CN105589576A - Action direction identification method and device - Google Patents

Action direction identification method and device Download PDF

Info

Publication number
CN105589576A
CN105589576A CN201410594223.5A CN201410594223A CN105589576A CN 105589576 A CN105589576 A CN 105589576A CN 201410594223 A CN201410594223 A CN 201410594223A CN 105589576 A CN105589576 A CN 105589576A
Authority
CN
China
Prior art keywords
acceleration
difference
remote terminal
motion
component values
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201410594223.5A
Other languages
Chinese (zh)
Other versions
CN105589576B (en
Inventor
赵波
胡佳文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen TCL New Technology Co Ltd
Original Assignee
Shenzhen TCL New Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen TCL New Technology Co Ltd filed Critical Shenzhen TCL New Technology Co Ltd
Priority to CN201410594223.5A priority Critical patent/CN105589576B/en
Publication of CN105589576A publication Critical patent/CN105589576A/en
Application granted granted Critical
Publication of CN105589576B publication Critical patent/CN105589576B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses an action direction identification method. The method comprises following steps: building a reference coordinate system according to static coordinates of a remote control terminal; obtaining the static accelerated speed component values of the remote control terminal in three mutually vertical coordinate axis directions of X, Y and Z in the reference coordinate system; when the remote control terminal motions, obtaining the motion accelerated speed component values and the motion duration time of the remote control terminal in three mutually vertical coordinate axis directions of X, Y and Z in the reference coordinate system; and judging the motion action direction of the remote control terminal according to the difference values of the static accelerated speed component values and the motion accelerated speed component values, and the motion duration time. The invention also discloses an action direction identification device. According to the method and the device of the invention, the action direction identification efficiency is improved; and the identification algorithm is simplified.

Description

Direction of action recognition methods and device
Technical field
The present invention relates to action recognition technical field, relate in particular to direction of action recognition methods and device.
Background technology
Along with scientific and technical development, man-machine interaction has no longer been confined to by wireline equipment and infrared distantControl device is realized, and utilizes gesture to realize man-machine interaction and becomes more and more universal, and for example user is by aerialWearing equipment or mobile device are made different gestures, to realize different direction of action, still, generalThere is the problem that recognition efficiency is low, recognizer is complicated in direction of action recognition methods.
Foregoing only, for auxiliary understanding technical scheme of the present invention, does not represent and admits that foregoing isPrior art.
Summary of the invention
Main purpose of the present invention be to solve general direction of action recognition methods recognition efficiency low, identificationThe technical problem of algorithm complexity.
For achieving the above object, a kind of direction of action recognition methods provided by the invention, is characterized in that,Described direction of action is known method for distinguishing and is comprised the following steps:
When static according to remote terminal, the coordinate at place is set up reference frame, and obtains described remote terminalWhen static at the static acceleration of described reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZComponent value;
In the time of the motion of described remote terminal, while obtaining this remote terminal motion described reference frame X, Y,Acceleration of motion component value and the exercise duration of tri-mutually perpendicular change in coordinate axis direction of Z;
According to difference and the exercise duration of described static acceleration component values and acceleration of motion component,Judge the direction of action of described remote terminal motion.
Preferably, described when static according to remote terminal the coordinate at place set up reference frame, and obtainWhen described remote terminal is static at described reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZThe step of static acceleration component values comprise:
When static taking remote terminal, the coordinate at place is the origin of coordinates, with the vertical side at acceleration of gravity placeTo being Z axis bearing of trend, set up the rectangular co-ordinate being formed by X, Y, tri-mutually perpendicular reference axis of ZThe reference frame of set type;
Obtain described remote terminal first component of acceleration in described reference frame X-direction when staticValue, the second acceleration component values of Y direction and the 3rd acceleration component values of Z-direction.
Preferably, described in the time of the motion of described remote terminal, while obtaining this remote terminal motion in described ginsengExamining acceleration of motion component value and the motion of coordinate system X, Y, tri-mutually perpendicular change in coordinate axis direction of Z holdsThe step of continuous time is:
In the time of described remote terminal motion, obtain this remote terminal and move in described reference frame X-axis sideTo the 6th the accelerating of the 5th acceleration component values, Z-direction of the 4th acceleration component values, Y directionDegree component value and obtain the exercise duration of described remote terminal.
Preferably, described according to the difference value of described static acceleration component values and acceleration of motion component valueAnd exercise duration, judge that the step of the direction of action of described remote terminal motion comprises:
When the exercise duration of described remote terminal is greater than default time threshold, according to the described the 4thDifference, the 5th acceleration component values that acceleration component values deducts the first acceleration component values deduct second and addThe difference of velocity component value and the 6th acceleration component values deduct the difference of the 3rd acceleration component values, judgementThe direction of action of described remote terminal motion;
If the first difference that described the 4th acceleration component values deducts the first acceleration component values is greater than zero, andThe absolute value of described the first difference is greater than default acceleration delta threshold, the 5th acceleration component values deductsThe absolute value of the second difference of the second acceleration component values and the 6th acceleration component values deduct the 3rd accelerationThe absolute value of the 3rd difference of component value is all less than described acceleration delta threshold, judges that described remote control eventuallyThe direction of action of end motion is first direction;
If described the first difference is less than zero, and the absolute value of described the first difference is greater than described acceleration incrementThe absolute value of the absolute value of threshold value, described the second difference and the 3rd difference is all less than described acceleration increment thresholdValue, judges that the direction of action of described remote terminal motion is second direction;
If described the second difference is greater than zero, and the absolute value of described the first difference is less than described acceleration incrementThe absolute value of threshold value, described the second difference is greater than the exhausted of described acceleration delta threshold and described the 3rd differenceValue is less than to described acceleration delta threshold, judges that the direction of action of described remote terminal motion is the 3rdDirection;
If described the second difference is less than zero, and the absolute value of described the first difference is less than described acceleration incrementThe absolute value of threshold value, described the second difference is greater than the exhausted of described acceleration delta threshold and described the 3rd differenceValue is less than to described acceleration delta threshold, judges that the direction of action of described remote terminal motion is the 4thDirection;
If described the 3rd difference is greater than zero, and the absolute value of the absolute value of described the first difference and the second differenceAll be less than described acceleration delta threshold, and the absolute value of described the 3rd difference is greater than described acceleration incrementThreshold value, judges that the direction of action of described remote terminal motion is the 5th direction;
If described the 3rd difference is less than zero, and the absolute value of the absolute value of described the first difference and the second differenceAll be less than described acceleration delta threshold, and the absolute value of described the 3rd difference is greater than described acceleration incrementThreshold value, judges that the direction of action of described remote terminal motion is the 6th direction.
