CN102279709A - Method for obtaining handwriting information - Google Patents

Abstract

The invention provides a method for obtaining handwriting information. In the method, a five-dimensional force/moment sensor module, an embedded microprocessor module and a true-color display module which are arranged in a handwriting device are utilized. The method comprises the following steps of: firstly initializing the five-dimensional force/moment sensor module, wherein the initialization comprises power supplying, zero-point modifying and interface drive requirement and temperature compensating; acquiring numerical values output by the five-dimensional force/moment sensor, thus obtaining five-dimensional force handwriting force data; performing decoupling operation on the five-dimensional force handwriting force data, thus obtaining real-time three-dimensional handwriting vector information numerical values and two-dimensional handwriting moment vector information numerical values; and performing corresponding formula calculation, thus obtaining real-time two-dimensional handwriting coordinate information and obtaining complete handwriting information. The method can be used for solving the problems that the handwriting information cannot be completely obtained in the existing handwriting information obtaining method, therefore, the security of signature information is improved, and the method provides a new guarantee means for ensuring the information security of important document signing in e-government or contract signing in e-business, and the like.

Description

A kind of handwriting information getting method

Technical field

The present invention relates to computerized information field and robotization electronic applications, particularly a kind of handwriting information getting method can be applicable to need in the information security field to carry out occasions such as digital signature authentication.

Background technology

Along with the continuous development of computer technology, office automation and with no paper office have become working forms main in the e-commerce and e-government.By office automation and with no paper office, people can utilize computing machine to handle all kinds of documents and desk job easily, and need be by physical sheets of paper, thereby can reduce the consumption rate to paper.

Yet, angle from information privacy, in order to guarantee the security of important office documents, the file that particularly has legal restraint is signed and issued, for example signature of block trade contract etc., it is still unreliable only to rely on computing machine to handle this type of information, may be distorted by unwarranted personnel's malice because deposit the numerical information of computing machine in, therefore presses for a kind of convenience, natural and safe information interchange mode in office automation and with no paper office.

At present in this field, the digitizing handwritten signature is a main information safety communication method, computing machine is realized collection to signer's handwriting information by utilizing writing technology, and by specific processing and the identification of computer-internal, generate and the corresponding certain computer document of specific handwriting information, this is the basic scheme that solves information security issue in the present ecommerce.

Multiple digitizing handwritten signature handwriting information acquisition methods and corresponding handwriting device are arranged in the prior art, the patent No. is that CN101587389A's " a kind of handwriting input disposal route and hand input device " and the patent No. is CN101071353A " a kind of hand-write input processing device " etc., look into new by retrieval, wherein the patent No. is that the patent of CN101071353A is immediate patented technology, it specifically discloses a kind of handwriting input disposal route and hand input device, comprise touch-screen, signal acquisition module, signal conversion unit, display unit and information transmitting unit, can realize reading to user's handwriting input person's handwriting information, and be converted to corresponding person's handwriting pictorial information, then these pictorial informations are compressed processing, and finish Presentation Function, by information transmitting unit handwriting information is sent simultaneously, and the receiver can confirm originator's identity information by person's handwriting.

After above-mentioned prior art was analyzed, the inventor found:

Be to realize to obtaining of hand-written handwriting information in the prior art by touch-control module or one-dimensional positive pressure sensor or both combinations, but contactor control device or one-dimensional positive pressure sensor only can get access to the hand-written coordinate information or the hand-written pressure information of one-dimensional of two-dimensional static, in fact, hand-written process is a dynamic physical process, the forming process of its person's handwriting is produced by the contact movement of the relative paper of acting force drive nib of staff, be that complete handwriting information is except the hand-written coordinate information that comprises two-dimensional static, also comprise the hand-written force information of the multidimensional that produces in the hand-written process, therefore existing there is the loss of learning problem in obtaining on handwriting information is handled of hand-written handwriting information;

The handwriting information getting method only calculates handwriting information according to the coordinate information of the two-dimensional static of contactor control device or one-dimensional positive pressure sensor acquisition in the prior art, and do not embody the action effect of the hand-written force information of the multidimensional that produces in the hand-written process to hand-written handwriting information, therefore existing handwriting information getting method exists not enough in person's handwriting computation process;

The evaluation of the information of identifying the handwriting in the prior art is only according to the coordinate information of two-dimensional static, or depend on third party device and come the aid identification handwriting information, as utilize the physiological characteristic person's handwriting of person's handwriting similarity, mixed-fingerprint or palmmprint to merge or the like, and this can increase the complexity of person's handwriting identification undoubtedly, particularly, increase the complexity that handwriting information obtains, often bring instability to system applies.

