CN102024316B - Wireless intelligent sensing method, device and system - Google Patents
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Abstract
The embodiment of the invention provides a wireless intelligent sensing method, device and system, wherein the method comprises the steps of getting data of a motion trajectory; getting a command word which corresponds to the data of the motion trajectory from a preset motion database according to the data of the motion trajectory; and sending the command word to a receiving device at the opposite end so as to enable the receiving device at the opposite end to conduct the corresponding control operation according to the command word. The device comprises a sensor, an execution module and a sending module, wherein the sensor, the execution module and the sending module can be integrated into one module and can also be matched with other external elements for constituting a complete device. The system comprises the wireless intelligent sensing device and the receiving device at the opposite end. By adopting the invention, the processing and the sending of the data of the motion trajectory can be simply and intelligently completed with high precision.
Description
Technical field
The present invention relates to electronic information field, relate in particular to a kind of wireless intelligent sensing method, Apparatus and system.
Background technology
At present, the sensor application in the whole world presents the trend of rapid growth, and various kinds of sensors is applied to gradually such as the E-consumer such as home entertaining field.Various application to sensor, the mode that prior art adopts mostly is, the raw data that sensor is detected directly is transferred to processing host by the mode of wireless transmission, processing host is according to the raw data that receives, carry out the works for the treatment of such as corresponding data calculating, then carry out corresponding control operation according to the result of processing.for example, Nintendo has released a wii game machine, the flow process of its work is: when using the wii game paddle to carry out game operation, utilize the induction handle of wii, the player can very naturally make and swinging the bat, swing, shake one's fists, swing and the action such as delivery, the built-in sensor of wii game remote controller detects these actions, and after obtaining the raw data of these actions, directly send these raw data to the wii game host, the raw data that the wii game host detects according to described sensor is carried out the processing operations such as track calculating, at last, the wii game host carries out control operation according to processing operating result to the motion of Mission Objective.
From present development trend, the action sensing technology is used can be more and more extensive, but owing to lacking general sensor, make in application process, because the exercise data that needs sensing is different, the sensor that uses is different, causes the application of each action sensing technology all will start anew to research and develop, and causes a large amount of overlapping development and waste.
Simultaneously, the mode that adopts prior art is processed when transmitting the motion trace data that senses, the motion trace data that can cause because of the interference that exists in the wireless transmission process sensing is lost, make the transmission precision of data descend, even cause the imponderable consequence of data, simultaneously, in the situation that the motion trace data amount that sensor senses is larger, the dependence also corresponding increasing of transmitting moving track data to the wireless transmission bandwidth.
Summary of the invention
In view of this, the invention provides a kind of wireless intelligent sensing method, Apparatus and system, can be simply, processing and the transmission of intelligence, the complete paired data of high precision.
The embodiment of the present invention provides a kind of wireless intelligent sensing method, comprising:
Obtain motion trace data;
Obtain the command word corresponding with described motion trace data in predefined maneuver library according to described motion trace data;
Described command word is sent to the opposite end receiving trap, so that described opposite end receiving trap carries out corresponding control operation according to described command word.
Accordingly, the embodiment of the present invention provides a kind of intelligent wireless sensing apparatus, comprising:
Sensor is used for obtaining motion trace data;
Execution module, the motion trace data that is used for obtaining according to described sensor obtains the command word corresponding with described motion trace data at predefined maneuver library;
Sending module is used for the command word that described execution module obtains is sent to the opposite end receiving trap, so that described opposite end receiving trap carries out corresponding control operation according to described command word.
Accordingly, the embodiment of the present invention also provides a kind of opposite end receiving trap, comprising:
Receiver module is used for receiving command word;
Control module is used for carrying out corresponding control operation according to the command word that described receiver module receives.
Accordingly, the embodiment of the present invention provides a kind of intelligent wireless sensing system, comprises intelligent wireless sensing apparatus and opposite end receiving trap, wherein,
Described intelligent wireless sensing apparatus is used for obtaining motion trace data, according to described motion trace data, obtains the command word corresponding with described motion trace data in predefined maneuver library, and described command word is sent to described opposite end receiving trap;
Described opposite end receiving trap is used for receiving the command word that described intelligent wireless sensing apparatus sends, and carries out corresponding control operation according to described command word.
