CN105043383A - Posture correction method and apparatus - Google Patents

Posture correction method and apparatus Download PDF

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CN105043383A
CN105043383A CN 201510405200 CN201510405200A CN105043383A CN 105043383 A CN105043383 A CN 105043383A CN 201510405200 CN201510405200 CN 201510405200 CN 201510405200 A CN201510405200 A CN 201510405200A CN 105043383 A CN105043383 A CN 105043383A
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parameters
posture
module
angle
attitude
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CN 201510405200
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刘平
陈伟华
王勃然
孙程
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哈尔滨医科大学
陈伟华
王勃然
黑龙江驿贷同科技发展有限公司
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F19/00Digital computing or data processing equipment or methods, specially adapted for specific applications
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00Alarms responsive to a single specified undesired or abnormal operating condition and not elsewhere provided for
    • G08B21/18Status alarms
    • G08B21/24Reminder alarms, e.g. anti-loss alarms

Abstract

The method relates to a posture correction method and apparatus. The method includes: step a. detecting posture parameter values caused by head swing, with the posture parameters including course angle, roll angle and pitch angle values; step b. conducting parameter processing on the measured posture parameters; step c. interpreting the processed posture parameters to obtain each of the angle values of a corrected person; step d. carrying out noise elimination treatment on each of the angle values by a Kalman filter; step e. conducting real-time fusion treatment on the angle values to obtain real-time dynamic posture data; and f. comparing the real-time dynamic posture data with preset posture data, if the current posture is not in a preset posture range and the duration exceeds a designated time, giving alarming prompt. The apparatus consists of a posture sensor, a control chip, and an alarm. In this way, the posture of the corrected person can be corrected simply and rapidly.

Description

_种姿态矫正方法及装置 _ Stances correction method and device

技术领域 FIELD

[0001] 本发明涉及姿态矫正技术领域,具体涉及一种姿态矫正方法及装置。 [0001] The present invention relates to a posture correction technology, and in particular relates to a method and apparatus for correcting a gesture.

背景技术 Background technique

[0002] 现代社会,越来越多的工作只需要坐在办公室内就可以进行处理,这就使得人们每天花费越来越多的时间坐在办公桌前处理事务,而坐姿之中,头部姿势最为重要。 [0002] In modern society, more and more work you can just sit in the office for processing, which makes people spend more and more time each day sitting at a desk in front of business, while sitting in the head posture is most important.

[0003] 医学证明人体以最佳姿势端坐时是对身体负担最小的坐姿,当坐姿不当会导致视力会急剧下降且易引发近视,近视还会引起许多眼的并发症,如:1.视网膜脱离;2.白内障;3.黄斑出血和黄斑变性;4.玻璃体液化变性;5.青光眼;6.斜视、弱视。 [0003] medical certificate when the body sitting in the best position is the smallest burden on the body posture, improper posture when the vision will lead to a sharp decline and easily lead to myopia, myopic eye can also cause a lot of complications, such as: 1. retina detachment; 2. cataract; 3 macular hemorrhage and macular degeneration; 4 vitreous liquefaction degeneration; 5. glaucoma; 6 strabismus, amblyopia. 近视度数越高,引起并发症的可能性就越大。 The higher the myopia, the greater the likelihood of complications caused. 长期坐姿不正还会引发颈椎病,出现头、颈、肩、背、手臂酸痛,颈脖子僵硬,活动受限等症状,严重可引发头晕、缺血性脑萎缩;如果压迫到脊髓,可能引起无力、下肢麻木甚至瘫痪和大小便失禁。 But also lead to long-term sitting straight cervical spondylosis, appeared the head, neck, shoulders, back, arm pain, neck, neck stiffness, limited mobility and other symptoms, can cause severe dizziness, ischemic brain atrophy; if oppression to the spinal cord, can cause weakness , numbness and even paralysis and incontinence.

[0004] 这就需要使用姿态纠正装置来纠正错误的姿势,目前的姿态纠正装置对应的姿态纠正方法都比较复杂,使得姿态纠正耗时长,反应慢,因此,探索新的姿态纠正方法,以及对应的结构简单的姿态纠正装置是发展的必然要求。 [0004] This requires the use posture correction device to correct the wrong position, the current posture correct posture correction device corresponding methods are complex, time-consuming and makes the correct posture, slow response, therefore, to explore new methods to correct posture, as well as the corresponding the simple structure posture correction device is a necessary requirement for development.

[0005] 鉴于上述缺陷,本发明创作者经过长时间的研究和试验终于提出了一种姿态矫正方法及装置。 [0005] In view of the above drawbacks, the present inventors have creators long studies and experiments finally proposes a method and apparatus for correcting the posture.

发明内容 SUMMARY

[0006] 本发明的目的在于提供一种姿态矫正方法及装置,用以克服上述技术缺陷。 [0006] The object of the present invention is to provide a method and a posture correcting means to overcome the technical drawbacks described above.

[0007] 为实现上述目的,本发明采用的技术方案在于:首先提供一种姿态矫正方法,其包括: [0007] To achieve the above object, the present invention adopts the technical solution is that: firstly to provide a posture correction method, comprising:

[0008] 步骤a、检测头部摆动造成的姿态参数数值,所述姿态参数包括航向角、横滚角和俯仰角的角度数值; [0008] Step a, the detection head pose parameter values ​​caused by the wobble, the attitude parameters include the heading angle, roll angle and pitch angle values;

[0009] 步骤b、对测得的所述姿态参数进行参数处理; [0009] Step b, the attitude parameters measured process parameters;

[0010] 步骤c、对处理后的所述姿态参数进行解读,获得矫正者的各个所述角度数值; [0011] 步骤d、利用卡尔曼滤波器对各个所述角度数值进行消除噪声处理; [0010] Step C, the attitude parameters of the interpretation processing, each of said angle value obtained by the correction; [0011] Step d, the angle of each of the values ​​to eliminate noise using a Kalman filter processing;

[0012] 步骤e、对所述角度数值进行实时融合处理,得到实时动态姿态数据; [0012] Step E, the angle values, real-time fusion process to give real-time dynamic gesture data;

[0013] 步骤f、将所述实时动态姿态数据与预设姿态数据进行比较,若当前姿态不在预设姿态范围内,计时指定时间,若不符合预设姿态数据持续时间超过指定时间时,进行报警提不。 [0013] Step F, the real-time dynamic gesture data is compared with a preset attitude data, if the current posture of the posture is not within the preset range, the timing specified time, do not meet the preset duration time exceeds the specified pose data, for not to mention the police.

[0014] 其中,所述步骤a中所述航向角、所述横滚角和所述俯仰角的确定方法为:以矫正者的颈部为原点,以右侧为X轴正方向,以前方为y轴的正方向,以上方为Z轴的正方向,头部绕所述X轴旋转的角度为所述俯仰角,头部绕所述y轴旋转的角度为所述横滚角,头部绕所述z轴旋转的角度为所述航向角。 [0014] wherein, in the step a heading angle of the method for determining the roll angle and the pitch angle is: the neck of the first correction is the origin, the right side of the X-axis positive direction side before positive y-axis direction, the positive side of the above Z-axis direction, the head rotation about the X axis angle is the pitch angle, the angle of the head about the y axis is the roll angle, the head portion around the z-axis rotation angle of the heading angle.