Summary of the invention

Technical matters to be solved by this invention is that purpose is: avoid in the above-mentioned prior art the weak point of hand-written handwriting information acquisition methods, propose a kind of based on the multidimensional handwriting information getting method of information with all strength.

Technical scheme of the present invention is:

A kind of handwriting information getting method, particularly: adopt five-dimension force/torque sensor to obtain nib and tie up hand-written force data with five of signature plane contact generation, promptly when hand-written process takes place, five-dimension force/torque sensor can be real-time perception and the output action hand-written force data of five dimensions thereon change, the hand-written force data of these five dimensions comprises three-dimensional hand-written force data, and two-dimentional hand-written moment data, then by gathering and change these data, and by specific computational analysis method, just can obtain three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value, three-dimensional hand-written force vector information value and the two-dimentional hand-written moment vector information value that obtains by the analysis to aforementioned calculation carried out corresponding formulas calculating at last, obtain the hand-written coordinate values of pairing two dimension, with all strength information are to the obtaining of hand-written handwriting information thereby complete realization is based on five dimensions, and described method comprises:

Beginning, initialization five-dimension force/torque sensor;

Gather the numerical value of five-dimension force/torque sensor output, obtain the hand-written force data of five dimensions;

The hand-written force data of five dimensions is carried out the decoupling zero computing, obtain real-time three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value;

According to hand-written force vector information value of three-dimensional and two-dimentional hand-written moment vector information value, calculate real-time two-dimentional hand-written coordinate values, obtain complete handwriting information;

Described beginning, initialization five-dimension force/torque sensor specifically comprises:

For five-dimension force/torque sensor operate as normal provides satisfactory environmental demand, as power supply requirement, memory requirements and interface driving demand etc. are to guarantee correctly and effectively output data of five-dimension force/torque sensor;

The data of described collection five-dimension force/torque sensor output obtain the hand-written force information of five dimensions, specifically comprise:

If R _x(i) be that t=iT gathers the force data on five-dimension force/torque sensor x direction of principal axis, R constantly _y(i) be that t=iT gathers the force data on five-dimension force/torque sensor y direction of principal axis, R constantly _z(i) be that t=iT gathers the force data on five-dimension force/torque sensor z direction of principal axis, R constantly _Mx(i) gather the moment data of five-dimension force/torque sensor on the x direction of principal axis constantly for t=iT, R _My(i) gather the moment data of five-dimension force/torque sensor on the y direction of principal axis constantly for t=iT;

Promptly gather the data of five-dimension force/torque sensor output, obtain the hand-written force data of five dimensions, specifically comprise three-dimensional hand-written force data (R _x(i), R _y(i), R _zAnd two-dimentional hand-written moment data (R (i)) _Mx(i), R _My(i)).

Described to five the dimension hand-written force data carry out the decoupling zero computing, obtain real-time three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value, specifically comprise:

If V _x(i) be the t=iT hand-written force information numerical value on the x direction of principal axis constantly, V _y(i) be the t=iT hand-written force information numerical value on the y direction of principal axis constantly, V _z(i) be the t=iT hand-written force information numerical value on the z direction of principal axis constantly, V _Mx(i) be the t=iT hand-written moment information numerical value on the x direction of principal axis constantly, V _My(i) be the t=iT hand-written moment information numerical value on the y direction of principal axis constantly;

The hand-written force data of described five dimensions is carried out the decoupling zero computing obtain described V _x(i);

The hand-written force data of described five dimensions is carried out the decoupling zero computing obtain described V _y(i);

The hand-written force data of described five dimensions is carried out the decoupling zero computing obtain described V _z(i);

The hand-written force data of described five dimensions is carried out the decoupling zero computing obtain described V _Mx(i);

The hand-written force data of described five dimensions is carried out the decoupling zero computing obtain described V _My(i);

Promptly, specifically comprise three-dimensional hand-written force data (R according to the hand-written force data of described five dimensions _x(i), R _y(i), R _zAnd two-dimentional hand-written moment data (R (i)) _Mx(i), R _My(i)), obtained the hand-written force vector information value of described three-dimensional (V _x(i), V _y(i), V _zAnd two-dimentional hand-written moment vector information value (V (i)) _Mx(i), V _My(i)).

