WIRELESS MOSTION SENSOR SYSTEM AND METHOD

• US 20170272842A1
• Filed: 03/15/2016
• Published: 09/21/2017
• Est. Priority Date: 11/02/2004
• Status: Active Grant

• Current Assignee: Pierre A. Touma
• Original Assignee: Pierre Touma
• Inventors: Touma, Pierre A., Murr, Hadi, Bachaalany, Elias, Maalouf, Imad
• Granted Patent: US 9,900,669 B2
• Time in Patent Office: Days
• CPC Class Codes: A01K 29/005 Monitoring or measuring activity, e.g. detecting heat or mating
• CPC Class Codes: A63B 24/0003 Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
• CPC Class Codes: A63B 24/0062 Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
• CPC Class Codes: A63B 43/00 Balls with special arrangements
• CPC Class Codes: G08C 17/02 using a radio link
• CPC Class Codes: H04Q 2209/43 using wireless personal area networks [WPAN], e.g. 802.15, 802.15.1, 802.15.4, Bluetooth or ZigBee
• CPC Class Codes: H04Q 2209/823 where the data is sent when the measured values exceed a threshold, e.g. sending an alarm
• CPC Class Codes: H04Q 2209/883 where the sensing device enters an active or inactive mode
• CPC Class Codes: H04Q 9/00 Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom

Abstract

A wireless motion sensor system comprising a wearable inertial measurement unit, a wireless signal relay unit, and a data analysis server can be used in low power sensing and control applications, such as continuous monitoring and recording of motion and other parameters before, during, and after the occurrence of an unpredictable event. Data from the inertial measurement unit could be analyzed and presented on a graphical presentation unit.

Claims

1. [canceled]

2. A motion analysis system comprising a wearable measurement unit, a signal relay unit, and a data analysis server, wherein:

the wearable measurement unit comprises;

a first orientation sensor comprising an accelerometer, a magnetometer, and a gyroscope;

a measurement unit processor responsive to the first orientation sensor; and

a measurement unit short-range communication module configured for transmitting a wireless signal responsive to the first orientation sensor wherein the transmitter communicates wirelessly using a radio frequency technology selected from the group of ANT, Bluetooth, LoRA, Near Field Communication, Neul, Sigfox, and Z-Wave;

the signal relay unit comprises;

a relay unit short-range communication module configured for receiving the measurement unit short-range communication module signal;

a relay unit sensor selected from the group of an acceleration sensor, an altitude sensor, a chemical sensor, an electromagnetic sensor, a gyroscope, a human physiology sensor, a humidity sensor, an impact sensor, a magnetic sensor, a microphone, a position sensor, a pressure sensor, a structural integrity sensor, a temperature sensor, and a vibration sensor; and

a relay unit long-range communication module configured for transmitting a wireless signal using a radio frequency technology selected from the group of Bluetooth, cellular, LoRA, Neul, satellite, Sigfox, WiFi, Zigbee, and Z-Wave wherein the relay unit long-range communication module signal is responsive to the measurement unit short-range communication module signal and the relay unit sensor; and

the data analysis server comprises;

a data analysis server long-range communication module configured for receiving the relay unit long-range communication module signal;

a data storage module responsive to the relay unit long-range communication module signal;

a data analysis module responsive to the relay unit long-range communication module signal; and

a graphical data presentation module responsive to the data analysis module.

3. The system of claim 2 wherein:

the measurement unit is configured to be worn by a person;

the first orientation sensor is responsive to a linear acceleration of the person'"'"'s head and a rotational acceleration of the person'"'"'s head;

the measurement unit immediately sends a signal if the acceleration of the person'"'"'s head detected by the wearable measurement unit comprises an acceleration event wherein an acceleration event comprises an acceleration of the person'"'"'s head that exceeds a threshold value;

the data analysis module is responsive to the number of times an acceleration event has occurred; and

the graphical data presentation module is configured for displaying the number of times an acceleration event has occurred and the magnitude of each acceleration event.

4. The system of claim 3 wherein:

the measurement unit comprises a coin cell battery;

the measurement unit processor is configured to change from a power-conserving sleep mode to an active mode in response to the first orientation sensor;

the measurement unit processor is configured for processing a first orientation sensor signal using a filter selected from the group of a Kalman filter and a Madgwick filter;

the system further comprises a second orientation sensor wherein the second orientation sensor is responsive to movement of the person'"'"'s trunk;

the relay unit long-range communication module signal is responsive to the second orientation sensor;

the system further comprises a cloud server wherein the cloud server is configured for receiving data from more than one data analysis server.