The present invention carries out computing completely by the intelligent wireless sensing apparatus that comprises sensor to the motion trace data that sensor senses, solution is because of the interference obliterated data in wireless transmission, cause the even imponderable problem of precise decreasing, in addition, the motion indication information that obtains after calculating is sent to the opposite end receiving trap in the mode of command word, because command word is little more a lot of than the raw data of motion trace data, can reduce the dependence to the bandwidth of short-distance wireless transmission, can improve noise immunity, reduce power consumption.
Description of drawings
Fig. 1 is that the structure of the intelligent wireless sensing system of the embodiment of the present invention forms schematic diagram;
Fig. 2 is that the structure of the intelligent wireless sensing apparatus of the embodiment of the present invention forms schematic diagram;
Fig. 3 is that the structure of the opposite end receiving trap of the embodiment of the present invention forms schematic diagram;
Fig. 4 is that the structure of the embodiment of the present invention intelligent wireless sensing system that is used for rehabilitation test forms schematic diagram;
Fig. 5 is the schematic flow sheet of the first embodiment of the wireless intelligent sensing method of the embodiment of the present invention;
Fig. 6 is the schematic flow sheet of the second embodiment of the wireless intelligent sensing method of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Fig. 1 is that the structure of the intelligent wireless sensing system of the embodiment of the present invention forms schematic diagram, and as shown in Figure 1, this intelligent wireless sensing system comprises: intelligent wireless sensing apparatus 10, and opposite end receiving trap 20, wherein:
Described intelligent wireless sensing apparatus 10, be used for obtaining motion trace data, according to described motion trace data, search the command word corresponding with described motion trace data in predefined maneuver library, and described command word is sent to described opposite end receiving trap 20.
Described opposite end receiving trap 20 is used for receiving the command word that described intelligent wireless sensing apparatus 10 sends, and carries out corresponding control operation according to described command word.in specific implementation, described opposite end receiving trap 20 is according to the command word that receives, judge the action indication information of described command word representative, then pass through interface, as Serial Peripheral Interface (SPI) (Serial Peripheral Interface, SPI), USB (universal serial bus) (Universal SerialBUS, USB), infrared ray etc., be sent to other devices as on computer, to carry out corresponding motion control operation, for example in game process, when opposite end receiving trap 20 receives the corresponding command word of action indication information of brandishing arm, just control Mission Objective according to described command word and do the motion of brandishing arm.
Further, Fig. 2 is that the structure of the intelligent wireless sensing apparatus of the embodiment of the present invention forms schematic diagram, and as shown in Figure 2, described intelligent wireless sensing apparatus 10 comprises: sensor 11, and execution module 12, sending module 13, wherein:
Described sensor 11 is used for obtaining motion trace data.In specific implementation, described sensor 11 can be one-dimensional or three-dimensional sensor, as acceleration transducer, gyroscope, magnetometer, barometer etc., can use one or more sensor to be used for obtaining motion trace data.The motion trace data that described sensor 11 obtains can be the three-dimensional data of acceleration transducer, gyrostatic three-dimensional data, one or more in the data that the three-dimensional data of magnetometer, barometer sense, for example, the three-dimensional data of acceleration comprises: the accekeration on X-axis (left and right directions), Y-axis (fore-and-aft direction), three directions of Z axis (above-below direction), and time value.
Described execution module 12 is connected with described sensor 11, for the motion trace data of obtaining according to described sensor 11, searches the command word corresponding with described motion trace data in predefined maneuver library.In specific implementation, described execution module 12 can be a chip, the algorithm of track following and human motion and the maneuver library that sets in advance etc. all are integrated in described chip, and described algorithm and described maneuver library can upgrade as required, so that better carry out the calculating of motion trace data, complete control operation.after described chip gets motion trace data, carrying out track following according to described motion trace data calculates, to obtain the action indication information, described action indication information represents the action implication of the motion trace data of each action, for example, when brandishing arm, three direction vector (X-axis of three dimension acceleration sensor, Y-axis, Z axis) can sense three accekerations, by three accekerations that sense, Time Calculation goes out initial velocity, terminal velocity, thereby calculate the three dimensional space coordinate of present arm, the parameters such as movement velocity, to determine the action indication information for brandishing arm, last according to described action indication information in described default maneuver library, find the command word corresponding with described action indication information.
