CN102722248A - Method for utilizing shoes as computer peripheral in place of keyboard and mouse and implementation device - Google Patents

Abstract

The invention discloses a method for utilizing shoes as a computer peripheral in place of a keyboard and a mouse and an implementation device thereof, and belongs to the technical field of automation, electronic communication and computer interface. Wireless sensing comprehensive modules which are arranged in the shoes are used for acquiring and determining motion information of the shoes, and then the motion information of the shoes is converted into corresponding keyboard scancodes or mouse motion information and keystroke information according to a current keyboard mode or mouse mode, so that the effect of utilizing the motion information of the shoes in place of the keyboard or the mouse is achieved. According to the method, a variable mapping table is established for the motion information of the shoes and input of the keyboard and the mouse as a novel human-computer interaction mode, so that the method can be not only used by a disabled person for controlling and using a computer but also used for electronic game entertainment, i.e., the motion of a game character can be controlled through motion of feet of a human body, the control mode is flexible and the application range is wide.

Description

Utilize method and the implement device of shoes substituting for key mouse as computer peripheral equipment

Technical field

The present invention relates to a kind of novel shoes, belong to robotization, telecommunications and Computer Interface Technology field based on sensor and electronic communication technology.Especially, a kind ofly accurately restore the foot motion data, and then realize the method that step motion substituting for key button and mouse move through Computer Interface Technology at shoes at implanted sensor thereby relate to.

Background technology

Along with information science development, the rise of somatosensory motion lets increasing man-machine interaction product have the characteristic of body sense.Like the 3D body sense controller mouse of Legend Company, the wii game host of Nintendo, the XBOX Kinect of Microsoft etc.These equipment are through the mode of built-in sensors or external camera, thereby the exercise data that obtains human body is realized man-machine interaction.The 3D body sense mouse beacon of Legend Company wherein; Be a kind of wireless communication technique that utilizes,, arrive the wireless receiving module that PC holds thereby will brandish information transmission through gathering the action of brandishing of user's hand; Thereby certain button input can be carried out the control of PC recreation on the substituting for key; Simultaneously also can induction mouse in vacant moving, realize replacement control to mouse.But at shoe-making field, do not occur motion as yet, utilize the mode of wireless connections, and then the invention of substituting for key or mouse occurs through human body foot.

Summary of the invention

The present invention has utilized and a kind ofly can detect the comprehensive module of wireless sensing that the human foot moves, and with its lightweight miniaturization, is convenient to put into shoes, through wireless transport module, foot's mobile message of human body is transferred to intelligent terminals such as PC.The smart machine Data Receiving at PC terminal realizes through the host computer receiver module of a USB mouth; Host computer receiver module inside receives human foot's mobile message by the Single-chip Controlling wireless transport module; And convert the keyboard or the mouse scan code of standard into; Convert the USB standard signal again into and export to the USB mouth of PC, trigger BIOS 09H hardware interrupts, the notice PC has button to press; And then the keyboard scancode that will shine upon completion in advance delivers to the keyboard buffer of internal memory BIOS data area, thereby realized the function with the mobile substituting for key input of shoes; In addition; For replacing mouse, Single-chip Controlling wireless transport module then capable of using receives human foot's mobile message, through certain logical mappings relation; Foot is mapped as the position of mouse on screen at mobile data on the ground level; And the action mapping of user's step is mousebutton, and interrupts through triggering Hardware I NT 33H, reads the position of mouse and the state of mousebutton.The present invention has accomplished the function of a Wireless Keyboard and wireless mouse, and the button input of traditional mouse and keyboard is caused hardware interrupts, has become induction human foot's mobile initiation hardware interrupts, has accomplished the function that is similar to Wireless Keyboard and wireless mouse.In addition, it is a kind of based on the system bottom api function that the present invention also provides, and user's foot action is mapped as the method that keyboard and mouse such as move at message.

The invention provides a kind of method and implement device that utilizes shoes substituting for key mouse as computer peripheral equipment, described implement device comprises that mainly one is adopted the host computer receiver module of wireless technology and is arranged on the comprehensive module of wireless sensing that (is embedded in sole among the present invention) on the shoes.The comprehensive module of described wireless sensing is used to gather user foot when moving, the exercise data of the six degree of freedom of the comprehensive module of wireless sensing that the shoes bottom is embedded, and exercise data is transferred to the host computer receiver module with wireless mode.The comprehensive module of described wireless sensing comprises acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, the CPU based on ARM, wireless transport module and power supply unit.Described host computer receiver module comprises wireless transport module, single-chip microcomputer, USB/UART interface conversion chip, power supply chip and USB interface, can realize plug and play.

Turn to core concept with miniaturization, light weight on the comprehensive modular design of said wireless sensing, adopt the higher ARM chip of integrated level,, make it can embed the shoes bottom easily with size and the weight that reduces the comprehensive module board of wireless sensing.The present invention be designed to the comprehensive module of wireless sensing and shoes detachable, detachable design also is convenient to the charging of the comprehensive module of wireless sensing.

The present invention includes two kinds of mode of operations; Be keyboard mode and mouse mode; Can be provided with through the software of PC end; Initially power on constantly at equipment, mode of operation and correlation parameter are transferred to slave computer with wireless communication mode, move the difference in functionality of substituting for key mouse input to realize the human foot through host computer.

The comprehensive module of wireless sensing is as the nucleus module of gathering user's foot action information, and it comprises following crucial submodule:

(1) based on the acceleration transducer of the Three Degree Of Freedom of three axis accelerometer; (2) based on the angular sensor of digital gyro; (3) magnetoresistive transducer; (4) based on the CPU of ARM; (5) signal based on wireless communication module sends and receiving element; (6) independently-powered discharged and recharged power supply unit.Acceleration transducer is gathered the displacement information on three axles of foot in three dimensions; Angular sensor is gathered the rotational angle information of shoes; Magnetoresistive transducer is gathered geomagnetic field intensity information; After displacement information and the conditioning of geomagnetic field intensity information via signal condition unit; Through with the CPU of ARM as core, the signal transmitting unit that at last treated information is utilized wireless transport module sends to the host computer receiver module with the mode of wireless signal with rotational angle information.CPU is selected the ARM chip that carries high-precision AD collection and house dog for use.AD gathers and is used to obtain the voltage output through the acceleration transducer unit of signal condition unit conditioning, and is reduced to acceleration information, obtains velocity information through an integration to the time, obtains displacement data through the integration second time to the time.House dog is used for when the processor program race flies or is in the deadlock state, and house dog will carry out forced resetting to processor from hardware, make processor get into normal mode of operation again.Wherein the comprehensive inside modules of wireless sensing be provided with ROM be used to store when dispatching from the factory unique identification SN number with left and right sides footwear sign ID number, promptly the module of each piece finished product all is that the different information that rely on programming to advance ROM are distinguished, and is similar to the sequence number that dispatches from the factory of product.