[0015] 较佳的,所述航向角、所述横滚角、所述俯仰角的测量范围均为±180°。 [0015] Preferably, the heading angle, the roll angle, the pitch angle are measured range ± 180 °.

[0016] 较佳的,所述预设姿态数据中,所述俯仰角的预设范围为15°~20°。 [0016] Preferably, the predetermined gesture data, the predetermined range of the pitch angle of 15 ° ~ 20 °.

[0017] 较佳的,所述预设姿态数据中,所述横滚角的预设范围为_5°~5°。 [0017] Preferably, the predetermined gesture data, the roll angle of a preset range _5 ° ~ 5 °.

[0018] 较佳的,所述预设姿态数据中,所述航向角的预设范围为_5°~5°。 [0018] Preferably, the predetermined gesture data, the heading angle is preset range _5 ° ~ 5 °.

[0019] 较佳的,所述步骤f中,所述指定时间为30s。 [0019] Preferably, said step f, the specified time is 30s.

[0020] 较佳的,所述步骤b中,所述参数处理为对所述姿态参数进行处理得到实际参数, 所述实际参数的计算公式为: [0020] Preferably, the step b, the obtained actual parameter processing parameters for processing the attitude parameters, the actual parameters are calculated as follows:

Figure CN105043383AD00051

[0026] Pk= max{PJ ie {1,2, [0026] Pk = max {PJ ie {1,2,

[0027] 上式中,A表示所求的实际参数,i、j、k均表示测量参数的序号,所述测量参数为姿态参数,其中k表示最佳中心参数对应的序号,η表示所述测量参数的数量,m表示百分比,Ai、A_j分别表示第i、j个测量参数,M u表示第j个测量参数对第i个测量参数的判断中间值,Nu表示第j个测量参数对第i个测量参数的判断值,N 表示第j个测量参数对最佳中心参数的判断值,P1表示所有测量参数(第i个测量参数除外)对第i个测量参数的判断值之和,Pk表示所有测量参数(第k个测量参数除外)对最佳中心参数的判断值之和,α 表示修正因子,β表示修正值。 [0027] In the above formula, A represents the actual parameters of the request, i, j, k represents the average number of the measured parameter, the measured parameter is the attitude parameters, where k represents a number corresponding to the optimum center parameter, [eta] represents the the number of measurement parameters, m is expressed as a percentage, Ai, A_j represent the first i, j measurement parameters, m u j-th measurement parameter determination intermediate value of the i-th measurement parameters, Nu represents the j-th measurement parameters to the first determining a measured parameter value of i, N j-th value of the measured parameter for determining the optimum center parameter, P1 represents (except the i-th measurement parameters) all the parameters measured is determined on the i-th and the measured parameter values, Pk represents all the parameters measured (except the k-th measurement parameter) values ​​determined for the parameters and the optimum center, α represents a correction factor, β represents a correction value.

[0028] 其次提供一种与所述的姿态矫正方法对应的姿态矫正装置,其包括:姿态传感器、 控制芯片和警报器,所述姿态传感器的输出端连接所述控制芯片的数据输入端,所述控制芯片的输出端连接所述警报器。 Posture-correcting means [0028] Next is provided a method of correcting the posture corresponding, comprising: attitude sensor, alarm and control chip, the output of the attitude sensor is connected to the data input of the control chip, the said control output terminal is connected to the alarm chip.

[0029] 其中,所述控制芯片包括:数据处理模块、卡尔曼滤波计算模块、姿态解算模块、数据融合模块、比较模块、计时模块和触发模块;所述姿态传感器的输出端连接所述数据处理模块的输入端,所述数据处理模块的输出端与所述卡尔曼滤波计算模块建立连接,所述卡尔曼滤波计算模块的输出端与所述姿态解算模块建立连接,所述姿态解算模块的输出端与所述数据融合模块建立连接,所述数据融合模块的输出端与所述比较模块建立连接,所述比较模块的输出端连接所述计时模块,所述计时模块的输出端连接所述触发模块;所述触发模块的输出端连接所述警报器。 [0029] wherein said control chip comprises: a data processing module, Kalman filter computation module, attitude solution module, data fusion module, a comparison module, the trigger module and a timing module; the output of the attitude sensor is connected to the data input processing module, said data output processing module to establish the connection module of Kalman filter, the Kalman filter output of module calculating the gesture resolver module to establish a connection, the attitude solution the output of the module with the data fusion module establishes an output terminal connected to a data fusion module to establish a connection with the comparison module, the comparison module connected to the output of said timing module, an output terminal connected to the timing module the trigger module; the output of the trigger module is connected to the alarm.

[0030] 与现有技术比较本发明的有益效果在于:提供了一种姿态矫正方法及装置,能够简单快速地对矫正者的姿态进行矫正,且检测结果准确,稳定性高;矫正精度可达到0. 0Γ,而且稳定性高,明显的强化了对矫正者姿态的测量效果;通过求差值以及取整运算将测量参数的差值转换为对应的判断值,并通过对判断值求和得出最佳中心参数序号,这样计算简单,方便,能够快速得到结果,提高了反应的速度,同时,简单的计算过程节约了系统资源;所述姿态矫正装置结构简单,且能很好地判断矫正者的姿态并在矫正者的姿态不正确时发出警报;可使用温度传感器测量的温度补偿六轴加速度数据,使其在各种温度下的工作不影响工作指标;所述姿态矫正装置集成在眼镜的镜腿内,携带方便,灵活。 [0030] Advantageous Effects comparison with the prior art of the present invention is: to provide a method and apparatus for correcting the attitude, the attitude can be corrected quickly and easily be corrected by, and accurate detection result, high stability; correction accuracy can be achieved 0. 0Γ, and high stability, a significantly enhanced by measuring the effect on the posture correction; the difference between the measured operational parameters may convert the whole differencing and taken by a corresponding determination value, and the determination of the value obtained by summing the optimum center number parameter, this calculation is simple, convenient and quick to obtain results and improve the rate of reaction, while a simple calculation saving system resources; simple structure of the posture correction means, and can be well corrected Analyzing 's posture and the posture of the first correction issued incorrect alarm; may be used to compensate the temperature measured by the sensor six-axis acceleration data, to make it work at various temperatures does not affect the performance indicators; posture correction device is integrated in the eyeglass inside the temple, portable, and flexible.

附图说明 BRIEF DESCRIPTION

[0031] 图1为本发明姿态矫正方法的流程图; [0031] FIG. 1 is a flowchart of the method of the present invention, the posture correction;

[0032] 图2为本发明姿态矫正装置的结构图; [0032] FIG 2 is a configuration diagram of the posture correction device according to the invention;

[0033] 图3为本发明姿态矫正装置实施例三的结构图; [0033] FIG. 3 shows the structure of the posture correction according to a third embodiment of the present invention;

[0034] 图4为本发明姿态矫正装置控制芯片的结构图。 [0034] FIG 4 a configuration diagram of the posture correction device of the present invention the control chip.

具体实施方式 detailed description

[0035] 以下结合附图,对本发明上述的和另外的技术特征和优点作更详细的说明。 [0035] conjunction with the drawings, the above and other features and advantages of the present invention will be described in more detail.