5. The system of claim 4 wherein:

the measurement unit further comprises a human physiology sensor, a humidity sensor, a position sensor, a pressure sensor, a temperature sensor, and a vibration sensor;

the measurement unit processor is configured to change from a power-conserving sleep mode to an active mode in response to an acceleration of the person'"'"'s head that is greater than a concussion threshold value;

the measurement unit processor is configured for processing a first orientation sensor signal using a Madgwick filter;

the measurement unit processor is configured for processing a first orientation sensor signal using a quaternion equation wherein the quaternion is a 4-dimensional hyper-complex number that can be represented by the following equation;

^A_B{circumflex over (q)}=[q₀q₁q₂q₃]=[cosθ

/2−

r_xsinθ

/2−

r_ysinθ

/2−

r_zsinθ

/2]

where;

q₀ is the scalar component of the quaternion;

q₁, q₂, and q₃ represent the vector components of the quaternion;

r is the axis of rotation from a first reference frame to a second reference frame and r_x, r_y, and r_z are the axis components in the first reference frame, which can also be considered to be the x, y and z axes of the first reference frame; and

θ

is the angle of rotation around the axis r when making the transformation from the first reference frame to the second reference frame;

the measurement unit short-range communication module is configured for transmitting using Bluetooth Low Energy technology;

the relay unit comprises a global positioning sensor and a microphone;

the relay unit long-range communication module is configured for communicating using Bluetooth Class 1 technology; and

the data analysis server is configured for generating an alarm in response to an analysis of the acceleration event and at least one of the person'"'"'s physiologic sensed parameters selected from the group of gait pattern, nystagmus, heart rate, speed, acceleration, and vestibulo-ocular reflex that was recorded prior to the acceleration event and after the event.

6. The system of claim 2 wherein:

the wearable measurement unit is worn by an animal wherein the animal is selected from the group of a person, a dog, a cat, and a cow;

the wearable measurement unit is responsive to motion of the animal'"'"'s head;

the measurement unit processor is configured for processing a first orientation sensor signal using a quaternion equation wherein the quaternion is a 4-dimensional hyper-complex number that can be represented by the following equation;

^A_B{circumflex over (q)}=[q₀q₁q₂q₃]=[cosθ

/2−

r_xsinθ

/2−

r_ysinθ

/2r_zsinθ

/2]

where;

q₀ is the scalar component of the quaternion;

q₁, q₂, and q₃ represent the vector components of the quaternion;

r is the axis of rotation from a first reference frame to a second reference frame and r_x, r_y, and r_z are the axis components in the first reference frame, which can also be considered to be the x, y and z axes of the first reference frame; and

θ

is the angle of rotation around the axis r when making the transformation from the first reference frame to the second reference frame;

the signal relay unit comprises a lithium polymer battery; and

the system generates an alarm if the motion of the animal'"'"'s head detected by the wearable measurement unit exceeds a threshold value.

7. The system of claim 2 wherein:

the measurement unit is configured to be worn by a person;

the first orientation sensor is responsive to a linear acceleration of the person'"'"'s head and a rotational acceleration of the person'"'"'s head;

the measurement unit processor is configured for processing a first orientation sensor signal using a filter selected from the group of a Kalman filter and a Madgwick filter;

the measurement unit processor is configured to change from a power-conserving sleep mode to an active mode in response to an acceleration of the person'"'"'s head that is greater than a concussion threshold value;

the measurement unit immediately sends a signal if the acceleration of the person'"'"'s head detected by the wearable measurement unit comprises an acceleration event in which the acceleration of the person'"'"'s head exceeds a concussion threshold value; and

the system comprises a plurality of signal relay units;

the output of the data analysis server is responsive to the acceleration event if at least one of the person'"'"'s physiologic sensed parameters selected from the group of gait pattern, nystagmus, heart rate, speed, acceleration, and vestibulo-ocular reflex is different after the event when compared to before the event; and

the signal relay units are configured for transmitting position information to the measurement unit;

the measurement unit is configured for receiving the position information and computing a position;

the system is configured for communication using a cellphone network.

8. The system of claim 2 wherein:

the wearable measurement unit is worn by a person;

the wearable measurement unit is responsive to motion of the person'"'"'s head;

the system further comprises a second orientation sensor wherein the second orientation sensor is responsive to movement of a body part selected from the group of the person'"'"'s trunk, the person'"'"'s hand, and the person'"'"'s arm;

the relay unit long-range communication module signal is responsive to the second orientation sensor;

the system further comprises an unmanned vehicle; and

the unmanned vehicle is responsive to the first orientation sensor and the second orientation sensor.

