CN102279709B - Method for obtaining handwriting information - Google Patents
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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
Technical field
The present invention relates to computerized information field and Automated electronic field, particularly a kind of method for obtaining handwriting information can be applicable to need in the information security field to carry out the occasions such as digital signature authentication.
Background technology
Along with the 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 process all kinds of documents and desk job easily, and need to 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, such as signature of block trade contract etc., only rely on computing machine to process this type of information still unreliable, may maliciously be distorted by unwarranted personnel because deposit the numerical information of computing machine in, therefore in office automation and with no paper office in the urgent need to a kind of convenience, natural and safe information interchange mode.
At present in this field, the digitizing handwritten signature is main information security communication method, computing machine is by utilizing writing technology to realize collection to signer's handwriting information, and by the specific processing of computer-internal and identification, generate the certain computer document corresponding with 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 hand input processing method and hand input device " and the patent No. is CN101071353A " a kind of hand-write input processing device " etc., look into newly through retrieval, wherein the patent No. is that the patent of CN101071353A is immediate patented technology, it specifically discloses a kind of hand input processing method and hand input device, comprise touch-screen, signal acquisition module, signal conversion unit, display unit and information transmitting unit, can realize reading 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 by person's handwriting originator's identity information.
After above-mentioned prior art was analyzed, the inventor found:
To realize by touch-control module or one-dimensional positive pressure sensor or both combinations to obtaining of hand-written handwriting information in the prior art, but contactor control device or one-dimensional positive pressure sensor only can get access to 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, therefore also comprise the hand-written force information of the multidimensional that produces in the hand-written process, there is the loss of learning problem in existing obtaining of hand-written handwriting information processed at handwriting information;
Method for obtaining handwriting information only calculates handwriting information according to the coordinate information of the two-dimensional static of contactor control device or the collection of one-dimensional positive pressure sensor in the prior art, and do not embody the hand-written force information of the multidimensional that produces in the hand-written process to the action effect of hand-written handwriting information, so existing method for obtaining handwriting information Shortcomings 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 etc., 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 method for obtaining handwriting information, propose a kind of based on the multidimensional method for obtaining handwriting information of information with all strength.
Technical scheme of the present invention is:
A kind of method for obtaining handwriting information, particularly: adopt five-dimension force/torque sensor to obtain nib and tie up hand-written force data with five of signature plane contact generation, namely when having hand-written process to occur, 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, carry out corresponding formula by three-dimensional hand-written force vector information value that above-mentioned computational analysis is obtained and two-dimentional hand-written moment vector information value at last and calculate the hand-written coordinate values of corresponding 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 the 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;
Beginning, initialization five-dimension force/torque sensor specifically comprises:
For five-dimension force/torque sensor normal operation provides satisfactory environmental demand, such as power supply requirement, memory requirements and interface driver demand etc. can correctly and effectively be exported data to guarantee five-dimension force/torque sensor;
Gather the data of 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) constantly gather the moment data of five-dimension force/torque sensor on the x direction of principal axis for t=iT, R
My(i) constantly gather the moment data of five-dimension force/torque sensor on the y direction of principal axis for t=iT;
Namely 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)).
The hand-written force data of five dimensions is carried out the decoupling zero computing, obtains 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 constantly hand-written force information numerical value on the x direction of principal axis of t=iT, V
y(i) be the constantly hand-written force information numerical value on the y direction of principal axis of t=iT, V
z(i) be the constantly hand-written force information numerical value on the z direction of principal axis of t=iT, V
Mx(i) be the constantly hand-written moment information numerical value on the x direction of principal axis of t=iT, V
My(i) be the constantly hand-written moment information numerical value on the y direction of principal axis of t=iT;
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);
Namely according to the hand-written force data of described 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)), 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)).
