CN102591445A - Stress sensing simulation method and equipment - Google Patents
Stress sensing simulation method and equipment Download PDFInfo
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- CN102591445A CN102591445A CN2011100018406A CN201110001840A CN102591445A CN 102591445 A CN102591445 A CN 102591445A CN 2011100018406 A CN2011100018406 A CN 2011100018406A CN 201110001840 A CN201110001840 A CN 201110001840A CN 102591445 A CN102591445 A CN 102591445A
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Abstract
The embodiment of the invention discloses a stress sensing simulation method and equipment, wherein the method comprises the steps of: generating sensing data by an action sensing device according to the current action; obtaining an action characteristic and an action strength value of the action by operating according to the sensing data; searching a control command corresponding to the action characteristic from a preset mode library by the action sensing device; sending the control command and the action strength value to an action simulation device; receiving and analyzing the control command and the action strength value by the action simulation device; and controlling the effect of an execution module simulating the action according to the control command and the action strength value. According to the stress sending simulation method and the equipment, stress conditions can be converted into data to be transmitted back to the action simulation device when a far-end sensor detects various different forces such as impact, rotation and the like; and the action simulation device simulates the stress condition of the action sensing device, so that a user can have sense of reality in the process of using the simulation equipment, and the use experience of the user can be enhanced.
Description
Technical field
The present invention relates to the electronic sensor field, relate in particular to a kind of stressed sensing analogy method and equipment.
Background technology
Electronic game is that the user can be dropped in the process of playing more, and scene that is virtually reality like reality on game picture and audio often makes vision that the user receives and auditory information near truly, lifting user's experience.
Along with the development of technology, some electronic games only no longer have been satisfied with in vision and have acoustically been given the user near real stimulus to the sense organ, and begin to consider that the sense of touch aspect from the user improves.Therefore, the FORCE FEEDBACK technology has been applied in the electronic game.Adopt the recreation of FORCE FEEDBACK technology; The user is in the process of playing games, and the game console of user's operation can be made corresponding action according to scene of game, like vibration, rotation, inclination or the like; Intend the scene the recreation from the tripartite face mould of vision, the sense of hearing and sense of touch, give user's sensation truer.
But; The inventor finds in the process of embodiment of the present invention; Existing FORCE FEEDBACK technology is because need corresponding programs (games) control receiving ends (game console) make corresponding action, so the FORCE FEEDBACK technology is used for virtual scene stressing conditions such as simulation electronic recreation mostly, and in the analog machine (like remote control toy car) of reality; Because the stressing conditions of analog machine can't convert steering order into and pass telepilot back; Therefore also can't make telepilot simulate the stressing conditions of analog machine, make the user in use lack the sense of reality, influence user's experience.
Summary of the invention
Embodiment of the invention technical matters to be solved is, a kind of stressed sensing analogy method and equipment are provided.When distal sensor capable of using (like the far-end of network far-end or wireless device) adds at the action sensing device in various strength such as detecting bump, rotation, inclination, bounce-back, vibration; Convert stressing conditions into data back action simulation device; The action simulation device utilizes motor or specific strength reaction unit to come the stressing conditions of simulated action sensing apparatus; Make the user in the process of using analog machine, the sense of reality arranged more, promote user's experience.
In order to solve the problems of the technologies described above, the embodiment of the invention provides a kind of stressed sensing analogy method, comprising:
The action sensing device generates sense data according to its current action; And obtain the motion characteristic and the action intensity value of said action according to said sense data computing;
The action sensing device is searched in the library that presets and said motion characteristic control instruction corresponding; And send said steering order and action intensity value to the action simulation device;
The action simulation device receives and resolves said steering order and action intensity value; And simulate the effect of said action according to said steering order and action intensity value control and executive module.
Wherein, be connected through wireless mode between said action sensing device and the said action simulation device.
Wherein, this method also comprises: the data in the said library are upgraded and safeguard through wired or wireless mode.
Wherein, said action comprises: vibrate, collide, tilt, turn to, rotate, quicken.