Preferably, while obtaining the motion of this remote terminal described in tri-of described reference frame X, Y, Z mutuallyBefore the acceleration of motion component value of perpendicular change in coordinate axis direction and the step of exercise duration, also wrapDraw together:
According to the direction of motion of described remote terminal, obtain that the acceleration of this remote terminal becomes with X-axisThe first angle, the second angle becoming with Y-axis and the 3rd angle becoming with Z axis;
Using the product of the cosine value of the accekeration of described remote terminal and the first angle as X-directionAcceleration component values, using the product of the cosine value of the accekeration of described remote terminal and the second angle as YAxial acceleration component values, by the cosine value of the accekeration of described remote terminal and the 3rd angleProduct is as the acceleration component values of Z-direction.
In addition, for reaching identical goal of the invention, the present invention also provides a kind of direction of action recognition device,Described direction of action recognition device comprises:
The first acquisition module, the coordinate at place is set up reference frame when static according to remote terminal,And obtain described remote terminal when static at described reference frame X, Y, tri-mutually perpendicular coordinates of ZAxial static acceleration component values;
The second acquisition module, for when the motion of described remote terminal, while obtaining this remote terminal motionThe acceleration of motion component value of described reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of Z andExercise duration;
Judge module, for according to the difference of described static acceleration component values and acceleration of motion component andExercise duration, judges the direction of action that described remote terminal moves.
Preferably, described the first acquisition module comprises:
Set up unit, the coordinate at place is the origin of coordinates when static taking remote terminal, accelerates with gravityThe vertical direction at degree place is Z axis bearing of trend, sets up by X, Y, tri-mutually perpendicular reference axis of ZThe reference frame of the rectangular co-ordinate set type of composition;
The first acquiring unit, obtain described remote terminal when static in described reference frame X-directionThe 3rd acceleration of the second acceleration component values of the first acceleration component values, Y direction and Z-directionComponent value.
Preferably, described the second acquisition module also for:
In the time of described remote terminal motion, obtain this remote terminal and move in described reference frame X-axis sideTo the 6th the accelerating of the 5th acceleration component values, Z-direction of the 4th acceleration component values, Y directionDegree component value and obtain the exercise duration of described remote terminal.
Preferably, described judge module also for:
When the exercise duration of described remote terminal is greater than default time threshold, according to the described the 4thDifference, the 5th acceleration component values that acceleration component values deducts the first acceleration component values deduct second and addThe difference of velocity component value and the 6th acceleration component values deduct the difference of the 3rd acceleration component values, judgementThe direction of action of described remote terminal motion;
If the first difference that described the 4th acceleration component values deducts the first acceleration component values is greater than zero, andThe absolute value of described the first difference is greater than default acceleration delta threshold, the 5th acceleration component values deductsThe absolute value of the second difference of the second acceleration component values and the 6th acceleration component values deduct the 3rd accelerationThe absolute value of the 3rd difference of component value is all less than described acceleration delta threshold, judges that described remote control eventuallyThe direction of action of end motion is first direction;
If described the first difference is less than zero, and the absolute value of described the first difference is greater than described acceleration incrementThe absolute value of the absolute value of threshold value, described the second difference and the 3rd difference is all less than described acceleration increment thresholdValue, judges that the direction of action of described remote terminal motion is second direction;
If described the second difference is greater than zero, and the absolute value of described the first difference is less than described acceleration incrementThe absolute value of threshold value, described the second difference is greater than the exhausted of described acceleration delta threshold and described the 3rd differenceValue is less than to described acceleration delta threshold, judges that the direction of action of described remote terminal motion is the 3rdDirection;
If described the second difference is less than zero, and the absolute value of described the first difference is less than described acceleration incrementThe absolute value of threshold value, described the second difference is greater than the exhausted of described acceleration delta threshold and described the 3rd differenceValue is less than to described acceleration delta threshold, judges that the direction of action of described remote terminal motion is the 4thDirection;
If described the 3rd difference is greater than zero, and the absolute value of the absolute value of described the first difference and the second differenceAll be less than described acceleration delta threshold, and the absolute value of described the 3rd difference is greater than described acceleration incrementThreshold value, judges that the direction of action of described remote terminal motion is the 5th direction;
If described the 3rd difference is less than zero, and the absolute value of the absolute value of described the first difference and the second differenceAll be less than described acceleration delta threshold, and the absolute value of described the 3rd difference is greater than described acceleration incrementThreshold value, judges that the direction of action of described remote terminal motion is the 6th direction.
Preferably, described direction of action recognition device also comprises the 3rd acquisition module, and the described the 3rd obtains mouldPiece is used for:
According to the direction of motion of described remote terminal, obtain that the acceleration of this remote terminal becomes with X-axisThe first angle, the second angle becoming with Y-axis and the 3rd angle becoming with Z axis;
Using the product of the cosine value of the accekeration of described remote terminal and the first angle as X-directionAcceleration component values, using the product of the cosine value of the accekeration of described remote terminal and the second angle as YAxial acceleration component values, by the cosine value of the accekeration of described remote terminal and the 3rd angleProduct is as the acceleration component values of Z-direction.