The host computer receiver module; As the module that receives and handle wireless sensing information that comprehensive module is sent in the shoes, its core is through home control network communication protocol, connects with the comprehensive module of wireless sensing and receives related data; And according to initialization mode of operation and running parameter constantly; The movable information of user foot is mapped as the input of keyboard and mouse, obtains keyboard scancode or mouse mobile message and key information, and convert input information the USB peripheral hardware signal of standard into; The triggering relevant hardware is interrupted, and keyboard scancode or mouse are moved the buffer zone that is transferred to BIOS with key information.

A kind of shoes substituting for key mouse provided by the invention may further comprise the steps as the general work flow process of the method for computer peripheral equipment:

(1) open the shoes power supply, select mode of operation mouse or keyboard mode, the slave computer initialization, and power on for the comprehensive module of wireless sensing;

(2) open the host computer receiver module, carry out wireless search, have the comprehensive module of wireless sensing, the work of beginning MANET around the coupling.If search the equipment of protocol compliant, then connect automatically; If surpass threshold time T second (can establish), still do not search the relevant device that can mate, then change the connection failure handling procedure automatically over to; If search the comprehensive module of slave computer wireless sensing that can mate, connect automatically, realize the automatic networking of child node, and set up the communication connection.

(3) after MANET success and communication were set up and finished, host computer sent to slave computer through the setting in advance of PC end software with the preset working pattern; The pattern of finishing the work and running parameter are provided with the back host computer and send acquisition start command to slave computer, and the software application prompting user through host computer can move freely simultaneously;

(4) CPU is resolved the data that collect according to preset clock period; Restore displacement and angle information thereof; And be stored in the buffer memory as the foot motion information data; Be specially: the acceleration on three change in coordinate axis direction of acceleration transducer acquisition shoes, note is made a respectively _x, a _y, a _z, utilize twice integral operation to obtain shoes local coordinate system X _bY _bZ _bThree displacement x on axially _b, Δ y _b, Δ z _bUtilize digital gyro, detect shoes around the axial rotational angle of local coordinate system, note is made θ _X, θ _Y, θ _ZUtilize magnetoresistive transducer, measure shoes local coordinate system X _bY _bZ _bThree geomagnetic field intensities on axially, note is m _x, m _y, m _z

(5) CPU is based on the known method of SINS, by accelerometer and the measured Δ x that obtains of digital gyro _b, Δ y _b, Δ z _b, θ _X, θ _Y, θ _Z, calculate the position (x of shoes local coordinate system with respect to world coordinate system _n, y _n, z _n) and attitude angle (θ, γ, ψ);

When shoes are in static or during the low speed easy motion; Use is revised the attitude information that obtains according to the inertial navigation algorithm computation according to the attitude angle that accelerometer and magnetoresistive transducer calculate, and is concrete: use the 3-axis acceleration information calculations to go out pitching angle theta and roll angle γ; The geomagnetic field intensity information calculations that measures in conjunction with attitude angle information and magnetoresistive transducer obtains magnetic heading, and magnetic heading adds when the geomagnetic declination and obtains geographical course angle ψ ', obtains the position (x of final shoes _n, y _n, z _n) and revised attitude angle (θ, γ ψ), are sent to host computer as the six-freedom motion data of shoes;

(6) the host computer receiver module regularly receives the shoes movable information that the wireless transport module in the shoes sends according to the cycle of setting.Single-chip microcomputer in the host computer is mapped as keyboard and mouse input with human foot's mobile message; And triggering hardware interrupts; Respectively according to two kinds of mode of operations; Trigger keyboard interrupt or mouse interrupts, information transmission such as keyboard scancode that is shone upon or mouse position to the BIOS data buffer, are prepared against system call;

(7) if host computer is directly controlled the transmission END instruction, then collection stops with the communication workflow, and withdraws from this application;

(8) reselect mode of operation, change step 1 over to; Or directly quit a program and close the shoes power supply.

The present invention utilizes the movable information substituting for key or the mouse of shoes, as a kind of peripheral hardware of computing machine.The present invention has adopted wireless communication technique, has realized Wireless Keyboard and mouse function, and the user that is more convenient for uses, the wireless module that adopts can be based on bluetooth, Zigbee etc.; Provide a kind of in addition and realized the method for foot action, provided the solution of substituting for key mouse from software view to the mapping of keyboard and mouse button based on operating system bottom API.The present invention has realized a kind of computer control mode of novelty; Can be used as a kind of novel man-machine interactive; Can use for disabled person's (not having the handicapped people of hand or hand) comes control computer simultaneously; Can also be used for the electronic game amusement, accomplish the human foot and move the control that game character is moved.The user can install the comprehensive module of wireless sensing respectively on two pin in addition, expanding more action, thereby carries out more keyboard and mouse action mapping.

Novelty of the present invention and advantage are:

1, a kind of shoes that are equivalent to the computer peripheral equipment of wireless mouse and Wireless Keyboard have been designed.Propose the new method of a kind of foot action supervisory keyboard and mouse, filled up the blank in this field;

2, adopted the Computer Interface Technology of bottom; The design concept of normative reference keyboard and mouse; By single-chip microcomputer the exercise data that receives is mapped as keyboard scancode or mouse mobile message; Utilizing hardware interrupts, realize that the mouse of BIOS level and keyboard replace, is a kind of real computer peripheral equipment;

3, designed a kind of mapping relations flexibly, human foot's action and keyboard and mouse input have been set up a transformable mapping table, flexible and changeable wide accommodation.At the PC terminal, can directly do a mapping to body motion information and keyboard action through software, such as, human body moves forward, can be mapped as " making progress " button, also can be mapped as " W " button.Only need get final product the setting that host computer carries out running parameter, also promptly transmit a mapping table through software;

4, provided and a kind ofly realize the mapping method of foot action to the keyboard and mouse button based on operating system bottom api function, replaced keyboard and mouse input from software view, mode is more flexible;

5, can be used as the special-purpose wireless computer peripheral hardware of the handicapped personage of hand,, realize man-machine interaction in order to the operational computations machine;

6, this method has extensibility, and the user can lay the comprehensive module of wireless sensing by a pin, also can lay the comprehensive module of wireless sensing simultaneously by both feet, realizes more button input and mouse action;

7, adopt gyroscope; Accelerometer, the small-sized course attitude measurement system that magnetoresistive transducer is formed adopts based on sensor Data Fusion; Attitude angle to gyroscope calculates is revised in real time; Improve the computational accuracy of attitude information, effectively reduce, the low attitude error that brought of precision because of gyroscopic drift;

8, the angular transducer that adopts, magnetoresistive transducer, CPU; It is little, in light weight that each device such as wireless transport module and module have a volume, low cost; The characteristics that power consumption is little can realize having the exercise data measurement of degree of precision under the low-cost condition for a long time and resolving.