Describedly calculate real-time two-dimentional hand-written coordinate values, obtain complete handwriting information, specifically comprise according to hand-written force vector information value of three-dimensional and two-dimentional hand-written moment vector information value:

If x (i) is the hand-written coordinate values on the t=iT moment x direction of principal axis, y (i) is the hand-written coordinate values on the t=iT moment y direction of principal axis;

To the hand-written force vector information value of described three-dimensional (V _x(i), V _y(i), V _zAnd two-dimentional hand-written moment vector information value (V (i)) _Mx(i), V _My(i)) calculate x (i);

To the hand-written force vector information value of described three-dimensional (V _x(i), V _y(i), V _zAnd two-dimentional hand-written moment vector information value (V (i)) _Mx(i), V _My(i)) calculate y (i);

Promptly according to the hand-written force vector information value of described three-dimensional (V _x(i), V _y(i), V _zAnd two-dimentional hand-written moment vector information value (V (i)) _Mx(i), V _My(i)), obtained real-time two-dimentional hand-written coordinate information (x (i), y (i)), and then obtained complete handwriting information;

Described complete handwriting information specifically comprises:

Three-dimensional hand-written force vector information value (V _x(i), V _y(i), V _zAnd two-dimentional hand-written moment vector information value (V (i)) _Mx(i), V _MyAnd two-dimentional hand-written coordinate information (x (i), y (i)) (i)).

As a further improvement of existing technologies, the invention has the beneficial effects as follows:

Handwriting information getting method provided by the invention, effectively solve existing handwriting information and hand-written handwriting information has been obtained the problem that has loss of learning in obtaining, the present invention obtains nib and signature plane contact produce in the hand-written process three-dimensional hand-written force data and two-dimentional hand-written moment data by adopting five-dimension force/torque sensor, then by gathering and change these data, and by specific computational analysis method, obtain three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value, at last by hand-written force vector information value of above-mentioned three-dimensional and two-dimentional hand-written moment vector information value are carried out corresponding formulas calculating, obtain the hand-written coordinate values of pairing two dimension, thereby complete realization is based on five dimension all one's effort information obtaining hand-written handwriting information.

Handwriting information getting method provided by the invention is based on five dimension all one's effort information and calculates and analyze the handwriting information that obtains hand-written process generation, this handwriting information is complete has comprised hand-written force information action effect therein, therefore, method provided by the invention has effectively solved the deficiency that can't embody hand-written force information in the person's handwriting computation process.

Handwriting information getting method provided by the invention can complete documentation handwriting information, particularly can write down the personalized handwriting information that produces owing to Writer's traditional writing style, these personalized handwriting informations have not only contained the long-term writing style of writer, but also Writer's emotional factor, behavioural characteristic etc. have been contained, thereby make the imitator be difficult to imitate out the complete person's handwriting process of true writer, the dynamic force Vector Message that produces in the time of particularly can't echographia, thus effectively raise the security of written information and handwriting verification.

This invention provides a kind of new solution for nature, safe electronic handwriting input in ecommerce at present, the E-Government, particularly by quintuple space power/moment motion vector information and electronic information security are combined, thereby for solving in the present E-Government to information security fields such as contract signatures in vital document signature or the ecommerce, particularly in relating to the legal liabilities occasion, a kind of new guarantee means are provided.

Description of drawings

Fig. 1 is the schematic flow sheet of embodiment of the invention handwriting information getting method;

The handwriting device structural representation that Fig. 2 provides for the embodiment of the invention;

Fig. 3 arranges synoptic diagram for embodiment of the invention coupled matrix;

Fig. 4 is that embodiment of the invention person's handwriting coordinate information calculates synoptic diagram.

Embodiment

In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further described in detail below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.

Embodiment 1

Please refer to Fig. 1, be the schematic flow sheet of embodiment of the invention handwriting information getting method, its step specifically comprises:

Step 100, beginning, initialization five-dimension force/torque sensor; Concrete, when carrying out sensor data acquisition and information when obtaining, need corresponding resource support, as memory source, energy resource, device resource and port resource etc., for described these resources are met, so that the output that sensor can be effective and real-time need be carried out initialization operation to five-dimension force/torque sensor, these content of operation comprise to be revised at power supply supply, zero point, and temperature compensation etc.