9. The system of claim 2 wherein:

the wearable measurement unit is worn by a person;

the first orientation sensor is responsive to movement of a body part selected from the group of the person'"'"'s head, the person'"'"'s trunk, the person'"'"'s hand, and the person'"'"'s arm;

the signal relay unit is worn by the person;

the system further comprises a second orientation sensor wherein the second orientation is a hand-held orientation sensor held by the person;

the relay unit long-range communication module signal is responsive to the second orientation sensor;

the measurement unit short-range communication module is configured for transmission using Zigbee;

the system further comprises an unmanned aerial vehicle wherein the unmanned aerial vehicle further comprises a device from the group of a football, an airplane, and a helicopter; and

the unmanned aerial vehicle is responsive to the first orientation sensor and the second orientation sensor.

10. The system of claim 2 wherein:

the system further comprises an unmanned vehicle;

the wearable measurement unit is worn by the unmanned vehicle;

the first orientation sensor is responsive to a motion of the unmanned vehicle;

the measurement unit processor is configured for processing a first orientation sensor signal using a Kalman filter;

the measurement unit processor is configured for processing a first orientation sensor signal using a quaternion equation wherein the quaternion is a 4-dimensional hyper-complex number that can be represented by the following equation;

^A_B{circumflex over (q)}=[q₀q₁q₂q₃]=[cosθ

/2−

r_xsinθ

/2−

r_ysinθ

/2−

r_zsinθ

/2]

where;

q₀ is the scalar component of the quaternion;

q₁, q₂, and q₃ represent the vector components of the quaternion;

r is the axis of rotation from a first reference frame to a second reference frame and r_x, r_y, and r_z are the axis components in the first reference frame, which can also be considered to be the x, y and z axes of the first reference frame; and

θ

is the angle of rotation around the axis r when making the transformation from the first reference frame to the second reference frame;

the measurement unit processor is configured to change from a power-conserving sleep mode to an active mode if the motion exceeds a threshold value;

the measurement unit immediately sends a signal if the motion of the unmanned vehicle comprises a movement event wherein the movement event comprises a movement that exceeds the threshold value; and

the output of the data analysis server is responsive to the movement event.

11. The system of claim 2 wherein:

the first orientation sensor comprises a nine-axis inertial measurement unit further comprising;

at least two axes of accelerometer rotation input;

three axes of accelerometer linear displacement input;

three axes of gyroscope rotational input; and

at least one axis of magnetometer orientation input;

the wearable measurement unit further comprises a controller; and

the controller in the wearable measurement unit is responsive to the data analysis server;

the system further comprises an unmanned vehicle; and

the wearable measurement unit is worn by the unmanned vehicle.

12. The system of claim 2 wherein:

the first orientation sensor comprises a nine-axis inertial measurement unit further comprising;

at least two axes of accelerometer rotation input;

three axes of accelerometer linear displacement input;

three axes of gyroscope rotational input; and

at least one axis of magnetometer orientation input;

the measurement unit further comprises a positioning module wherein the positioning module is responsive to a signal selected from the group of the signal relay unit and a global positioning system satellite; and

the relay unit short-range communication module is responsive to the positioning module.

13. The system of claim 2 wherein:

the first orientation sensor comprises a nine-axis inertial measurement unit further comprising;

at least two axes of accelerometer rotation input;

three axes of accelerometer linear displacement input; and

three axes of gyroscope rotational input; and

at least one axis of magnetometer orientation input;

the system further comprises a second orientation sensor comprising a nine-axis inertial measurement unit further comprising;

at least two axes of accelerometer rotation input;

three axes of accelerometer linear displacement input; and

three axes of gyroscope rotational input; and

at least one axis of magnetometer orientation input; and

the measurement unit further comprises an additional sensor from the group of a physiology sensor, a humidity sensor, a position sensor, a pressure sensor, a temperature sensor, a chemical sensor, and a vibration sensor;

the relay unit short-range communication module is responsive to the second orientation sensor and the measurement unit additional sensor.

14. The system of claim 2 wherein:

the measurement unit is configured to be worn by an animal wherein the animal is selected from the group of a dog, a cat, and a cow;

the wearable measurement unit is responsive to motion of the animal;

the first orientation sensor comprises a nine-axis inertial measurement unit further comprising;

at least two axes of accelerometer rotation input;

three axes of accelerometer linear displacement input; and

three axes of gyroscope rotational input;

at least one axis of magnetometer orientation input;

the measurement unit further comprises an additional sensor from the group of a physiology sensor, a humidity sensor, a position sensor, a pressure sensor, a temperature sensor, a chemical sensor, and a vibration sensor;

the relay unit short-range communication module is responsive to the measurement unit sensor; and

the system is configured for communication using a cellphone network.