The hand-written force vector information value of three-dimensional and two-dimentional hand-written moment vector information value are calculated, are obtained real-time two-dimentional hand-written coordinate values, obtain the handwriting information of finishing, specifically comprise:
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 described 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 described y (i);
Namely 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 described 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:
Method for obtaining handwriting information provided by the invention, effectively solved in the existing handwriting acquisition of information hand-written handwriting information has been obtained the problem that has loss of learning, the present invention is by adopting five-dimension force/torque sensor to obtain nib and signature plane contact produce in the hand-written process 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, obtain three-dimensional hand-written force vector information value and two-dimentional hand-written moment vector information value, calculate the hand-written coordinate values of corresponding two dimension by the hand-written force vector information value of above-mentioned three-dimensional and two-dimentional hand-written moment vector information value are carried out corresponding formula at last, thereby complete realization is based on five dimensions information obtaining hand-written handwriting information with all strength;
Method for obtaining handwriting information 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;
Method for obtaining handwriting information provided by the invention can complete documentation handwriting information, particularly can record the personalized handwriting information that the traditional writing style owing to the writer produces, these personalized handwriting informations have not only contained the long-term writing style of writer, but also emotional factor, behavioural characteristic of writer etc. have been contained, thereby so that the imitator is 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 at present ecommerce, 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 information security fields such as contract signatures in vital document signature or the ecommerce, particularly in relating to the legal liabilities occasion, provide a kind of new Means of Ensuring.
Description of drawings
Fig. 1 is the schematic flow sheet of embodiment of the invention method for obtaining handwriting information;
The handwriting device structural representation that Fig. 2 provides for the embodiment of the invention;
Fig. 3 is that embodiment of the invention coupled matrix is arranged schematic diagram;
Fig. 4 is that embodiment of the invention person's handwriting coordinate information calculates schematic diagram.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further described in detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
Embodiment 1
Please refer to Fig. 1, be the schematic flow sheet of embodiment of the invention method for obtaining handwriting information, its step specifically comprises:
Step 100, beginning, initialization five-dimension force/torque sensor; Concrete, when carrying out sensor data acquisition and acquisition of information, need corresponding resource support, such 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 to 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 gathers the numerical value that five-dimension force/torque sensor is exported, and obtains the hand-written force data of five dimensions; Concrete, when the writer when hand-written platform is signed, 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, because the intrinsic passage coupling of five-dimension force/torque sensor need to carry out the decoupling zero computing to the hand-written force data of original five dimensions that gathers, to obtain reacting truly and accurately hand-written process force information numerical value.
The present embodiment is introduced and how to be carried 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 take the x axle as example.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) constantly gather the moment data of five-dimension force/torque sensor on the x direction of principal axis for t=iT, R
My(i) constantly gather the moment data of five-dimension force/torque sensor on the y direction of principal axis for t=iT, V
x(i) be the constantly hand-written force information numerical value on the x direction of principal axis of t=iT; T is the systematic sampling cycle, and C is the decoupling zero matrix; Can obtain the V constantly at t=iT by decoupling zero calculating
x(i) value, that is:
V
x(i)＝C
11*R
x(i)+C
12*R
y(i)+C
13*R
z(i)+C
14*R
x(i)+C
15*R
my(i)
In like manner, establish V
y(i) be the constantly hand-written force information numerical value on the y direction of principal axis of t=iT, V
z(i) be the constantly hand-written force information numerical value on the z direction of principal axis of t=iT, V
Mx(i) be the constantly hand-written moment information numerical value on the x direction of principal axis of t=iT, V
My(i) be the constantly hand-written moment information numerical value on the y direction of principal axis of t=iT;
Can obtain the V constantly at t=iT by decoupling zero calculating
y(i) value, that is:
V
y(i)＝C
21*R
x(i)+C
22*R
y(i)+C
23*R
z(i)+C
24*R
mx(i)+C
25*R
my(i)
Can obtain the V constantly at t=iT by decoupling zero calculating
z(i) value, that is:
V
z(i)＝C
31*R
x(i)+C
32*R
y(i)+C
33*R
z(i)+C
34*R
mx(i)+C
35*R
my(i)
Can obtain the V constantly at t=iT by decoupling zero calculating
Mx(i) value, that is:
V
mx(i)＝C
41*R
x(i)+C
42*R
y(i)+C
43*R
z(i)+C
44*R
mx(i)+C
45*R
my(i)
Can obtain the V constantly at t=iT by decoupling zero calculating
My(i) value, that is:
V
my(i)＝C
51*R
x(i)+C
52*R
y(i)+C
53*R
z(i)+C
54*R
mx(i)+C
55*R
my(i)
Namely according to the hand-written force data of described 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)), 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 the 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, the hand-written force vector information value of described three-dimensional and two-dimentional hand-written moment vector information value are specifically calculated, obtain the real-time hand-written coordinate values of reflecting handwriting, and then the complete handwriting information of obtaining.