Step 110 is gathered the numerical value of five-dimension force/torque sensor output, obtains the hand-written force data of five dimensions; Concrete, when the writer signs on hand-written platform, five-dimension force/torque sensor can be real-time perception and the output action hand-written force data of five dimensions thereon change, the hand-written force data of these five dimensions comprises three-dimensional hand-written force data, and two-dimentional hand-written moment data.

Step 120 is carried out the decoupling zero computing to the hand-written force data of five dimensions, obtains real-time three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value; Concrete and since five-dimension force/torque sensor intrinsic passage coupling, need carry out the decoupling zero computing to the hand-written force data of gathering of original five dimensions, to obtain reacting hand-written process force information numerical value truly and accurately.

Present embodiment is an example with the x axle, introduces and how to carry out the method that the decoupling zero computing obtains hand-written force information numerical value according to the hand-written force data of original five dimensions.Referring to Fig. 3, establish R _x(i) be that t=iT gathers the force data on five-dimension force/torque sensor x direction of principal axis, R constantly _y(i) be that t=iT gathers the force data on five-dimension force/torque sensor y direction of principal axis, R constantly _z(i) be that t=iT gathers the force data on five-dimension force/torque sensor z direction of principal axis, R constantly _Mx(i) gather the moment data of five-dimension force/torque sensor on the x direction of principal axis constantly for t=iT, R _My(i) gather the moment data of five-dimension force/torque sensor on the y direction of principal axis constantly for t=iT, V _x(i) be the t=iT hand-written force information numerical value on the x direction of principal axis constantly; T is the systematic sampling cycle, and C is the decoupling zero matrix; Can obtain V constantly by decoupling zero calculating at t=iT _x(i) value, that is:

$V_x\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[{\mathrm{<figure-callout\; id="11"\; label="C"\; filenames="HDA0000086652070000022.png"\; state="\{\{state\}\}">C</figure-callout>}}_{11}*R_x\left(i\right)+{\mathrm{<figure-callout\; id="12"\; label="C"\; filenames="HDA0000086652070000022.png"\; state="\{\{state\}\}">C</figure-callout>}}_{12}*R_y\left(i\right)+C_{13}*R_z\left(i\right)+{\mathrm{<figure-callout\; id="14"\; label="C"\; filenames="HDA0000086652070000022.png"\; state="\{\{state\}\}">C</figure-callout>}}_{14}*R_{\mathrm{mx}}\left(i\right)+C_{15}*R_{\mathrm{my}}\left(i\right)]$

In like manner, establish V _y(i) be the t=iT hand-written force information numerical value on the y direction of principal axis constantly, V _z(i) be the t=iT hand-written force information numerical value on the z direction of principal axis constantly, V _Mx(i) be the t=iT hand-written moment information numerical value on the x direction of principal axis constantly, V _My(i) be the t=iT hand-written moment information numerical value on the y direction of principal axis constantly;

Can obtain V constantly by decoupling zero calculating at t=iT _y(i) value, that is:

$V_y\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[{\mathrm{<figure-callout\; id="21"\; label="C"\; filenames="HDA0000086652070000021.png"\; state="\{\{state\}\}">C</figure-callout>}}_{21}*R_x\left(i\right)+C_{22}*R_y\left(i\right)+C_{23}*R_z\left(i\right)+{\mathrm{<figure-callout\; id="24"\; label="C"\; filenames="HDA0000086652070000021.png"\; state="\{\{state\}\}">C</figure-callout>}}_{24}*R_{\mathrm{mx}}\left(i\right)+C_{25}*R_{\mathrm{my}}\left(i\right)]$

Can obtain V constantly by decoupling zero calculating at t=iT _z(i) value, that is:

$V_z\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[C_{31}*R_x\left(i\right)+C_{32}*R_y\left(i\right)+C_{33}*R_z\left(i\right)+C_{34}*R_{\mathrm{mx}}\left(i\right)+C_{35}*R_{\mathrm{my}}\left(i\right)]$