Described sending module 13 is used for sending to described opposite end receiving trap 20 command word that described execution module 12 finds.Described sending module 13 sends to described opposite end receiving trap 20 by wireless transmission method with command word.
The sensor 11, execution module 12, sending module 13 can integrated modules, also can coordinate with outside other elements, consist of a complete device.
Wherein, as shown in Figure 2, described execution module 12 comprises: computing unit 121 and search unit 122.Wherein:
Described computing unit 121 is used for calculating described motion trace data to obtain the action indication information;
The described unit 122 of searching is used for searching the command word corresponding with described action indication information according to described action indication information at predefined maneuver library.
Further, Fig. 3 is that the structure of the opposite end receiving trap of the embodiment of the present invention forms schematic diagram, and as shown in Figure 3, described opposite end receiving trap 20 comprises: receiver module 21, and control module 22, wherein:
Described receiver module 21 is used for receiving the command word that described intelligent wireless sensing apparatus 10 sends.
Described control module 22 for the command word that receives according to described receiver module, is carried out corresponding control operation.In specific implementation, described control module 22 is first judged the action indication information of described command word representative, then by interface, as SPI, USB, infrared ray etc., is sent to other devices as on computer, to carry out corresponding motion control operation.
Wherein, described control module 22 comprises: recognition unit 221, control performance element 222, wherein: described recognition unit 221, the command word that is used for receiving according to described receiver module identifies the action indication information; Described control performance element 222 is used for carrying out corresponding control operation according to described action indication information.
Description by above-described embodiment, the present invention has the following advantages: the intelligent wireless sensing apparatus carries out computing completely to the motion trace data that sensor senses, solution is because of the interference obliterated data in wireless transmission, cause the even imponderable problem of precise decreasing, in addition, the motion indication information that obtains after calculating is sent to the opposite end receiving trap in the mode of command word, because command word is little more a lot of than the raw data of motion trace data, can reduce the dependence to the bandwidth of short-distance wireless transmission, can improve noise immunity, reduce power consumption.
In addition, the intelligent wireless sensing apparatus can also upgrade by wired or wireless mode, upgrade the track following, action recognition algorithm and the maneuver library that are integrated in chip, thereby can constantly update according to demand.Simultaneously, because the intelligent wireless sensing apparatus integrates a plurality of sensors, make the intelligent wireless sensing apparatus can be used as general sensing apparatus and be applied to different action sensing technical fields.
In following embodiment, the situation of intelligent wireless sensing system of the present invention for the rehabilitation test is elaborated, with reference to figure 4, the intelligent wireless sensing system that should be used for the rehabilitation test comprises: intelligent wireless sensing apparatus 10, and opposite end receiving trap 20 and computer counter 30, wherein:
After described intelligent wireless sensing apparatus 10 is mixed watchband, can be worn on patient's wrist, when the patient carries out restorative raising one's hand during action, acceleration transducer in described intelligent wireless sensing apparatus 10 obtains the patient and does when raising one's hand motion, accekeration on X-axis (left and right directions), Y-axis (fore-and-aft direction), three directions of Z axis (above-below direction), time value, gyroscope provides magnitude of angular velocity.execution module 12 in described intelligent wireless sensing apparatus 10 provides the three-dimensional acceleration data according to described acceleration transducer, the magnitude of angular velocity that time and gyroscope provide, calculate the residing three dimensional space coordinate of patient's arm, movement velocity, the parameters such as orientation angles, judge the current action indication information of patient for raising one's hand, according to the This move indication information of raising one's hand, described execution module 12 searches and obtains the command word corresponding with described action indication information of raising one's hand in the maneuver library that sets in advance, wherein, the command word corresponding with described action indication information of raising one's hand, can be when maneuver library be set, be set as binary numeral 1011.After obtaining command word 1011 corresponding to described action indication information of raising one's hand, the sending module 13 in described intelligent wireless sensing apparatus 10 only needs described binary numeral 1011 is sent to described opposite end receiving trap 20 by wireless transmission method.