15. A wireless motion sensor system comprising a measurement unit, a signal relay unit, and a data analysis unit, wherein:

the measurement unit comprises;

a first orientation sensor comprising an accelerometer and a gyroscope;

a measurement unit processor responsive to the first orientation sensor; and

a short-range communication module configured for transmitting a signal responsive to the first orientation sensor wherein the communication module communicates using an Internet of Things technology selected from the group of ANT, Bluetooth, IoT over a cellular network, Constrained Application Protocol, LoRA, Message Queue Telemetry Transport, Near Field Communication, Neul, Sigfox, Thread, and Z-Wave;

the signal relay unit comprises;

a short-range communication unit configured for receiving the signal from the measurement unit;

a sensor selected from the group of a pressure sensor, a temperature sensor, a humidity sensor, a position sensor, an altitude sensor, a chemical sensor, a microphone, an impact sensor, a vibration sensor, an acceleration sensor, a gyroscope, a magnetic sensor, an electromagnetic sensor, a structural integrity sensor, and a human physiology sensor; and

a long-range communication module configured for transmitting a wireless signal using a radio frequency technology; and

the data analysis unit comprises;

a long-range communication module configured for receiving the wireless signal;

a data storage module;

a data analysis module; and

a graphical data presentation module.

16. The system of claim 15 wherein:

the measurement unit is configured for attachment to an object selected from the group of an animal and a device.

17. The system of claim 16 wherein:

the measurement unit is configured for attachment to an animal selected from the group of a human, a cow, a dog, and a cat.

18. The system of claim 16 wherein:

the measurement unit is configured for attachment to a device selected from the group of a football, an unmanned aerial vehicle, and an unmanned ground vehicle.

19. The system of claim 15 wherein:

the measurement unit further comprises;

a second orientation sensor further comprising an accelerometer;

a third orientation sensor further comprising an accelerometer;

a fourth orientation sensor further comprising an accelerometer; and

a fifth orientation sensor further comprising an accelerometer;

the measurement unit processor is configured for processing a first orientation sensor signal, a second orientation sensor signal, a third orientation sensor signal, a fourth orientation sensor signal, and a fifth orientation sensor signal using a filter selected from the group of a Kalman filter and a Madgwick filter to generate a measurement unit processor output;

the measurement unit processor is configured for processing the first orientation sensor signal, the second orientation sensor signal, the third orientation sensor signal, the fourth orientation sensor signal, and the fifth orientation sensor signal using a quaternion equation to generate the measurement unit processor output wherein the quaternion is a 4-dimensional hyper-complex number;

the short range communication module is configured for transmitting a signal responsive to the measurement unit processor output.

20. A method for wireless communication of sensed motion information comprising the steps of:

establishing an inertial measurement unit comprising;

an orientation sensor comprising an accelerometer;

a processor responsive to the orientation sensor; and

a short range transmitter configured for transmitting and receiving a wireless signal responsive to the orientation sensor wherein the transmitter communicates wirelessly using a technology selected from the group of ANT, Bluetooth, LoRA, Near Field Communication, Neul, Sigfox, and Z-Wave;

establishing a wireless signal relay unit comprising;

a short range receiver configured for communicating with the short range transmitter of the inertial measurement unit;

a sensor selected from the group of a pressure sensor, a temperature sensor, a humidity sensor, a position sensor, an altitude sensor, a microphone, an impact sensor, a vibration sensor, an acceleration sensor, a gyroscope, a magnetic sensor, an electromagnetic sensor, a structural integrity sensor, and a human physiology sensor; and

a long range transmitter configured for transmitting and receiving a wireless signal using a radio frequency technology; and

establishing a data analysis server comprising;

a long-range transmitter configured for communicating with the long range transmitter/receiver of the relay unit;

a data storage module;

a data analysis module; and

a graphical data presentation module.

21. The method of claim 20 wherein:

establishing an inertial measurement unit further comprises an orientation sensor comprising a magnetometer and a gyroscope;

the method further comprises the step of placing the inertial measurement unit on an object selected from the group of a person, a dog, a cat, a cow, a horse, a sports ball, and an unmanned aerial vehicle;

the method further comprises the step of using the inertial measurement unit processor to calculate a risk factor;

the method further comprises the step of determining whether to transmit a signal from the short range transmitter on a periodic basis or on an event basis in response to the risk factor;

establishing the wireless signal relay unit sensor further comprises a position sensor;

the method further comprises the step of determining a position of the object in response to the wireless signal relay unit sensor and the inertial measurement unit short range transmitter; and

the method further comprises the step of displaying the object position on the graphical data presentation module.