The present invention's coordinate at place when static according to remote terminal is set up reference frame, obtains that this is distantControl terminal is at the static component of acceleration of reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZValue, then obtains remote terminal when motion in reference frame X, Y, tri-mutually perpendicular reference axis of ZAcceleration of motion component value and the exercise duration of direction, finally according to static acceleration component values and fortuneDifference and the exercise duration of moving component of acceleration, judge the direction of action that remote terminal moves, thisSample, only needs to detect static and two states of motion of remote terminal and downloads reference frame X, Y, Z tri-Acceleration of motion component value and the exercise duration of individual mutually perpendicular change in coordinate axis direction, work as remote terminalRun duration while being greater than Preset Time threshold value, judge that remote terminal has carried out effective exercise, then pass throughStatic acceleration component values and acceleration of motion component are carried out to simple subtraction, can determine distantThe direction of action of control terminal motion, thus the recognition efficiency to direction of action improved, simplify identification and calculatedMethod.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the first embodiment of direction of action recognition methods of the present invention;
When Fig. 2 is static according to remote terminal in Fig. 1, the coordinate at place is set up reference frame, and obtains instituteState remote terminal when static at described reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZThe refinement schematic flow sheet of the step of static acceleration component values;
Fig. 3 is the schematic flow sheet of the second embodiment of direction of action recognition methods of the present invention;
Fig. 4 is the high-level schematic functional block diagram of direction of action recognition device the first embodiment of the present invention;
Fig. 5 is the refinement high-level schematic functional block diagram of the first acquisition module in Fig. 4;
Fig. 6 is the high-level schematic functional block diagram of direction of action recognition device the second embodiment of the present invention.
Realization, functional characteristics and the advantage of the object of the invention, in connection with embodiment, are done further with reference to accompanying drawingExplanation.
Detailed description of the invention
Should be appreciated that specific embodiment described herein is only in order to explain the present invention, and be not used in restrictionThe present invention.
The invention provides a kind of direction of action recognition methods.
Remote terminal in the present invention can be wearing equipment or mobile device, direction of action bag of the present inventionDraw together front, rear, left, right-hand, above and below with respect to user.
With reference to Fig. 1, Fig. 1 is the schematic flow sheet of the first embodiment of direction of action recognition methods of the present invention.
In the first embodiment, the method for this remote control comprises:
For achieving the above object, a kind of direction of action recognition methods provided by the invention, this direction of action is knownMethod for distinguishing comprises the following steps:
Step S10, when static according to remote terminal, the coordinate at place is set up reference frame, and obtains remote controlWhen terminal quiesce at the static acceleration of reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZComponent value;
When static taking remote terminal, the coordinate at place is the origin of coordinates, with the vertical side at acceleration of gravity placeTo being Z axis bearing of trend, set up the rectangular co-ordinate being formed by X, Y, tri-mutually perpendicular reference axis of ZThe reference frame of set type; And it is each when static to obtain remote terminal by angular speed or gravity sensorIn the first acceleration component values of reference frame X-direction, the second acceleration component values of Y directionThe 3rd acceleration component values with Z-direction, adds in the 3rd of Z-direction when wherein remote terminal is staticVelocity component value equals the value of acceleration of gravity.
Step S20, in the time that remote terminal moves, while obtaining the motion of this remote terminal reference frame X,Acceleration of motion component value and the exercise duration of Y, tri-mutually perpendicular change in coordinate axis direction of Z;
In the time that remote terminal moves, while obtaining the motion of this remote terminal by angular speed or gravity sensorThe acceleration of motion component value of reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of Z, and logicalCross the exercise duration that timer obtains this remote terminal.
Step S30, when continuing with motion according to the difference of static acceleration component values and acceleration of motion componentBetween, judge the direction of action that remote terminal moves.
In the time that the running duration of remote terminal is greater than default time threshold, according to reference frame X,In Y, Z-direction, the difference of static acceleration component values and acceleration of motion component judges remote terminal motionDirection of action, for example, in the first moment, remote terminal is in the static acceleration of X-direction of reference frameThe difference of degree component value and acceleration of motion component is greater than zero and be greater than default acceleration delta threshold, is joiningExamine the Y-axis of coordinate system and the difference of the static acceleration component values of Z-direction and acceleration of motion component is less thanDefault acceleration delta threshold, in the first moment, the direction of action of remote terminal is X-axis positive direction.
In the present embodiment, the coordinate at place is set up reference frame when static according to remote terminal,Obtain static the adding of this remote terminal at reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZVelocity component value, then obtains remote terminal when motion orthogonal at reference frame X, Y, tri-of ZAcceleration of motion component value and the exercise duration of change in coordinate axis direction, finally divide according to static accelerationThe difference of value and acceleration of motion component and exercise duration, judge the action of remote terminal motionDirection, like this, only need to detect static and two states of motion of remote terminal download reference frame X,Acceleration of motion component value and the exercise duration of Y, tri-mutually perpendicular change in coordinate axis direction of Z, when distantWhen the run duration of control terminal is greater than Preset Time threshold value, judge that remote terminal has carried out effective exercise,By static acceleration component values and acceleration of motion component are carried out to simple subtraction, can sentence againMake the direction of action of remote terminal motion, thereby improved the recognition efficiency to direction of action, simplifiedRecognizer.
Further, with reference to Fig. 2, Fig. 2 is the refinement schematic flow sheet of the step of step S10 in Fig. 1.
In the present embodiment, step S10 comprises:
Step S101, when static taking remote terminal, the coordinate at place is the origin of coordinates, with acceleration of gravity instituteVertical direction be Z axis bearing of trend, set up formed by X, Y, tri-mutually perpendicular reference axis of ZThe reference frame of rectangular co-ordinate set type;
In addition, also can be static taking remote terminal time, the coordinate at place, as the arbitrfary point of reference frame, also canTaking the vertical direction that do not limit acceleration of gravity place as Z axis bearing of trend, only need to set up by X, Y, ZArticle three, the reference frame of the rectangular co-ordinate set type of mutually perpendicular reference axis composition.
Step S102, obtains remote terminal and divides at the first acceleration of reference frame X-direction when staticThe 3rd acceleration component values of the second acceleration component values of value, Y direction and Z-direction.
Can be first by acceleration transducer or gravity sensor obtain remote terminal when static at reference frameTotal acceleration, then try to achieve this remote control eventually according to the angle of this resultant acceleration and X-axis, Y-axis and Z axisHold second of the first acceleration component values in reference frame X-direction, Y direction when static to accelerateThe 3rd acceleration component values of degree component value and Z-direction.
Further, with reference to Fig. 3, Fig. 3 is the stream of the second embodiment of direction of action recognition methods of the present inventionJourney schematic diagram.