[0036] 如图1所示,其为本发明姿态矫正方法的流程图;其中,所述姿态矫正方法,包括以下步骤: A flowchart of [0036] 1, the posture correction method which the present invention; wherein said posture correction method, comprising the steps of:

[0037] 步骤a、检测头部摆动造成的姿态参数数值,所述姿态参数包括航向角、横滚角和俯仰角的角度数值; [0037] Step a, the detection head pose parameter values ​​caused by the wobble, the attitude parameters include the heading angle, roll angle and pitch angle values;

[0038] 所述俯仰角、横滚角和航向角的确定方法为:以矫正者的颈部为原点,以右侧为X 轴正方向,以前方为y轴的正方向,以上方为z轴的正方向,头部绕X轴旋转的角度为俯仰角,预设范围在15°到20°之间,头部绕y轴旋转的角度为横滚角,预设范围在-5°到5° 之间,头部绕z轴旋转的角度为航向角,预设范围在-5°到5°之间,预设姿态参数的范围为医学中最佳的阅读姿态数据范围; [0038] The pitch angle, roll angle and method for determining the heading angle is: the neck as the origin of the first correction to the right is X-axis positive direction, the positive direction of the y-axis direction previously, above the z-direction axis positive direction, the head angle of rotation about the X-axis pitch angle, a predetermined range between 15 ° and 20 °, the angle of rotation of the head about the y-axis is the roll angle, the predetermined range -5 ° to between 5 °, the angle of rotation of the head about the z-axis heading angle between a preset range -5 ° to 5 °, the attitude parameters of the preset range for the best medical gesture data reading range;

[0039] 所述姿态参数测量范围:航向角:±180°,横滚角:±180°,俯仰角±180°,为3 轴全角度测量,无盲区。 [0039] The measuring range of the pose parameters: heading angle: ± 180 °, roll angle: ± 180 °, the pitch angle of ± 180 °, for the full 3-axis angle measurement, no blind spots.

[0040] 步骤b、对测得的所述姿态参数进行参数处理; [0040] Step b, the attitude parameters measured process parameters;

[0041 ] 本步骤中,对所述姿态参数进行的所述参数处理可以为复杂的处理方法,也可以简单的作为数据传输的通道,不对数据做任何,仅传输数据。 [0041] In this step, the posture of the process parameters may be parameters for complex processing method can also be used as a simple data transmission channel, the data is not to do anything, only transmit data.

[0042] 步骤c、对处理后的所述姿态参数进行解读,获得矫正者的各个所述角度数值; [0042] Step C, the attitude parameters of the interpretation processing, each of said angle value obtained by the correction;

[0043] 处理后的所述姿态参数内的数据为特定格式,需要对该格式进行转换,从中读取矫正者的各个角度数值,所述角度数值包括航向角、横滚角和俯仰角的角度数值。 [0043] data within the attitude parameters after the treatment, the specific format required for the format conversion, the respective angles of the first correction value read from the angle value of heading angle comprises an angle, pitch angle and roll angle value.

[0044] 步骤d、利用卡尔曼滤波器对各个所述角度数值进行消除噪声处理; [0044] Step d, the angle of each of the values ​​to eliminate noise using a Kalman filter processing;

[0045] 所述卡尔曼滤波器算法为: [0045] The Kalman filter algorithm is:

[0046] 首先,我们先要引入一个离散控制过程的系统。 [0046] First of all, we need to introduce a system of discrete control process. 该系统可用一个线性随机微分方程(Linear Stochastic Difference equation)来描述: The system can be a linear stochastic differential equation (Linear Stochastic Difference equation) will be described:

[0047] X(k) =AX(k-1)+BU(k)+ff(k) [0047] X (k) = AX (k-1) + BU (k) + ff (k)

[0048] 再加上系统的测量值: [0048] coupled with measurements of the system:

[0049] Z (k) =HX (k) +V (k) [0049] Z (k) = HX (k) + V (k)

[0050] 上两式子中,X(k)是k时刻的系统状态,U(k)是k时刻对系统的控制量。 [0050] the two formulas, X (k) is the system state at time k, U (k) is k times the control amount of the system. A和B 是系统参数,对于多模型系统,他们为矩阵。 A and B are system parameters, for multiple model systems, they are in a matrix. Z(k)是k时刻的测量值,H是测量系统的参数, 对于多测量系统,H为矩阵。 The Z (k) is the value measured at time k, H is a parameter measurement system for measuring multi-system, H matrix. W(k)和V(k)分别表示过程和测量的噪声。 W (k) and V (k) represent the process and measurement noise. 他们被假设成高斯白噪声(White Gaussian Noise),他们的协方差(covariance)分别是Q,R(这里我们假设他们不随系统状态变化而变化)。 They are assumed to be white Gaussian noise (White Gaussian Noise), their covariance (covariance) are Q, R (here we assume that they do not change with changes in system state).

[0051] 对于满足上面的条件(线性随机微分系统,过程和测量都是高斯白噪声),卡尔曼滤波器是最优的信息处理器。 [0051] For satisfying the above conditions (linear stochastic differential systems, processes and measurements are Gaussian white noise), the Kalman filter is optimal information processor. 下面我们来用他们结合他们的covariances来估算系统的最优化输出。 Let's use them to combine their covariances to estimate the system to optimize output.

[0052] 首先我们要利用系统的过程模型,来预测下一状态的系统。 [0052] First of all we want to take advantage of the process model of the system, to predict the next state of the system. 假设现在的系统状态是k,根据系统的模型,可以基于系统的上一状态而预测出现在状态: Suppose now that the system state is k, the system according to the model, can be based on a predicted state of the system appears in the status:

[0053] X(k|k-1) = AX(k-1 |kl)+BU(k)...........(I) [0053] X (k | k-1) = AX (k-1 | kl) + BU (k) ........... (I)

[0054] 式(I)中,X(k|k-1)是利用上一状态预测的结果,X(kl|kl)是上一状态最优的结果,u(k)为现在状态的控制量,如果没有控制量,它可以为0。 In [0054] formula (I), X (k | k-1) using a state of the predicted results, X (kl | kl) is the optimal state on a result, the control u (k) is the current state of and, if no control amount, which may be zero.

[0055] 到现在为止,我们的系统结果已经更新了,可是,对应于X(k|k_l)的covariance 还没更新。 [0055] Until now, the results of our system has been updated, however, corresponds to the X (k | k_l) of covariance not updated. 我们用P表示covariance : We use covariance P:

[0056] P (k I k-1) = AP (k-11 k-1) A' +Q.........(2) [0056] P (k I k-1) = AP (k-11 k-1) A '+ Q ......... (2)

[0057] 式(2)中,P (k I k_l)是X (k I k_l)对应的covariance,P (k_l I k_l)是X (k_l I k_l) 对应的covariance,A'表示A的转置矩阵,Q是系统过程的covariance。 [0057] Formula (2), P (k I k_l) is X (k I k_l) corresponding covariance, P (k_l I k_l) is X (k_l I k_l) corresponding covariance, A 'denotes the transpose A, matrix, Q is the covariance of the process system. 式子1,2就是卡尔曼滤波器5个公式当中的前两个,也就是对系统的预测。 Equation 2 is the first two, which is the prediction of the system among the five Kalman filter equations.

