KR101685388B1 - Method and apparatus for recognizing motion using a plurality of sensors - Google Patents

Abstract

The present invention relates to a method and an apparatus for recognizing an operation using a plurality of sensors, wherein a predetermined operation is divided into one or more unit operations, sensor information and recognition conditions for one or more sensors are set for each unit operation, Recognizing each unit operation sequentially from the sensed values of the at least one sensor in accordance with information and recognition conditions, and recognizing the operation by combining the recognized unit operations.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for recognizing motion using a plurality of sensors,

The present invention relates to a method and apparatus for recognizing an operation using a plurality of sensors, and more particularly, to a method and apparatus for recognizing an operation using one or more unit operations, And more particularly, to a method and apparatus for recognizing motion using a plurality of sensors capable of further increasing the reliability of recognition results.

In recent years, with the introduction of an open OS, a smart phone combining a high function of a PC with a mobile phone has become popular, and various attempts have been made to utilize a high-function and high-performance smart phone.

In particular, with the development of micro-fabrication technology, advanced sensors become smaller and cheaper, and more sensors can be mounted on smart phones, and intelligent applications utilizing such sensors, such as augmented reality and 3D games, are being developed .

In addition, sensors mounted on smart phones will be able to play a key role in communicating emotions with human beings by evolving into an intelligent sensor that takes into consideration user's physical changes and emotional states in a device that senses the surrounding environment. As a result, intelligent applications utilizing sensors are expected to grow even more.

There are camera (image) sensor, acoustic sensor, proximity sensor, illuminance sensor, gravity sensor, GPS sensor, acceleration sensor, gyro sensor, and geomagnetic sensor.

Among them, a camera (image) sensor is a sensor that detects light and converts the intensity of the light into digital image data, which can be used for face recognition and the like. The proximity sensor is not a detection system based on mechanical contact but a proximity sensor that detects the presence or absence of an object to be detected when the detection object comes close to the proximity sensor Detection sensor that can be used to automatically turn off the screen when the smartphone is brought close to the face or placed in a pocket for a normal call.

The illuminance sensor is a sensor for sensing the ambient brightness. Normally, the illuminance sensor is used to reduce the power consumption of the mobile terminal and to reduce the fatigue of the eyes. It is a sensor that detects the direction of gravity and detects movement of objects. It is used to automatically correct the direction of the screen by determining the display direction (horizontal and vertical) of the smartphone.

In addition, the GPS sensor is a sensor capable of collecting time and position information of an object through a satellite positioning system, and is utilized for various location-based services. The acceleration sensor detects changes in object speed per unit time, In recent years, three-axis acceleration sensors using MEMS technology have become popular, and even object movements such as tilt changes and shakes can be detected. A geomagnetic sensor is a sensor that detects the azimuth angle like a compass by grasping the flow of the earth's magnetic field, The gyro sensor detects the inertial force of an object as an electric signal and mainly detects the rotation angle. It can detect the height, the rotation, and the tilt directly, so that it can recognize more precise motion when connected with the 3-axis acceleration sensor. Do.

Among these various sensors, motion recognition using a proximity sensor or an illuminance sensor has a small recognition error due to a simple recognition method, but the types of recognizable operations are limited, and an operation using an acceleration sensor, a geomagnetic sensor, a gyro sensor Recognition can recognize more diverse actions than proximity sensors or illuminance sensors, but recognizes complex actions in which the recognition rate is lowered without explicitly specifying a range of values, and unit movements of different directions, speeds, and times are connected it's difficult.

However, as the application fields of the recent motion recognition technology are gradually expanded, it is required to expand the motion recognition range from simple motion detection to motion of a specific pattern shape.

Korean Patent Laid-Open No. 10-2010-0081552, published on July 19, 2010 (name: device and method for detecting motion of portable terminal)

Accordingly, the present invention provides a method and apparatus for using a plurality of sensors capable of increasing the reliability of the motion recognition result by subdividing a predefined motion into one or more unit motions and utilizing a combination of different sensors for motion recognition for each motion A method and apparatus for recognizing motion are provided.