Description of drawings

Fig. 1 is the footwear construction synoptic diagram that is provided with the comprehensive module of wireless sensing;

Fig. 2 is a local coordinate system synoptic diagram on the shoes;

Fig. 3 is the comprehensive module of wireless sensing among the present invention and the structural representation of host computer receiver module;

Fig. 4 is the workflow diagram that the comprehensive module of wireless sensing is gathered movable information;

Fig. 5 is the child node networking process flow diagram among the present invention;

Fig. 6 is the collection and transmission process flow diagram of movable information among the present invention;

Fig. 7 is that the hardware of host computer receiver module is formed structural representation;

Fig. 8 is the graph of a relation between shoes local coordinate system among the present invention and the world coordinate system;

Fig. 9 is X _mO _mY _mWith world coordinate system X _nO _nY _nRotation relationship figure.

Embodiment

To combine accompanying drawing and embodiment that the present invention is done further detailed description below.

Of the present invention a kind of can substituting for key and mouse as the method and the device of computer peripheral equipment; As shown in Figure 1; In the described device; Be provided with the comprehensive module 2 of wireless sensing in shoes 1 bottom; Be connected based on wireless telecommunications between the comprehensive module 2 of described wireless sensing and the host computer receiver module 3, the present invention is employed in the comprehensive module 2 of wireless sensing and the host computer receiver module 3 and the transmitting terminal of wireless transport module is set with the mode of receiving end realizes data information transfer respectively, also can in comprehensive module 2 of wireless sensing and host computer receiver module 3, a wireless transport module be set respectively respectively.Host computer receiver module 3 directly is connected employing USB port connection among the present invention with terminal device such as PC.The comprehensive module 2 of described wireless sensing communicates with host computer receiver module 3, and host computer receiver module 3 is used to receive the movable information of shoes 1.Adopt arm processor chip efficiently on the comprehensive module 2 of wireless sensing, the process of resolving of foot's six-freedom motion data all comprehensive module 2 inner completion of wireless sensing, has realized higher integrated level.The comprehensive module 2 of described wireless sensing is placed in the shoes bottom.

The hardware system general structure of described device realizes shown in accompanying drawing 3; Comprise comprehensive module of wireless sensing and host computer receiver module; The comprehensive module of described wireless sensing: contain acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU, wireless transport module and power supply unit, described power supply unit is used to acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU, wireless transport module power supply; Described acceleration transducer is gathered shoes acceleration movement information and is nursed one's health to behind the available signal through the signal condition unit; Send to CPU with the shoes angle information of angular transducer collection and the geomagnetic field intensity information of magnetoresistive transducer; Restoring the movable information of shoes under world coordinate system through resolving, and the transmitting terminal that the movable information of shoes passes through wireless transport module is sent to the host computer receiver module; Host computer receiver module: the receiving end, single-chip microcomputer, USB/UART interface conversion chip, power supply chip and the USB interface that contain wireless transport module or wireless transport module; The receiving end of described wireless transport module receives the data of transmitting terminal on the wireless transport module in the comprehensive module 2 of wireless sensing; And, convert the form that can transmit into through after the interface conversion.

Described acceleration transducer is a three axis accelerometer, adopts the KXR94 accelerometer chip, and KXR94 is the three axis accelerometer that Kionix company produces.Design compensation has been carried out to the deviation that temperature and voltage fluctuation cause in this accelerometer inside, therefore because the deviation that voltage and temperature cause is less.This device measurement range is ± 2g, and sensitivity coefficient is 560mV/g, and nonlinearity is 0.1%, and WV is 2.8～3.3V; This accelerometer power consumption is very low, and the about 1.1mA of quiescent current can satisfy the low-power consumption requirement of global design.KXR94 three tunnel exports and represents the output of X axle, the output of Y axle, the output of Z axle respectively, offers follow-up signal conditioning unit and is finally gathered by the AD of the ARM of CPU afterwards.

Described angular transducer adopts the L3G4200D numeral output gyroscope of ST company.This gyroscope has the I2C/SPI digital output interface, the data output of 16 bit-rates values, and the wide power WV of 2.4V～3.6V, embedded power-down and sleep pattern, high impact resistant capability can satisfy the requirement of the low-power consumption anticollision of design.The ARM that the angle signal that L3G4200D obtains can directly be passed in the CPU uses.

Described magnetoresistive transducer is the HMC5843 of Honeywell Inc., and HMC5843 is a three magnetoresistive transducers, has 12-bitADC, subnormal voltage operation (2.5-3.3V).HMC5843 adopts anisotropic magnetoresistive (AMR) technology of Honeywell; Principal feature is muting sensitivity between axial high sensitivity and linearity, solid-phase construction, Z-axis; Be used to measure the direction and the magnetic force in magnetic field of the earth, from 100,000/several Gausses to 6 Gausses (gauss).

Described CPU is ARM7 LPC1769.This chip adopts the Cortex-M3 microprocessor; Dominant frequency can reach 120MHz, can satisfy sensor information is gathered and the online attitude information that calculates in real time, the requirement of displacement information; It is little that LPC1769 has a volume; Cost is low, and low-cost characteristics can effectively realize the high and low power consumption of integrated level of the present invention, Embedded Application cheaply.LPC1769 comprises 12 ADC of data-carrier store, Ethernet interface, the 8 passage dma controllers of flash storer up to 512KB, 64KB, 4 UART, 2 CAN passages, 2 SSP controllers, SPI interface, 3 IIC interfaces, 8 passages, 10 DAC, Electric Machine Control PWM etc.; Rich interface, simple to operate.Arm processor is gathered No. three accelerometer information and three road magnetoresistive transducer information through carrying AD; Read gyroscope information through the SPI interface; Obtain resolving algorithm on-line through the attitude course after the digital signal of all sensors and obtain attitude information, net result is sent to external unit through wireless transport module.The course of work begins to gather acceleration, angle, magnetoresistive transducer information after the ARM initialization shown in accompanying drawing 6; After the finishing collecting; Get into the data solver program; Be about to acceleration and resolve to the displacement of shoes and resolve and obtain the attitude angle of shoes, deposit buffer zone on the sheet in as the movable information of shoes, and the shoes movable information is sent to the host computer receiver module with respect to world coordinate system.

