbag expansion. The present invention relates to a belt device having a system and an operation method therefor.

Falls are accidents that fall suddenly and irrespective of your will, causing damage to the bones and muscles, the musculoskeletal system. In daily activities, the elderly's fall damage is frequently caused by slipping, slipping, and thresholding.

Fall accidents usually occur at all ages, but among them, the incidence is particularly high in the elderly population, the proportion of the elderly population in modern society increases, and medical technology advances and the lifespan increases, so the occurrence of accidents related to falls in the elderly increases exponentially. have.

It is known that in the case of the elderly, the rate of death from falls is about 10 times that of other ages, and the rate of hospitalization due to falls is close to 8 times that of other ages. Many suffered falls and suffer from sequelae due to hip fracture or vertebral compression fracture.

In order to solve this problem, although it has not been generalized, an envelope-type airbag structure that protects the sides on both sides of the buttocks as a lateral airbag worn on the waist in the form of a hip airbag has been previously proposed and has been proposed to alleviate a fall shock.

However, hip fracture caused by an actual fall is the main cause of the impact force acting from the back of the hip, and the neck of the femur (the femoral neck and the trochanter) is shear failure. In addition, when the reclining type of the posterior drop occurs, compression force is applied from the tailbone to the entire spine, resulting in compression fracture.

Nevertheless, the above-described conventional lateral hip airbag has a structural problem that it is difficult to prevent such hip fractures, lumbar fractures, and vertebral compression.

In addition, the fall collision can only afford a short time of about 400msec from the tip of the fall to the moment of the collision. This corresponds to the time when a person is free to fall 800 mm distance from the pelvis to the ground when the person is in a standing position.

Existing published patent No. 10-2015-0033616 (name: airbag for exoskeleton device) is an exoskeleton for restoring or assisting upright mobility among those with damaged lower extremities, specifically for electric exoskeletons containing one or more airbags Disclosed technology.

However, in order to detect a fall and operate the prevention device, instantaneous airbag expansion is essential. Accordingly, in consideration of the time required for detecting the fall by detecting the fall and the time taken for the airbag to expand, a faster expansion method is required than the compressed gas inflatable life jacket of the existing disclosed patent technology or a horseback fall protection jacket.

Accordingly, the present invention has an airbag structure capable of protecting the hip joint and the spine, and proposes a technique for a hip airbag structure and system designed to relieve shock by expanding compressed gas in a short time.

Republic of Korea Patent Publication No. 10-2015-0033616

An object of the present invention for solving the above problems is to provide a belt device having a hip airbag and a method of operating the belt device to prevent a user from being worn on a body during daily life to prevent fracture damage due to falls. .

The technical problem to be achieved by the present invention is not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary knowledge in the technical field to which the present invention belongs from the following description. There will be.

The configuration of the present invention for achieving the above object is a body portion formed in a belt form to surround the wearer's waist; A fall risk sensing device unit that senses a wearer's fall risk and transmits a fall risk signal in consideration of the wearer's posture balanced reflection reaction; A compressed gas injection unit configured to receive the fall hazard signal and inject compressed gas into the hip airbag; And a hip airbag unit that is deployed to surround the wearer's buttocks when compressed gas is injected according to the fall hazard signal in a state stored in the rear of the main body unit. Provides

In an embodiment of the present invention, the main body portion is located at both ends of the main body portion, the waist buckle portion formed to be mutually coupled; A buckle connection portion connecting the waist buckle with the main body portion; A fall danger signal and an alarm LED unit for transmitting the alarm signal; A hip airbag storage box formed to include an empty space in which the hip airbag unit can be stored in a folded state; And located in the lower portion of the hip airbag storage box, it can be characterized in that it comprises a front cover of the hip airbag having a downwardly open and closed structure so that the hip airbag portion accommodated in the hip airbag storage box can be deployed.

In an embodiment of the present invention, the hip airbag portion includes one or more sack-type pockets that are deployed in close contact with the wearer's body, and each of the sack-type pockets has one or more air tubes having an independent structure to the shape of the wearer's body. It may be characterized in that it is formed by sealing to have a three-dimensional shape to be fitted.

In an embodiment of the present invention, each of the bag-like pockets is directly connected to the main body portion, and the rear center waist tube is deployed to surround the wearer's waist and the rear center hip tube is deployed to wrap the wearer's central hip. A rear center pocket comprising a; A left rear pocket connected to the left side of the rear center pocket and deployed to surround a left hip portion of the wearer; And it may be characterized in that it comprises a right rear pocket connected to the right side of the rear center pocket and deployed to surround the wearer's right hip area.

In an embodiment of the present invention, each of the air tube is an endothelial surrounding the hip portion of the wearer; An outer shell having a larger surface area than the inner shell to have a curved solid shape when the tube is expanded; And side fibers sewn to connect the endothelial and the outer shell.

In an embodiment of the present invention, the side fibers may be characterized in that when the hip airbag portion expands, the hip airbag portion bends to the inside and side below the hip portion of the wearer to be unfolded and curved.

In an embodiment of the present invention, the outer shell may be characterized by being composed of a textile material.

In an embodiment of the present invention, the hip airbag unit may further include a gas outlet through which compressed gas is discharged from the inside of the air tube to the outside after a predetermined time after the danger signal of falling. .

In an embodiment of the present invention, the left rear pocket is a left rear waist ligament connected to the rear center waist tube; And a left rear hip ligament connected to the rear center hip tube.

In an embodiment of the present invention, the right rear pocket is a right rear waist ligament connected to the rear center waist tube; And a right rear hip ligament connected to the rear center hip tube.

In an embodiment of the present invention, the compressed gas injection device unit includes a trigger housing having a compressed gas movement passage therein; A sub-motor that receives the fall danger signal and controls the compressed gas injection device; An inflator formed integrally with the hip airbag unit to connect the trigger housing and the hip airbag unit; And a compressed gas cartridge that stores compressed gas and is coupled to the housing in a direction opposite to the coupling position of the inflator.

In an embodiment of the present invention, the trigger housing includes a trigger unit that initiates triggering of the compressed gas injection unit; A trigger movement hole for guiding the movement of the trigger unit; It is made of a needle structure is fixed to the inside of the compressed gas movement passage, the percussion needle to break the stopper of the compressed gas cartridge when triggered; And an elastic member that provides a spring force capable of breaking the stopper of the compressed gas cartridge to the percussion needle.

In an embodiment of the present invention, the sub-motor comprises a signal power line for receiving the fall hazard signal; A motor holder fixing the sub-motor with the trigger housing; And it may be characterized in that it comprises a rotary trigger for controlling the triggering of the trigger unit by rotation.

In an embodiment of the present invention, the inflator may be characterized in that it is formed of a trumpet structure in which the size of a cross section increases from the housing to the hip airbag.

The configuration of the present invention for achieving the above object is a method of operating a hip airbag belt device for preventing injury, comprising the steps of: a) a fall risk sensor device detecting a fall risk of a wearer and transmitting a fall risk signal; b) receiving the fall risk signal by the compressed gas injection device; c) the compressed gas injection device is triggered to inject compressed gas into the hip airbag; d) expanding the stored hip airbag unit; e) It provides a method for operating the device of the hip airbag belt for preventing injuries due to falling, comprising the step of opening the hip airbag portion to open the hip from the storage box and cover the hip portion of the wearer.