In particular, the present invention is characterized in that the sensor information and the recognition condition for one or more sensors are set for one or more unit operations, the unit operation is performed, the unit operation is recognized using the set sensor information and the recognition condition, The present invention is to provide a motion recognition method and apparatus using a plurality of sensors capable of more reliably recognizing a complex motion by recognizing a defined motion.

According to the present invention, there is provided a method of solving the above-mentioned problems, comprising the steps of: dividing a predefined operation into one or more unit operations, setting sensor information and recognition conditions for one or more sensors to be used for motion recognition for each unit operation; And sequentially recognizing each unit operation from the sensing value of the one or more sensors in accordance with the set sensor information and recognition condition and recognizing the operation by combining the recognized unit operation It provides a recognition method.

The method of recognizing an operation using a plurality of sensors according to the present invention may further include subdividing the at least one unit operation based on at least one of a direction, a size, and a time of the movement before the step of setting the sensor information and the recognition condition .

Here, the sensor information may include at least one of identification information of at least one sensor to be used for recognition of a unit operation, priority of each sensor, and weight to be given to a sensing value of each sensor.

In the operation recognition method using a plurality of sensors according to an embodiment of the present invention, the step of recognizing the operation may include: recognizing a unit operation based on a sensing value of the first sensor having a higher priority among the one or more sensors, ; And determining whether to apply the recognition result based on the sensing value of the second sensor having a lower priority among the one or more sensors.

In the method of recognizing an operation using a plurality of sensors according to another embodiment of the present invention, the step of recognizing the operation may include determining whether the operation recognition is performed based on the sensing value of the first sensor having a higher priority among the one or more sensors ; And recognizing the unit operation based on the sensed value of the second sensor having a lower priority among the one or more sensors according to the determination result.

In the operation recognition method using a plurality of sensors according to another embodiment of the present invention, the step of recognizing the operation may include: recognizing a unit operation based on a sensing value of a first sensor having a higher priority among the one or more sensors Recognizing; And recognizing the unit operation based on the sensed value of the second sensor having a lower priority among the at least one sensor when operation recognition based on the sensing value of the first sensor is impossible.

According to another aspect of the present invention, there is provided a method for acquiring motion information calculated from a sensed value of at least one sensor in accordance with sensor information for at least one sensor set for each motion of at least one unit operation A recognizing module for comparing the at least one unit operation with a recognition condition set for each unit operation, sequentially recognizing the at least one unit operation, and recognizing the operation by combining the unit operations; A sensing value collection module for collecting sensing values of the at least one sensor among the plurality of sensors in accordance with the control of the recognition module; And a calculation module for calculating the motion information from the collected sensing values under the control of the recognition module.

In the motion recognition device using a plurality of sensors according to an embodiment of the present invention, the recognition module may perform a unit operation based on a sensing value of a first sensor having a higher priority among the one or more sensors set in the sensor information And determine whether to apply the recognition result based on the sensing value of the second sensor having a lower priority among the one or more sensors.

In the motion recognition apparatus using the plurality of sensors according to another embodiment of the present invention, the recognition module may recognize the motion recognition based on the sensing value of the first sensor having a higher priority among the one or more sensors set in the sensor information And the unit operation can be recognized based on the sensed value of the second sensor having a lower priority according to the determination result.

In the motion recognition device using a plurality of sensors according to another embodiment of the present invention, the recognition module may be configured to recognize, based on the sensing value of the first sensor having a higher priority among the one or more sensors set in the sensor information, The unit operation can be recognized based on the sensing value of the second sensor having a lower priority when the operation recognition is impossible.

According to the present invention, in recognizing a predefined operation, the operation is subdivided into one or more unit operations, and sensor information including priority, weight, utilization or the like of one or more of the plurality of sensors is displayed for each unit operation As a result, when recognizing the operation, the combination of different sensors can be used for each unit operation, so that the operation recognition range can be further extended.