The present embodiment is still take the x axle as example, 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 constantly hand-written force information numerical value on the x direction of principal axis of t=iT, V
z(i) be the constantly hand-written force information numerical value on the z direction of principal axis of t=iT, V
My(i) be the constantly hand-written moment information numerical value on the y direction of principal axis of t=iT, 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:
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 constantly hand-written force information numerical value on the y direction of principal axis of t=iT, V
z(i) be the constantly hand-written force information numerical value on the z direction of principal axis of t=iT, V
Mx(i) be the constantly hand-written moment information numerical value on the x direction of principal axis of t=iT; According to power/moment equilibrium condition on t=iT y direction of principal axis constantly, can calculate the numerical value of y (i), namely
Namely 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 ending step 150 then stops to calculate, if not then return step 110; Concrete, when passing through 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 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.
The present embodiment is established V take the z axle as example
z(i) be the constantly hand-written force information numerical value on the z direction of principal axis of t=iT, 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 the judgment rule as an example of other axles example, as mentioned above.
Embodiment 2
Please refer to Fig. 2, a kind of handwriting device structural representation that provides for the embodiment of the invention, it specifically comprises: five-dimension force/torque sensor module 10, embedded microprocessor module 20 and true colour display screen show module 30, and described embedded microprocessor module 20 comprises communication module 21, read module 22, computing module 23 and graphics module 24.
Described five-dimension force/torque sensor module 10 refer to a kind of can perception and the output action hand-written force data of five dimensions thereon; Concrete, when user or signer when this handwriting device carries out the handwritten signature operation, 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 produces, 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.
Described embedded microprocessor module 20 is used for realization to the computing of data message; Concrete, the communication module 21 of described embedded microprocessor module 20 is used for the data communication function of realization and five-dimension force/torque sensor module 10, described read module 22 is by the operation to communication module 21, realization is read five-dimension force/torque sensor module 10 output informations, described 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, described graphics module 24 shows that to described true colour display screen module 30 shows with corresponding information output according to the result that computing module 23 calculates.
Described true colour display screen shows that module 30 is used for finishing 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 communication to be shown be shown module 30 to described 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 the modes such as form show that at described true colour display screen module 30 shows.
A kind of method for obtaining handwriting information provided by the invention, solved not comprehensive problem of in the existing method for obtaining handwriting information 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 Dynamic Generation in the handwritten signature process, and these Vector Message numerical value that everyone writes the signature generation are not identical, because everyone writing style, the spirit appearance is not identical, 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 information security fields such as contract signatures in vital document signature or the ecommerce, particularly in relating to the legal liabilities occasion, provide a kind of new Means of Ensuring.