In an embodiment of the present invention, the step d) includes: a signal power line receiving the fall risk signal; A sub-motor operating according to the fall hazard signal to rotate the rotary trigger; The trigger unit is released by the rotation of the rotary trigger to move along the trigger movement hole; A step of releasing the fixed percussion needle according to the movement of the trigger unit; The released cocking needle is triggered by the spring force of the elastic member; A step in which the trigger of the compressed gas cartridge is broken by the triggered needle; It may be characterized in that it further comprises the step of injecting the gas of the compressed gas cartridge into the inflator at a high pressure.

In an embodiment of the present invention, f) when the hip airbag unit is deployed and a certain time passes, the compressed gas injected through the gas outlet may be further characterized in that it further comprises the step of discharging from the air pocket.

The effect of the present invention according to the above configuration is to prevent the hip fracture and the backbone fracture of the user and the compression of the spine, etc. through the airbag structure of protecting the user's buttocks.

Another effect of the present invention according to the above configuration is to induce a faster expansion of the hip airbag than the conventional technology through a system composed of a compressed gas injection device for instantaneous airbag expansion.

It should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be deduced from the configuration of the invention described in the detailed description or claims of the present invention.

Figure 1 (a) is an exemplary view of the user's body wearing a belt device according to an embodiment of the present invention.
Figure 1 (b) is a state diagram of the user's body side wearing a belt device according to an embodiment of the present invention.
Figure 2 (a) is a front view of the body portion according to an embodiment of the present invention.
Figure 2 (b) is an internal perspective view of the body portion according to an embodiment of the present invention.
Figure 3 (a) is a front view of the inflated hip airbag unit according to an embodiment of the present invention.
Figure 3 (b) is a side view of the inflated hip airbag unit according to an embodiment of the present invention.
Figure 4 (a) is a front view of the inflated hip airbag unit according to an embodiment of the present invention.
Figure 4 (b) is a side view of the inflated hip airbag unit according to an embodiment of the present invention.
5 (a) is an exploded view of the left rear pocket according to an embodiment of the present invention.
Figure 5 (b) is an exploded view of the right rear pocket according to an embodiment of the present invention.
Figure 6 (a) is an exploded view of the rear center pocket according to an embodiment of the present invention.
6 (b) is an exploded view of a ligament fiber according to an embodiment of the present invention.
7 (a) is a front perspective view of a compressed gas injection device according to an embodiment of the present invention.
7 (b) is a top view of a compressed gas injection device according to an embodiment of the present invention.
8 is a cross-sectional view of a compressed gas injection device according to an embodiment of the present invention.
9 is an internal perspective view of a state in which a hip airbag unit is stored in a belt device according to an embodiment of the present invention.
10 is a schematic diagram showing a user wearing a fall risk sensing device according to an embodiment of the present invention.
11 is a conceptual diagram illustrating a sensor coordinate system of a sensor unit according to an embodiment of the present invention.
12 is a conceptual diagram showing a body and a vector code when there is an upper and lower body frostbite due to an external impact on the body.
13 is a conceptual diagram showing a body and a vector code when there is an abnormal motion of the upper and lower body due to an external impact on the body.
14 is a block diagram of a fall risk sensing method and a fall risk sensing method using the same according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and thus is not limited to the embodiments described herein. In addition, in order to clearly describe the present invention in the drawings, parts irrelevant to the description are omitted, and like reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, coupled)" to another part, it is not only "directly connected", but also "indirectly connected" with another member in between. "It includes the case where it is. Also, when a part “includes” a certain component, this means that other components may be further provided instead of excluding other components, unless specifically stated otherwise.

The terms used herein are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “include” or “have” are intended to indicate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and that one or more other features are present. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 (a) and (b) respectively shows a state of use of the belt device according to an embodiment of the present invention worn on the back and side of the user's body, and FIGS. 2 (a) and (b) are respectively the present invention. It shows the outer structure and the inner structure of the belt device device having a hip air bag according to an embodiment of the.

Belt device having a hip airbag according to an embodiment of the present invention includes a body portion 100 formed in a belt shape to surround the wearer's waist; A fall risk sensing device unit 400 that senses a fall risk of the wearer and transmits a fall risk signal in consideration of the wearer's posture balanced reflection reaction; A compressed gas injection device unit 300 configured to receive the fall hazard signal and inject compressed gas into the hip airbag unit 200; And a hip airbag unit 200 that is deployed to surround a wearer's buttocks when compressed gas is injected according to the fall risk signal in a state stored in the rear of the body unit 100.

The main body portion 100 is located at both ends of the main body portion 100, the waist buckle portion 110 is formed to be mutually coupled; A buckle connection portion 120 connecting the waist buckle with the main body portion 100; Fall danger signal and an alarm LED unit 130 for transmitting the alarm signal; A hip airbag storage box 140 formed to include an empty space in which the hip airbag unit 200 can be stored in a folded state; And located in the lower portion of the hip airbag storage box 140, the hip airbag front cover 150 having a downward opening and closing structure so that the hip airbag unit 200 stored in the hip airbag storage box 140 can be deployed It characterized in that it comprises.

The main body 100 is accommodated in the fall risk sensing device 400, the compressed gas injection device 300 and the hip airbag unit 200 in a folded state. When the compressed gas is injected through the compressed gas injection device 300, the hip airbag unit 200 is expanded to wrap around the rear of the wearer's buttocks and expand.

More specifically, the hip airbag unit 200 will be described with reference to FIGS. 3 to 6.

As shown, the hip airbag unit 200 according to an embodiment of the present invention is one or more sacks that are deployed in close contact with the wearer's body as much as possible when injecting compressed gas to effectively protect the wearer's hip and spine Consists of a pocket.

In this case, each of the bag-like pockets is characterized by being formed by sealing one or more air tubes 210 each having an independent structure.

5 and 6 show an exploded view of each of the bag-like pockets and ligament fibers. Each of the bag-like pockets is formed in a three-dimensional shape by sealing 2 to 3 air tubes 210 of an independent structure.

More specifically, each of the sack-type pockets is directly connected to the main body 100 and is rearwardly developed to surround the wearer's waist and rear centerline waist tube 221 and the wearer's center hip to be developed to cover the wearer's central hip. A rear center pocket 220 including a tube 222; A left rear pocket 230 connected to the left side of the rear center pocket 220 and deployed to surround the left hip portion of the wearer; And connected to the right side of the rear center pocket 220 may be characterized in that it consists of a right rear pocket 240 that is deployed to surround the right hip portion of the wearer.

According to an embodiment of the present invention, the left rear pocket 230 includes a left rear waist ligament 231 connected to the rear center waist tube 221; And it may be characterized in that it further comprises a left rear hip ligament (235) directly connected to the rear center hip tube (222).

In addition, according to an embodiment of the present invention, the right rear pocket 240 includes a right rear waist ligament 241 connected to the rear center waist tube 221; And it may be characterized in that it further comprises a right rear hip ligament (245) connected to the rear center hip tube (222).

Each of the air tubes 210 includes an endothelium 212 surrounding a wearer's buttocks; An outer shell 211 having a larger surface area than the inner shell 212 to have a curved solid shape when the tube is expanded; And a side fiber 213 sewn to connect the inner skin 212 and the outer skin 211.