Wireless transport module adopts the ZigBee module.The ZigBee wireless communication technology is a kind of low rate, low-power consumption, low complex degree, two-way wireless communication network technology cheaply, can be widely used in fields such as industrial monitoring, security system, sensor network, Smart Home.The advantage of ZigBee is low-power consumption, compares bluetooth or WiFi stand-by time and can improve tens times; Low cost has reduced the requirement to communication controller, and the agreement patent is free; High power capacity, a host node can be managed a plurality of child nodes, can reach 254 node at most; Have in short-term in addition and prolong, high safety, advantages such as unlicensed band.The Zigbee module can satisfy the requirement that design is used.Wireless transport module comprises transmission and receives two parts, is installed in respectively in comprehensive module of wireless sensing and the host computer receiver module, is used for data communication.

Power supply unit adopts lithium battery power supply, and adds AMS1117-3.3 as power supply voltage stabilizing chip, makes power supply unit output stabilize to 3.3V, can be ARM, three axis accelerometer, digital gyroscope, and wireless transport module power supply.AMS1117-3.3 chip input voltage scope 4.75～12V, output voltage 3.267～3.333V, output current 1A, working temperature-40～125 ℃.Battery adopts chargeable lithium cell, and WV 6V discharges and recharges number of times and can reach 500 times, very frequently also can guarantee the service time at least one year even use.

The host computer receiver module has mainly comprised wireless transport module, single-chip microcomputer, USB/UART interface conversion chip, power supply chip and USB interface.Shown in accompanying drawing 7.Wireless transport module is mainly used in the motion information data that receives the shoes that the comprehensive module of wireless sensing sends over.And the signal type conversion chip is FT232R, and FT232R is the USB/UART conversion chip, and its major function is under the internal hardware logical action, to realize the conversion of a USB and a step Serial Data Transport Interface.Chip internal inherited 1024 EEPROM and multi-frequency clock generator (6MHz, 12MHz, 24MHz, 48MHz).Power supply chip adopts AMS1117-3.3 mentioned above, provides 3.3V to be output as FT232R and Zigbee module for power supply.USB interface is used for linking to each other with terminal device such as PC, accomplishes data transmission and power supply function of supplying power.

Shown in accompanying drawing 4, the workflow that adopts the comprehensive module of above-mentioned wireless sensing to gather exercise data can be described as:

1. opening power and select mode of operation: mouse or keyboard mode of operation.

2. insert PC at the host computer receiver module, and under the upper computer software situation about opening, opened the comprehensive modular power source of wireless transmission; The ARM of CPU, accelerometer, digital gyro, magnetoresistive transducer, signal condition unit and power supply unit powers on and initialization;

3. wireless transport module begins MANET work, and the networking flow process of child node is specially shown in accompanying drawing 5:

(A) node that need to insert power on electricity and initialization after the time-delay, judge whether child node receives beacon frame, if do not receive, think then that child node networks to fail; If receive, then change (B);

(B) the listen for beacons frame is selected host node;

(C) the slave computer wireless transport module sends the request of networking and gives the host computer receiver module, if slave computer receives the answer of host node, then changes (D); If slave computer does not receive host node and replys, then change (E);

(D) distribute the short address to give child node, this moment, child node networked successfully;

(E) judge whether to exist host node,,, then return (B) if there is host node if do not have host node then think the child node failure that networks;

4. networking success back host computer receiver module sends shoes data acquisition instruction, and CPU begins to gather the data of acceleration transducer, angular transducer, magnetoresistive transducer;

5. acceleration transducer is gathered shoes acceleration movement information and is nursed one's health to behind the available signal through the signal condition unit; Sending to CPU with the geomagnetic field intensity information of the shoes angle information of angular transducer collection and magnetoresistive transducer resolves; Obtain the movable information of shoes, comprise the positional information and the angle information of shoes;

6. motion information data in the buffer memory is transmitted through wireless transport module, be transferred to the host computer receiver module;

7. the host computer receiver module receives motion information data, and the back directly connects PC through USB.Single-chip microcomputer in the host computer is mapped as keyboard and mouse input with human foot's mobile message; And triggering hardware interrupts; Respectively according to two kinds of mode of operations; Trigger keyboard interrupt or mouse interrupts, information transmission such as keyboard scancode that is shone upon or mouse position to the BIOS data buffer, are called in order to operating system.

8. if host computer is directly controlled the transmission END instruction, then collection stops with the communication workflow, and moves back this application;

9. reselect mode of operation, change step 1 over to; Or directly quit a program and close the shoes power supply.

Wherein human foot's movable information resolves and adopts the inertial navigation algorithm, when shoes are kept in motion, uses the attitude angle that calculates shoes in the axial rotation angle speed substitution inertial navigation algorithm in the place of gyroscope survey.Before calculating attitude angle, need earlier the coordinate system that uses in the computation process is specifically defined.

1, shoes local coordinate system

Initial point is the geometric center of the attitude course witness mark system (the comprehensive module of the wireless sensing on the shoes) of the present invention's completion, x _b, y _b, z _bTransverse axis, the longitudinal axis and vertical pivot that axle points to shoes respectively make progress, like Fig. 2.

2, world coordinate system

Initial point is the initial point of shoes local coordinate system under the original state, x _n, y _n, z _nThree refer to respectively geographical east orientation, north orientation, day to.

Attitude angle is actually the position relation between sky, world coordinate system O-ENU northeast and the shoes local coordinate system; If ψ is a course angle, θ is the angle of pitch, and γ is a roll angle; Each angle is got around shoes local coordinate system coordinate axis and is rotated counterclockwise to just; Be course angle shoes north by west for just, angle of pitch shoes come back to just, and roll angle shoes right side is downward for just.World coordinate system is around z _nAxle changes the ψ angle, around x _nAxle changes the θ angle, again around y _nShaft angle γ, then the relation between shoes local coordinate system and the world coordinate system shown in accompanying drawing 8.