Described opposite end receiving trap 20 can be put in the clinic, and the one end can be connected with computer counter 30 by USB interface.Receiver module 21 in described opposite end receiving trap 20 receives binary numeral 1011, the command word 1011 that control module 22 in while described opposite end receiving trap 20 receives according to described receiver module 21, what judge command word 1011 representatives is the This move indication information of raising one's hand, and described control module 22 numerical value of controlling described computer counter 30 by USB interface adds 1.
When the patient raise one's hand action next time, described intelligent wireless sensing apparatus 10 and described opposite end receiving trap 20 repeated the above-mentioned course of work, the cumulative numeral of described computer counter 30.When the patient finally stopped moving, the numerical value of described computer counter 30 was the number of times that the patient raises one's hand, and the related personnel can judge according to the change situation of numerical value patient's recovery situation.
description by above-described embodiment, the present invention has the following advantages: the patient that the intelligent wireless sensing apparatus senses sensor does and lifts chirokinesthetic motion trace data and carry out computing completely, avoided patient's motion trace data because of the interference obliterated data in wireless transmission, cause precise decreasing even can't calculate, in addition, with the mode of this motion indication information with command word of raising one's hand that obtains after calculating, send to the opposite end receiving trap by sending module, the original motion track data of raising one's hand that senses due to the command word ratio sensor is little a lot, the bandwidth that has reduced the short-distance wireless device relies on, can promote once again noise immunity, reduce power consumption, the accurate collection of realization to the Rehabilitation data.
Fig. 5 is the schematic flow sheet of the first embodiment of the wireless intelligent sensing method of the embodiment of the present invention, and as shown in Figure 5, this wireless intelligent sensing method comprises:
S201: obtain motion trace data.Up-to-date sensor at present can be used, as acceleration transducer, gyroscope, magnetometer, barometer etc., one or more can be comprised.Can obtain the motion trace data such as motion track information by sensor, for example use acceleration transducer, can sense on three direction vectors, reach accekeration and time value on left and right, front and back, vertical direction.
S202: according to described motion trace data, search the command word corresponding with described motion trace data in predefined maneuver library.Described maneuver library comprises action indication information and the command word corresponding with described action indication information.The action implication that described action indication information is predefined motion trace data be used to representing each action.Described command word can be a binary code distributing for the action indication information of each action, and perhaps similar code, be used for controlling corresponding equipment work.For example, to this action implication of shaking the head from left to right, the action indication information of setting is: shake the head from left to right, then give 1001 as command word to this action indication information.Target is carried out left-to-right when shaking the head This move, acceleration transducer, gyroscope etc. can sense the three-dimensional acceleration value, magnitude of angular velocity, time value etc., by these motion trace data that senses, what can identify that target carries out is the This move indication information of shaking the head from left to right, then can find corresponding command word 1001.In practical operation, the motion trace data that also can sense according to sensor, counting statistics goes out the action indication information of all kinds of actions, so that the maneuver library in the intelligent wireless sensing apparatus is upgraded.
S203: described command word is sent to the opposite end receiving trap, so that described opposite end receiving trap carries out corresponding control operation according to described command word.Described command word is sent to the opposite end receiving trap by wireless transmission method, and the opposite end receiving trap carries out corresponding as the control operations such as warning, demonstration according to described command word.
Description by above-described embodiment, the present invention has the following advantages, the motion trace data that senses is carried out computing, mode by wireless transmission, form with simple command word sends to the opposite end receiving trap, and the opposite end receiving trap need not to carry out repetition and complicated calculating again, just can directly use command word to make relevant control, avoided the situation because of the wireless transmission obliterated data, reduced the bandwidth of wireless short-distance transmitting device is relied on.Simultaneously, because the intelligent wireless sensing apparatus integrates a plurality of sensors, make the intelligent wireless sensing apparatus can be used as general sensing apparatus and be applied to different action sensing technical fields.
Fig. 6 is the schematic flow sheet of the second embodiment of the wireless intelligent sensing method of the embodiment of the present invention, and as shown in Figure 6, this wireless intelligent sensing method comprises:
S301: maneuver library is set.Described maneuver library comprises action indication information and the command word corresponding with described action indication information.The action implication that described action indication information is predefined motion trace data be used to representing each action.Described command word can be a binary code distributing for the action indication information of each action, and perhaps similar code, be used for controlling corresponding equipment work.For example, to this action implication of shaking the head from left to right, the action indication information of setting is: shake the head from left to right, then give 1001 as command word to this action indication information.