[0058] 现在我们有了现在状态的预测结果,然后我们再收集现在状态的测量值。 [0058] Now that we have now states predicted results, and then we collect now the state of the measured values. 结合预测值和测量值,我们可以得到现在状态(k)的最优化估算值X (k |k): Combined with the predicted and measured values, we can now get the state (k) optimization estimate X (k | k):

[0059] X (k I k) = X (k I k-1) +Kg (k) (Z (k) -HX (k I k-Ι)).........(3) [0059] X (k I k) = X (k I k-1) + Kg (k) (Z (k) -HX (k I k-Ι)) ......... (3)

[0060] 其中Kg为卡尔曼增益(Kalman Gain): [0060] where Kg is the Kalman gain (Kalman Gain):

[0061] Kg (k) = P (k I k-1) Η' ΛΗ P (k I k-1) H' +R).........(4) [0061] Kg (k) = P (k I k-1) Η 'ΛΗ P (k I k-1) H' + R) ......... (4)

[0062] 到现在为止,我们已经得到了k状态下最优的估算值X(k|k)。 [0062] Until now, we've got the best estimate of the value of k at state X (k | k). 但是为了要另卡尔曼滤波器不断的运行下去直到系统过程结束,我们还要更新k状态下X(k|k)的covariance : But another Kalman filter in order to continue to run down until the end of the process system, we need to update X state at k | covariance (k k) of:

[0063] P(k|k) = (Ι-Kg (k) H) P (k I k-1).........(5) [0063] P (k | k) = (Ι-Kg (k) H) P (k I k-1) ......... (5)

[0064] 其中I为I的矩阵,对于单模型单测量,I = 1。 [0064] I where I is a matrix, a single model for a single measurement, I = 1. 当系统进入k+1状态时,P (k I k) 就是式子(2)的P(kl|kl)。 When the system enters state k + 1, P (k I k) is the equation (2) P (kl | kl). 这样,算法就可以自回归的运算下去。 In this way, the algorithm can return from the operation down.

[0065] 对数据进行滤波处理,减少了因噪声造成的数据误差,得到了更精确的数据,更准确的结果。 [0065] The data filtering process, reducing data errors due to noise, to obtain more accurate data, more accurate results.

[0066] 步骤e、对所述角度数值进行实时融合处理,得到实时动态姿态数据; [0066] Step E, the angle values, real-time fusion process to give real-time dynamic gesture data;

[0067] 所述融合处理是指利用数据融合技术对实时数据进行处理,所述数据融合技术是指利用计算机对按时序获得的若干观测信息,在一定准则下加以自动分析、综合,以完成所需的决策和评估任务而进行的信息处理技术。 [0067] The fusion process is the use of real-time data fusion techniques to process data, the data fusion technique is the use of a number of computer observation information obtained in chronological order, the automatic analyzer to be at a certain criterion, integrated, in order to complete the required information processing technology assessment and decision-making tasks carried out.

[0068] 利用数据融合,对不同数据进行计算出当前使用者的运动或者静止的姿态数据信息,进一步提高了测量的准确性。 [0068] The data fusion, to calculate the current movement of the user or static attitude data of different data information, thereby improving the accuracy of measurement.

[0069] 步骤f、将所述实时动态姿态数据与预设姿态数据进行比较,若当前姿态不在预设姿态范围内,计时指定时间,若不符合预设姿态数据持续时间超过指定时间时,进行报警提不。 [0069] Step F, the real-time dynamic gesture data is compared with a preset attitude data, if the current posture of the posture is not within the preset range, the timing specified time, do not meet the preset duration time exceeds the specified pose data, for not to mention the police.

[0070] 所述预设姿态数据为:俯仰角,预设范围在15°到20°之间,横滚角,预设范围在-5°到5°之间,航向角,预设范围在-5°到5°之间;此所述预设姿态参数的范围为最佳的阅读姿态数据范围,使得矫正者的坐姿最为合适,不会因坐姿不当会导致视力或其他身体损伤。 [0070] The gesture data is preset: pitch angle, the predetermined range of between 15 ° and 20 °, roll angle, the predetermined range between -5 ° to 5 °, the heading angle, the predetermined range between -5 ° to 5 °; this attitude parameters of the preset range for the best attitude data reading range, so that the most appropriate person sitting correction, will not cause improper posture vision or other physical damage.

[0071] 所述指定时间可以根据实际情况进行调整,较佳范围为0~60s,优选为30s。 The [0071] The prescribed time can be adjusted according to actual conditions, preferably in the range of 0 ~ 60s, preferably 30s.

[0072] 把矫正者的姿态和预设的最佳的阅读姿态数据相对比,从而达到矫正姿态的目的。 [0072] The posture of the first correction and the predetermined optimal contrast data reading attitude, so as to achieve correct posture.

[0073] 这样,整个姿态矫正方法能够简单快速地对矫正者的姿态进行矫正,且检测结果准确,稳定性高。 [0073] Thus, whole posture correction method can be corrected quickly and easily by the posture is corrected, and the accurate detection result, high stability. 本方法的矫正精度可达到0.0Γ,而且稳定性高,明显的强化了对矫正者姿态的测量效果。 Correction accuracy of the method can be achieved 0.0Γ, and high stability, significantly enhanced the effect of the first correction measurement posture.

[0074] 实施例一 [0074] Example a

[0075] 如上述所述的姿态矫正方法,本实施例与其不同之处在于,所述步骤b中,所述参数处理过程为对所述航向角、横滚角和俯仰角的多个角度数值进行处理,得到所述航向角、 横滚角和俯仰角与真实值最接近的实际参数; [0075] The posture correction method described in the above, the present embodiment differs therefrom in that, in said step b, the process parameters of the heading angle, roll angle and the pitch angle of the plurality of values processed to obtain the heading angle, roll angle and the pitch angle is closest to the true value of the actual parameter;

[0076] 所述实际参数的计算公式为: [0076] The actual parameters are calculated:

Figure CN105043383AD00081

[0082] Pk= max{PJ ie {1,2, [0082] Pk = max {PJ ie {1,2,

[0083] 上式中,A表示所求的实际参数,i、j、k均表示所述测量参数的序号,其中k表示最佳中心参数对应的序号,η表示所述测量参数的数量,m表示百分比,Ai、分别表示第i、 j个测量参数,Mij表示第j个测量参数对第i个测量参数的判断中间值,Nu表示第j个测量参数对第i个测量参数的判断值,Nk]表示第j个测量参数对最佳中心参数的判断值,P i 表示所有测量参数(第i个测量参数除外)对第i个测量参数的判断值之和,Pk表示所有测量参数(第k个测量参数除外)对最佳中心参数的判断值之和,α表示修正因子,β表示修正值。 [0083] In the above formula, A represents the actual parameters of the request, i, j, k are parameters representing the number of measurement, where the parameter k represents a number corresponding to the optimum center, [eta] represents the number of the measurement parameter, m expressed as a percentage, Ai, respectively, represent the i, j-th measurement parameters, Mij is j-th measurement parameter determination intermediate value of the i-th measurement parameters, Nu represents the j-th measurement parameter determination value for the i th measurement parameters, NK] j-th value of the measured parameter for determining the optimum center parameter, P i represents (except the i-th measurement parameters) all the parameters measured is determined on the i-th and the measured parameter values, Pk represents all measured parameters (p except measurement parameters k) determining values ​​of parameters and the optimum center, α represents a correction factor, β represents a correction value.