In addition, the present invention can more accurately recognize a complex pattern by subdividing a predefined operation into one or more unit operations and performing motion recognition using a combination of different sensors for each unit operation.

1 is a diagram illustrating a reference coordinate system and motion information for defining an operation of a user terminal.
2 is a block diagram showing an operation recognition apparatus using a plurality of sensors according to the present invention.
3 is a flowchart illustrating an operation recognition method using a plurality of sensors according to the present invention.
4 is a diagram illustrating an example of an operation management table in which sensor information and recognition conditions for a specific operation are set, according to an operation recognition method using a plurality of sensors according to the present invention.
5 is a diagram illustrating an operation including one or more unit operations to be recognized according to an operation recognition method using a plurality of sensors according to the present invention.
FIGS. 6 to 8 are flowcharts illustrating various operations of the operation recognition method using a plurality of sensors according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description and the accompanying drawings, detailed description of well-known functions or constructions that may obscure the subject matter of the present invention will be omitted. It should be noted that the same constituent elements are denoted by the same reference numerals as possible throughout the drawings.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor may appropriately define his own invention as the concept of the term to describe it in the best possible way It should be construed as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

Also, terms including ordinal numbers such as first, second, etc. are used to describe various elements, and are used only for the purpose of distinguishing one element from another, Not used. For example, without departing from the scope of the present invention, the second component may be referred to as a first component, and similarly, the first component may also be referred to as a second component.

In addition, when referring to an element as being "connected" or "connected" to another element, it means that it can be connected or connected logically or physically. In other words, it is to be understood that although an element may be directly connected or connected to another element, there may be other elements in between, or indirectly connected or connected.

Also, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It is also to be understood that the terms such as " comprising "or" having ", as used herein, are intended to specify the presence of stated features, integers, It should be understood that the foregoing does not preclude the presence or addition of other features, numbers, steps, operations, elements, parts, or combinations thereof.

In addition, the method and apparatus for recognizing motion according to the present invention can be applied to various fields such as user motion recognition, robot control, and the like. Hereinafter, a case in which the present invention is applied to a user terminal will be described.

The operation recognition in the user terminal is used to control a specific function of the user terminal by detecting a predetermined specific movement (flipping, wiggling in a specific direction, drawing a specific pattern, user access) The movement can be represented by an azimuth angle, a pitch, and a roll through a three-dimensional rectangular coordinate system as shown in FIG.

1, when the horizontal direction of the user terminal is the X axis, the vertical direction is the Y axis, and the width direction is the Z axis, the azimuth angle is a direction in which the user terminal is oriented (east, west, (Or -180 ° to 180 °) with respect to the Z axis, and the pitch is the horizontal axis rotation angle, which is represented by -90 ° to 90 ° according to the form in which the user terminal is erected, The reference rotation angle is expressed as -180 ° to 180 ° according to the form in which the user terminal is divided.

Of course, in the motion recognition method and apparatus according to the present invention, the reference coordinate system and the method of expressing the motion can be changed, and the above definition is only an example.

2 is a block diagram showing an operation recognition apparatus using a plurality of sensors according to the present invention.

Referring to FIG. 2, the motion recognition apparatus using a plurality of sensors according to the present invention may include a sensing value collection module 100, a calculation module 200, and a recognition module 300.

The sensing value collecting module 100 collects sensed values output from the plurality of sensors 100. At this time, the sensing value collection module 100 can collect sensing values from at least one of the plurality of sensors 100 under the control of the recognition module 300, and have different values depending on the collected sensors. For example, the sensing value of the illuminance sensor indicates the amount of illumination (Lux), the sensing value of the proximity sensor indicates the distance to and / or proximity to a nearby object, and the sensing value of the 3-axis acceleration sensor is 3 Axis, the sensing value of the three-axis gyro sensor indicates the angular velocity in the direction of the three axes (X, Y, Z), and the sensing value of the geomagnetism sensor indicates the acceleration value in the direction of the axis Direction.