The side fibers 213 form a safety thickness when the hip airbag portion 200 is expanded, thereby forming an airbag shape in a shape surrounding the body. The side fibers 213 are designed to be about 40 to 100 mm in consideration of the curved shape of the body's torso and hip sections and the thickness at the time of expansion.

In addition, the side fibers 213 may be characterized in that when the hip airbag portion is expanded, the hip airbag portion 200 is curved to be deployed to bend to the inside and side under the hip portion of the wearer.

In this case, the inner pressure of the tube is 2 atm level, and the sheath 211 limits the volume when inflated to maintain its appearance without breaking when injecting compressed gas at high pressure. In addition, the shell 211 may be characterized by being made of a textile material so as to sufficiently absorb the impact of a fall.

The hip airbag unit 200 according to an embodiment of the present invention further includes a gas outlet 250 through which compressed gas is discharged from the air tube 210 after a certain time has elapsed after the danger signal of falling. Can be done with

Through the gas outlet 250, after a certain period of time after the compressed gas is injected, the compressed gas is naturally released, and it is easy for the user to stand up after shock absorption of a fall.

In addition, the main body portion 100 according to an embodiment of the present invention, as shown in Figure 9, when the hip airbag portion 200 is stored and stored, to secure the hip airbag portion 200 in a folded state The airbag fixing band 160 may be further included to fix the hip airbag unit 200 more stably.

Hereinafter, the compressed gas injection device 300 will be described in more detail with reference to FIGS. 7 to 8.

7(a) and 7(b) disclose a front internal view and a top view of the compressed gas injection device 300 according to an embodiment of the present invention, and FIG. 8 shows the compressed gas injection device 300 ), respectively.

The compressed gas injection device 300 includes a trigger housing 310 having a compressed gas movement passage therein; A sub-motor for receiving the danger signal of falling and controlling the compressed gas injection device 300; An inflator 330 which is integrally manufactured with the hip airbag unit 200 to connect the trigger housing 310 and the hip airbag unit 200; And a compressed gas cartridge 340 that stores compressed gas and is coupled to the housing in a direction opposite to the coupling position of the inflator 330.

As described above, the hip airbag storage box 140 is composed of a fiber material box having a front cover of a hip airbag, and the airbag and the inflator 330 may be integrally manufactured. The hip airbag storage box 140 is a reusable structure.

The trigger housing 310 includes a trigger unit 311 for triggering the compressed gas injection device 300; A trigger movement hole 312 for guiding the movement of the trigger unit; It is made of a needle structure is fixed to the inside of the compressed gas movement passage, the percussion needle 313 to break the stopper of the compressed gas cartridge 340 when triggering; And an elastic member 314 providing a spring force capable of breaking the stopper of the compressed gas cartridge 340 to the trigger needle 313.

The sub-motor includes a signal power line 321 for receiving a fall hazard signal; A motor holder 322 fixing the sub-motor 320 with the trigger housing 310; And it characterized in that it comprises a rotary trigger 323 for controlling the triggering of the trigger unit 311 by the rotation.

The inflator 330 according to an embodiment of the present invention is characterized in that it is formed of a hydrodynamic trumpet structure in which the size of a cross section increases from the housing to the hip airbag part 200 so as to act as a nozzle.

The compressed gas injection method of the more specific compressed gas injection device 300 is as follows.

The triggering is initiated by the sub-motor 320 generated by receiving the fall hazard signal inducing the rotation of the rotary trigger 323 and the rotary trigger 323 inducing the movement of the trigger unit 311.

The trigger unit 311 moves according to the guide of the trigger movement hole 312, and the trigger needle 313 is fixed to the trigger unit 311 and moves together. The elastic member 314 provides a spring force for the percussion needle 313 to break the lid cap of the compressed gas cartridge 340.

Accordingly, the percussion needle 313 having the same structure as a syringe needle breaks the lid stopper of the compressed gas cartridge 340 by linear motion. In this case, the liquefied gas inside the compressed gas cartridge 340 moves through the compressed gas movement passage inside the trigger housing 310.

The liquefied gas is rapidly expanded with gas in the inflator 330 and injected into the stored hip airbag unit 200. This is the most efficient structure that can inflate the hip airbag unit 200 in a short time.

The inflator 330 is designed with a hydrodynamic trumpet structure to act as a nozzle for liquefied gas. Through this, the inflator 330 serves as a diffusion expansion tube that allows high-pressure liquid to move at high speed and vaporize instantaneously.

According to an embodiment of the present invention, the fall risk sensing device 400 is configured to include an angular velocity sensor and an acceleration sensor at each position of the wearer's body as shown in FIG. 10 to detect and transmit a fall risk state ( 410); And a control unit 420 that receives and processes the signal from the sensor unit 410.

The sensor unit 410 is configured to include a 3-axis acceleration sensor, a 3-axis angular velocity sensor, and a geomagnetic sensor, an upper body sensor 411 formed near the wearer's belly button near the CoM; A first lower body sensor 412 configured to include a three-axis acceleration sensor and a three-axis angular velocity sensor and formed near one ankle of the wearer; And a second lower body sensor 413 configured to include a 3-axis acceleration sensor and a 3-axis angular velocity sensor and formed near the ankle on the opposite side of the wearer.

In addition, each sensor of the sensor unit 410 is attached to the wearer's body in the form of a tag or a band. Each sensor is characterized in that the wearer is aligned to have the same azimuth by aligning the front as the x-axis of the sensor, the head direction as the z-axis of the sensor, and the side as the y-axis of the sensor in the standing position. .

According to an embodiment of the present invention, the sensor parts 410 are disposed on the upper and lower bodies of the body, and impulse acceleration motions acting on each body part upon impact through the sensor parts 410 and the body joints at this time. Measure the reflected rotational motion and observe the angular velocity and acceleration of each part of the body.

At this time, the cross product of the observed angular velocity vector and the acceleration vector is defined as the reflected acceleration (jerk), and the reflected acceleration (jerk) is reflected by the body for impact and posture balance acting on the body part. Reflect the ability.

In addition, the inner product of the reflected acceleration of each body part is defined as a phase index. The phase indicator is a triple scalar product type, and it is possible to classify an in-phase signal and an abnormal signal through a code and collectively express the ability to cope with an impact as a magnitude.

The control unit 420 derives the reflected acceleration and the phase index of each body part through the acceleration and angular velocity observed through the sensor unit 410, and preferentially according to the code of the phase indicator, the upper and lower body of the user It detects whether the reflection of is in-phased motion or hetero-phased motion.

More specifically, the control unit 420 includes a signal processor 421 for transmitting a signal for maintaining a stop state to the wearer according to the signal of the power switch of the fall sensing device; A body standstill detector 422 for checking a wearer's standstill; When the wearer's stationary state is confirmed, the gravity sensor 423 determines the magnitude of gravity; An initial attitude angle module 424 for calculating an initial attitude angle of the wearer; And a movement posture angle module 425 for calculating a current posture angle using the signal received from the sensor unit 410; And it characterized in that it comprises a fall risk detection module 426 for determining the degree of risk of the wearer falls using the calculated attitude, acceleration, and angular velocity values.