[0084] 上述思路为:根据各个测量参数,将其中一个测量参数与某一个测量参数的差的绝对值除以一定百分比的某一个测量参数,再向上取整得到该测量参数对所述某一个测量参数的判断中间值,所述判断中间值的倒数向下取整为该测量参数对所述某一个测量参数的判断值;若该测量参数与所述某一个测量参数的差在所述某一个测量参数的(lm,l+m) 的范围之内,则其判断值为1,否则为0 ;再将所有测量参数对所述某一个测量参数的判断值相加,作为所述某一个测量参数对应的判断值之和,也即是所有与所述某一个测量参数的差在所述某一个测量参数的(lm,l+m)的范围之内的测量参数的个数;判断值之和最大也即是对应个数最多的为最佳中心参数;将测量参数对最佳中心参数的判断值作为该测量参数的系数,,与最佳中心参数的差在最佳中心参数的(l [0084] The idea is: according to the respective measurement parameter, a measurement in which one of the measurement parameters and the absolute value of difference parameters of a certain percentage by dividing the measured parameter, and then rounded up to obtain the measurement of said one parameter determining an intermediate value measured parameter, determining the inverse of the intermediate values ​​for the measured parameter is rounded down to a value determined according to a measured parameter; if the difference between the measured parameter and the one of said measured parameter in a the range (lm, l + m) of a measured parameter, which determines the value of 1, otherwise 0; then all the parameters measured value is determined for one of said measured parameter is added as one of the Analyzing measured value and the corresponding parameters, that is, the difference between the number of all measured parameters with one of said measured parameter within said one measured parameter (lm, l + m) of the a; determination value the sum of the number corresponding to the maximum that is, the most optimum center parameters; measured parameter value is determined as the optimum center parameter coefficient difference between the measured parameter and the optimum center ,, parameters in the preferred center parameters ( l m,l+m)的范围之内的测量参数, 其系数为1,否则为〇,这样就保留了在范围之内的测量参数,对这些测量参数求平均值后再乘以修正因子并加上修正值,得到与真实值最接近的测量参数作为实际参数。 m, measured parameters within the l + m) range, which factor is 1, otherwise it is square, then maintained in the range of measurement parameters, the averaged measurement parameters and then multiplied by the correction factor and added the correction value to obtain the real value closest to the measured parameter as an actual parameter.

[0085] 有益效果为:通过求差值以及取整运算将测量参数的差值转换为对应的判断值, 并通过对判断值求和得出最佳中心参数序号,这样计算简单,方便,能够快速得到结果,提高了反应的速度,同时,简单的计算过程节约了系统资源;另外通过绝对值与取整运算将测量参数与最佳中心参数的差值转换为对应的判断值作为其系数,这样直接排除了与最佳中心参数差值在最佳中心参数(lm%,l+m%)范围之外的测量参数,这样得到的平均测量参数更接近真实的参数值,提高了测量的准确性,减小了误差。 [0085] The beneficial effects: the measurement parameters and by taking the difference between rounding operation into a corresponding difference determination value, and summing the values ​​obtained by determining the optimum center number parameter, such a simple, easy calculation, it is possible fast results, increase the rate of reaction, while a simple calculation saving system resources; Further the absolute value of the difference between the measured rounding operation parameters and the optimum center into corresponding parameter value is determined as a coefficient, this excludes direct optimum center parameter difference measured parameter is outside the optimum center parameters (lm%, l + m%) range, the average measured parameters thus obtained is closer to the true value of a parameter to improve the accuracy of measurement property, error is reduced. 计算公式简单,方便,能够快速得到结果,提高了反应的速度同时,简单的计算过程节约了计算资源;通过修正因子和修正值对平均测量参数进行修正,进一步减小了误差,提高了测量的精度。 The formula is simple, convenient, fast results can be improved while the rate of reaction, a simple calculation process saves computing resources; corrected average measurement parameters and the correction value by the correction factor, the error is further reduced to improve the measurement of accuracy.

[0086] 所述测量参数是指所述步骤a中的所述姿态参数数值,其根据不同的性质分为航向角、横滚角和俯仰角的角度数值的测量参数,同一性质的测量参数为多个,本实施例将其转换为同一性质的实际参数。 [0086] The measured parameter refers to the value of said attitude parameters of a step, which is divided into an angle measured parameter values ​​of heading angle, roll angle and pitch angle according to the different properties of the same nature as the measured parameter a plurality of, in this embodiment to convert it to the actual parameters of the same nature.

[0087] 所述同一性质的测量参数、同一性质的实际参数可以为航向角的测量参数、航向角的实际参数,也可以为横滚角的测量参数、横滚角的实际参数,或者俯仰角的测量参数、 俯仰角的实际参数,也可以通过本实施例对其中的两种或三种分别求出其实际参数。 [0087] The measured parameters of the same nature, the actual parameters of the same character may be the heading angle of the measurement parameters, the actual parameters of the heading, measurement parameters may also be the roll angle, roll angle actual parameters, or pitch angle measurement parameters, the actual parameters of pitch angle, may be two or three of which are determined by the actual parameters of the present embodiment.

[0088] 实施例二 [0088] Second Embodiment

[0089] 如上述所述的姿态矫正方法,本实施例为与其对应的姿态矫正装置,如图2本发明姿态矫正装置的结构图所示,所述姿态矫正装置包括:姿态传感器1、控制芯片2和警报器3,所述姿态传感器1的输出端连接控制芯片2的数据输入端,控制芯片2的输出端连接警报器3。 [0089] The posture correction method described in the above, the present embodiment is a posture correcting means corresponding thereto, the structure of FIG. 2 the posture correction device shown in FIG invention, the posture correction apparatus comprising: attitude sensor 1, the control chip 2 and 3 alarms, the output of the attitude sensor is connected to a data input of the control chip 2, the control chip 2 is connected to the output terminal 3 alarms.

[0090] 所述姿态矫正装置结构简单,且能很好地判断矫正者的姿态并在矫正者的姿态不正确时发出警报。 [0090] The posture correcting means is simple in structure, and can be well corrected by the attitude determination and alerts when the posture of the first correction is incorrect.

[0091] 所述姿态传感器1对矫正者的姿态进行检测,其可以为三轴加速度测量芯片,如MPU6050三轴加速度传感器;也可以为六轴加速度测量芯片;使用六轴加速度传感器是实现物体三维空间运动相对于参考惯性坐标系的三维线加速度和三维角加速度的传感和测量的多维运动传感技术,通过六轴加速度的测量经过数据融合算法可以计算得出被测物体的姿态以及运动轨迹,从而纠正物体的静止姿态和运动姿态,避免了运动对角度测量的干扰,实现在运动和静止状态下的姿态测量。 [0091] The posture of the posture sensor 1 of the first correction is detected, which may be a three-axis acceleration measuring chip, such as the triaxial acceleration sensor MPU6050; may be a six-axis acceleration measuring tip; six-axis acceleration sensor is a three-dimensional object multidimensional spatial motion relative to the sensing and motion sensing technologies measure the three dimensional linear acceleration and angular acceleration of the inertial reference coordinate system, through data fusion algorithm by measuring the six-axis acceleration can be calculated attitude and trajectory of the object , to correct rest position and attitude of the object is moving, to avoid interference with the movement angle measurement, attitude measurement implemented in the moving and stationary state.

[0092] 所述控制芯片2接收所述姿态传感器1的姿态数据并进行解算、滤波、比较、计时处理后输出;其为主控CPU。 [0092] The receiving control of the attitude sensor chip gesture data 1 and 2 solver, filtering, comparison, the output timing process; it is a master CPU.