The calculation module 200 calculates the collected sensing value as motion information that can be recognized by the recognition module 300. That is, the sensed values are converted into rotation angles for azimuth angle, pitch angle, roll angle, and the like using the rotation vector and the rotation matrix of the calculation module 200. Also, the calculation module 200 can calculate the roughness measurement value or the roughness variation as the sensing value of the roughness sensor, and calculate the proximity frequency and proximity distance from the sensing value of the proximity sensor. Similarly, the calculation module 200 may perform calculation according to the control of the recognition module 300. [

Next, the recognition module 300 is configured to recognize a predefined motion using the motion information output from the calculation module 200. [ In particular, the recognition module 300 may be configured to detect the sensed value of the sensed-value acquisition module 100 and the computed module (not shown) according to sensor information and recognition conditions for one or more sensors set for one or more unit- 300), and combines the inputted motion information to recognize the at least one unit operation, and recognizes the predefined operation by combining the recognized unit operation.

Here, the unit operation is a division of the previously defined operation by one or more of direction, time, and speed. For example, if the operation is to draw a star pattern, it can be classified into five unit operations. The unit operation may be defined as a recognition condition, and the recognition condition may include a recognition angle and a time to maintain the recognition angle.

The sensor information is information on which sensor is to be recognized by using a certain sensor for each unit operation. The sensor information includes identification information for one or more sensors, at least one of the priorities and weights of the one or more sensors .

Accordingly, the recognition module 300 refers to the operation management table in which sensor information is recorded, and a recognition condition including at least one of a size range and a time of motion for each unit operation, By comparing the motion information, it is possible to recognize each unit operation and to recognize a complicated operation by combining the recognized unit operations.

The operation recognition process by the above-described motion recognition device will be described in detail with reference to the flowchart of FIG.

3 is a flowchart schematically showing an operation recognition method using a plurality of sensors according to the present invention.

Referring to FIG. 3, an operation recognition method using a plurality of sensors according to the present invention first divides an operation defined as a recognition object operation into one or more unit operations (S110). The unit operation refers to an operation that can be distinguished based on at least one of a direction, a size, and a time of a motion. The operation to be recognized may include one or more unit operations. The number of unit operations More can be.

5 is a schematic diagram illustrating an operation defined in accordance with the present invention, wherein the previously defined operation is an operation of shaking the terminal, which includes a unit operation 1 for moving to the left, a unit operation 2 for moving to the right, 3 are consecutive operations. In this manner, by defining the operation in sub-division by one or more unit operations, the shaking motion can be defined in more various forms.

The method of recognizing motion according to the present invention further comprises the steps of setting sensor information and a recognition condition that define a utilization method for one or more sensors to be used for motion recognition per unit motion for one or more unit motions included in the predefined motion (S120). Here, the sensor information is reference information for defining how to recognize a unit operation by utilizing certain sensors among the plurality of sensors 10, together with identification information for one or more sensors to be used for recognizing a unit operation, A priority of one or more sensors, a weight, and the like. The priority and weight can be applied to motion recognition in various ways, and the method will be described in a later recognition step. Next, the recognition condition may be reference information for defining the unit operation, and may include the magnitude of the motion and the time for maintaining the motion. The size of the motion may be defined corresponding to motion information that can be calculated by one or more sensors set in the sensor information. That is, when the acceleration sensor, the geomagnetic sensor and the gyro sensor are set in the sensor information, the recognition condition may be defined as a rotation angle. On the other hand, in the case of the sensor information, in the case of the illuminance sensor, the recognition condition may be set to at least one of the minimum and maximum illuminance values and the illuminance value variation amount. In the case of the proximity sensor, Lt; / RTI >

As described above, the sensor information and the recognition condition set for one or more unit operations included in the operation to be recognized can be managed by the operation management table as shown in FIG. The operation 1 illustrated in Fig. 4 is a combination of three unit operations (unit operation 1 to unit operation 3), and the sensor information includes, for each unit operation, a geomagnetism sensor, a gyro sensor, an acceleration sensor, Is set to the priority of one or more selected sensors and the selected one of the sensors. A recognition condition can be set corresponding to each sensor.