를, 관성좌표계 벡터는 아래첨자

를, 벡터 요소는 각 축을 나타내는 아래첨자

,

,

를 붙여 표기한다.Hereinafter, the sensor system of the fall risk sensing device 400 according to an embodiment of the present invention will be described in more detail. To this end, the sensor signal measured by the sensor coordinate system is a subscript as a 3D vector.

And the inertial coordinate system vector is subscript

, Vector elements are subscripts representing each axis

,

,

It is written with.

를 붙여 표기한다. 이하

는 상기 상체센서(411)가 부착된 체중심 CoM을,

는 상기 하체 제1센서(412)가 부착된 사용자 일측의 발목 부근 그리고

는 상기 하체 제2센서(413)가 부착된 사용자의 반대측의 발목 부근을 나타낸다. 단 각속도는 좌표계에 무관하므로 아래첨자 S를 생략하여 표시한다. In addition, the subscript is used to indicate the position of the sensor.

It is written with. Below

Body weight CoM is attached to the upper body sensor 411,

The lower first sensor 412 is attached to the user's ankle near the side and

Indicates the vicinity of the ankle on the opposite side of the user to which the lower body second sensor 413 is attached. However, since the angular velocity is independent of the coordinate system, the subscript S is omitted.

을 도입하여 하기의 식 (1)로 표현할 수 있다. 단,

,

등의 간략한 표시이다.As shown in Fig. 11, the relationship between the sensor coordinate system and the inertial coordinate system (fixed to the indicator) of each sensor of the sensor unit 410 is a coordinate rotation conversion formula of Roll, Pitch, Yaw method.

It can be represented by the following formula (1) by introducing. only,

,

It is a brief indication of the back.

(1)

(One)

와 관성좌표계의 가속도벡터

는 다음의 식 (2)로 표현된다.That is, the acceleration vector measured by each sensor

And the acceleration vector of the inertial coordinate system

Is expressed by the following equation (2).

는 센서좌표계의 각축에 대해 관성좌표계 축으로 일치시키도록 회전한 값이다. 이 때

는 직교행렬(orthogonal matrix)이므로

가 성립한다. 따라서

를 알면

계산이 가능하고, 다음의 식 (3)을 이용하여 관성좌표계의 가속도 벡터로의 환산이 가능하다.here,

Is the value rotated to coincide with the axis of the inertial coordinate system for each axis of the sensor coordinate system. At this time

Is an orthogonal matrix.

Is established. therefore

Knowing

It is possible to calculate and convert the inertial coordinate system to an acceleration vector using the following equation (3).

The sensor system using the fall risk sensing device according to an embodiment of the present invention firstly calculates the initialization and acceleration of each sensor posture angle.

에 의한 센서 자세각 Roll, Pitch 값은 다음의 관계식 (4)로 얻어진다.More specifically, in a state in which the user turns on the power switch at the initial stage of wearing, and the body is stopped by collecting both legs, the initial posture angle is calculated using gravity. Gravity from equations (1) and (2) above

The sensor attitude angle Roll and Pitch values by are obtained by the following relational expression (4).

(4)

(4)

,

가 계산된다.From the above equation (4) through the following equation (5) sensor attitude angle

,

Is calculated.

는 상기 관계식 (4)에서 얻어지지 못하므로 상기 상체센서(411)에 장착한 지자기센서(e-Compass)로부터 측정한 값을 이용한다. 이때 상기 센서부(410)의 각 센서는 신체 머리방향을 z축으로 정렬시켰기 때문에

는 각 센서마다 동일한 값이 된다(즉,

).Meanwhile

Since is not obtained in the relational expression (4), the value measured from the geomagnetic sensor (e-Compass) mounted on the upper body sensor 411 is used. At this time, since each sensor of the sensor unit 410 aligns the head direction of the body with the z axis,

Is the same value for each sensor (ie,

).

Therefore, the initial attitude angle of the upper body sensor 411 is obtained from the following equation (6).

(6)

(6)

의 샘플링시간

간의 적분값)을 더하여, 변화된 현재의 자세각을 산출한다. 이때

는 상기 지자기센서의 신호 값을 직접 읽어 아래

벡터의 z요소에 넣는다.When the user's posture change starts, the initial posture value in Eq. (6) is incremented (angular velocity).

Sampling time

(Integral value of liver) is added to calculate the changed current posture angle. At this time

Read the signal value of the geomagnetic sensor directly below

Put it in the z element of the vector.

(7)

(7)

를 제외한, 즉, 현재의 측정값

에서 중력분을 제외한 신호로 보정해 놓는다. 현재의 중력가속도성분은 후술하는 식(11), (12)의 미소변화 관계식과 증분(jerk

의 샘플링시간

간의 적분값)을 적산하는 아래의 관계식으로부터 얻어진다. 이 계산법은 초월함수를 사용하지 않아 계산속도가 빠르다.The acceleration sensor is an acceleration vector due to gravity when the body posture of equation (4) is stopped.

Excluding, that is, the current measured value

It is corrected with a signal excluding gravity. The current gravitational acceleration component is a small change relationship equation (11) and (12) and an increment (jerk)

Sampling time

The integral value of the liver) is obtained from the following relational formula for integrating. This calculation method does not use a transcendental function, so the calculation speed is fast.

=

(8)

=

(8)

는 중력보정값을 의미한다. 한편, 센서좌표계 가속도벡터

와 관성좌표계의 가속도 벡터

의 크기는 동일하다. 즉, 식(2)의 좌표계 변환시 벡터량은 하기 식 (9)와 같다.Sensor acceleration vector below

Means the gravity correction value. Meanwhile, the sensor coordinate system acceleration vector

And inertial coordinate system acceleration vector

The size is the same. That is, the vector amount in the coordinate system transformation of Equation (2) is as shown in Equation (9) below.

(9)

(9)

이므로, 좌표변환과 상관없이 두 벡터의 크기는 동일함을 알 수 있다. 이 값은 신체의 가속도가 낙상상태인 지를 판별할 때 활용한다. At this time, the coordinate rotation conversion

Therefore, it can be seen that the sizes of the two vectors are the same regardless of the coordinate transformation. This value is used to determine if the body's acceleration is falling.

가 제로(즉, 관성좌표계 가속도

라면 자세정지로 보고, 초기 자세각을 재산정한다.In this case, the angular velocity of each gyro sensor is zero, and the result of equation (9), that is, the sensor coordinate system acceleration

Is zero (ie, inertial coordinate system acceleration

The ramen is considered as a posture stop, and the initial posture angle is recalculated.

(10)

(10)

는 는 회전외력의 영향도 받지만, 기본적으로 관절의 자동반사제어 토오크를 반영하는 파라미터로 해석된다. 가속도관계 식(2)를 미분하면, 순간적인 가속도 즉, 가가속도(Jerk)

가 얻어진다.When the body movement is accelerated by the sudden external force, that is, the impact, the body joint muscles react to the reflex reaction to instantaneously maintain posture balance by generating joint torque. Angular velocity

Is affected by the external force of rotation, but is basically interpreted as a parameter reflecting the automatic reflection control torque of the joint. When the equation of the acceleration relationship (2) is differentiated, the instantaneous acceleration, that is, the acceleration (Jerk)

Is obtained.