[0093] 所述警报器3接收所述控制芯片2传输的数据后发出警报,其为蜂鸣器。 [0093] After the alarm alert 3 receives the transmission data control chip 2, which is a buzzer.

[0094] 所述姿态传感器1的数量可以为一个;也可以为两个,这样在其中一个故障的情况下,另一个仍能够正常工作;也可以为三个,这样在其中一个出现故障的情况下通过三个数据的对比迅速判断故障传感器,提高了反应速度且不会影响正常使用。 The case may be three, in which such a failure; [0094] The posture sensor may be a number 1; also be two, so that in the case where a failure, the other is still able to work by comparing the data of the three sensors quickly determine the fault, and the reaction rate is increased without affecting the normal use.

[0095] 实施例三 [0095] Example three

[0096] 如上述所述的姿态矫正装置,本实施例与其不同之处在于,如图3本发明姿态矫正装置实施例三的结构图所示,所述姿态矫正装置还包括温度传感器4,所述温度传感器4 的输出端与控制芯片2建立连接,可使用温度传感器4测量的温度补偿六轴加速度数据,使其在各种温度下的工作不影响工作指标。 [0096] The posture correction device of the present embodiment differs therefrom in that the posture correction device 3 in FIG invention is a configuration diagram according to a third embodiment shown, the posture correcting means further comprises a temperature sensor 4, the an output terminal of said temperature sensor 4 and the control chip 2 to establish a connection, the temperature sensor 4 may be used to compensate for the six-axis acceleration measurement data, to make it work at various temperatures does not affect the performance indicators.

[0097] 所述姿态矫正装置包括电源5,所述电源5可以为电池,体积小巧、携带方便;也可以为充电电池,不用更换电池,节能环保,优选为充电锂电池,充电一次可以连续使用一天以上,无需更换电池,方便环保。 [0097] The posture correcting means 5 includes a power source, the power source 5 may be a battery, a compact, easy to carry; may be a rechargeable battery, without replacing batteries, energy saving, preferably a rechargeable lithium battery, the charging time can be used continuously more than a day, without having to replace the battery, convenient and environmentally friendly.

[0098] 所述姿态矫正装置集成在眼镜的镜腿内,携带方便,灵活,且集成后的所述姿态矫正装置体积为60*12*5mm,体积小巧,便于携带,且为轻质材料,不会有负重感。 [0098] The posture correction device is integrated within the eyeglasses legs, portable, flexible, and integrated after the posture correction device a volume of 60 * 12 * 5mm, compact, portable, and is lightweight material, there will be no sense of weight.

[0099] 所述温度传感器4的数量可以为一个;也可以为两个,这样在其中一个故障的情况下,另一个仍能够正常工作;也可以为三个,这样在其中一个出现故障的情况下通过三个数据的对比迅速判断故障传感器,提高了反应速度且不会影响正常使用。 Quantity [0099] The temperature sensor 4 may be one; may be two, so that in the case where a failure, the other is still able to work; may be three, so that in the case where a failure by comparing the data of the three sensors quickly determine the fault, and the reaction rate is increased without affecting the normal use.

[0100] 实施例四 [0100] Fourth Embodiment

[0101] 如上述所述的姿态矫正装置,本实施例与其不同之处在于,如图4本发明姿态矫正装置控制芯片的结构图所示,所述控制芯片2包括:数据处理模块21、卡尔曼滤波计算模块22、姿态解算模块23、数据融合模块24、比较模块25、计时模块26和触发模块27 ;所述姿态传感器1的输出端连接数据处理模块21的数据输入端,数据处理模块21的输出端与卡尔曼滤波计算模块22建立连接,卡尔曼滤波计算模块22的输出端与姿态解算模块23建立连接,姿态解算模块23的输出端与数据融合模块24建立连接,数据融合模块24的输出端与比较模块25建立连接,比较模块25的输出端连接计时模块26,计时模块26的输出端连接触发模块27 ;触发模块27的输出端连接警报器3。 [0101] The posture correction device of the present embodiment differs therefrom in that the posture correcting means disclosure configuration diagram of a control chip shown in FIG. 4, the control chip 2 includes: a data processing module 21, Carl Mann filter calculation module 22, the posture solver module 23, a data fusion module 24, a comparison module 25, a timer module 26 and triggering module 27; the output of the attitude sensor is connected to a data input of the data processing module 21, the data processing module an output terminal 21 and the Kalman filter calculation module 22 to establish the connection, calculate the output of the Kalman filter 22 the attitude resolver module to establish a connection module 23, attitude solution module 23 and the output of the data fusion module 24 to establish a connection, data fusion Comparative output of the module 25 to establish a connection module 24, the output of the comparison module 25 is connected to the timing module 26, the output of timing module 26 is connected to the trigger module 27; an output terminal connected to an alarm trigger module 27 3.

[0102] 数据处理模块21对测得的姿态参数进行参数处理;所述姿态解算模块23对传感器的数据进行解读,获得矫正者的各个姿态角度的参数数值;卡尔曼滤波计算模块22,对各个参数的数值进行消除噪声处理,获得各个姿态的真实参数数值;数据融合模块24,对实时数据进行融合处理,得到实时动态姿态数据;比较模块25将经数据处理模块21处理后得到的实时动态姿态数据与预设姿态数据进行比较,若当前姿态不在预设姿态范围内,启动计时模块26,计时30s,若不符合预设姿态数据持续时间超过30s时,触发模块27触发报警器3进行报警提示。 [0102] The data processing module 21 of the attitude parameters measured process parameters; attitude algorithm module in the data 23 of the sensor interpretation, to obtain the respective parameter values ​​of the first correction of the attitude angle; Kalman filter calculation module 22, for the value of each parameter to eliminate noise processing, to obtain the true parameter values ​​each attitude; data fusion module 24, real-time data fusion, to obtain real-time dynamic gesture data; comparison module 25 will be obtained after 21 processes the data processing module of the real-time dynamic attitude data is compared with a preset gesture data, if the current attitude is not within a preset range posture, start timing module 26, timing 30s, do not meet the pre-set duration attitude data exceeds the 30s, triggering an alarm trigger module 27 3 alarm prompt.

[0103] 数据处理模块21根据温度传感器4传输的温度数据修正姿态传感器1的数据,然后传输给姿态解算模块23。 [0103] The data processing module 21 in accordance with the temperature data transmitted by the temperature sensor 4 attitude sensor 1 is corrected, and then transmitted to the calculation module 23 for posture.

[0104] 对检测的姿态数据进行姿态解算模块23和卡尔曼滤波计算模块22结合,对检测数据进行处理,得到精确检测数据,在利用数据融合模块24,对不同数据进行计算出当前使用者的运动或者静止的姿态数据信息,把此姿态和最佳的阅读姿态数据相对比,从而达到矫正姿态的目的,不仅克服传统产品的缺陷,而且兼具小型化和精细化的特点,本发明的矫正精度可以达到〇. 0Γ,而且稳定性高,明显的强化了对物体姿态的测量效果,姿态纠正装置可以广泛用于日常生活,纠正坐姿预防近视和颈肩疾病的形成。 [0104] The attitude data for attitude detection algorithm module 23 and module 22 of Kalman filter binding, the detected data is processed, accurate detection data, using data fusion module 24, different user data to calculate the current the data movement or stationary posture, this posture and the optimum posture data reading contrast, so as to achieve correct posture, not only overcome the drawbacks of the conventional product, and both small and fine features of the present invention square correction accuracy can be achieved. 0Γ, and high stability, a significantly enhanced effect on the measurement object posture, the posture correction device may be widely used in daily life, and prevent the formation of posture correcting myopia and neck disorders.