Correspondingly, the embodiment of the invention also provides a kind of stressed sensing analog machine, comprising: action sensing device and action simulation device;
Said action sensing device is used for generating sense data according to its current action; Obtain the motion characteristic and the action intensity value of said action according to said sense data computing; And in the library that presets, search and said motion characteristic control instruction corresponding; And send said steering order and action intensity value to said action simulation device;
Said action simulation device is used for receiving and resolving said steering order and action intensity value; And simulate the effect of said action according to said steering order and action intensity value control and executive module.
Wherein, said action sensing device comprises:
Library is used to preset the motion characteristic control instruction corresponding with exercises;
Sensor is used to gather the current action of said action sensing device, generates sense data;
First arithmetic and control unit is used for obtaining motion characteristic and action intensity value according to the sense data computing that said sensor generates, and in said library, searches and said motion characteristic control instruction corresponding; And to said action simulation device sending controling instruction and action intensity value.
Wherein, said action simulation device comprises:
Second arithmetic and control unit be used to receive and resolve steering order and the action intensity value that said first arithmetic and control unit sends, and according to said steering order and action intensity value, control and executive module is simulated the current action of said action sensing device;
Execution module is used for the control according to said second arithmetic and control unit, simulates the current action of said action sensing device.
Wherein, said action sensing device also comprises: first wireless transmit/receive units, be used to accomplish the information interaction between said action sensing device and the said action simulation device, and comprising: to said action simulation device sending controling instruction and action intensity value;
Said action simulation device also comprises: second wireless transmit/receive units, be used to accomplish the information interaction between said action sensing device and the said action simulation device, and comprising: receive steering order and action intensity value that said action sensing device sends.
Wherein, said action sensing device also comprises: the data expansion interface is used for supplying external unit the data of said library are upgraded and to safeguard.
Wherein, said action comprises: vibrate, collide, tilt, turn to, rotate, quicken.
Stressed sensing analogy method and equipment that the embodiment of the invention provides; Utilize the remote action sensing apparatus when detecting various strength such as bump, rotation, inclination, bounce-back, vibration; Convert stressing conditions into data back action simulation device; The action simulation device utilizes motor or specific strength reaction unit to come the stressing conditions of simulated action sensing apparatus, makes the user in the process of using analog machine, the sense of reality arranged more, promotes user's experience.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work property, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the stressed sensing analogy method first embodiment schematic flow sheet provided by the invention;
Fig. 2 is the stressed sensing analogy method second embodiment schematic flow sheet provided by the invention;
Fig. 3 is the stressed sensing analog machine first example structure synoptic diagram provided by the invention;
Fig. 4 is the stressed sensing analog machine second example structure synoptic diagram provided by the invention;
Fig. 5 is stressed sensing analog machine the 3rd an example structure synoptic diagram provided by the invention.
Embodiment
Stressed sensing analogy method and equipment that the embodiment of the invention provides; Utilize the remote action sensing apparatus when detecting various strength such as bump, rotation, inclination, bounce-back, vibration; Convert stressing conditions into data back action simulation device; The action simulation device utilizes motor or specific strength reaction unit to come the stressing conditions of simulated action sensing apparatus, makes the user in the process of using analog machine, the sense of reality arranged more, promotes user's experience.
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
Referring to Fig. 1, be the stressed sensing analogy method first embodiment schematic flow sheet provided by the invention, as shown in the figure, this method comprises:
At step S100, the action sensing device generates sense data according to its current action; And obtain the motion characteristic and the action intensity value of said action according to said sense data computing.
At step S101, the action sensing device is searched in the library that presets and said motion characteristic control instruction corresponding; And send said steering order and action intensity value to the action simulation device.
At step S102, the action simulation device receives and resolves said steering order and action intensity value; And simulate the effect of said action according to said steering order and action intensity value control and executive module.
The stressed sensing analogy method that the embodiment of the invention provides; Utilize the remote action sensing apparatus when detecting various strength such as bump, rotation, inclination, bounce-back, vibration; Convert stressing conditions into data back action simulation device; The action simulation device utilizes motor or specific strength reaction unit to come the stressing conditions of simulated action sensing apparatus, makes the user in the process of using analog machine, the sense of reality arranged more, promotes user's experience.