Can obtain V constantly by decoupling zero calculating at t=iT _Mx(i) value, that is:

$V_{\mathrm{mx}}\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[{\mathrm{<figure-callout\; id="41"\; label="C"\; filenames="HDA0000086652070000022.png"\; state="\{\{state\}\}">C</figure-callout>}}_{41}*R_x\left(i\right)+{\mathrm{<figure-callout\; id="42"\; label="C"\; filenames="HDA0000086652070000022.png"\; state="\{\{state\}\}">C</figure-callout>}}_{42}*R_y\left(i\right)+C_{43}*R_z\left(i\right)+{\mathrm{<figure-callout\; id="44"\; label="C"\; filenames="HDA0000086652070000022.png"\; state="\{\{state\}\}">C</figure-callout>}}_{44}*R_{\mathrm{mx}}\left(i\right)+{\mathrm{<figure-callout\; id="45"\; label="C"\; filenames="HDA0000086652070000022.png"\; state="\{\{state\}\}">C</figure-callout>}}_{45}*R_{\mathrm{my}}\left(i\right)]$

Can obtain V constantly by decoupling zero calculating at t=iT _My(i) value, that is:

$V_{\mathrm{my}}\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[C_{51}*R_x\left(i\right)+C_{52}*R_y\left(i\right)+C_{53}*R_z\left(i\right)+C_{54}*R_{\mathrm{mx}}\left(i\right)+C_{55}*R_{\mathrm{my}}\left(i\right)]$

Promptly, specifically comprise three-dimensional hand-written force data (R according to the hand-written force data of five dimensions _x(i), R _y(i), R _zAnd two-dimentional hand-written moment data (R (i)) _Mx(i), R _My(i)), obtain real-time three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value by the decoupling zero computing.

Step 130 according to hand-written force vector information value of three-dimensional and two-dimentional hand-written moment vector information value, calculates real-time two-dimentional hand-written coordinate values, obtains complete handwriting information; Concrete, hand-written force vector information value of three-dimensional and two-dimentional hand-written moment vector information value are carried out specific calculating, obtain the hand-written coordinate values of real-time two dimension of reflecting handwriting, and then the complete handwriting information of obtaining.

Present embodiment is an example with the x axle still, introduces the method that how obtains hand-written real-time coordinate values according to hand-written force information numerical evaluation.Referring to Fig. 4, establish x (i) and be the hand-written coordinate values on the t=iT moment x direction of principal axis, V _x(i) be the t=iT hand-written force information numerical value on the x direction of principal axis constantly, V _z(i) be the t=iT hand-written force information numerical value on the z direction of principal axis constantly, V _My(i) be the t=iT hand-written moment information numerical value on the y direction of principal axis constantly, T is the systematic sampling cycle, and H is the distance of signature plane and five-dimension force/torque sensor central plane; According to power/moment equilibrium condition on t=iT X-direction constantly, can calculate the numerical value of x (i), that is:

$x\left(i\right)=\frac{-V_{\mathrm{my}}\left(i\right)+V_x\left(i\right)*H}{V_z\left(i\right)}$

In like manner, establish y (i) and be the hand-written coordinate values on the t=iT moment y direction of principal axis, V _y(i) be the t=iT hand-written force information numerical value on the y direction of principal axis constantly, V _z(i) be the t=iT hand-written force information numerical value on the z direction of principal axis constantly, V _Mx(i) be the t=iT hand-written moment information numerical value on the x direction of principal axis constantly; According to power/moment equilibrium condition on t=iT y direction of principal axis constantly, can calculate the numerical value of y (i), promptly

$y\left(i\right)=\frac{-V_{\mathrm{mx}}\left(i\right)+V_y\left(i\right)*H}{V_z\left(i\right)}$

Promptly according to the hand-written force vector information value of three-dimensional (V _x(i), V _y(i), V _zAnd two-dimentional hand-written moment vector information value (V (i)) _Mx(i), V _My(i)), obtained two-dimentional hand-written coordinate information (x (i), y (i)), thereby obtained complete handwriting information.

Step 140 is judged hand-written whether the end, if end step 150 then stops to calculate, if not then return step 110; Concrete, when passing through to the hand-written force data (R of three-dimensional _x(i), R _y(i), R _zAnd two-dimentional hand-written moment data (R (i)) _Mx(i), R _My(i)), carry out the decoupling zero computing and obtain real-time three-dimensional hand-written force vector information value or two-dimentional hand-written moment vector information value, continuous four times less than certain predetermined threshold values, or receive and force to finish can judge that handwriting input finishes after the handwriting input instruction.