After accomplishing the definition of transformational relation between definition and the coordinate system of coordinate system; Can use the inertial navigation algorithm to utilize gyroscope survey to belong to axial rotation angle speed real-time update attitude matrix; Calculate attitude angle; The present invention uses the hypercomplex number method to upgrade attitude matrix, and adopts the quadravalence runge kutta method to resolve the differential equation.It is concrete that to resolve step following:

1, confirms attitude matrix

Concerned by the angular transformation between world coordinate system and the shoes local coordinate system: course Yaw (ψ)-pitching Pitch (θ)-roll Roll (γ) can get the attitude transition matrix:

$C_n^b=\left(\begin{array}{ccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}\\ 0& 1& 0\\ \sin \mathrm{\γ}& 0& \cos \mathrm{\γ}\end{array}\right)\left(\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\θ}& \sin \mathrm{\θ}\\ 0& -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right)\left(\begin{array}{ccc}\cos \mathrm{\ψ}& \sin \mathrm{\ψ}& 0\\ -\sin \mathrm{\ψ}& \cos \mathrm{\ψ}& 0\\ 0& 0& 1\end{array}\right)$

$=\left(\begin{array}{ccc}\cos \mathrm{\γ}\cos \mathrm{\ψ}-\sin \mathrm{\γ}\sin \mathrm{\θ}\sin \mathrm{\ψ}& \cos \mathrm{\γ}\sin \mathrm{\ψ}+\sin \mathrm{\γ}\sin \mathrm{\θ}\cos \mathrm{\ψ}& -\sin \mathrm{\γ}\cos \mathrm{\θ}\\ -\cos \mathrm{\θ}\sin \mathrm{\ψ}& \cos \mathrm{\θ}\cos \mathrm{\ψ}& \sin \mathrm{\θ}\\ \sin \mathrm{\γ}\cos \mathrm{\ψ}+\cos \mathrm{\γ}\sin \mathrm{\θ}\sin \mathrm{\ψ}& \sin \mathrm{\γ}\sin \mathrm{\ψ}-\cos \mathrm{\γ}\sin \mathrm{\θ}\cos \mathrm{\ψ}& \cos \mathrm{\γ}\cos \mathrm{\θ}\end{array}\right)$

2, use the Quaternion Representation attitude matrix

$C_n^b=\left(\begin{array}{ccc}{q}_0^2+{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_1^2-q_2^2-{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_3^2& 2(q_1{q}_2+q_0{q}_3)& 2(q_1{q}_3-q_0{q}_2)\\ 2(q_1{q}_2-q_0{q}_3)& q_0^2-{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_1^2+q_2^2-{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_3^2& 2(q_2{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_3+q_0{q}_1)\\ 2(q_1{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_3+q_0{q}_2)& 2(q_2{q}_3-q_0{q}_1)& q_0^2-{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_1^2-q_2^2+{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_3^2\end{array}\right)=\left(\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right)$

Here, q ₀, q ₁, q ₂, q ₃The expression hypercomplex number.

3, upgrade the hypercomplex number differential equation

Use the quadravalence runge kutta method to separate the hypercomplex number differential equation and upgrade hypercomplex number:

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{X}\left(t\right)=f[X\left(t\right),\mathrm{\&omega;}\left(t\right)]\\ X(t+T)=X\left(t\right)+\frac{1}{6}({\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+2k_2+2{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">k</figure-callout>}}_3+k_4)\\ {\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">k</figure-callout>}}_1=\mathrm{Tf}\left[\right(x\left(t\right),\mathrm{\&omega;}\left(t\right)]\\ k_2=\mathrm{Tf}\left[\right(x\left(t\right)+\frac{{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">k</figure-callout>}}_1}{2},\mathrm{\&omega;}(t+\frac{T}{2})]\\ {\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">k</figure-callout>}}_3=\mathrm{Tf}[x\left(t\right)+\frac{k_2}{2},\mathrm{\&omega;}(t+\frac{T}{2})]\\ k_4=\mathrm{Tf}[x\left(t\right)+{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">k</figure-callout>}}_3,\mathrm{\&omega;}(t+T)]\end{array}\right.$

$\left[\begin{array}{c}{\stackrel{\&CenterDot;}{q}}_0\\ {\stackrel{\&CenterDot;}{q}}_1\\ {\stackrel{\&CenterDot;}{q}}_2\\ {\stackrel{\&CenterDot;}{q}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& -{\mathrm{\&omega;}}_{\mathrm{nbx}}^b& -{\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbz}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nbx}}^b& 0& {\mathrm{\&omega;}}_{\mathrm{nbz}}^b& -{\mathrm{\&omega;}}_{\mathrm{nby}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbz}}^b& 0& {\mathrm{\&omega;}}_{\mathrm{nbx}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nbz}}^b& {\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbx}}^b& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ {\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00001721566600012.png"\; state="\{\{state\}\}">q</figure-callout>}}_3\end{array}\right]$

Wherein, attitude speed

Because the gyroscope precision that the present invention uses is lower, and

Numerical value is less, therefore when calculating attitude speed, directly gets

F [] representes the differential equation, and T representes to calculate step-length, k ₁, k ₂, k ₃, k representes single step result of calculation.In concrete calculating; X (t) is hypercomplex number; ω (t);

ω (t+T); Be t,

t+T rotation angle speed constantly.

In above-mentioned,

is gyrostatic output;

is angle of rotation speed the projection in navigation coordinate system of terrestrial coordinate system with respect to inertial coordinates system;

is the projection that the angular speed of spherical coordinate system is relatively fastened at navigation coordinate for navigation coordinate;

is angular speed the projection in carrier coordinate system of carrier coordinate system with respect to navigation coordinate system.

4, attitude angle asks for

Hypercomplex number by after upgrading is upgraded attitude matrix, is calculated as follows out course angle ψ, pitching angle theta and roll angle γ.