Thereafter, the motion recognition apparatus according to the present invention calculates motion information from the sensed values of at least one sensor among a plurality of sensors according to the set sensor information, recognizes the unit motion by comparing it with a recognition condition, (S130). ≪ tb > < TABLE > Referring to the operation management table of FIG. 4 and the operation example of FIG. 5, first, the unit operation 1 is calculated from the sensing values of the geomagnetism sensor, the acceleration sensor, and the gyro sensor, And comparing the sensing value of the illuminance sensor with the recognition condition (less than E Lux) according to the priority order of the unit operation 2, and when the recognition condition is satisfied, the rotation angle is calculated from the sensing value of the geomagnetism sensor, the acceleration sensor and the gyro sensor And recognizes it by comparing it with recognition condition (B ° ~ C °). Subsequently, in the case of the unit operation 3, motion information (rotation angle, roughness variation, proximity frequency / proximity distance) calculated from the sensing values in the order of geomagnetism sensor / acceleration sensor / gyro sensor, It is recognized by comparing with each recognition condition. In addition, when unit operations 1, 2, and 3 are sequentially recognized, it is determined that operation 1 is finally recognized.

In one embodiment of the present invention, when the sensor information includes a priority, the motion recognition apparatus according to the present invention collects sensed values of sensors having high priority, calculates motion information based on the sensed values, and calculates It is possible to determine whether the recognition result is applied based on the change value calculated from the sensing value of the low priority sensor after comparing the motion information with the recognition condition and recognizing the unit operation.

In another embodiment, the motion recognition apparatus determines whether or not the motion recognition is performed based on the measurement result of the sensor having a high priority, collects sensing values of the sensors having low priority according to the determination result, , And the unit operation can be recognized by comparing the calculated motion information with the recognition condition.

In another embodiment, the motion recognition apparatus according to the present invention recognizes a unit operation based on sensors having higher priority, and when recognition of the motion is impossible with a sensing value of a sensor having a higher priority, The unit operation can be recognized based on the sensing value.

In the case where the weight information is included in the sensor information, when the motion information is calculated from the sensed values of at least one sensor set in the sensor information, the motion recognition apparatus applies the weight values set to the respective sensors to calculate motion information Can be calculated. In this case, at the time of recognizing the unit operation, the sensing value of the sensor having a high weight can be considered as a higher rate.

Hereinafter, with reference to FIG. 6 to FIG. 8, the operation recognition process using the plurality of sensors according to the present invention will be described in more detail.

6 is a flowchart illustrating an operation recognition method in an operation recognition method using a plurality of sensors according to an embodiment of the present invention. In one embodiment of the present invention, the geomagnetism sensor, the acceleration sensor, and the gyro sensor are set to the first sensor having a high priority and the proximity sensor and the illuminance sensor are set to the second sensor having a low priority . ≪ / RTI >

Referring to FIG. 6, in one embodiment of the present invention, when the motion of the terminal is detected, that is, when the sensing value of any one of the plurality of sensors 10 is changed (S210) The sensing values of the geomagnetism sensor, the acceleration sensor, and the gyro sensor set as the first sensor having a higher priority are collected through the module 100 (S220).

In addition, the sensing values of the proximity sensor and the illuminance sensor set as the second sensor having a low priority are collected (S230).

Then, the motion recognition device calculates a rotation vector and a rotation matrix for the sensed values of the geomagnetism sensor, the acceleration sensor, and the gyro sensor through the calculation module 200, and generates motion information (for example, (S240).