Present embodiment is an example with the z axle, establishes V _z(i) be the t=iT hand-written force information numerical value on the z direction of principal axis constantly, L _zBe the power threshold values on the predefined z axle, T is the systematic sampling cycle, if when operation, when i=4, still has following inequality to set up:

V _z(i)＜L _z

Think that then hand-written process finishes, and stop to carry out person's handwriting calculating, calculate otherwise proceed person's handwriting.

For being the judgment rule of example, as mentioned above with other.

Embodiment 2

Please refer to Fig. 2, a kind of handwriting device structural representation that provides for the embodiment of the invention.Specifically comprise: five-dimension force/torque sensor module 10, embedded microprocessor module 20 and true colour display screen show module 30, and embedded microprocessor module 20 comprises communication module 21, read module 22, computing module 23 and graphics module 24.

Five-dimension force/torque sensor module 10 be meant a kind of can perception and the output action hand-written force data of five dimensions thereon; Concrete, when user or signer carry out the handwritten signature operation on this handwriting device, five-dimension force/torque sensor module 10 can real-time perception and is exported the writer and change at the hand-written force data of five dimensions that the signature process is produced, the hand-written force data of these five dimensions comprises three-dimensional hand-written force data, and two-dimentional hand-written moment data.Especially, the hand-written process on five-dimension force/torque sensor module 10 of acting on does not need to use the pen of special facture, and any pen, even finger all can be used as the handwriting input instrument.

Embedded microprocessor module 20 is used to realize the computing to data message; Concrete, the communication module 21 of embedded microprocessor module 20 is used to realize and the data communication function of five-dimension force/torque sensor module 10, read module 22 is by the operation to communication module 21, realization is read five-dimension force/torque sensor module 10 output informations, computing module 23 calls decoupling algorithm and power/equalising torque algorithm are read data to read module 22 processing, to obtain real-time hand-written power/moment information numerical value and hand-written coordinate information numerical value, graphics module 24 outputs to true colour display screen according to computing module 23 result calculated with corresponding information and shows that module 30 shows.

True colour display screen shows that module 30 is used to finish the demonstration to hand-written handwriting information; Concrete, when embedded microprocessor module 20 is finished computing to five-dimension force/torque sensor module 10 output informations, and get access to real-time hand-written power/moment information numerical value and hand-written coordinate information numerical value, can handwriting information transmission to be shown be shown module 30 to true colour display screen according to user or signer demand, to realize real-time Presentation Function, these handwriting information specifically comprise three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value and two-dimentional hand-written coordinate information, further, these handwriting information can be passed through figure, and modes such as form are shown on the module 30 at true colour display screen and shown.

A kind of handwriting information getting method provided by the invention, solved not comprehensive problem of in the existing handwriting information getting method hand-written handwriting information being obtained, by adopting five-dimension force/torque sensor technology to realize the complete of hand-written handwriting information obtained, comprise three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value and two-dimentional hand-written coordinate information, particularly, three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value dynamically produce in the handwritten signature process, and these Vector Message numerical value that everyone writes the signature generation are inequality, because everyone writing style, the spirit appearance is inequality, everyone the handwritten signature process that has been the unique sign of these handwriting information, further, these information are sightless, so imitating these handwriting information is difficult to, particularly to imitate three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value is impossible especially, thereby effectively raise the security of signing messages, and for solving in the present E-Government to information security fields such as contract signatures in vital document signature or the ecommerce, particularly in relating to the legal liabilities occasion, a kind of new guarantee means are provided.