[0105] 实施例五 [0105] Embodiment V

[0106] 如上述所述的姿态矫正装置,本实施例与其不同之处在于,所述姿态矫正装置包括多个姿态传感器1,所述数据处理模块21进行所述参数处理过程为对所述航向角、横滚角和俯仰角的多个角度数值进行处理,得到所述航向角、横滚角和俯仰角与真实值最接近的实际参数; [0106] The posture correction device of the present embodiment differs therefrom in that the posture correcting means comprises a plurality of attitude sensor 1, the data processing module 21 performs the process parameter to the heading angle, roll angle and pitch angle values ​​of a plurality of angles to give the heading angle, roll angle and the pitch angle is closest to the true value of the actual parameter;

[0107] 所述实际参数的计算公式为: [0107] The actual parameters are calculated as follows:

Figure CN105043383AD00111

[0113] Pk= max {PJ ie {1,2,…,η} [0113] Pk = max {PJ ie {1,2, ..., η}

[0114] 上式中,A表示所求的实际参数,i、j、k均表示所述测量参数的序号,其中k表示最佳中心参数对应的序号,η表示所述测量参数的数量,m表示百分比,Ai、分别表示第i、 j个测量参数,Mi表示第j个测量参数对第i个测量参数的判断中间值,N u表示第j个测量参数对第i个测量参数的判断值,Nk]表示第j个测量参数对最佳中心参数的判断值,P i 表示所有测量参数(第i个测量参数除外)对第i个测量参数的判断值之和,Pk表示所有测量参数(第k个测量参数除外)对最佳中心参数的判断值之和,α表示修正因子,β表示修正值。 [0114] In the above formula, A represents the actual parameters of the request, i, j, k are parameters representing the number of measurement, where the parameter k represents a number corresponding to the optimum center, [eta] represents the number of the measurement parameter, m expressed as a percentage, Ai, represent the first i, j measurement parameters, Mi represents the j-th measurement parameter determination intermediate value of the i-th measurement parameters, N u denotes the j measured parameter determination value for the i th measurement parameters , Nk] j th best measured parameter value is determined center parameters, P i represents (except the i-th measurement parameters) all the parameters measured is determined on the i-th and the measured parameter values, Pk represents all measured parameters ( except for the first measurement parameters k) determining values ​​of parameters and the optimum center, α represents a correction factor, β represents a correction value.

[0115] 上述思路为:根据各个测量参数,将其中一个测量参数与某一个测量参数的差的绝对值除以一定百分比的某一个测量参数,再向上取整得到该测量参数对所述某一个测量参数的判断中间值,所述判断中间值的倒数向下取整为该测量参数对所述某一个测量参数的判断值;若该测量参数与所述某一个测量参数的差在所述某一个测量参数的(lm,l+m) 的范围之内,则其判断值为1,否则为ο;再将所有测量参数对所述某一个测量参数的判断值相加,作为所述某一个测量参数对应的判断值之和,也即是所有与所述某一个测量参数的差在所述某一个测量参数的(l-rn,l+m)的范围之内的测量参数的个数;判断值之和最大也即是对应个数最多的为最佳中心参数;将测量参数对最佳中心参数的判断值作为该测量参数的系数,,与最佳中心参数的差在最佳中心参数的 [0115] The idea is: according to the respective measurement parameter, a measurement in which one of the measurement parameters and the absolute value of difference parameters of a certain percentage by dividing the measured parameter, and then rounded up to obtain the measurement of said one parameter determining an intermediate value measured parameter, determining the inverse of the intermediate values ​​for the measured parameter is rounded down to a value determined according to a measured parameter; if the difference between the measured parameter and the one of said measured parameter in a the range (lm, l + m) of a measured parameter, which determines the value of 1, otherwise o; then all the parameters measured value is determined for one of said measured parameter is added as one of the measurement parameter value and the corresponding determination, that is, the number of all within a certain difference between a measured parameter in a parameter measuring the (l-rn, l + m) of the measurement range of the parameter; and determining the maximum value corresponding to the number that is, for the most optimum center parameter; measured parameter value is determined as the optimum center parameter coefficient difference between the measured parameter and the optimum center ,, parameters in the parameter optimum center of lm,l+m)的范围之内的测量参数, 其系数为1,否则为〇,这样就保留了在范围之内的测量参数,对这些测量参数求平均值后再乘以修正因子并加上修正值,得到与真实值最接近的测量参数作为实际参数。 LM, measurement parameters within the l + m) range, which factor is 1, otherwise it is square, then maintained in the range of measurement parameters, the averaged measurement parameters and then multiplied by the correction factor and added the correction value to obtain the real value closest to the measured parameter as an actual parameter.

[0116] 有益效果为:通过求差值以及取整运算将测量参数的差值转换为对应的判断值, 并通过对判断值求和得出最佳中心参数序号,这样计算简单,方便,能够快速得到结果,提高了反应的速度,同时,简单的计算过程节约了系统资源;另外通过绝对值与取整运算将测量参数与最佳中心参数的差值转换为对应的判断值作为其系数,这样直接排除了与最佳中心参数差值在最佳中心参数(lm%,l+m%)范围之外的测量参数,这样得到的平均测量参数更接近真实的参数值,提高了测量的准确性,减小了误差。 [0116] Advantageous effects: the measurement parameters and by taking the difference between rounding operation into a corresponding difference determination value, and summing the values ​​obtained by determining the optimum center number parameter, such a simple, easy calculation, it is possible fast results, increase the rate of reaction, while a simple calculation saving system resources; Further the absolute value of the difference between the measured rounding operation parameters and the optimum center into corresponding parameter value is determined as a coefficient, this excludes direct optimum center parameter difference measured parameter is outside the optimum center parameters (lm%, l + m%) range, the average measured parameters thus obtained is closer to the true value of a parameter to improve the accuracy of measurement property, error is reduced. 计算公式简单,方便,能够快速得到结果,提高了反应的速度同时,简单的计算过程节约了计算资源;通过修正因子和修正值对平均测量参数进行修正,进一步减小了误差,提高了测量的精度。 The formula is simple, convenient, fast results can be improved while the rate of reaction, a simple calculation process saves computing resources; corrected average measurement parameters and the correction value by the correction factor, the error is further reduced to improve the measurement of accuracy.

[0117] 以上所述仅为本发明的较佳实施例,对本发明而言仅仅是说明性的,而非限制性的。 [0117] The above embodiment is only a preferred embodiment of the present invention, for the present invention are merely illustrative, and not restrictive. 本专业技术人员理解,在本发明权利要求所限定的精神和范围内可对其进行许多改变, 修改,甚至等效,但都将落入本发明的保护范围内。 Understood by those skilled in the claims of the invention within the spirit and scope as defined can be many alternatives, modifications, equivalents and even, but will fall within the scope of the present invention.