(11)

(11)

,

는 다음과 같은 skew-symmetric matrix이다.only

,

Is the skew-symmetric matrix as follows.

(12)

(12)

는 충격이 작용하는 극히 짧은 시간 동안 일정한 가속도 값을 갖는다고 가정할 수 있다. 낙상현상은 충격적이므로 신체의 가속에 대해 이와 같은 가정은 타당하다.

일 때의 신체의 반사에 의한 가가속도(Jerk)를 반사 jerk라고 부르고 다음과 같이 정의한다.Body acceleration here

Can be assumed to have a constant acceleration value for a very short period of time during which the impact is applied. Falling is shocking, so this assumption for body acceleration is valid.

The acceleration (Jerk) caused by the reflection of the body at the time is called the reflection jerk and is defined as follows.

(13)

(13)

The reflected acceleration acceleration (Jerk) can be used as a basis for determining whether the angular velocity of the joint moves in the posture restoration direction for the action of the external force acceleration, and whether the size is within a posture balance limit value. In the case of a high-speed elevator, the limit vertical jerk is designed to be about 1.3 to 2.0 m/s ³ .

When the upper body and the lower body are accelerated in the same direction due to external impact on the body, the vector of movement of the supported lower ankle during center and both feet, that is, the reflected acceleration (jerk) of Eq. (13) is shown in FIG. It has the same sign as shown. Conversely, if the reflected acceleration (jerk) code is calculated, it is possible to detect whether the body is integrally moved. (However, right thumb: angular velocity direction (counterclockwise +), index: acceleration direction, middle: vector direction up +, down -)

In addition, the body exhibits an automatic postural response to recover posture balance against shock disturbance by delaying the time of about 100 msec. For example, in response to ground slippage, the ankle rotates backward, but the hip joint attempts to bend forward, reacting to maintain the center of mass (CoM).

In other words, the upper and lower body joints have a body balance by performing a hetero-phased motion. As illustrated in FIG. 13, the upper and lower bodies are represented by different codes in each reflection jerk at this time, and the vector is used to detect the attitude reflection pattern of the upper and lower bodies.

,

를 하기의 식 (14)와 같이 정의한다. 하체는 양다리로 발목에 센서를 붙이므로 위상지표는 CoM 각각 발목 간의 위상을 나타내며, 위상지표의 부호로서 동상, 이상여부를 판정한다.Synthesizing the above characteristics, as an index to monitor the movement phase, the phase index using the inner product of the upper and lower body reflection jerk, that is, triple scalar product

,

Is defined as Equation (14) below. Since the lower body attaches sensors to the ankles with both legs, the phase indicators indicate the phases between the ankles of each CoM, and it is determined whether a phase is abnormal or not as a sign of the phase indicators.

(14)

(14)

One embodiment of the present invention is characterized in that it is possible to set the posture angle limit value, that is, the limit parameter, in a customized manner in consideration of the balance of the wearer's age and muscle reflex reaction.

Hereinafter, the setting of each posture angle limit value will be described in detail.

6.25

6.25

,

이상이면 자세를 복원시키지 못하여 낙상 상태가 초래된다.The setting of posture limit values for front and rear and side will be described. In a normal person, the standing or sitting position or the angle of the ankle or hip supporting the body

6.25

6.25

,

If it is abnormal, the posture cannot be restored, resulting in a fall.

가 전후방 한계 자세각(limits of posture angle),

가 측방 한계 자세각이다. 고령노인의 경우는 자세균형능력이 저하되어 자세조절 가능한 한계자세각이 좁아진다. 이를 고려하여 사용자의 균형감각 및 근육 반사 등에 대응하도록 낙상 한계자세각을

,

로 설계한다.In other words,

A limit of posture angle,

Is the lateral limit posture angle. In the case of the elderly, the posture balance ability decreases, and the limiting posture angle for posture control is narrowed. In consideration of this, the fall limit posture is adjusted to respond to the user's sense of balance and muscle reflexes.

,

It is designed as.

msec 정도이다. 이 시간 동안 각속도가 계속 증가하여 전방 자세각이

, 측방 자세각이

이 된다면 신체는 조절불능 상태가 된다. Describes the setting of the angular velocity limit for posture prediction. The time at which feedback of body posture can be adjusted after the impulse when slip or fall starts

It is about msec. During this time, the angular velocity continues to increase so that the forward posture angle

Lateral angle

If this happens, the body becomes out of control.

)가 자세조절 가능한 시간

이후, 자기균형한계 내인지를 다음과 같은 요소벡터의 각속도 평균한계

=

를 이용하여 설정한다.Current equilibrium position (

Time)

Then, whether it is within the self-balancing limit or not, the angular velocity average limit of the following element vectors:

=

Set using.

(15)

(15)

Explains how to set the acceleration limit value for falling (falling). The fall on the bed, stairs, etc. in the direction of gravity, the body falls at the gravitational acceleration without a support point. It is necessary to set a dangerous system not only for the direction of gravity, but also for the acceleration of the front and rear and left and right for the elderly.

와 관성좌표계의 가속도 벡터

의 크기는 동일하다. 이를 이용하여 센서좌표계 가속도

를 이용하여 가속도 한계를 설정한다.The acceleration limit is preferably based on the inertial coordinate system, but the coordinate transformation of the sensing acceleration to the inertial coordinate system acceleration is a matrix using trigonometric functions as a factor, which is unrealistic for fall determination, where instantaneous discrimination is important. On the other hand, as shown in equation (9), the sensor coordinate system acceleration vector

And inertial coordinate system acceleration vector

The size is the same. Using this, the sensor coordinate system acceleration

Use to set the acceleration limit.

Describes the limit value of the reflected acceleration (jerk) and phase indicator. In the case of high-speed elevators, the limit of acceleration is 1.3~2.0 m/s ³ , the limit of hospital environment is 0.7 m/s ³ , and the limit of acceleration that humans cannot tolerate is 6.0 m/s ³ . .

, 위상지표의 한계값

를 설정한다.Taking this into consideration and adapting the individual's physical ability to external acceleration to the characteristics, the reflected acceleration (jerk)

, Limit value of phase indicator

To set.

(16)

(16)

Accordingly, the fall risk detection module 426 according to an embodiment of the present invention determines whether the wearer's upper and lower body motion is frostbite motion or abnormal motion, and in the case of frostbite motion, the posture angle after the body reaction time A first fall risk detection module 427 that determines whether the first fall risk is predicted by predicting whether it is within the self-balancing limit, and predicts whether the wearer's automatic reflection response is resilience in case of abnormal movement to determine the second fall risk It characterized in that it comprises a second fall risk detection module (428).

The first fall risk detection module 427 determines whether the calculated acceleration is within an acceleration limit value and whether the calculated reflected acceleration acceleration (jerk) and the phase index are within the limit value to determine the wearer's fall state. It is characterized by.

The second fall risk detection module 428 determines whether the wearer is in a fall state by determining whether the calculated angular velocity is within the angular velocity limit value and whether the calculated reflected acceleration acceleration (jerk) and the phase indicator are within the limit value. It is characterized by.

In addition, the control unit 420 according to an embodiment of the present invention is characterized in that when the calculated angular velocity is stopped and the calculated acceleration coincides with the gravitational vector, the initial posture angle is recalculated from the wearer's posture stop. Can.