Claims (4)

1. a handwriting information getting method comprises that five-dimension force/torque sensor module (10), embedded microprocessor module (20) and the true colour display screen in the handwriting device shows module (30);

Method step comprises:

Beginning, initialization five-dimension force/torque sensor, step (100) comprises and revising at power supply supply, zero point, and interface drives demand and temperature compensation;

Gather the numerical value of five-dimension force/torque sensor output, obtain the hand-written force data of five dimensions, step (110);

The hand-written force data of five dimensions is carried out the decoupling zero computing, obtain real-time three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value, step (120);

According to hand-written force vector information value of three-dimensional and two-dimentional hand-written moment vector information value, calculate real-time two-dimentional hand-written coordinate values, obtain complete handwriting information, step (130);

Do you judge hand-written the end? step (140); Finish step (150);

It is characterized in that: described five-dimension force/torque sensor module (10) can real-time perception and is exported the writer and change at the hand-written force data of five dimensions that the signature process is produced, the hand-written force data of these five dimensions comprises three-dimensional hand-written force data, and two-dimentional hand-written moment data;

The numerical value of described collection five-dimension force/torque sensor output obtains the hand-written force data of five dimensions, and step (110) specifically comprises:

If R _x(i) be that t=iT gathers the force data on five-dimension force/torque sensor x direction of principal axis constantly;

R _y(i) be that t=iT gathers the force data on five-dimension force/torque sensor y direction of principal axis constantly;

R _z(i) be that t=iT gathers the force data on five-dimension force/torque sensor z direction of principal axis constantly;

R _Mx(i) gather the moment data of five-dimension force/torque sensor on the x direction of principal axis constantly for t=iT;

R _My(i) gather the moment data of five-dimension force/torque sensor on the y direction of principal axis constantly for t=iT;

Promptly gather the data of five-dimension force/torque sensor output, the hand-written force data of five dimensions that obtains producing in the signature process specifically comprises three-dimensional hand-written force data R _x(i), R _y(i), R _z(i) and two-dimentional hand-written moment data R _Mx(i), R _My(i);

Described to five the dimension hand-written force data carry out the decoupling zero computing, obtain real-time three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value, step (120) specifically comprises:

According to the hand-written force data R of described three-dimensional _x(i), R _y(i), R _z(i) and two-dimentional hand-written moment data R _Mx(i), R _My(i) carry out the decoupling zero computing, obtain real-time three-dimensional hand-written force vector information value V _x(i), V _y(i), V _z(i) and two-dimentional hand-written moment vector information value V _Mx(i), V _My(i);

If R _x(i) be that t=iT gathers the force data on five-dimension force/torque sensor x direction of principal axis, R constantly _y(i) be that t=iT gathers the force data on five-dimension force/torque sensor y direction of principal axis, R constantly _z(i) be that t=iT gathers the force data on five-dimension force/torque sensor z direction of principal axis, R constantly _Mx(i) gather the moment data of five-dimension force/torque sensor on the x direction of principal axis constantly for t=iT, R _My(i) gather the moment data of five-dimension force/torque sensor on the y direction of principal axis constantly for t=iT, V _x(i) be the t=iT hand-written force information numerical value on the x direction of principal axis constantly; T is the systematic sampling cycle, and C is the decoupling zero matrix; Can obtain Vx (i) value constantly by decoupling zero calculating, that is: at t=iT

$V_x\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[C_{11}*R_x\left(i\right)+C_{12}*R_y\left(i\right)+C_{13}*R_z\left(i\right)+C_{14}*R_{\mathrm{mx}}\left(i\right)+C_{15}*R_{\mathrm{my}}\left(i\right)]$

In like manner, establish V _y(i) be the t=iT hand-written force information numerical value on the y direction of principal axis constantly, V _z(i) be the t=iT hand-written force information numerical value on the z direction of principal axis constantly, V _Mx(i) be the t=iT hand-written moment information numerical value on the x direction of principal axis constantly, V _My(i) be the t=iT hand-written moment information numerical value on the y direction of principal axis constantly;

Can obtain V constantly by decoupling zero calculating at t=iT _y(i) value, that is:

$V_y\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[C_{21}*R_x\left(i\right)+C_{22}*R_y\left(i\right)+C_{23}*R_z\left(i\right)+C_{24}*R_{\mathrm{mx}}\left(i\right)+C_{25}*R_{\mathrm{my}}\left(i\right)]$

Can obtain V constantly by decoupling zero calculating at t=iT _z(i) value, that is:

$V_z\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[C_{31}*R_x\left(i\right)+C_{32}*R_y\left(i\right)+C_{33}*R_z\left(i\right)+C_{34}*R_{\mathrm{mx}}\left(i\right)+C_{35}*R_{\mathrm{my}}\left(i\right)]$