S302: obtain motion trace data.Can use up-to-date sensor at present: one or more in the sensor of various one-dimensionals or multidimensional.Can sense by these sensors the data that need, for example, use acceleration transducer, gyroscope, magnetometer, barometer can obtain respectively the three-dimensional data of acceleration, gyrostatic three-dimensional data, the three-dimensional data of magnetometer, the data that barometer senses.Wherein, the three-dimensional data of acceleration comprises: the accekeration on X-axis (left and right directions), Y-axis (fore-and-aft direction), three directions of Z axis (above-below direction), and time value.
S303: calculate described motion trace data to obtain the action indication information.Calculate to obtain to represent the action indication information of the action implication of current motion trace data according to motion trace data.In specific implementation, the algorithm of track following and human motion all can be integrated in the chip of intelligent wireless sensing apparatus, to carry out the calculating of data.For example, when using three dimension acceleration sensor to sense the motion trace data of brandishing arm, three dimension acceleration sensor is at three accekerations of three direction vectors (X, Y, Z represent left and right, front and back, vertical direction) meeting perception, by three accekerations and the time of detecting, calculate initial velocity, terminal velocity, thereby calculate the parameters such as three dimensional space coordinate, movement velocity, orientation angles of each time point last arm, to determine the action indication information for brandishing arm.
S304: according to described action indication information, search the command word corresponding with described action indication information in predefined maneuver library.
S305: described command word is sent to the opposite end receiving trap, so that described opposite end receiving trap carries out corresponding control operation according to described command word.After the opposite end receiving trap receives command word, judge the action indication information of described command word representative, then pass through interface, as SPI, USB, infrared ray etc., be sent to other devices as on computer, to carry out corresponding motion control operation, for example in game process, when the opposite end receiving trap receives the corresponding command word 1001 of action indication information of brandishing arm, just control Mission Objective according to described command word 1001 and do the motion of brandishing arm.
Description by above-described embodiment, the present invention has the following advantages, the intelligent wireless sensing apparatus carries out computing completely with the motion trace data that all sensors sense at intelligent wireless sensing apparatus end, the direct like this motion trace data to sensor is calculated, avoided because of the interference obliterated data in wireless transmission, caused the even imponderable problem of precise decreasing; In addition, by wireless mode, form with simple command word sends to the opposite end receiving trap, the opposite end receiving trap need not to carry out repetition and complicated calculating again, just can directly use command word to make relevant control, because command word ratio sensor raw data is little a lot, the bandwidth that can reduce the short-distance wireless device relies on, can promote noise immunity, reduce power consumption.And the intelligent wireless sensing apparatus can also upgrade by wired or wireless mode, upgrade and be integrated in inner track following, action recognition algorithm and maneuver library, thereby can constantly update according to demand.Simultaneously, because the intelligent wireless sensing apparatus integrates a plurality of sensors, make the intelligent wireless sensing apparatus can be used as general sensing apparatus and be applied to different action sensing technical fields.
Above disclosed is only preferred embodiment of the present invention, certainly can not limit with this interest field of the present invention, and the equivalent variations of therefore doing according to claim of the present invention still belongs to the scope that invention is contained.
Claims (7)
1. a wireless intelligent sensing method, is characterized in that, comprising:
One or more in use acceleration transducer, gyroscope, magnetometer, barometer senses the three-dimensional data of moving object, obtains three dimensional space coordinate, movement velocity and orientation angles, to obtain motion trace data;
Obtain the command word corresponding with described motion trace data in predefined maneuver library according to described motion trace data;
Described command word is sent to the opposite end receiving trap, so that described opposite end receiving trap carries out corresponding control operation according to described command word;
Wherein, the described step of the command word corresponding with described motion trace data that obtains in predefined maneuver library according to described motion trace data comprises:
Calculate described motion trace data to obtain the action indication information, described action indication information represents the action implication of the motion trace data of each action;
Search the command word corresponding with described action indication information according to described action indication information in predefined maneuver library.