Claims (4)
1. method for obtaining handwriting information comprises that five-dimension force in the handwriting device/torque sensor module (10), embedded microprocessor module (20) and true colour display screen show 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 driver 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 the 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 produces, 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) constantly gather the moment data of five-dimension force/torque sensor on the x direction of principal axis for t=iT;
R
My(i) constantly gather the moment data of five-dimension force/torque sensor on the y direction of principal axis for t=iT;
Namely 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) constantly gather the moment data of five-dimension force/torque sensor on the x direction of principal axis for t=iT, R
My(i) constantly gather the moment data of five-dimension force/torque sensor on the y direction of principal axis for t=iT, V
x(i) be the constantly hand-written force information numerical value on the x direction of principal axis of t=iT; T is the systematic sampling cycle, and C is the decoupling zero matrix; Can obtain Vx (i) value constantly at t=iT by decoupling zero calculating, that is:
V
x(i)＝C
11*R
x(i)+C
12*R
y(i)+C
13*R
z(i)+C
14*R
mx(i)+C
15*R
my(i)
In like manner, establish V
y(i) be the constantly hand-written force information numerical value on the y direction of principal axis of t=iT, V
z(i) be the constantly hand-written force information numerical value on the z direction of principal axis of t=iT, V
Mx(i) be the constantly hand-written moment information numerical value on the x direction of principal axis of t=iT, V
My(i) be the constantly hand-written moment information numerical value on the y direction of principal axis of t=iT;
Can obtain the V constantly at t=iT by decoupling zero calculating
y(i) value, that is:
V
y(i)＝C
21*R
x(i)+C
22*R
y(i)+C
23*R
z(i)+C
24*R
mx(i)+C
25*R
my(i)
Can obtain the V constantly at t=iT by decoupling zero calculating
z(i) value, that is:
V
z(i)＝C
31*R
x(i)+C
32*R
y(i)+C
33*R
z(i)+C
34*R
mx(i)+C
35*R
my(i)
Can obtain the V constantly at t=iT by decoupling zero calculating
Mx(i) value, that is:
V
mx(i)＝C
41*R
x(i)+C
42*R
y(i)+C
43*R
z(i)+C
44*R
mx(i)+C
45*R
my(i)
Can obtain the V constantly at t=iT by decoupling zero calculating
My(i) value, that is:
V
my(i)＝C
51*R
x(i)+C
52*R
y(i)+C
53*R
z(i)+C
54*R
mx(i)+C
55*R
my(i)
Describedly calculate real-time two-dimentional hand-written coordinate values according to the 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 constantly hand-written force information numerical value on the x direction of principal axis of t=iT, V
z(i) be the constantly hand-written force information numerical value on the z direction of principal axis of t=iT, V
My(i) be the constantly hand-written moment information numerical value on the y direction of principal axis of t=iT, 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:
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 constantly hand-written force information numerical value on the y direction of principal axis of t=iT, V
z(i) be the constantly hand-written force information numerical value on the z direction of principal axis of t=iT, V
Mx(i) be the constantly hand-written moment information numerical value on the x direction of principal axis of t=iT; According to power/moment equilibrium condition on t=iT y direction of principal axis constantly, can calculate the numerical value of y (i), namely
Namely 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), namely 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. described a kind of method for obtaining handwriting information according to 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 produces, and shows that by embedded microprocessor (20) and true colour display screen module (30) moves.
3. described a kind of method for obtaining handwriting information according to 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. described a kind of method for obtaining handwriting information according to claim 2, it is characterized in that: described true colour display screen shows that module (30) is used for finishing the demonstration to hand-written handwriting information, or shows module (30) demonstration by figure, forms mode at true colour display screen.
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| CN104978504A (en) * | 2015-07-28 | 2015-10-14 | 安徽机电职业技术学院 | Electronic signature multidimensional force information acquisition system |
| CN105005775A (en) * | 2015-07-28 | 2015-10-28 | 安徽工程大学 | Handwritten multidimensional force information acquisition device |
| CN108804970B (en) * | 2017-04-26 | 2023-09-19 | 富泰华工业（深圳）有限公司 | Sign pen and fingerprint information generation method |
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| JP4762070B2 (en) * | 2006-07-19 | 2011-08-31 | 富士通株式会社 | Handwriting input device, handwriting input method, and computer program |
| CN101183283A (en) * | 2007-12-04 | 2008-05-21 | 哈尔滨工业大学深圳研究生院 | Method for directly writing handwriting information |
| CN101587389A (en) * | 2008-05-22 | 2009-11-25 | 华为技术有限公司 | A kind of handwriting input disposal route and hand input device |
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