Can obtain V constantly by decoupling zero calculating at t=iT _Mx(i) value, that is:

$V_{\mathrm{mx}}\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[C_{41}*R_x\left(i\right)+C_{42}*R_y\left(i\right)+C_{43}*R_z\left(i\right)+C_{44}*R_{\mathrm{mx}}\left(i\right)+C_{45}*R_{\mathrm{my}}\left(i\right)]$

Can obtain V constantly by decoupling zero calculating at t=iT _My(i) value, that is:

$V_{\mathrm{my}}\left(i\right)=\underset{i=0}{\mathrm{\&Sigma;}}[C_{51}*R_x\left(i\right)+C_{52}*R_y\left(i\right)+C_{53}*R_z\left(i\right)+C_{54}*R_{\mathrm{mx}}\left(i\right)+C_{55}*R_{\mathrm{my}}\left(i\right)]$

Describedly calculate real-time two-dimentional hand-written coordinate values according to hand-written force vector information value of three-dimensional and two-dimentional hand-written moment vector information value, obtain complete handwriting information, step (130) specifically comprises:

If x (i) is the hand-written coordinate values on the t=iT moment x direction of principal axis, V _x(i) be the t=iT hand-written force information numerical value on the x direction of principal axis constantly, V _z(i) be the t=iT hand-written force information numerical value on the z direction of principal axis constantly, V _My(i) be the t=iT hand-written moment information numerical value on the y direction of principal axis constantly, T is the systematic sampling cycle, and H is the distance of signature plane and five-dimension force/torque sensor central plane; According to power/moment equilibrium condition on t=iT X-direction constantly, can calculate the numerical value of x (i), that is:

$x\left(i\right)=\frac{-V_{\mathrm{my}}\left(i\right)+V_x\left(i\right)*H}{V_z\left(i\right)}$

In like manner, establish y (i) and be the hand-written coordinate values on the t=iT moment y direction of principal axis, V _y(i) be the t=iT hand-written force information numerical value on the y direction of principal axis constantly, V _z(i) be the t=iT hand-written force information numerical value on the z direction of principal axis constantly, V _Mx(i) be the t=iT hand-written moment information numerical value on the x direction of principal axis constantly; According to power/moment equilibrium condition on t=iT y direction of principal axis constantly, can calculate the numerical value of y (i), promptly

$y\left(i\right)=\frac{-V_{\mathrm{mx}}\left(i\right)+V_y\left(i\right)*H}{V_z\left(i\right)}$

Promptly according to the hand-written force vector information value of three-dimensional V _x(i), V _y(i), V _z(i) and two-dimentional hand-written moment vector information value V _Mx(i), V _My(i), obtained two-dimentional hand-written coordinate information x (i), y (i);

Described complete handwriting information comprises three-dimensional hand-written force vector information value V _x(i), V _y(i), V _z(i) and two-dimentional hand-written moment vector information value V _Mx(i), V _My(i) and two-dimentional hand-written coordinate information x (i), y (i);

Do you describedly judge hand-written the end? step (140); Finish step (150); Specifically comprise: if finish then stop to calculate, if not then return step (110), promptly when by to the hand-written force data R of three-dimensional _x(i), R _y(i), R _z(i) and two-dimentional hand-written moment data R _Mx(i), R _My(i), carry out the decoupling zero computing obtain real-time three-dimensional hand-written force vector information value or two-dimentional hand-written moment vector information value continuous four times less than certain predetermined threshold values, or receive and force to finish can judge that handwriting input finishes after the handwriting input instruction.

2. according to the described a kind of handwriting information getting method of claim 1, it is characterized in that: described five-dimension force/torque sensor module (10) can real-time perception and is exported the writer and change at the hand-written force data of five dimensions that the signature process is produced, and shows that by embedded microprocessor (20) and true colour display screen module (30) moves.

3. according to the described a kind of handwriting information getting method of claim 2, it is characterized in that: described embedded microprocessor (20) is used for the computing to five-dimension force/torque sensor (10) output information, comprises communication module (21), read module (22), computing module (23), graphics module (24).

4. according to the described a kind of handwriting information getting method of claim 2, it is characterized in that: described true colour display screen shows that module (30) is used to finish the demonstration to hand-written handwriting information, or shows that at true colour display screen module (30) goes up demonstration by figure, forms mode.

Images