In a second embodiment, direction of action identification direction comprises the following steps:
Step S10, when static according to remote terminal, the coordinate at place is set up reference frame, and obtains remote controlWhen terminal quiesce at the static acceleration of reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZComponent value;
Step S40, in the time that remote terminal moves, according to the direction of motion of remote terminal, obtains this remote control eventuallyAcceleration the first angle, second angle becoming with Y-axis that become with X-axis of end and becoming with Z axisThe 3rd angle;
In the time that remote terminal moves, its direction of motion can be not at every turn all with reference frame X-axis, Y-axis orThe bearing of trend of Z axis is just in time parallel, and remote terminal inevitably there will be with reference frame appearance inclined to one sideMove, need to try to achieve the first angle that the acceleration of remote terminal becomes with X-axis, become with Y-axis secondAngle and the 3rd angle becoming with Z axis.
Step S50, using the product of the cosine value of the accekeration of remote terminal and the first angle as X-axisThe acceleration component values of direction, makes the product of the cosine value of the accekeration of remote terminal and the second angleFor the acceleration component values of Y direction, by the cosine value of the accekeration of remote terminal and the 3rd angleProduct is as the acceleration component values of Z-direction;
In addition, the acceleration of calculating remote terminal also can in the acceleration component values of X-axis, Y-axis or Z axisTo obtain by the method for projection or directly measurement.
Step S20, orthogonal at reference frame X, Y, tri-of Z while obtaining the motion of this remote terminalAcceleration of motion component value and the exercise duration of change in coordinate axis direction;
Step S30, when continuing with motion according to the difference of static acceleration component values and acceleration of motion componentBetween, judge the direction of action that remote terminal moves.
Further, in the 3rd embodiment of direction of action recognition methods of the present invention, the X of reference frameAxle positive direction is user's left, and what the negative direction of X-axis was user is right-hand, and Y-axis positive direction is userRear, the front that the negative direction of Y-axis is user, the top that Z axis positive direction is user, the negative direction of Z axisFor user's below. For example, user control remote terminal up and down, left and right four direction when motion,The operational order of corresponding upper and lower, left and right on two dimensional surface, controls remote terminal to front or rear fortuneWhen moving, the operational order that dwindles or expand tackling picture or interface.
In the 3rd embodiment, this direction of action recognition methods comprises the steps:
Step S101, when static taking remote terminal, the coordinate at place is the origin of coordinates, with acceleration of gravity instituteVertical direction be Z axis bearing of trend, set up formed by X, Y, tri-mutually perpendicular reference axis of ZThe reference frame of rectangular co-ordinate set type;
Step S102, obtains remote terminal and divides at the first acceleration of reference frame X-direction when staticThe 3rd acceleration component values of the second acceleration component values of value, Y direction and Z-direction;
Step S40, in the time that remote terminal moves, according to the direction of motion of remote terminal, obtains this remote control eventuallyAcceleration the first angle, second angle becoming with Y-axis that become with X-axis of end and becoming with Z axisThe 3rd angle;
Step S50, using the product of the cosine value of the accekeration of remote terminal and the first angle as X-axisThe acceleration component values of direction, makes the product of the cosine value of the accekeration of remote terminal and the second angleFor the acceleration component values of Y direction, by the cosine value of the accekeration of remote terminal and the 3rd angleProduct is as the acceleration component values of Z-direction;
Step S201, obtains this remote terminal motion and divides at the 4th acceleration of reference frame X-directionThe 5th acceleration component values of value, Y direction, the 6th acceleration component values of Z-direction and obtain distantThe exercise duration of control terminal;
Step S301, when the exercise duration of remote terminal is greater than default time threshold, according toDifference, the 5th acceleration component values that four acceleration component values deduct the first acceleration component values deduct secondThe difference of acceleration component values and the 6th acceleration component values deduct the difference of the 3rd acceleration component values, sentenceThe direction of action of disconnected remote terminal motion;
Step S3021, is greater than if the 4th acceleration component values deducts the first difference of the first acceleration component valuesZero, and the absolute value of the first difference is greater than default acceleration delta threshold, the 5th acceleration component values subtractsGo absolute value and the 6th acceleration component values of the second difference of the second acceleration component values to deduct the 3rd accelerationThe absolute value of the 3rd difference of degree component value is all less than acceleration delta threshold, judges remote terminal motionDirection of action be first direction;
The first difference is greater than zero herein, and only has the absolute value of the first difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in X-direction, and acceleration in X-axisComponent direction is consistent with the positive direction of X-axis, even this time judges successfully the direction of action of remote terminalFor left (first direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
Step S3022, if the first difference is less than zero, and the absolute value of the first difference is greater than acceleration increment thresholdThe absolute value of the absolute value of value, the second difference and the 3rd difference is all less than acceleration delta threshold, judgesThe direction of action of remote terminal motion is second direction;
The first difference is less than zero herein, and only has the absolute value of the first difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in X-direction, and acceleration in X-axisComponent direction is consistent with the negative direction of X-axis, even this time judges successfully the direction of action of remote terminalFor right-hand (second direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
Step S3023, if the second difference is greater than zero, and the absolute value of the first difference is less than acceleration increment thresholdThe absolute value that the absolute value of value, the second difference is greater than acceleration delta threshold and the 3rd difference is less than accelerationDelta threshold, judges that the direction of action of remote terminal motion is third direction;
The second difference is greater than zero herein, and only has the absolute value of the second difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in Y direction, and acceleration in Y-axisComponent direction is consistent with the positive direction of Y-axis, even this time judges successfully the direction of action of remote terminalFor rear (third direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
Step S3024, if the second difference is less than zero, and the absolute value of the first difference is less than acceleration increment thresholdThe absolute value that the absolute value of value, the second difference is greater than acceleration delta threshold and the 3rd difference is less than accelerationDelta threshold, judges that the direction of action of remote terminal motion is fourth direction;
The second difference is less than zero herein, and only has the absolute value of the second difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in Y direction, and acceleration in Y-axisComponent direction is consistent with the negative direction of Y-axis, even this time judges successfully the direction of action of remote terminalFor front (fourth direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
Step S3025, if the 3rd difference is greater than zero, and the absolute value of the first difference and the second difference is absoluteValue is all less than acceleration delta threshold, and the absolute value of the 3rd difference is greater than acceleration delta threshold, sentencesThe direction of action of determining remote terminal motion is the 5th direction;
The 3rd difference is greater than zero herein, and only has the absolute value of the 3rd difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in Z-direction, and acceleration on Z axisComponent direction is consistent with the positive direction of Z axis, even this time judges successfully the direction of action of remote terminalFor top (the 5th direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
Step S3026, if the 3rd difference is less than zero, and the absolute value of the first difference and the second difference is absoluteValue is all less than acceleration delta threshold, and the absolute value of the 3rd difference is greater than acceleration delta threshold, sentencesThe direction of action of determining remote terminal motion is the 6th direction.