Hereinafter, a method of determining a fall risk according to the above-described custom-made threshold angle limit will be described in more detail.

또는

부호가 (+)이면, 동상운동(in-phase motion)이다. In the case of the first fall risk determination step, the first fall risk detection module 427 preferentially detects an in-phase signal. At the moment, the slip and fall are instantaneous rapid disturbances, and at that moment, the body weight and the ankle joint are stiffened, and all movements are performed as if it were a fixed joint. Phase indicators are used to detect this.

or

If the sign is (+), it is in-phase motion.

, or

, or

At this time, the movement of the rest of the ankle may be frostbite or abnormal. In other words, if the motion of the foot supported by the ground and the weight-centered CoM is expressed in the same direction, it becomes a frostbite motion, and the rest of the feet may have a free motion direction or be frostbite.

이다. 현재로부터 시각

에서 자세가 자기균형 한계 내인지를 예측하여 낙상위험을 추정한다.When the frostbite signal is detected, the primary fall risk is determined. The time at which feedback of body posture control is possible after the impulse to start slipping or falling

to be. Time from the present

Estimates the fall risk by predicting whether the posture is within the self-balancing limit.

or

(18)

or

(18)

At this time, the exercise state is '1 ^st Fall Risk Warning'. In addition, the acceleration limit value is determined by the acceleration sensor signal. In the case of Equation (19) below, the exercise state is'Falling Down'.

and

(19)

and

(19)

,

이내 이어야 한다. 하기의 식 (20)과 같은 경우 운동상태는 '낙상(Falling Down)'이다.Also, the reflection and phase indicators are the limit values.

,

Should be within. In the case of Equation (20) below, the exercise state is'Falling Down'.

(20)

(20)

또는

부호가 (-)이면, '자동자세반사' 상태로 판정한다. 하기의 식 (21)과 같은 경우 '이상(hetero-phased motion)'이다In the case of the second fall risk determination step, the second fall risk detection module 428 preferentially detects an abnormal signal. It detects an abnormal signal (auto-reflective action). Phase indicators are used to detect this.

or

If the sign is (-), it is judged as'automatic posture reflection'. In the case of the following equation (21), it is'hetero-phased motion'

and

(21)

and

(21)

When an abnormal signal is detected, the second fall risk detection module 428 detects whether a restoring force is present. If there is a slip acceleration force (disturbance) acting on the center and an angular hip angular acceleration of the opposite sign, the slip acceleration is reduced. That is, in the abnormal reflection, the restoring force works only when the following equation (22) is satisfied.

=

or

=

or

=

(22)

=

(22)

값이 시각

이전과 각속도 한계값

이하로 예측되어야 한다. 즉 하기의 식 (23)과 같은 경우 운동상태는 '낙상(Falling Down)'이다.Then, the secondary self-balancing state is determined. This is the current angular velocity

Value time

Previous and angular speed limit values

It should be predicted below. That is, in the case of Equation (23) below, the exercise state is'Falling Down'.

(23)

(23)

,

이내 이어야 한다. 하기의 식 (24)와 같은 경우 운동상태는 '낙상(Falling Down)'이다.Also, the reflection and phase indicators are the limit values.

,

Should be within. In the case of Equation (24) below, the exercise state is'Falling Down'.

(24)

(24)

,

,

,

를 읽어 각속도 정지이며, 가속도

가 중력벡터와 일치하면 자세정지로 보고 식 (10)에 의해 초기 자세각을 재산정한다.After that, the control unit is currently

,

,

,

Read the angular velocity stop, acceleration

If is equal to the gravity vector, it is regarded as posture stop and the initial posture angle is recalculated by equation (10).

Accordingly, another technical feature of the present invention is a fall risk sensing method using a fall risk sensing device according to an embodiment of the present invention.

More specifically, the fall risk sensing method according to an embodiment of the present invention comprises the steps of: a) setting a limit parameter and inputting it to the control unit; b) calculating an initial posture angle for the stationary wearer; c) observing an angular velocity vector and an acceleration vector acting on each part of the body according to the movement of the wearer and calculating an exercise posture angle; d) deriving a reflected acceleration by multiplying the angular velocity vector and the acceleration vector; e) deriving a phase index by dot producting the reflected acceleration of each part of the wearer's body; f) determining whether the wearer falls by combining the reflected acceleration acceleration and the phase index; And g) issuing a final fall alert if determined to be a fall hazard.

According to an embodiment of the present invention, step b) sends a stop signal to the wearer while the fall risk sensing device is standing; Checking the wearer's stationary state; Detecting a magnitude of gravity when the wearer's stationary state is confirmed; And calculating the initial posture angle.

According to an embodiment of the present invention, step f) further includes determining whether the wearer's upper and lower body motion is a frostbite motion or an abnormal motion, and if the sign of the phase indicator is (+), it is determined as a frostbite motion. , If the sign of the phase indicator is (-), it may be characterized as judging by an abnormal motion.

Accordingly, when the wearer's upper and lower body reflex rotation motion is a frostbite motion, step f) synthesizes the phase indicators to determine whether or not the predicted value of body posture is within a posture angle limit, thereby determining a primary fall risk condition. It may be characterized by further including.

In this case, the step f) may further include determining whether the wearer's fall state is determined by determining whether the calculated acceleration is within an acceleration limit value when the wearer's upper and lower body reflex rotation motion is a frostbite motion. .

In addition, the f) step further comprises the step of determining whether the wearer's fall state is determined by determining whether the reflected acceleration acceleration and the phase index are within a limit value when the wearer's upper and lower body reflected rotational motion is a frostbite motion. can do.

If the wearer's upper and lower body reflex rotation motion is abnormal, step f) determines whether the wearer's own automatic posture reflection is within the posture restraint limit by combining the reflected acceleration and phase indicators to determine the secondary risk of falls. It may be characterized in that it further comprises a step.

In this case, the step f) may further include determining whether the wearer's fall state is determined by determining whether the calculated angular velocity is below a threshold value when the wearer's upper and lower body's reflected rotational motion is abnormal. Can.

In addition, the step f) further includes determining whether the wearer's fall state is determined by determining whether the reflected acceleration acceleration and the phase index are below a threshold when the wearer's upper and lower body's reflected rotational motion is abnormal. It can be characterized by.

<Signal processing module of sensor system>

As shown in FIG. 5, the electric unit is a signal processor for fall risk detection, which is an upper body sensor 110, a first lower body sensor 120, a second lower body sensor 130, and a control unit 200 for processing a sensing signal. risk).

과 지자기 센서로 방위각(yaw)

를 검출하여 제어기로 전달한다.The upper body sensing tag, which is an embodiment of the upper body sensor 110, is a small-sized semiconductor type 3-axis accelerometer, 3-axis gyro sensor, which senses 3 accelerations and 3 angular speeds.

and Geomagnetic sensor azimuth (yaw)

It detects and delivers it to the controller.