Claims (10)

  1. 1. 一种姿态矫正方法,其特征在于,包括: 步骤a、检测头部摆动造成的姿态参数的数值,所述姿态参数包括航向角、横滚角和俯仰角的角度数值; 步骤b、对测得的所述姿态参数进行参数处理; 步骤c、对处理后的所述姿态参数进行解读,获得矫正者的各个所述角度数值; 步骤d、利用卡尔曼滤波器对各个所述角度数值进行消除噪声处理; 步骤e、对所述角度数值进行实时融合处理,得到实时动态姿态数据; 步骤f、将所述实时动态姿态数据与预设姿态数据进行比较,若当前姿态不在预设姿态范围内,计时指定时间,若不符合预设姿态数据持续时间超过指定时间时,进行报警提示。 CLAIMS 1. A method of correcting the posture, characterized by comprising the steps of: a, the wobble detection head pose parameter value caused by the attitude parameters comprises heading angle, roll angle and the pitch angle of the angle value; Step B, of the attitude parameters measured process parameters; step C, the attitude parameters of the interpretation processing, each of said angle value obtained by the correction; step d, using a Kalman filter for each of the angular values noise elimination process; step E, the angle values, real-time fusion process to give real-time dynamic gesture data; step F, the real-time dynamic gesture data is compared with a preset attitude data, if the current pose is not within a predetermined range of attitude , timing designated time, do not meet the pre-set duration attitude data exceeds the specified time, will alarm.
  2. 2. 根据权利要求1所述的姿态矫正方法,其特征在于,所述步骤a中所述航向角、所述横滚角和所述俯仰角的确定方法为:以矫正者的颈部为原点,以右侧为X轴正方向,以前方为y轴的正方向,以上方为z轴的正方向,头部绕所述X轴旋转的角度为所述俯仰角,头部绕所述y轴旋转的角度为所述横滚角,头部绕所述z轴旋转的角度为所述航向角。 The posture correction method according to claim 1, characterized in that the said step a heading angle, the roll angle and the pitch angle determining method is: the correction by the neck as the origin to the right side of the X-axis positive direction, the positive side to the previous y-axis direction, the positive side than the z-axis direction, the head rotation about the X-axis angle and the pitch angle of the head about the y shaft rotation angle of the roll angle, the head about the z-axis rotation angle of the heading angle.
  3. 3. 根据权利要求2所述的姿态矫正方法,其特征在于,所述航向角、所述横滚角、所述俯仰角的测量范围均为±180°。 3. The posture correction method according to claim 2, wherein the heading angle, the roll angle, the pitch angle are measured range ± 180 °.
  4. 4. 根据权利要求1-3中任一所述的姿态矫正方法,其特征在于,所述预设姿态数据中, 所述俯仰角的预设范围为15°~20°。 4. The posture correction method according to any one of claims 1-3, wherein said attitude data preset in the preset range of the pitch angle of 15 ° ~ 20 °.
  5. 5. 根据权利要求1-3中任一所述的姿态矫正方法,其特征在于,所述预设姿态数据中, 所述横滚角的预设范围为-5°~5°。 The posture correction method according to any one of claims 1-3, wherein said attitude data preset, the preset roll angle range -5 ° ~ 5 °.
  6. 6. 根据权利要求1-3中任一所述的姿态矫正方法,其特征在于,所述预设姿态数据中, 所述航向角的预设范围为-5°~5°。 6. The method of correcting the posture of any one of claims 1-3, wherein said attitude data preset in the preset range of the heading angle is -5 ° ~ 5 °.
  7. 7. 根据权利要求1-3中任一所述的姿态矫正方法,其特征在于,所述步骤f•中,所述指定时间为30s。 7. The posture correction method according to any one of claims 1-3, wherein said step f •, the specified time is 30s.
  8. 8. 根据权利要求1-3中任一所述的姿态矫正方法,其特征在于,所述步骤b中,所述参数处理为对所述姿态参数进行处理得到实际参数,所述实际参数的计算公式为: The posture correction method according to any of claims 1-3, wherein said step b, the process parameter is the actual attitude parameters obtained by processing parameters, calculates the actual parameter The formula is:
    Figure CN105043383AC00021
    Pk=max{PJiG{1,2,…,n} 上式中,A表示所求的实际参数,i、j、k均表示测量参数的序号,所述测量参数为所述姿态参数,其中k表示最佳中心参数对应的序号,n表示所述测量参数的数量,m表示百分比,Ai、A_j分别表示第i、j个测量参数,Mu表示第j个测量参数对第i个测量参数的判断中间值,Nu表示第j个测量参数对第i个测量参数的判断值,N表示第j个测量参数对最佳中心参数的判断值,P1表示所有测量参数(第i个测量参数除外)对第i个测量参数的判断值之和,Pk表示所有测量参数(第k个测量参数除外)对最佳中心参数的判断值之和,a 表示修正因子,0表示修正值。 Pk = max {PJiG {1,2, ..., n} In the above formula, A represents the actual parameters of the request, i, j, k represents the average number of the measured parameter, the measured parameter is the attitude parameters, where k represents a parameter corresponding to the optimum center number, n represents the number of the measurement parameter, m denotes the percentage, Ai, A_j represent the first i, j measurement parameters, Mu represents the j-th measurement parameters is determined for the i th measurement parameters intermediate value, Nu represents the j-th measurement parameters for the i-th measured parameter determination value, N denotes the j-th value of the measured parameter determining the optimum center parameter, P1 represents (except the i-th measurement parameters) for all measured parameters Analyzing the i-th measurement values ​​and parameters, Pk represents all measured parameters (except the k-th measurement parameter) is determined and the values ​​of the parameters for optimum center, a represents the correction factor, the correction value represents 0.
  9. 9. 一种与权利要求1-8中任一所述的姿态矫正方法对应的姿态矫正装置,其特征在于,包括:姿态传感器、控制芯片和警报器,所述姿态传感器的输出端连接所述控制芯片的数据输入端,所述控制芯片的输出端连接所述警报器。 9. The posture of the posture correction device of the correction method according to any one of claims 1-8 corresponding to one of the claims, characterized in that, comprising: attitude sensor, alarm and control chip, the output of the attitude sensor is connected to the the data input of the control chip, the chip is connected to the control output of the alarm.
  10. 10. 根据权利要求9所述的姿态矫正装置,其特征在于,所述控制芯片包括:数据处理模块、卡尔曼滤波计算模块、姿态解算模块、数据融合模块、比较模块、计时模块和触发模块;所述姿态传感器的输出端连接所述数据处理模块的输入端,所述数据处理模块的输出端与所述卡尔曼滤波计算模块建立连接,所述卡尔曼滤波计算模块的输出端与所述姿态解算模块建立连接,所述姿态解算模块的输出端与所述数据融合模块建立连接,所述数据融合模块的输出端与所述比较模块建立连接,所述比较模块的输出端连接所述计时模块,所述计时模块的输出端连接所述触发模块;所述触发模块的输出端连接所述警报器。 10. The posture correction device according to claim 9, wherein said control chip comprises: a data processing module, Kalman filter computation module, attitude solution module, data fusion module, a comparison module, a timing module and the triggering module ; output of the attitude sensor is connected to the input of the data processing module, the data processing module to establish a connection with the output of the Kalman filter computation module, the output of the Kalman filter and the calculation module attitude resolver module to establish a connection, the attitude solution module to establish a connection with the output of the data fusion module, the output of the data fusion module to establish a connection with the comparison module, the comparison module being connected to the output said timing module, the output of the timer module is connected to the trigger module; the output of the trigger module is connected to the alarm.
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