The 3rd difference is greater than zero herein, and only has the absolute value of the 3rd difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in Z-direction, and acceleration on Z axisThe negative direction of component direction Z axis is consistent, even this time judges successfully, and the direction of action of remote terminal isBelow (the 6th direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
In addition, for reaching identical goal of the invention, the present invention also provides a kind of direction of action recognition device,With reference to Fig. 4, Fig. 4 is the high-level schematic functional block diagram of direction of action recognition device the first embodiment of the present invention.
This direction of action recognition device comprises:
The first acquisition module 60, the coordinate at place is set up reference frame when static according to remote terminal,And obtain remote terminal when static at reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZStatic acceleration component values;
Preferably, the first acquisition module 60 also when static taking remote terminal the coordinate at place as coordinate formerPoint, taking the vertical direction at acceleration of gravity place as Z axis bearing of trend, sets up by tri-of X, Y, Z mutuallyThe reference frame of the rectangular co-ordinate set type of perpendicular reference axis composition; And by angular speed or gravitySensor obtain remote terminal each when static at the first component of acceleration of reference frame X-directionValue, the second acceleration component values of Y direction and the 3rd acceleration component values of Z-direction, Qi ZhongyaoWhen control terminal is static, equal the value of acceleration of gravity in the 3rd acceleration component values of Z-direction.
The second acquisition module 70, in the time that remote terminal moves, is joining while obtaining this remote terminal motionExamining acceleration of motion component value and the motion of coordinate system X, Y, tri-mutually perpendicular change in coordinate axis direction of Z holdsThe continuous time;
In the time that remote terminal moves, while obtaining the motion of this remote terminal by angular speed or gravity sensorThe acceleration of motion component value of reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of Z, and logicalCross the exercise duration that timer obtains this remote terminal.
Judge module 80, for according to difference and the fortune of static acceleration component values and acceleration of motion componentThe moving duration, judge the direction of action that remote terminal moves.
In the time that the running duration of remote terminal is greater than default time threshold, according to reference frame X,In Y, Z-direction, the difference of static acceleration component values and acceleration of motion component judges remote terminal motionDirection of action, for example, in the first moment, remote terminal is in the static acceleration of X-direction of reference frameThe difference of degree component value and acceleration of motion component is greater than zero and be greater than default acceleration delta threshold, is joiningExamine the Y-axis of coordinate system and the difference of the static acceleration component values of Z-direction and acceleration of motion component is less thanDefault acceleration delta threshold, in the first moment, the direction of action of remote terminal is X-axis positive direction.
In the present embodiment, the coordinate at place is set up reference frame when static according to remote terminal,Obtain static the adding of this remote terminal at reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZVelocity component value, then obtains remote terminal when motion orthogonal at reference frame X, Y, tri-of ZAcceleration of motion component value and the exercise duration of change in coordinate axis direction, finally divide according to static accelerationThe difference of value and acceleration of motion component and exercise duration, judge the action of remote terminal motionDirection, like this, only need to detect static and two states of motion of remote terminal download reference frame X,Acceleration of motion component value and the exercise duration of Y, tri-mutually perpendicular change in coordinate axis direction of Z, when distantWhen the run duration of control terminal is greater than Preset Time threshold value, judge that remote terminal has carried out effective exercise,By static acceleration component values and acceleration of motion component are carried out to simple subtraction, can sentence againMake the direction of action of remote terminal motion, thereby improved the recognition efficiency to direction of action, simplifiedRecognizer.
Further, with reference to Fig. 5, Fig. 5 is the refinement high-level schematic functional block diagram of the first acquisition module in Fig. 4,The first acquisition module 60 comprises:
Set up unit 601, the coordinate at place is the origin of coordinates when static taking remote terminal, adds with gravityThe vertical direction at speed place is Z axis bearing of trend, sets up by X, Y, tri-mutually perpendicular coordinates of ZThe reference frame of the rectangular co-ordinate set type of axle composition;
In addition, also can be static taking remote terminal time, the coordinate at place, as the arbitrfary point of reference frame, also canTaking the vertical direction that do not limit acceleration of gravity place as Z axis bearing of trend, only need to set up by X, Y, ZArticle three, the reference frame of the rectangular co-ordinate set type of mutually perpendicular reference axis composition.
The first acquiring unit 602, obtain remote terminal when static in first of reference frame X-directionThe 3rd component of acceleration of the second acceleration component values of acceleration component values, Y direction and Z-directionValue.
Can be first by acceleration transducer or gravity sensor obtain remote terminal when static at reference frameTotal acceleration, then try to achieve this remote control eventually according to the angle of this resultant acceleration and X-axis, Y-axis and Z axisHold second of the first acceleration component values in reference frame X-direction, Y direction when static to accelerateThe 3rd acceleration component values of degree component value and Z-direction.
Further, the second acquisition module 70 also for:
In the time that remote terminal moves, obtain this remote terminal and move in the 4th of reference frame X-directionThe 5th acceleration component values of acceleration component values, Y direction, the 6th acceleration component values of Z-directionAnd obtain the exercise duration of remote terminal.
In the time that remote terminal moves, its direction of motion can be not at every turn all with reference frame X-axis, Y-axis orThe bearing of trend of Z axis is just in time parallel, and remote terminal inevitably there will be with reference frame appearance inclined to one sideMove, need to try to achieve the first angle that the acceleration of remote terminal becomes with X-axis, become with Y-axis secondAngle and the 3rd angle becoming with Z axis.