2. wireless intelligent sensing method as claimed in claim 1, is characterized in that, the described motion trace data of obtaining also comprises before:
Maneuver library is set, and described maneuver library comprises the action indication information, and the command word corresponding with described action indication information.
3. wireless intelligent sensing method as claimed in claim 2, it is characterized in that, described motion trace data comprises: the three-dimensional data that acceleration transducer senses, the three-dimensional data that gyroscope senses, any one in the data that the three-dimensional data that magnetometer senses, barometer sense or multiple.
4. wireless intelligent sensing method as described in claim 1 or 3, is characterized in that, described opposite end receiving trap carries out corresponding control operation according to described command word and comprises:
The opposite end receiving trap identifies the action indication information according to the described command word that receives, and carries out corresponding control operation according to described action indication information.
5. an intelligent wireless sensing apparatus, is characterized in that, comprising:
Sensor, one or more that be used for to use acceleration transducer, gyroscope, magnetometer, barometer senses the three-dimensional data of moving object, obtains three dimensional space coordinate, movement velocity and orientation angles, to obtain motion trace data;
Execution module, the motion trace data that is used for obtaining according to described sensor obtains the command word corresponding with described motion trace data at predefined maneuver library;
Sending module is used for the command word that described execution module obtains is sent to the opposite end receiving trap, so that described opposite end receiving trap carries out corresponding control operation according to described command word;
Wherein, described execution module comprises:
Computing unit is used for calculating described motion trace data to obtain the action indication information;
Search the unit, be used for searching the command word corresponding with described action indication information according to described action indication information at predefined maneuver library.
6. an opposite end receiving trap, is characterized in that, comprising:
Receiver module is used for receiving the command word that the intelligent wireless sensing apparatus sends;
Control module is used for carrying out corresponding control operation according to the command word that described receiver module receives;
Wherein, described control module comprises:
Recognition unit, the command word that is used for receiving according to described receiver module identifies the action indication information;
Control performance element, be used for carrying out corresponding control operation according to described action indication information;
wherein, described command word is that described intelligent wireless sensing apparatus uses acceleration transducer, gyroscope, magnetometer, one or more in barometer senses the three-dimensional data of moving object, obtain three dimensional space coordinate, movement velocity and orientation angles, to obtain motion trace data, and by calculating described motion trace data to obtain the action indication information, described action indication information represents the action implication of the motion trace data of each action, the mode of then searching the command word corresponding with described action indication information according to described action indication information in predefined maneuver library obtains.
7. an intelligent wireless sensing system, is characterized in that, comprises intelligent wireless sensing apparatus and opposite end receiving trap, wherein,
Described intelligent wireless sensing apparatus, one or more that be used for to use acceleration transducer, gyroscope, magnetometer, barometer senses the three-dimensional data of moving object, obtain three dimensional space coordinate, movement velocity and orientation angles, to obtain motion trace data, according to described motion trace data, obtain the command word corresponding with described motion trace data in predefined maneuver library, and described command word is sent to described opposite end receiving trap;
Described opposite end receiving trap is used for receiving the command word that described intelligent wireless sensing apparatus sends, and carries out corresponding control operation according to described command word;
Wherein, described intelligent wireless sensing apparatus obtain in predefined maneuver library the command word corresponding with described motion trace data be by: calculate described motion trace data to obtain the action indication information, described action indication information represents the action implication of the motion trace data of each action; Search the command word corresponding with described action indication information according to described action indication information in predefined maneuver library.
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| CN102997931B (en) * | 2012-11-13 | 2015-09-16 | 艾的威（福建）服饰有限责任公司 | A kind of radio motion measurement mechanism and sport footwear |
| CN104463087A (en) * | 2013-11-25 | 2015-03-25 | 安徽寰智信息科技股份有限公司 | Action identification device and method |
| CN104933423A (en) * | 2015-07-08 | 2015-09-23 | 安徽瑞宏信息科技有限公司 | Motion identification apparatus and method |
| CN105785981A (en) * | 2016-04-22 | 2016-07-20 | 桂林电子科技大学 | Track robot motion control method based on two-dimensional rocker |
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| CN201247446Y (en) * | 2008-08-26 | 2009-05-27 | 中国华录集团有限公司 | Motion induction operating handle |
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