θ＝sin ^-1(C ₂₃) $\mathrm{\&gamma;}={\tan }^{-1}(-\frac{C_{13}}{C_{33}})$ $\mathrm{\&psi;}={\tan }^{-1}(-\frac{C_{21}}{C_{22}})$

Because the MEMS gyroscope precision that native system uses is low; Drift is big; The attitude angle that obtains based on the inertial navigation algorithm computation only has high accuracy in short-term; Attitude error is accumulation constantly; Can't work long hours; Therefore need to use the method that merges based on inertial data that attitude angle is revised, reduce the accumulation of error.Consider when the steady low-speed motion of shoes, to ignore Corioli's acceleration and other disturbing accelerations, think and have only acceleration of gravity to act on the shoes, promptly satisfy the following formula condition:

$|\sqrt{g_x^2+g_y^2+g_z^2}-g|<\mathrm{threshold}$

Wherein, g _x, g _y, g _zBe respectively accelerometer three outputs on axially, g is the terrestrial gravitation acceleration, and threshold is a preset threshold value, is generally 0.2 ~ 0.5m/s ²

At this moment; Use the accelerometer output valve to calculate pitching angle theta and the roll angle γ of shoes local coordinate system with respect to world coordinate system; And according to the attitude cosine matrix that the angle of pitch and roll angle are confirmed the geomagnetic field intensity that measures under the shoes local coordinate system is projected under the world coordinate system and to calculate magnetic heading, magnetic heading is through obtaining geographical course after the correction of geomagnetic declination.Therefore remain static or low speed plateau when promptly satisfying above-mentioned condition when shoes; Use accelerometer and magnetoresistive transducer information calculations attitude and do not use the rotation angle rate calculations attitude angle of gyroscope survey, can improve the attitude angle computational accuracy so effectively and the attitude angle of inertial navigation algorithm computation is better revised.Concrete computation process is as follows:

Because

$\stackrel{\&RightArrow;}{f^b}=C_n^b\stackrel{\&RightArrow;}{f^n}$

And

$C_n^b=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]$

$\left[\begin{array}{c}{f}_x^b\\ f_y^b\\ f_z^b\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}0\\ 0\\ -g\end{array}\right]$

Then

$f_x^b=g\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;},$ $f_y^b=-g\sin \mathrm{\&theta;},$ $f_z^b=-g\cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}$

The angle of pitch can be got thus and roll angle is respectively

$\mathrm{\&theta;}={\sin }^{-1}(-\frac{f_y^b}{g})$

$\mathrm{\&gamma;}={\tan }^{-1}(-\frac{f_x^b}{f_z^b})$

The attitude cosine matrix that confirmed by the angle of pitch and roll angle this moment is:

$C_n^b=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ 0& 1& 0\\ \sin \mathrm{\&gamma;}& 0& \cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ 0& -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}& -\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right],$

is orthogonal matrix, so

Calculating magnetic heading angle formula is:

$\left\{\begin{array}{c}\left[\begin{array}{c}{m}_E\\ m_N\\ m_U\end{array}\right]=C_b^n\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}\mathrm{cos\&gamma;}& 0& \sin \mathrm{\&gamma;}\\ \sin \mathrm{\&theta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\cos \mathrm{\&gamma;}\\ -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]\\ \stackrel{\&OverBar;}{\mathrm{\&psi;}}=\arctan \frac{m_E}{m_N}=\arctan \frac{\left(\cos \mathrm{\&gamma;}\right)m_x+\left(\sin \mathrm{\&gamma;}\right)m_z}{\left(\sin \mathrm{\&theta;}\sin \mathrm{\&gamma;}\right)m_x+\left(\cos \mathrm{\&theta;}\right)m_y-\left(\sin \mathrm{\&theta;}\cos \mathrm{\&gamma;}\right)m_z}\end{array}\right.$

The true heading angle is:

In the formula, m _x, m _y, m _zBe respectively magnetoresistive transducer at the output on axially of three of racket local coordinate systems, m _E, m _N, m _ZBe respectively racket east orientation in world coordinate system, north orientation, day to projection.

is magnetic heading; α is for to work as the geomagnetic declination, and ψ is the true heading angle.

The displacement of shoes goes out displacement through measured three the acceleration that obtains the shoes local coordinate system of accelerometer through twice integration and reduction:

Acceleration information a _x, a _y, a _z, carry out integral operation earlier, obtain along three axial speed v of shoes local coordinate system _x, v _y, v _z, and then carry out integral operation, and the time of calculating is in the cycle of Δ t, the user is with respect to the displacement x of three axles of shoes local coordinate system _b, Δ y _b, Δ z _bConcrete computing formula is following:

$\mathrm{\&Delta;}{x}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_x\mathrm{dt},$ $\mathrm{\&Delta;}{y}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_y\mathrm{dt},$ $\mathrm{\&Delta;}{z}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_z\mathrm{dt}$

According to the attitude angle that aforementioned calculation obtains, then both can be with the relative displacement Δ x of user at local coordinate system _b, Δ y _b, Δ z _b, project in the world coordinate system, obtain the relative displacement x of user under world coordinate system _n, Δ y _n, Δ z _n

Both can obtain shoes six degree of freedom data through continuous accumulation calculating, promptly human foot's exercise data cocoa is expressed as the position coordinates (x under world coordinate system _n, y _n, z _n) and attitude angle (θ, γ, ψ).

Among the present invention, realize, promptly preestablish the mapping table of a human motion and keyboard scancode for the replacement of keyboard mapping techniques capable of using.Through the human foot's position coordinates (x that calculates _n, y _n, z _n) and attitude angle (conversion ψ) is mapped as the different keys scan code for θ, γ.Utilize the CPU of host computer then, promptly single-chip microcomputer sends keyboard interrupt and corresponding scan code to main frame.Be implemented as follows:

Computation period Tc=k is set (promptly calculates human foot's displacement and attitude the k time) constantly, the foot motion information of human body is D _k(x _k, y _k, z _k, θ _k, γ _k, ψ _k); In the then corresponding Tc=k+1 moment, the foot motion information of human body is D _K+1(x _K+1, y _K+1, z _K+1, θ _K+1, γ _K+1, ψ _K+1).

The typical action of human foot has, forward, and backward, left, to the right, and to left front, to right front, to left back, to moving of right back eight directions; And jump, turn left, turn right.The present invention is an example with these 11 actions, provides a mapping mode, and the action mapping in the practical application can be diversified.

At first, for D _k(x _k, y _k, z _k, θ _k, γ _k, ψ _k) and D _K+1(x _K+1, y _K+1, z _K+1, θ _K+1, γ _K+1, ψ _K+1) analyze, obtain under the current attitude of user, under the just current course angle ψ, the mobile message of user's foot.Just be to wait forward or backward on earth.For the ease of control computer, and remove noise, we are provided with a threshold value DifPos=0.05 m, and we assert that just the user has moved to have only user moving range to surpass DifPos; In like manner for attitude, we are provided with a threshold value DifAtt=20 degree, have only to surpass 20 degree we think that just the user has rotated health.Wherein concrete threshold value can be concrete according to different application modification.Reference threshold can obtain the mobile message of user along current course, obtains the concrete action of user, 11 actions as indicated above.