및

를 검출하여 제어부(200)로 전달한다. 제어부(200)인 낙상위험감지용 신호처리기(signal processor for fall risk)는 전원스위치가 ON이 되면, 위 신호들을 전달받고, 알람 등 신호로 착용자에게 서있는 자세의 정지상태를 유도한다. 이때 신호처리기(210)인 신체 정지상태 검출기를 작동시켜 식(10)으로 정지하고 있는 지를 판정한다. 정지가 확인되면 신체 정지상태 검출기(220)인 중력 감지기로서 중력크기를 확인하고 초기자세각 모듈(240)은 식(5)로 초기 자세각

,

을 산출한다. 한편 지자기 센서신호로부터 받은

를 이용하여

을 운동자세각 모듈(250)로 보낸다. 운동 자세각 모듈(250)은 식(7)로서 현재의 자세각을 산출한다. 이어서 식(8)로 센서 가속도벡터의 중력분을 보정해 놓는다.The first lower body sensor 120 and the second lower body sensor also include a 3-axis accelerometer and a 3-axis gyro sensor, respectively.

And

It detects and delivers it to the control unit 200. The signal processor for fall risk, which is the control unit 200, receives the above signals when the power switch is turned on, and induces a stop state of the standing posture to the wearer by signals such as an alarm. At this time, it is determined whether or not the signal processor 210 is stopped by operating the body stop state detector (10). When the stop is confirmed, the body stop status detector 220 is a gravity sensor, which checks the magnitude of gravity, and the initial posture angle module 240 uses the equation (5) to determine the initial posture angle.

,

Calculate Meanwhile, received from the geomagnetic sensor signal

Using

Is sent to the exercise attitude module 250. The exercise posture angle module 250 calculates the current posture angle as equation (7). Subsequently, the gravity component of the sensor acceleration vector is corrected by equation (8).

이후 자세가 자기균형 한계 내 인지를 식(18)로 예측하고, 또 식(19)의 가속도 판별식, 식(20)의 반사지표, 위상지표 판별식으로 낙상위험을 판정한다. 한편 2차 낙상위험감지모듈(262)에서 위상지표 식(21)로서 이상을 판별하고, 이상이라면 자동반사반응이 복원력인지 여부를 식(22)로 판단하고, 각속도 한계 식(23), 반사지표, 위상지표 판별식(24)으로 2차 낙상위험을 판정한다. Since the attitude angle, acceleration, and angular velocity vectors were obtained, the current fall risk level is first determined by the attitude balance limit attitude angle. In addition, the frostbite and abnormality are determined using Equation (17), and if the frostbite is the first fall risk detection module 261, the time at which the body reacts.

Then, the attitude is predicted by the equation (18), and the fall risk is determined by the acceleration discriminant of formula (19), the reflection index of the formula (20), and the phase indicator discriminant. On the other hand, the second fall risk detection module 262 determines the abnormality as the phase index expression (21), and if it is abnormal, determines whether the automatic reflection response is resilience (22), the angular velocity limit expression (23), and the reflection index. , The second fall risk is determined by the phase index discriminant (24).

The specific signal processing algorithm of the sensor system to which one embodiment of the present invention is applied is as follows.

① Power switch ON.

,

,

,

,

,

② Limit parameter SET. set

,

,

,

,

,

then the state is ‘stop’ goto ④, otherwise, send a ‘stop alarm’ and wait until the satisfy to conditions.③ Physical stop status CHECK. if

then the state is'stop' goto ④, otherwise, send a'stop alarm' and wait until the satisfy to conditions.

:Roll

, Pitch

(식(5)), and Yaw

(from e-compass)④ Initial posture angle CALCULATION.

:Roll

, Pitch

(Eq. (5)), and Yaw

(from e-compass)

에 대해 현재 자세각

(식(7)). Reset

하여 계속 자세각을 갱신⑤ Current posture angle CALCULATION. sampling

About the current posture angle

(Eq. (7)). Reset

Continue to update the posture angle

⑥ GRAVITY CORRECTION of acceleration vector.

=

for

(식(8))

=

for

(Eq. (8))

⑦ Phase indicator CHECK.

, or

, then the state is ‘in-phase motion’ goto ⑧, if

, or

, then the state is'in-phase motion' goto ⑧,

and

then the state is ‘hetero-phased motion’ goto ⑪if

and

then the state is'hetero-phased motion' goto ⑪

or

(식(18)), then the state is ‘1st Fall Risk Warning’ and goto

, otherwise goto ⑪⑧ 1st posture balance limit CHECK.

or

(Eq. (18)), then the state is '1st Fall Risk Warning' and goto

, otherwise goto ⑪

and

(식(19)), then the state is ‘Falling Down’ and send a ‘risk alarm’, otherwise, goto ⑪ ⑨ Acceleration dangerous system CHECK. If

and

(Eq. (19)), then the state is'Falling Down' and send a'risk alarm', otherwise, goto ⑪

⑩ Reflex jerk, phase indicator dangerous system CHECK.

then the state is ‘Falling Down’ and send a ‘risk alarm’, otherwise, goto ⑪ if

then the state is'Falling Down' and send a'risk alarm', otherwise, goto ⑪

, or

, then the state is ‘2nd Fall Risk Warning’, otherwise goto ⑭ ⑪ 2nd posture balance limit CHECK. If

, or

, then the state is '2nd Fall Risk Warning', otherwise goto ⑭

, then the state is ‘falling down’ and send a ‘risk alarm’⑫ Angular speed limit CHECK. if

, then the state is'falling down' and send a'risk alarm'

⑬ Reflex jerk, phase indicator risk limit CHECK.

then the state is ‘Falling Down’ and send a ‘risk alarm’, otherwise, goto ⑭ if

then the state is'Falling Down' and send a'risk alarm', otherwise, goto ⑭

if

and

, then the state is ‘stop’ goto ④, otherwise goto ⑤⑭ Physical suspension CHECK. Read

if

and

, then the state is'stop' goto ④, otherwise goto ⑤

Hereinafter, as another technical feature of the present invention, a method of operating a belt device having a hip airbag for preventing injury according to an embodiment of the present invention will be described.

More specifically, according to an embodiment of the present invention, a method of operating a belt device having a hip airbag for preventing injury due to a fall includes: a) a fall risk sensor device detecting a fall risk of a wearer and transmitting a fall risk signal; b) the compressed gas injection device 300 receives the fall risk signal; c) the compressed gas injection unit 300 is triggered to inject compressed gas into the hip airbag unit 200; d) expanding the stored hip airbag unit 200; And e) the hip airbag part 200 is opened from the storage box 140 and deployed to cover the wearer's buttocks.

In step d), the signal power line 321 receives the fall risk signal; A sub-motor 320 operating according to the fall danger signal to rotate the rotary trigger 323; The trigger unit 311 is released by the rotation of the rotary trigger 323 and moves according to the trigger movement hole 312; A step of releasing the fixed percussion needle 313 according to the movement of the trigger unit 311; The released trigger needle 313 is triggered by the spring force of the elastic member 314; A step in which the trigger of the compressed gas cartridge 340 is fractured by the triggered needle 313; It may be characterized in that it further comprises the step of injecting the gas of the compressed gas cartridge 340 into the inflator 330 at a high pressure.

In addition, a method of operating a belt device having a hip airbag for preventing injury due to falls according to an embodiment of the present invention f) When the hip airbag unit 200 is deployed and a certain time passes, the gas outlet 250 It may be characterized in that it further comprises the step of carrying out the compressed gas injected through the air pocket.