Further, in direction of action recognition device of the present invention, the X-axis positive direction of reference frame isUser's left, what the negative direction of X-axis was user is right-hand, the rear that Y-axis positive direction is user, Y-axisThe negative direction front that is user, the top that Z axis positive direction is user, under the negative direction of Z axis is userSide. For example, user control remote terminal up and down, left and right four direction when motion, corresponding to twoThe operational order of the upper and lower, left and right on dimensional plane, while controlling remote terminal to front or rear motion, rightThe operational order that reply picture or interface dwindle or expand, the judge module 80 of this device also for:
When the exercise duration of remote terminal is greater than default time threshold, divide according to the 4th accelerationDifference, the 5th acceleration component values that value deducts the first acceleration component values deduct the second component of accelerationThe difference of value and the 6th acceleration component values deduct the difference of the 3rd acceleration component values, judge remote terminalThe direction of action of motion;
If deducting the first difference of the first acceleration component values, the 4th acceleration component values is greater than zero, and firstThe absolute value of difference is greater than default acceleration delta threshold, the 5th acceleration component values deducts the second accelerationThe absolute value of the second difference of degree component value and the 6th acceleration component values deduct the 3rd acceleration component valuesThe absolute value of the 3rd difference is all less than acceleration delta threshold, judges the direction of action of remote terminal motionFor first direction;
The first difference is greater than zero herein, and only has the absolute value of the first difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in X-direction, and acceleration in X-axisComponent direction is consistent with the positive direction of X-axis, even this time judges successfully the direction of action of remote terminalFor left (first direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
If the first difference is less than zero, and the absolute value of the first difference is greater than acceleration delta threshold, second poorThe absolute value of the absolute value of value and the 3rd difference is all less than acceleration delta threshold, judges remote terminal fortuneMoving direction of action is second direction;
The first difference is less than zero herein, and only has the absolute value of the first difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in X-direction, and acceleration in X-axisComponent direction is consistent with the negative direction of X-axis, even this time judges successfully the direction of action of remote terminalFor right-hand (second direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
If the second difference is greater than zero, and the absolute value of the first difference is less than acceleration delta threshold, second poorThe absolute value that the absolute value of value is greater than acceleration delta threshold and the 3rd difference is less than acceleration delta threshold,The direction of action of judging remote terminal motion is third direction;
The second difference is greater than zero herein, and only has the absolute value of the second difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in Y direction, and acceleration in Y-axisComponent direction is consistent with the positive direction of Y-axis, even this time judges successfully the direction of action of remote terminalFor rear (third direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
If the second difference is less than zero, and the absolute value of the first difference is less than acceleration delta threshold, second poorThe absolute value that the absolute value of value is greater than acceleration delta threshold and the 3rd difference is less than acceleration delta threshold,The direction of action of judging remote terminal motion is fourth direction;
The second difference is less than zero herein, and only has the absolute value of the second difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in Y direction, and acceleration in Y-axisComponent direction is consistent with the negative direction of Y-axis, even this time judges successfully the direction of action of remote terminalFor front (fourth direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
If the 3rd difference is greater than zero, and the absolute value of the absolute value of the first difference and the second difference is all less than and addsSpeed increment threshold value, and the absolute value of the 3rd difference is greater than acceleration delta threshold, judges remote terminalThe direction of action of motion is the 5th direction;
The 3rd difference is greater than zero herein, and only has the absolute value of the 3rd difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in Z-direction, and acceleration on Z axisComponent direction is consistent with the positive direction of Z axis, even this time judges successfully the direction of action of remote terminalFor top (the 5th direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
If the 3rd difference is less than zero, and the absolute value of the absolute value of the first difference and the second difference is all less than and addsSpeed increment threshold value, and the absolute value of the 3rd difference is greater than acceleration delta threshold, judges remote terminalThe direction of action of motion is the 6th direction.
The 3rd difference is greater than zero herein, and only has the absolute value of the 3rd difference to be greater than acceleration delta threshold,This time the motion of remote terminal only has effective acceleration in Z-direction, and acceleration on Z axisThe negative direction of component direction Z axis is consistent, even this time judges successfully, and the direction of action of remote terminal isBelow (the 6th direction changes according to the setting of reference frame X-axis, Y-axis or Z-direction).
Further, referring to Fig. 6, Fig. 6 is the function of direction of action recognition device the second embodiment of the present inventionModule diagram, this direction of action recognition device also comprises the 3rd acquisition module 90, the three acquisition modules 90Be used for:
According to the direction of motion of remote terminal, obtain that the acceleration of this remote terminal becomes with X-axis firstAngle, the second angle becoming with Y-axis and the 3rd angle becoming with Z axis;
In the time that remote terminal moves, its direction of motion can be not at every turn all with reference frame X-axis, Y-axis orThe bearing of trend of Z axis is just in time parallel, and remote terminal inevitably there will be with reference frame appearance inclined to one sideMove, need to try to achieve the first angle that the acceleration of remote terminal becomes with X-axis, become with Y-axis secondAngle and the 3rd angle becoming with Z axis.
Acceleration using the product of the cosine value of the accekeration of remote terminal and the first angle as X-directionDegree component value, using the product of the cosine value of the accekeration of remote terminal and the second angle as Y directionAcceleration component values, using the product of the cosine value of the accekeration of remote terminal and the 3rd angle as ZAxial acceleration component values.
In addition, the acceleration of calculating remote terminal also can in the acceleration component values of X-axis, Y-axis or Z axisTo obtain by the method for projection or directly measurement.
In addition, the present invention also provides a kind of preferred embodiment of direction of action recognition methods, concrete grammar asDescribed in lower:
The button up and down of the general main corresponding remote control of direction of action, also newly-increased in the present invention simultaneouslyFormer and later two directions, make remote control direction operation more complete and accurate from three dimensions, for example, at figureDuring sheet is browsed, front and back button can be used for realizing amplifying and dwindle etc.