Referring to Fig. 2, be the stressed sensing analogy method second embodiment schematic flow sheet provided by the invention, in the present embodiment, with the flow process of this stressed sensing analogy method of more detailed description.As shown in Figure 2, this method comprises:
At step S200, the action sensing device generates sense data according to its current action.More concrete, in the present embodiment, the action sensing device is installed on the analog machine, and the action simulation device then is positioned on the telepilot of controlling this analog machine.Because the action sensing device is positioned on the analog machine, so the action of its current action and the current stressed generation of analog machine is consistent, said action comprises: vibrate, collide, tilt, turn to, rotate, acceleration etc.
With the remote control toy car is example; The action sensing device is installed on the toy car; When toy car and barrier bump, can produce vibration, be positioned at the also vibration thereupon of action sensing device on the toy car, the action sensing device generates sense data according to this vibration.
Concrete principle of work is: the acceleration transducer inside in the action sensing device is made up of a 3-axis acceleration sensor; Can distinguish the linear acceleration value on sensing X axle, Y axle, the Z-direction, this sense data is the vibration acceleration value on formed X axle, Y axle, the Z-direction in the said toy car collision process; Gyroscope in the action sensing device can be distinguished the angular acceleration values on sensing X axle, Y axle, the Z-direction, and this sense data is the angle of throw accekeration on formed X axle, Y axle, the Z-direction in the toy car collision process.
At step S201, the action sensing device obtains the motion characteristic and the action intensity value of said action according to said sense data computing.
More concrete, the action sensing device is following to the process that the sense data that obtains carries out computing: the action sensing device carries out computing to the linear acceleration value on the X axle of acceleration transducer institute sensing, Y axle, the Z-direction and draws straight-line displacement; The action sensing device obtains angular displacement to the angular acceleration values on the X axle of gyroscope institute sensing, Y axle, the Z-direction; According to straight-line displacement and said angular displacement and binding time value; The Oscillation Amplitude and the vibration frequency that can calculate the action sensing device are equivalent, promptly obtain motion characteristic.
At step S202, the action sensing device is searched in the library that presets and said motion characteristic control instruction corresponding.More concrete, preset the exercises characteristic in the library, and respectively with each motion characteristic control instruction corresponding.For example, the pairing motion characteristic of action that produces during the toy car clobber at action sensing device place; Pairing motion characteristic of action that produces when toy car is turned or the like.In library, preset above-mentioned motion characteristic, each motion characteristic control instruction corresponding is set simultaneously.For example, the motion characteristic of the action correspondence that produces during the toy car clobber is corresponding with a steering order, the vibration that this steering order produces in the time of can making the collision of execution module simulation toy car.
At step S203, the action sensing device sends said steering order and action intensity value to the action simulation device.In the present embodiment; Be connected through wireless mode between action sensing device and the action simulation device; Being that the action sensing device both can be through low-power consumption short-distance wireless RF receiving/transmission device, bluetooth, purple honeybee modes such as (Zigbee) steering order and action intensity value to be sent to the action simulation device, also can be that the action sensing device sends to the action simulation device through network with steering order and action intensity value.
At step S204, the action simulation device receives and resolves said steering order and action intensity value.
At step S205, the action simulation device is simulated the effect of said action according to said steering order and action intensity value control and executive module.More concrete, said execution module can be motor or other device for force feedback.The action simulation device is positioned on the telepilot; It simulates the current effect after stressed of action sensing device according to steering order and action intensity value control and executive module; The for example vibration after the collision makes the user just experience the current situation of analog machine intuitively through telepilot.
Preferably, the stressed sensing analogy method that the embodiment of the invention provides can be upgraded to the data in the said library and safeguards through wired or wireless mode.
The stressed sensing analogy method that the embodiment of the invention provides; Utilize the remote action sensing apparatus when detecting various strength such as bump, rotation, inclination, bounce-back, vibration; Convert stressing conditions into data back action simulation device; The action simulation device utilizes motor or specific strength reaction unit to come the stressing conditions of simulated action sensing apparatus, makes the user in the process of using analog machine, the sense of reality arranged more, promotes user's experience.
Referring to Fig. 3, be the stressed sensing analog machine first example structure synoptic diagram provided by the invention, as shown in the figure, this equipment comprises: action sensing device 1 and action simulation device 2.