Then, the motion recognition device compares the motion information with the recognition module 300 to determine whether the recognition condition of the predetermined unit operation is satisfied (S250).

If the recognition condition of the predetermined unit operation is satisfied as a result of the comparison, it is determined whether the measured values of the illuminance sensor and the proximity sensor satisfy predetermined conditions through the recognition module 300 (S260).

If it is determined in step S260 that the measured values of the illuminance sensor and the proximity sensor satisfy predetermined conditions, the recognition module 300 determines the movement of the detected terminal as a unit operation in which the recognition condition is satisfied in step S250 (S270).

If the conditions are not satisfied in step S250 and step S260, the motion of the terminal is ignored because it is not a recognition target operation.

According to the above-described process, it is possible to recognize the operation of the terminal through the geomagnetic sensor, the acceleration sensor, the gyro sensor, etc., and to minimize the misperception caused by the misoperation of the geomagnetism sensor, the acceleration sensor and the gyro sensor, .

 Referring to FIG. 7, in another embodiment of the present invention, when the motion of the terminal is detected, that is, when the sensing value of any one of the plurality of sensors 10 is changed (S310) The sensed values of the geomagnetism sensor, the acceleration sensor, and the gyro sensor set as the first sensor having a higher priority are collected through the module 100 (S320).

In addition, the sensing values of the proximity sensor and the illuminance sensor set as the second sensor having a low priority are collected (S330).

Then, the motion recognition device calculates a rotation vector and a rotation matrix for the sensed values of the geomagnetism sensor, the acceleration sensor, and the gyro sensor through the calculation module 200, and generates motion information (for example, Is calculated (S340).

Then, the motion recognition apparatus determines whether motion recognition is possible using the motion information through the recognition module 300 (S350). This can be done by comparing whether the calculated motion information is within a predetermined threshold range. For example, if the motion information is too small or bouncing, accurate determination may not be possible.

As a result of the determination, if the motion recognition is possible, the recognition module 300 performs recognition of the unit operation by matching the motion information calculated from the geomagnetism sensor, the gyro sensor, and the acceleration sensor with predetermined recognition conditions (S380).

On the other hand, if it is determined that the operation can not be recognized as a result of the determination, the recognition module 300 calculates a change amount of the sensing value of the proximity sensor and the illuminance sensor (S360) Then, it is determined whether the recognition condition is satisfied (S370), and the operation recognition is performed according to the determination result (S380). That is, motion recognition is performed based on the amount of change of the proximity sensor and the illuminance sensor.

According to the above-described process, the operation of the terminal is recognized through the geomagnetism sensor, the acceleration sensor, and the gyro sensor, and when the geomagnetism sensor, the acceleration sensor and the gyro sensor can not recognize the motion, the motion recognition is performed using the proximity sensor and the illumination sensor Thus, the recognizable range can be further expanded.

8 is a flowchart showing an operation recognition process according to another embodiment of the present invention. Here, the sensor information is a first sensor having a high priority, a proximity sensor and an illuminance sensor are set, It is assumed that the geomagnetic sensor, the acceleration sensor, and the gyro sensor are set as the low second sensor.

Referring to FIG. 8, in another embodiment of the present invention, when the motion of the terminal is detected, that is, when the sensing value of any one of the plurality of sensors 10 is changed (S410) The sensing value of the proximity sensor and the illuminance sensor set as the first sensor having a high priority is collected through the acquisition module 100 and the amount of change is calculated (S420).

Then, it is determined whether the operation recognition is performed based on the variation amount of the sensing value of the proximity sensor and the illumination sensor (S430). For example, if an object is detected as proximity through a proximity sensor, and the amount of illumination measured by the illumination sensor is below a threshold value, it is determined that motion recognition is impossible. If the amount of illuminance is greater than the threshold value, it can be judged that motion recognition is possible. Thus, it is possible to eliminate an unnecessary malfunction when the user's terminal is located in the pocket of the bag.