The detailed process of direction of action recognition methods of the present invention is as follows:
1) definition coordinate system, originally sentences user while dressing equipment (being above-mentioned remote terminal) horizontal stationaryCoordinate is defined as coordinate system, for the convenient summary of subsequent descriptions is device coordinate system (being above-mentioned reference coordinate);
2) obtain and dress equipment at device coordinate system when static at every turn by angular-rate sensor/gravity sensorX, the acceleration component values of y and z axle, uses respectively g0x,g0y,g0zRepresent, when static, definition is upwards yAxle (comprises gravity acceleration g=9.81m/s2), the each component value of this brief acceleration is (0,9.81,0), eachWhen static as the beginning of sensor sample;
3) obtain wearing equipment between the t moment at device coordinate system by angular-rate sensor/gravity sensorX, the acceleration component values of y and z axle, uses respectively gtx,gty,gtzRepresent
4) skew is adjusted. In operating process, user dresses equipment and inevitably there will be with original fixedThere is skew in the device coordinate system that justice is good, now needs it to adjust, and method of adjustment is shown in formula(1-1-1), wherein g is accekeration, θxyzRepresent respectively coordinate system after current skew and originalDevice coordinate ties up to x, y, the deviation angle of z axle, the θ that can ask in four formula in formula (1-1-1)xyz,Can learn the offset relationship between coordinate system and the original device coordinate system after current skew, skew is adjustedAfter x, y, z axle acceleration component value, uses respectively gtx,gty,gtzRepresent
g tx = g * cos ( θ x ) g ty = g * cos ( θ y ) g tz = g * cos ( θ z ) g = ( g tx 2 + g ty 2 + g tz 2 ) - - - ( 1 - 1 - 1 )
5) direction of motion identification. Differentiate the direction of action of current wearing equipment according to formula (1-1-2), bagDraw together upper and lower front and back, left and right. In formula (1-1-2), mDirection is label, represent finally to send to byThe value of remote control equipment, the corresponding left, right, front and rear of A1~A6, upper and lower six direction of action information, T1With T2 be the threshold value obtaining according to experiment, wherein T1 is illustrated in the t time acceleration on single direction and increasesAmount threshold value, T2 is time interval threshold value, represent user's operation must meet certain duration (as1ms) be just considered to be in travel direction key operation (could produce acceleration). gtx,gty,gtzAs above-mentioned stepDescribed in rapid.
6) illustrate, for example, suppose the 2ms time, the x obtaining by acceleration transducer, y, z axle addsVelocity component value is respectively (5,9.81,0), and initial be (0,9.81,0) when static, T1 is 1, T2 is 1ms,The mDirection=A1 that through type (1-1-2) can be asked, now user is the motion on a dextrad left side, is mapped asLeft, other is similar for directionkeys.
Wherein, g0y=0,g0y=9.81m/s2,g0z=0(1-1-2)
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, everyUtilize equivalent structure or the conversion of equivalent flow process that description of the present invention and accompanying drawing content do, or directly orConnect and be used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (10)

1. a direction of action recognition methods, is characterized in that, described direction of action recognition methods comprise withLower step:
When static according to remote terminal, the coordinate at place is set up reference frame, and obtains described remote terminalWhen static in the static acceleration of described reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZDegree component value;
In the time of the motion of described remote terminal, while obtaining this remote terminal motion described reference frame X,Acceleration of motion component value and the exercise duration of Y, tri-mutually perpendicular change in coordinate axis direction of Z;
According to difference and the exercise duration of described static acceleration component values and acceleration of motion component,Judge the direction of action of described remote terminal motion.
2. direction of action recognition methods as claimed in claim 1, is characterized in that, described according to remote controlWhen terminal quiesce, the coordinate at place is set up reference frame, and obtain described remote terminal when static describedThe step of the static acceleration component values of reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZSuddenly comprise:
When static taking remote terminal, the coordinate at place is the origin of coordinates, with the vertical side at acceleration of gravity placeTo being Z axis bearing of trend, set up the right angle being formed by X, Y, tri-mutually perpendicular reference axis of Z and sitThe reference frame of mark set type;
Obtain described remote terminal first component of acceleration in described reference frame X-direction when staticValue, the second acceleration component values of Y direction and the 3rd acceleration component values of Z-direction.
3. direction of action recognition methods as claimed in claim 2, is characterized in that, described when described distantControl terminal when motion, while obtaining this remote terminal motion tri-of described reference frame X, Y, Z mutuallyThe acceleration of motion component value of perpendicular change in coordinate axis direction and the step of exercise duration are:
In the time of described remote terminal motion, obtain this remote terminal and move in described reference frame X-axis sideTo the 6th the adding of the 5th acceleration component values, Z-direction of the 4th acceleration component values, Y directionVelocity component value and obtain the exercise duration of described remote terminal.
4. direction of action recognition methods as claimed in claim 3, is characterized in that, described in described basisThe difference of static acceleration component values and acceleration of motion component value and exercise duration, judge described distantThe step of the direction of action of control terminal motion comprises:
When the exercise duration of described remote terminal is greater than default time threshold, according to the described the 4thDifference, the 5th acceleration component values that acceleration component values deducts the first acceleration component values deduct second and addThe difference of velocity component value and the 6th acceleration component values deduct the difference of the 3rd acceleration component values, judgementThe direction of action of described remote terminal motion;
If the first difference that described the 4th acceleration component values deducts the first acceleration component values is greater than zero, andThe absolute value of described the first difference is greater than default acceleration delta threshold, the 5th acceleration component values deductsThe absolute value of the second difference of the second acceleration component values and the 6th acceleration component values deduct the 3rd accelerationThe absolute value of the 3rd difference of component value is all less than described acceleration delta threshold, judges that described remote control eventuallyThe direction of action of end motion is first direction;
If described the first difference is less than zero, and the absolute value of described the first difference is greater than described acceleration incrementThe absolute value of the absolute value of threshold value, described the second difference and the 3rd difference is all less than described acceleration increment thresholdValue, judges that the direction of action of described remote terminal motion is second direction;
If described the second difference is greater than zero, and the absolute value of described the first difference is less than described acceleration incrementThe absolute value of threshold value, described the second difference is greater than the exhausted of described acceleration delta threshold and described the 3rd differenceValue is less than to described acceleration delta threshold, judges that the direction of action of described remote terminal motion is the 3rdDirection;
If described the second difference is less than zero, and the absolute value of described the first difference is less than described acceleration incrementThe absolute value of threshold value, described the second difference is greater than the exhausted of described acceleration delta threshold and described the 3rd differenceValue is less than to described acceleration delta threshold, judges that the direction of action of described remote terminal motion is the 4thDirection;
If described the 3rd difference is greater than zero, and the absolute value of the absolute value of described the first difference and the second differenceAll be less than described acceleration delta threshold, and the absolute value of described the 3rd difference is greater than described acceleration incrementThreshold value, judges that the direction of action of described remote terminal motion is the 5th direction;
If described the 3rd difference is less than zero, and the absolute value of the absolute value of described the first difference and the second differenceAll be less than described acceleration delta threshold, and the absolute value of described the 3rd difference is greater than described acceleration incrementThreshold value, judges that the direction of action of described remote terminal motion is the 6th direction.