Provide two kinds of typical mapping tables to 11 actions in the present embodiment, and provide keyboard scancode, user's concrete action can be diversified in the practical application.

Table 1 mapping table 1

Sequence number	Human foot's action	Keyboard	Key position	Sixteen bit mapping scan code
					1	Move forward	↑	72	48
2	Move backward	→	80	50
					3	Be moved to the left	←	75	4B
4	Move right	→	77	4D
					5	Move left	W	17	11
6	Move to left back	A	30	1E
					7	Move to the right	S	31	1F
8	Move to right back	D	32	20
					9	Turn left	Enter	28	1C
10	Turn right	Space	57	39
					11	Capriole	ESC		1	01

Table 2 mapping table 2

Sequence number	Human foot's action	Keyboard	Key position	Sixteen bit mapping scan code
					1	Move forward	8	9	09
2	Move backward	2	3	03
					3	Be moved to the left	4	5	05
4	Move right	6	7	07
					5	Move left	7	8	08
6	Move to left back	1	2	02
					7	Move to the right	9	10	0A
8	Move to right back	3	4	04
					9	Turn left	5	6	06
10	Turn right	0	11	0B
					11	Capriole	Enter	28	1C

Single-chip microcomputer in the host computer through mapping relations, with the action that the user did, is identified as the input scan sign indicating number of keyboard, converts scan code into ASCII character, and low byte is an ASCII character, and high byte is the system scan sign indicating number.And ASCII character and scan code sent to the system bios buffer zone, be equipped with operating system and call, thereby realize the input function of keyboard.

Among the present invention, replacement is directly to utilize the user to relatively move to realize for the mouse moving function.Specific as follows:

For D _k(x _k, y _k, z _k, θ _k, γ _k, ψ _k) and D _K+1(x _K+1, y _K+1, z _K+1, θ _K+1, γ _K+1, ψ _K+1) obtain under the current attitude of user the mobile message of user's foot.With user's moving under the ground level XOY plane, map directly in the computer-internal screen coordinate system.Concrete implementation method the present invention designs as follows:

When starting mouse function, when the chip system initialization, can calculate user plane to direction, initial heading ψ just ₀Pc client sends to the host computer receiver with this machine exploration on display resolution ratio as one of initiation parameter, deposits among the single-chip microcomputer RAM screen width Width=1024 pixel for example, height H eight=768 pixel in; And engineer's scale parameter S cale is transferred to the host computer receiver as parameter, and for example here with Scale=0.05, look like for moving 0.05 meter when user foot, be equivalent to that mouse moves a pixel under the screen coordinate system.

As shown in Figure 9, set up a two-dimensional coordinate system X on ground level _mO _mY _m, the coordinate that moves as foot under the mouse mode.For the ease of user's mouse beacon, the present invention sets the user at system initialization moment Tc=0 constantly, and its course angle under world coordinate system is ψ ₀Direction, be exactly Y _mThe axle forward, direction is X to the right _mThe axle forward; In addition the initialization system initialization moment, the user position is two-dimensional coordinate system X _mO _mY _m(Width/2 Height/2) locates, and Width is a screen width; Unit picture element, Height are the height of screen, unit picture element; The corresponding physical implication is the just in time central point of corresponding computer screen of the current position of user's pin, also is operation and the mouse beacon for the ease of user's later stage.Wherein, X _mO _mY _mWith world coordinate system X _nO _nY _nRotation relationship as shown in Figure 9.

Resolve by above-mentioned inertial navigation system and to obtain data that foot moves for D _k(x _k, y _k, z θ _k, γ _k, ψ _kAnd D _K+1(x _K+1, y _K+1, z _K+1, θ _K+1, γ _K+1, ψ _K+1) can calculate, the user is with respect under the world coordinates, at X _nO _nY _nDisplacement on the face (Δ x _n, Δ y _n), then, can obtain X according to 2D rotation of coordinate formula _mO _mY _mDisplacement under the plane (Δ x _m, Δ y _m), computation process is following:

$\left[\begin{array}{c}\mathrm{\&Delta;}{x}_m\\ \mathrm{\&Delta;}{y}_m\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\&psi;}}_0& \sin {\mathrm{\&psi;}}_0\\ -\sin {\mathrm{\&psi;}}_0& \cos {\mathrm{\&psi;}}_0\end{array}\right]\left[\begin{array}{c}\mathrm{\&Delta;}{x}_n\\ \mathrm{\&Delta;}{y}_n\end{array}\right]$

Wherein under Fig. 9 two-dimensional coordinate system, the right-hand rule is also followed in the positive and negative definition of angle.

Obtain (Δ x _m, Δ y _m) unit is rice, then according to engineer's scale parameter S cale, can convert obtains the pixel count that corresponding computer screen mouse moves,

Here pixel count can not be decimal, then directly fractions omitted part round numbers.

Because it is left-handed system that the calculating screen coordinate ties up under the Windows system, uses X here _PcO _PcY _PcExpression, it is defined as the screen upper left corner is initial point, is to the right X axle positive dirction, is downwards Y axle positive dirction.Therefore in order to let user's mouse beacon more intuitively, also in order to let the user keep the original operation sense to mouse, also will do the conversion of a coordinate here, then Tc=k+1 is the physical location [x of current mouse constantly _Pc(k+1), y _Pc(k+1)] should be:

$x_{\mathrm{pc}}(k+1)=x_{\mathrm{pc}}\left(k\right)+\frac{\mathrm{\&Delta;}{x}_m}{\mathrm{Scale}}$

$y_{\mathrm{pc}}(k+1)=y_{\mathrm{pc}}\left(k\right)-\frac{\mathrm{\&Delta;}{y}_m}{\mathrm{Scale}}$

K=0 constantly can specify the initial position of a position as mouse control by actual needs, for example originally be in the instance with the initial position of screen center as mouse, promptly initial time cursor of mouse position is made as Also can call through system-level, inquiry obtain the active user start shoes mouse control function the time etching system cursor place the position, etching system mouse position is [x when establishing this _Pc(0), y _Pc(0)], can recursion calculate mouse at Tc=k+1 position [x constantly _s(k+1), y _s(k+1)].

Single-chip microcomputer in the host computer with mouse position data transmission USB mouth, triggers INT 33H hardware interrupts, and the position data of mouse is read the system buffer; For mousebutton, can user's foot action be mapped as left button or right button, concrete action can be decided by practical application; After triggering should be moved, can the position 0 of register BX be changed to 1, promptly represent left mouse button pressing; 1 position of BX is 1, promptly represents right mouse button pressing.