Said action sensing device 1 is used for generating sense data according to its current action; Obtain the motion characteristic and the action intensity value of said action according to said sense data computing; And in the library that presets, search and said motion characteristic control instruction corresponding; And send said steering order and action intensity value to said action simulation device.
Said action simulation device 2 is used for receiving and resolving said steering order and action intensity value; And simulate the effect of said action according to said steering order and action intensity value control and executive module.
Preferably; Be connected through wireless mode between action sensing device 1 and the action simulation device 2; Be action sensing device 1 with action simulation device 2 between both can be to be connected through low-power consumption short-distance wireless RF receiving/transmission device, bluetooth, purple honeybee modes such as (Zigbee), also can connect through network.
The stressed sensing analog machine that the embodiment of the invention provides; Can the action sensing device be installed on the analog machine; The action simulation device is installed on the telepilot of controlling said analog machine; Utilize the remote action sensing apparatus when detecting various strength such as bump, rotation, inclination, bounce-back, vibration, convert stressing conditions into data back action simulation device, the action simulation device utilizes motor or specific strength reaction unit to come the stressing conditions of simulated action sensing apparatus; Make the user in the process of using analog machine, the sense of reality arranged more, promote user's experience.
Referring to Fig. 4, be the stressed sensing analog machine second example structure synoptic diagram provided by the invention.In the present embodiment, with the structure of this stressed sensing analog machine of more detailed description and each functions of components.As shown in Figure 4, action sensing device 1 and action simulation device 2.In the present embodiment, the action sensing device is positioned on the analog machine, and the action simulation device then is positioned on the telepilot of controlling this analog machine.
Action sensing device 1 is used for generating sense data according to its current action; Obtain the motion characteristic and the action intensity value of said action according to said sense data computing; And in the library that presets, search and said motion characteristic control instruction corresponding; And send said steering order and action intensity value to said action simulation device.More concrete, this action sensing device 1 comprises:
Library 11 is used to preset the motion characteristic control instruction corresponding with exercises.More concrete, preset the exercises characteristic in the library, and respectively with each motion characteristic control instruction corresponding.For example, the pairing motion characteristic of action that produces during the toy car clobber at action sensing device place; Pairing motion characteristic of action that produces when toy car is turned or the like.In library, preset above-mentioned motion characteristic, each motion characteristic control instruction corresponding is set simultaneously.For example, the motion characteristic of the action correspondence that produces during the toy car clobber is corresponding with a steering order, the vibration that this steering order produces in the time of can making the collision of execution module simulation toy car.
Library can be common storage medium, perhaps is extension storage cards such as SD (Secure Digital Memory Card, safe digital card) card.
Sensor 12 is used to gather the current action of action sensing device 1, generates sense data.More concrete because action sensing device 1 is positioned on the analog machine, so its current action owing to the stressed generation of analog machine, said action comprises: vibrate, collide, tilt, turn to, rotate, acceleration etc.
With the remote control toy car is example, and action sensing device 1 is installed on the toy car, when toy car and barrier bump, can produce vibration, is positioned at the also vibration thereupon of action sensing device on the toy car, and sensor 12 generates sense data according to this vibration.
Concrete principle of work is: the acceleration transducer inside in the sensor 12 is made up of a 3-axis acceleration sensor; Can distinguish the linear acceleration value on sensing X axle, Y axle, the Z-direction, this sense data is the vibration acceleration value on formed X axle, Y axle, the Z-direction in the said toy car collision process; Gyroscope in the sensor 12 can be distinguished the angular acceleration values on sensing X axle, Y axle, the Z-direction, and this sense data is the angle of throw accekeration on formed X axle, Y axle, the Z-direction in the toy car collision process.
First arithmetic and control unit 13 is used for obtaining motion characteristic and action intensity value according to the sense data computing that said sensor generates, and in said library, searches and said motion characteristic control instruction corresponding; And to said action simulation device 2 sending controling instructions and action intensity value.