The above description of the present invention is for illustration only, and those skilled in the art to which the present invention pertains can understand that the present invention can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all modifications or variations derived from the meaning and scope of the claims and their equivalent concepts should be interpreted to be included in the scope of the present invention.

100: body portion 110: waist buckle
120: buckle connection 130: LED for warning
140: hip airbag storage box 150: hip airbag front cover
160: airbag fixing band 200: hip airbag
210: air tube 211: outer shell
212: endothelial 213: side fibers
220: rear center pocket 221: rear center waist tube
222: rear center hip tube 230: left rear pocket
231: left posterior lower ligament 232: left rear first tube
233: left rear second tube 234: left rear third tube
235: left rear hip ligament 240: right rear pocket
241: right posterior lower ligament 242: right rear first tube
243: Right rear second tube 244: Right rear third tube
245: rear right ligament 250: gas outlet
300: compressed gas injection unit 310: trigger housing
311: trigger unit 312: trigger movement hole
313: trigger needle 314: elastic member
320: sub-motor 321: signal power line
322: motor base 323: rotary trigger
330: inflator 340: compressed gas cartridge
400: fall risk sensing device 410: sensor unit
411: upper body sensor 412: first lower body sensor
413: second lower body sensor 420: control unit
421: signal processor 422: stationary detector
423: Gravity sensor 424: Initial posture angle module
425: exercise posture angle module 426: fall risk detection module
427: first fall risk detection module 428: second fall risk detection module
430: battery pack

Claims (17)

The body portion formed in a belt form to surround the wearer's waist;
A fall risk sensing device unit that senses a wearer's fall risk and transmits a fall risk signal in consideration of the wearer's posture balanced reflection reaction;
A compressed gas injection device unit configured to receive the fall hazard signal and inject compressed gas into the hip airbag unit; And
When the compressed gas is injected according to the fall risk signal in a state stored in the rear of the body portion includes a hip airbag portion that is deployed to surround the hip of the wearer,
The hip airbag portion includes one or more bag-shaped pockets that are formed to be closed in close contact with the wearer's body, and have at least one air tube having an independent structure fitted to have a three-dimensional shape fitted to the wearer's body shape,
Each of the bag pockets,
A rear center pocket including a rear center waist tube which is directly connected to the main body and is deployed to surround the wearer's waist, and a rear center hip tube, which is deployed to wrap the wearer's center hip;
Connected to the left side of the rear center pocket and deployed to surround the wearer's left hip area, a left rear waist ligament connected to the rear center waist tube and a left rear hip ligament connected to the rear center hip tube. pocket; And
It is connected to the right side of the rear center pocket and is deployed to surround the wearer's right hip area, and a right rear waist ligament connected to the rear center waist tube and a right rear hip ligament connected to the rear center hip tube. pocket; Belt device having a hip airbag for preventing injury due to falling, characterized in that it comprises a.
According to claim 1,
The body portion
Waist buckle parts are formed to be coupled to each other at both ends of the body portion;
A buckle connection portion connecting the waist buckle with the main body portion;
An alarm LED unit that transmits a fall hazard signal and an alarm signal;
A hip airbag storage box formed to include an empty space in which the hip airbag unit can be stored in a folded state; And
Located in the lower portion of the hip airbag storage box, a hip airbag for preventing injury due to a fall, comprising a front cover of a hip airbag having a downwardly retractable structure so that the hip airbag portion stored in the hip airbag storage box can be deployed. Belt device having a.
delete delete According to claim 1,
Each air tube is
Endothelium surrounding the wearer's hip area;
An outer shell having a larger surface area than the inner shell to have a curved solid shape when the tube is expanded; And
Belt device with a hip airbag for preventing injury due to falling, characterized in that it comprises a side fiber sewn to connect the inner shell and the outer shell of the different surface areas.
The method of claim 5,
The side fibers
When the hip airbag portion is inflated, the belt device having a hip airbag for preventing injury due to falling, characterized in that the hip airbag portion is curved to be deployed to the inside and side of the wearer's hips to the inside and side.
The method of claim 5,
The outer shell is a belt device having a hip airbag for preventing injury due to falling, characterized in that it is made of a fabric material.
According to claim 1,
The hip airbag unit
Belt device with a hip airbag for preventing injury due to falling, further comprising a gas outlet through which compressed gas is discharged from the inside of the air tube to the outside after a predetermined time after the fall danger signal.
delete delete According to claim 1,
The compressed gas injection unit
A trigger housing having a compressed gas moving passage therein;
A sub-motor that receives the fall danger signal and controls the compressed gas injection device;
An inflator formed integrally with the hip airbag unit to connect the trigger housing and the hip airbag unit; And
Belt device having a hip airbag for preventing injury due to falling, comprising a compressed gas cartridge that stores compressed gas and is coupled to the housing in a direction opposite to the coupling position of the inflator.
The method of claim 11,
The trigger housing
A trigger unit for triggering the compression gas injection device;
A trigger movement hole for guiding the movement of the trigger unit;
It is made of a needle structure is fixed to the inside of the compressed gas movement passage, the percussion needle to break the stopper of the compressed gas cartridge when triggered; And
Belt device with a hip airbag for preventing injury due to falling, characterized in that it comprises an elastic member that provides a spring force capable of breaking the stopper of the compressed gas cartridge to the percussion needle.
The method of claim 12,
The sub-motor
A signal power line for receiving the fall hazard signal;
A motor holder fixing the sub-motor with the trigger housing; And
Belt device with a hip airbag for preventing injury due to falling, comprising a rotary trigger that controls the triggering of the trigger unit by rotation.
The method of claim 12,
The inflator is a belt device having a hip airbag for preventing injury due to a fall, characterized in that it is formed in a trumpet structure in which the size of the cross section increases from the housing to the hip airbag.
In the operation method of the hip airbag belt device for preventing injury,
a) the fall risk sensor unit detects a fall risk of the wearer and transmits a fall risk signal;
b) receiving the fall risk signal by the compressed gas injection device;
c) the compressed gas injection device is triggered to inject compressed gas into the hip airbag;
d) expanding the hip airbag unit that has been stored;
e) the hip airbag portion is opened from the storage box and includes a step of being deployed to cover the wearer's buttocks,
The belt device having the hip airbag is a belt device having a hip airbag for preventing injury due to a fall of any one of claims 1, 2, 5 to 8, or 11 to 14. A method of operating the device of the hip airbag belt for preventing injury due to falls.
The method of claim 15,
Step d),
A signal power line receiving the fall hazard signal;
A sub-motor operating according to the fall hazard signal to rotate the rotary trigger;
The trigger unit is released by the rotation of the rotary trigger to move along the trigger movement hole;
A step of releasing the fixed percussion needle according to the movement of the trigger unit;
The released trigger is triggered by the spring force of the elastic member;
A step in which the trigger of the compressed gas cartridge is broken by the triggered needle;
A method of operating a hip airbag belt device for preventing injury due to falls, further comprising the step of injecting gas of the compressed gas cartridge into the inflator at a high pressure.
The method of claim 15,
f) A method of operating a hip airbag belt device for preventing injuries due to falls, further comprising a step in which the compressed gas injected through the gas outlet is discharged from the air pocket after a certain time after the hip airbag unit is deployed.

Images