If it is determined in step S430 that the motion recognition is possible, the motion recognition device collects the sensing values of the geomagnetism sensor, the acceleration sensor, and the gyro sensor set as the second sensor having a lower priority, (E.g., a rotation angle) of the terminal by performing a vector and a rotation matrix operation (S440).

Then, the motion recognition device compares the motion information with a preset recognition condition through the recognition module 300 to determine whether the condition is satisfied (S450), and recognizes the unit motion (S460).

On the other hand, as a result of the determination in step S430, if the motion recognition is impossible, the motion recognition process is not performed, so that more efficient motion recognition processing becomes possible.

The motion recognition method according to the present invention can be implemented in the form of software readable by various computer means and recorded on a computer-readable recording medium. Here, the recording medium may include program commands, data files, data structures, and the like, alone or in combination. Program instructions to be recorded on a recording medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. For example, the recording medium may be an optical recording medium such as a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, a compact disk read only memory (CD-ROM), a digital video disk (DVD) Includes a hardware device that is specially configured to store and execute program instructions such as a magneto-optical medium such as a floppy disk and a ROM, a random access memory (RAM), a flash memory, do. Examples of program instructions may include machine language code such as those generated by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like. Such a hardware device may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Further, the functional operations and subject matter implementations described herein may be implemented in other types of digital electronic circuitry, or may be implemented in computer software, firmware, or hardware, including the structures disclosed herein and their structural equivalents, ≪ / RTI > Implementations of the subject matter described herein may be embodied in one or more computer program products, i. E. One for computer program instructions encoded on a program storage medium of the type for < RTI ID = 0.0 & And can be implemented as a module as described above. The computer-readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter that affects the machine readable propagation type signal, or a combination of one or more of the foregoing.

In addition, while the specification contains a number of specific implementation details, it should be understood that they are not to be construed as limitations on the scope of any invention or claim, but rather on the features that may be specific to a particular embodiment of a particular invention Should be understood as an explanation. Certain features described herein in the context of separate embodiments may be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments, either individually or in any suitable subcombination. Further, although the features may operate in a particular combination and may be initially described as so claimed, one or more features from the claimed combination may in some cases be excluded from the combination, Or a variant of a subcombination.

Likewise, although the operations are depicted in the drawings in a particular order, it should be understood that such operations must be performed in that particular order or sequential order shown to achieve the desired result, or that all illustrated operations should be performed. In certain cases, multitasking and parallel processing may be advantageous. Also, the separation of the various system components of the above-described embodiments should not be understood as requiring such separation in all embodiments, and the described program components and systems will generally be integrated together into a single software product or packaged into multiple software products It should be understood.

Certain embodiments of the subject matter described herein have been described. Other embodiments are within the scope of the following claims. For example, the operations recited in the claims may be performed in a different order and still achieve desirable results. By way of example, the process illustrated in the accompanying drawings does not necessarily require that particular illustrated or sequential order to obtain the desired results. In certain implementations, multitasking and parallel processing may be advantageous.

The description sets forth the best mode of the invention, and is provided to illustrate the invention and to enable those skilled in the art to make and use the invention. The written description is not intended to limit the invention to the specific terminology presented. Thus, while the present invention has been described in detail with reference to the above examples, those skilled in the art will be able to make adaptations, modifications, and variations on these examples without departing from the scope of the present invention.

Therefore, the scope of the present invention should not be limited by the described embodiments but should be defined by the claims.

According to the present invention, in recognizing an operation including one or more unit operations, sensor information including priority, weight, utilization, etc. of one or more of the plurality of sensors may be set differently for each unit operation, As a result, when recognizing the operation, the combination of different sensors can be used for each unit operation, so that the operation recognition range can be further extended.

In addition, in recognizing an operation including one or more unit operations, the present invention can recognize a complex pattern more accurately by performing motion recognition using a combination of different sensors for each unit operation.