Concrete, first arithmetic and control unit 13 is connected with library 11, sensor 12, and the sense data that first arithmetic and control unit 13 at first obtains sensor 12 carries out computing and obtains motion characteristic.Said first arithmetic and control unit 13 can be used to carry out the single-chip microcomputer that acceleration computing and/or angular acceleration computing obtain motion characteristic for one, and the process that the vibration-sensing data that 3 pairs of said sensors 2 of said first arithmetic and control unit obtain are carried out computing is following:
Linear acceleration value on the X axle of the said acceleration transducer of 13 pairs of said first arithmetic and control units institute sensing, Y axle, the Z-direction is carried out computing and is drawn straight-line displacement; Angular acceleration values on the X axle of the said gyroscope of 13 pairs of said first arithmetic and control units institute sensing, Y axle, the Z-direction obtains angular displacement; According to straight-line displacement and said angular displacement and binding time value; The Oscillation Amplitude and the vibration frequency that can calculate the action sensing device are equivalent, promptly obtain motion characteristic.
After 13 computings of first arithmetic and control unit obtain said motion characteristic, in library 11, search with computing and obtain the pairing steering order of motion characteristic, and send this steering order and action intensity value to action simulation device 2.
Concrete; For example toy car and barrier collision; The vibration-sensing data that first arithmetic and control unit 13 is gathered according to sensor 12 should obtain corresponding crash-active characteristic, and according to this crash-active characteristic; In library 11, can find the standard operation characteristic model of the crash-active characteristic that matches, first arithmetic and control unit 13 sends to action simulation device 2 with the pairing steering order of standard operation characteristic model and the action intensity value of this crash-active.Suppose; The pairing steering order of standard operation characteristic model of toy car and barrier collision is according to the vibration of action intensity value in the library 11, and then first arithmetic and control unit 3 sends this instruction and action intensity value according to the vibration of action intensity value to execution module 4.
Action simulation device 2 is used for receiving and resolving said steering order and action intensity value; And simulate the effect of said action according to said steering order and action intensity value control and executive module.More concrete, this action simulation device 2 comprises:
Second arithmetic and control unit 21 is used to resolve said steering order and action intensity value, and according to said steering order and action intensity value, the current action of the control and executive module 22 said action sensing devices of simulation.
Execution module 22 is used for the control according to said second arithmetic and control unit, simulates the current action of said action sensing device.More concrete, execution module 22 can be motor or other device for force feedback.Action simulation device 2 is positioned on the telepilot; Second arithmetic and control unit 21 simulates the current effect after stressed of action sensing device 1 according to steering order and action intensity value control and executive module 22; The for example vibration after the collision makes the user just experience the current situation of analog machine intuitively through telepilot.
Further, the action sensing device 1 in the embodiment of the invention utilizes first wireless transmit/receive units 14 and second wireless transmit/receive units 23 with action simulation device 2, connects with wireless mode.
First wireless transmit/receive units 14 is used to accomplish the information interaction between said action sensing device 1 and the said action simulation device 2, comprising: to said action simulation device 2 sending controling instructions and action intensity value.
Second wireless transmit/receive units 15 is used to accomplish the information interaction between said action sensing device 1 and the said action simulation device 2, comprising: receive steering order and action intensity value that said action sensing device 1 sends.
Further, first wireless transmit/receive units 14 is connected with said first arithmetic and control unit 13, can upgrade to the data in the said library 11 and safeguards for external unit.Certainly, also data expansion interface 15 (as shown in Figure 5) can be set on action sensing device 1 directly, the confession external unit is upgraded through the data in 15 pairs of library 11 of data expansion interface and is safeguarded.
The stressed sensing analog machine that the embodiment of the invention provides; Can the action sensing device be installed on the analog machine; The action simulation device is installed on the telepilot of controlling said analog machine; Utilize the remote action sensing apparatus when detecting various strength such as bump, rotation, inclination, bounce-back, vibration, convert stressing conditions into data back action simulation device, the action simulation device utilizes motor or specific strength reaction unit to come the stressing conditions of simulated action sensing apparatus; Make the user in the process of using analog machine, the sense of reality arranged more, promote user's experience.
One of ordinary skill in the art will appreciate that all or part of flow process that realizes in the foregoing description method; Be to instruct relevant hardware to accomplish through computer program; Described program can be stored in the computer read/write memory medium; This program can comprise the flow process like the embodiment of above-mentioned each side method when carrying out.Wherein, described storage medium can be magnetic disc, CD, read-only storage memory body (Read-Only Memory, ROM) or at random store memory body (Random Access Memory, RAM) etc.