In addition for the handicapped personage of hand; Can regulate Scale to suitable value, in an appropriate region, such as the foot's moving area that is sitting in the previous 30cm*30cm of computer; Be mapped as The whole calculations machine screen, realize mouse moving control and button so that the user moves both feet.

The mapping that human foot's action among the embodiment among the present invention and keyboard, mouse move is flexible and changeable in practical application, is not limited to the mapping mode among the embodiment.

Except aforesaid way, can also be with the action of human body step, through the mode of simulation system input, with received human action in order to the keyboard that is mapped as computing machine and the input of mouse.The standard mouse-keyboard is input as example in the windows platform to replace in the present embodiment, and it specifically is embodied as:

By aforesaid table 1 is example, establishes to have detected the human body corresponding action, and sets up the mapping table of execution and keyboard.Based on the Windows api function, with keyboard scancode (also or virtual key value be ASCII character) the simulation system keyboard message of mapping, perhaps mousebutton message, directly transmission.The Windows API that is adopted can be institute's array function in the table 3:

Table 3 can be used as the Windows API tabulation of simulating keyboard mouse event

Based on above system function, can accomplish under the windows platform function of simulating keyboard mouse input; For example can develop a dummy keyboard software; Be used for directly obtaining the movable information of shoes, the foot through the user moves, and realizes the button of keyboard; Be used for input characters, play computer game or the like.Special, can be the hand disability personage, the input mode of the simulating keyboard mouse on a kind of software view is provided, realize typewriting, Edit Text, functions such as amusement.

The foregoing description only is used to explain the present invention, and wherein the structure of each parts, connected mode etc. all can change, and every equivalents of on the basis of technical scheme of the present invention, carrying out and improvement all should not got rid of outside protection scope of the present invention.

Claims (6)

1. method of utilizing shoes substituting for key mouse as computer peripheral equipment; It is characterized in that: described method is at first through being arranged on the comprehensive module collection of wireless sensing and the movable information of definite shoes in the shoes; Through wireless transport module the movable information of shoes is sent to the host computer receiver module then; The host computer receiver module directly connects PC through USB; In host computer receiver module or PC, convert the movable information of shoes into corresponding keyboard scancode or mouse mobile message and key information according to current keyboard mode or mouse mode, reach the movable information substituting for key that utilizes shoes or the effect of mouse; The movable information of described shoes comprises the change in displacement and the attitude angle change information of shoes.

2. based on the described a kind of method of utilizing shoes substituting for key mouse as computer peripheral equipment of claim 1; It is characterized in that: the position of described definite shoes and attitude angle are to realize through the CPU based on ARM in the comprehensive module of wireless sensing; Based on the information of accelerometer in the SINS and digital gyro to measure, calculate position and the attitude angle of shoes local coordinate system with respect to world coordinate system;

When shoes are in static or during the low speed easy motion; Use is revised the attitude information that obtains according to the inertial navigation algorithm computation according to the attitude angle that accelerometer and magnetoresistive transducer calculate, and is specially: use the 3-axis acceleration information calculations to go out pitching angle theta and roll angle γ; The geomagnetic field intensity information calculations that measures in conjunction with attitude angle information and magnetoresistive transducer obtains magnetic heading, and magnetic heading adds when the geomagnetic declination and obtains geographical course angle ψ ', obtains the position (x of final shoes _n, y _n, z _n) and revised attitude angle (θ, γ ψ), are sent to host computer as the six-freedom motion data of shoes.

3. a kind of method of utilizing shoes substituting for key mouse as computer peripheral equipment according to claim 1; It is characterized in that: the concrete course of work of described host computer receiver module is: the single-chip microcomputer in the host computer receiver module is mapped as keyboard or mouse input with the movable information of shoes through mapping table; Obtain keyboard scancode or mouse mobile message and key information; And input information converted into the USB peripheral hardware signal of standard; The triggering relevant hardware is interrupted, and keyboard scancode or mouse are moved the buffer zone that is transferred to BIOS with key information, in order to system call.

4. a kind of method of utilizing shoes substituting for key mouse as computer peripheral equipment according to claim 1; It is characterized in that: after described PC receives the movable information of host computer receiver module; Based on described mapping table and Windows api function, the movable information that is collected is mapped as keyboard scancode or virtual key value, perhaps be mapped as mousebutton message; The simulation system input realizes that the shoes movable information is mapped as keyboard and mouse mobile messaging.

5. device that utilizes shoes substituting for key mouse as computer peripheral equipment; It is characterized in that: described device comprises comprehensive module of the wireless sensing that is arranged on the shoes and the host computer receiver module that is arranged on the PC terminal, passes through the transmission that wireless transmission method is realized movable information between comprehensive module of described wireless sensing and the host computer receiver module; The comprehensive module of described wireless sensing comprises acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU, wireless transport module and power supply unit, and described power supply unit is used to acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU and wireless transport module power supply; Described acceleration transducer is gathered shoes acceleration movement information; Geomagnetic field intensity information with magnetoresistive transducer is nursed one's health to behind the available signal through the signal condition unit; Shoes angle information with the angular transducer collection sends to CPU; Central processor unit adopts the chip based on ARM; Above-mentioned acceleration, angular velocity and geomagnetic field intensity information are resolved, restored the movable information of shoes under world coordinate system, and the movable information of shoes is sent to the host computer receiver module through the transmitting terminal of wireless transport module; The host computer receiver module mainly comprises wireless transport module, single-chip microcomputer, USB/UART interface conversion chip, power supply chip and USB interface; Described wireless transport module is used to receive the movable information of the comprehensive module of wireless sensing; And through after the conversion of USB/UART interface conversion chip; Become the form that can transmit, USB interface is used to connect the PC terminal; Described power supply chip is used to wireless transport module, USB/UART interface conversion chip and USB interface stabilized power source is provided.

6. according to the said a kind of device that utilizes shoes substituting for key mouse as computer peripheral equipment of claim 5; It is characterized in that: the course of work of the single-chip microcomputer in the host computer receiver module is: the movable information of shoes is mapped as keyboard or mouse input through mapping table; Obtain keyboard scancode or mouse mobile message and key information; And input information converted into the USB peripheral hardware signal of standard; The triggering relevant hardware is interrupted, and keyboard scancode or mouse are moved the buffer zone that is transferred to BIOS with key information, in order to system call.

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