10: Sensor
100: Sensing value acquisition module
200: Operation module
300: recognition module

Claims (10)

1. An operation recognition method for receiving sensor values from a plurality of sensors and recognizing one specific operation divided into one or more consecutive unit operations,
The motion recognition device may divide one predefined specific operation into one or more sequential unit operations and generate sensor information including sensor priority for one or more sensors to be used for recognition of the unit operation for each successive unit operation, Setting a recognition condition; And
Determining whether to perform the motion recognition based on the sensing value of the one or more sensors according to the information included in the set sensor information and the priority per sensor, And recognizing the operation by combining the recognized unit operation,
In the step of setting the sensor information and the recognition condition,
Wherein the maximum value of the recognition condition for at least one sensor set for each successive unit operation coincides with the minimum value of the recognition condition for the at least one sensor set for the next unit operation. A method of recognizing a used motion. The method according to claim 1,
Further comprising setting the at least one unit operation based on at least one of a direction, a size, and a time of the movement before the step of setting the sensor information and the recognition condition. Way. The method of claim 1,
The identification information of at least one sensor to be used for recognition of the unit operation, and the weight to be given to the sensing value of each sensor. 4. The method of claim 3, wherein recognizing the action comprises:
Recognizing a unit operation based on a sensing value of a first sensor having a highest priority among the one or more sensors; And
And determining whether to apply the recognition result based on the sensing value of the second sensor having a lower priority than the first sensor among the one or more sensors. 4. The method of claim 3, wherein recognizing the action comprises:
Determining whether an operation recognition is performed based on a sensing value of a first sensor having a highest priority among the one or more sensors; And
Recognizing a unit operation based on a sensing value of a second sensor having a lower priority than the first sensor among the one or more sensors according to a determination result, . 4. The method of claim 3, wherein recognizing the action comprises:
Recognizing a unit operation based on a sensing value of a first sensor having a highest priority among the one or more sensors;
Recognizing the unit operation based on a sensing value of a second sensor having a lower priority than the first sensor among the one or more sensors when operation recognition based on the sensing value of the first sensor is impossible Wherein the plurality of sensors are used to detect the movement of the object. 1. An operation recognition apparatus for receiving sensor values from a plurality of sensors and recognizing one specific operation divided into one or more consecutive unit operations,
Sensor information including a sensor-specific priority for one or more sensors for each unit operation successively divided in order to recognize the one specific operation for a predetermined specific operation divided into one or more consecutive unit operations; The motion information calculated from the sensed values of the at least one sensor is compared with the recognition condition set for each unit operation and the motion information is calculated based on the sensing value of the at least one sensor A recognizing module for judging whether or not human being is performed, sequentially recognizing one or more consecutive unit motions, and recognizing the motions by combining the unit motions;
A sensing value collection module for collecting sensing values of the at least one sensor among the plurality of sensors in accordance with the control of the recognition module; And
A calculation module for calculating the motion information from the collected sensing values under the control of the recognition module;
/ RTI >
Wherein the maximum value of the recognition condition for at least one sensor set for each successive unit operation coincides with the minimum value of the recognition condition for the at least one sensor set for the next unit operation. A motion recognition device used. 8. The apparatus of claim 7, wherein the recognition module
The method comprising: recognizing a unit operation based on a sensing value of a first sensor having a highest priority among the one or more sensors set in the sensor information, And determining whether or not the recognition result is applied based on the calculated value. 9. The apparatus of claim 8, wherein the recognition module
Determining whether or not the operation recognition is performed based on the sensing value of the first sensor having the highest priority among the one or more sensors set in the sensor information, and determining, based on the determination result, Wherein the unit operation is recognized based on a sensing value of the sensor. 9. The apparatus of claim 8, wherein the recognition module
Wherein the sensing unit recognizes a unit operation based on a sensing value of a first sensor having a highest priority among the one or more sensors set in the sensor information, And the unit operation is recognized based on the value of the sensor.

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