Above disclosedly be merely a kind of preferred embodiment of the present invention, can not limit the present invention's interest field certainly with this, the equivalent variations of therefore doing according to claim of the present invention still belongs to the scope that the present invention is contained.
Claims (10)
1. a stressed sensing analogy method is characterized in that, comprising:
The action sensing device generates sense data according to its current action; And obtain the motion characteristic and the action intensity value of said action according to said sense data computing;
The action sensing device is searched in the library that presets and said motion characteristic control instruction corresponding; And send said steering order and action intensity value to the action simulation device;
The action simulation device receives and resolves said steering order and action intensity value; And simulate the effect of said action according to said steering order and action intensity value control and executive module.
2. stressed sensing analogy method as claimed in claim 1 is characterized in that, is connected through wireless mode between said action sensing device and the said action simulation device.
3. stressed sensing analogy method as claimed in claim 2 is characterized in that this method also comprises:
Data in the said library are upgraded and safeguard through wired or wireless mode.
4. like each described stressed sensing analogy method in the claim 1 to 3, it is characterized in that said action comprises: vibrate, collide, tilt, turn to, rotate, quicken.
5. a stressed sensing analog machine is characterized in that, comprising: action sensing device and action simulation device;
Said action sensing device is used for generating sense data according to its current action; Obtain the motion characteristic and the action intensity value of said action according to said sense data computing; And in the library that presets, search and said motion characteristic control instruction corresponding; And send said steering order and action intensity value to said action simulation device;
Said action simulation device is used for receiving and resolving said steering order and action intensity value; And simulate the effect of said action according to said steering order and action intensity value control and executive module.
6. stressed sensing analog machine as claimed in claim 5 is characterized in that, said action sensing device comprises:
Library is used to preset the motion characteristic control instruction corresponding with exercises;
Sensor is used to gather the current action of said action sensing device, generates sense data;
First arithmetic and control unit is used for obtaining motion characteristic and action intensity value according to the sense data computing that said sensor generates, and in said library, searches and said motion characteristic control instruction corresponding; And to said action simulation device sending controling instruction and action intensity value.
7. stressed sensing analog machine as claimed in claim 6 is characterized in that, said action simulation device comprises:
Second arithmetic and control unit be used to receive and resolve steering order and the action intensity value that said first arithmetic and control unit sends, and according to said steering order and action intensity value, control and executive module is simulated the current action of said action sensing device;
Execution module is used for the control according to said second arithmetic and control unit, simulates the current action of said action sensing device.
8. stressed sensing analog machine as claimed in claim 7 is characterized in that, said action sensing device also comprises:
First wireless transmit/receive units is used to accomplish the information interaction between said action sensing device and the said action simulation device, comprising: to said action simulation device sending controling instruction and action intensity value;
Said action simulation device also comprises: second wireless transmit/receive units, be used to accomplish the information interaction between said action sensing device and the said action simulation device, and comprising: receive steering order and action intensity value that said action sensing device sends.
9. stressed sensing analog machine as claimed in claim 7 is characterized in that, said action sensing device also comprises:
The data expansion interface is used for supplying external unit the data of said library are upgraded and to safeguard.
10. like each described stressed sensing analog machine in the claim 6 to 9, it is characterized in that said action comprises: vibrate, collide, tilt, turn to, rotate, quicken.
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| CN103076884A (en) * | 2013-02-07 | 2013-05-01 | 韩铮 | Data acquisition method and data acquisition device for motion recognition, and motion recognition system |
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| JP2009294715A (en) * | 2008-06-02 | 2009-12-17 | Everspring Industry Co Ltd | Electronic device control method using infrared detection |
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| CN2537438Y (en) * | 2002-04-02 | 2003-02-26 | 旭丽股份有限公司 | Personal digital assistant game device |
| CN1867081A (en) * | 2005-05-18 | 2006-11-22 | 财团法人工业技术研究院 | Action sensing interaction system |
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| CN103076884A (en) * | 2013-02-07 | 2013-05-01 | 韩铮 | Data acquisition method and data acquisition device for motion recognition, and motion recognition system |
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