5. the direction of action recognition methods as described in claim 1 to 4 any one, is characterized in that,Described while obtaining the motion of this remote terminal at described reference frame X, Y, tri-mutually perpendicular seats of ZThe step of marking axial acceleration of motion component value and exercise duration also comprises before:
According to the direction of motion of described remote terminal, obtain that the acceleration of this remote terminal becomes with X-axisThe first angle, the second angle becoming with Y-axis and the 3rd angle becoming with Z axis;
Using the product of the cosine value of the accekeration of described remote terminal and the first angle as X-directionAcceleration component values, using the product of the cosine value of the accekeration of described remote terminal and the second angle asThe acceleration component values of Y direction, by the cosine value of the accekeration of described remote terminal and the 3rd angleProduct as the acceleration component values of Z-direction.
6. a direction of action recognition device, is characterized in that, described direction of action recognition device comprises:
The first acquisition module, the coordinate at place is set up reference frame when static according to remote terminal,And obtain described remote terminal when static at described reference frame X, Y, tri-mutually perpendicular seats of ZMark axial static acceleration component values;
The second acquisition module, for when the motion of described remote terminal, while obtaining this remote terminal motionThe acceleration of motion component value of described reference frame X, Y, tri-mutually perpendicular change in coordinate axis direction of ZAnd exercise duration;
Judge module, for according to the difference of described static acceleration component values and acceleration of motion component andExercise duration, judges the direction of action that described remote terminal moves.
7. direction of action recognition device as claimed in claim 6, is characterized in that, described first obtainsModule comprises:
Set up unit, the coordinate at place is the origin of coordinates when static taking remote terminal, accelerates with gravityThe vertical direction at degree place is Z axis bearing of trend, sets up by X, Y, tri-mutually perpendicular coordinates of ZThe reference frame of the rectangular co-ordinate set type of axle composition;
The first acquiring unit, obtain described remote terminal when static in described reference frame X-directionThe 3rd acceleration of the second acceleration component values of the first acceleration component values, Y direction and Z-directionComponent value.
8. direction of action recognition device as claimed in claim 7, is characterized in that, described second obtainsModule also for:
In the time of described remote terminal motion, obtain this remote terminal and move in described reference frame X-axis sideTo the 6th the adding of the 5th acceleration component values, Z-direction of the 4th acceleration component values, Y directionVelocity component value and obtain the exercise duration of described remote terminal.
9. direction of action recognition device as claimed in claim 8, is characterized in that, described judge moduleAlso for:
When the exercise duration of described remote terminal is greater than default time threshold, according to the described the 4thDifference, the 5th acceleration component values that acceleration component values deducts the first acceleration component values deduct second and addThe difference of velocity component value and the 6th acceleration component values deduct the difference of the 3rd acceleration component values, judgementThe direction of action of described remote terminal motion;
If the first difference that described the 4th acceleration component values deducts the first acceleration component values is greater than zero, andThe absolute value of described the first difference is greater than default acceleration delta threshold, the 5th acceleration component values deductsThe absolute value of the second difference of the second acceleration component values and the 6th acceleration component values deduct the 3rd accelerationThe absolute value of the 3rd difference of component value is all less than described acceleration delta threshold, judges that described remote control eventuallyThe direction of action of end motion is first direction;
If described the first difference is less than zero, and the absolute value of described the first difference is greater than described acceleration incrementThe absolute value of the absolute value of threshold value, described the second difference and the 3rd difference is all less than described acceleration increment thresholdValue, judges that the direction of action of described remote terminal motion is second direction;
If described the second difference is greater than zero, and the absolute value of described the first difference is less than described acceleration incrementThe absolute value of threshold value, described the second difference is greater than the exhausted of described acceleration delta threshold and described the 3rd differenceValue is less than to described acceleration delta threshold, judges that the direction of action of described remote terminal motion is the 3rdDirection;
If described the second difference is less than zero, and the absolute value of described the first difference is less than described acceleration incrementThe absolute value of threshold value, described the second difference is greater than the exhausted of described acceleration delta threshold and described the 3rd differenceValue is less than to described acceleration delta threshold, judges that the direction of action of described remote terminal motion is the 4thDirection;
If described the 3rd difference is greater than zero, and the absolute value of the absolute value of described the first difference and the second differenceAll be less than described acceleration delta threshold, and the absolute value of described the 3rd difference is greater than described acceleration incrementThreshold value, judges that the direction of action of described remote terminal motion is the 5th direction;
If described the 3rd difference is less than zero, and the absolute value of the absolute value of described the first difference and the second differenceAll be less than described acceleration delta threshold, and the absolute value of described the 3rd difference is greater than described acceleration incrementThreshold value, judges that the direction of action of described remote terminal motion is the 6th direction.
10. the direction of action recognition device as described in claim 6 to 9 any one, is characterized in that,Described direction of action recognition device also comprises the 3rd acquisition module, and described the 3rd acquisition module is used for:
According to the direction of motion of described remote terminal, obtain that the acceleration of this remote terminal becomes with X-axisThe first angle, the second angle becoming with Y-axis and the 3rd angle becoming with Z axis;
Using the product of the cosine value of the accekeration of described remote terminal and the first angle as X-directionAcceleration component values, using the product of the cosine value of the accekeration of described remote terminal and the second angle asThe acceleration component values of Y direction, by the cosine value of the accekeration of described remote terminal and the 3rd angleProduct as the acceleration component values of Z-direction.
CN201410594223.5A 2014-10-29 2014-10-29 Direction of action recognition methods and device Active CN105589576B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410594223.5A CN105589576B (en) 2014-10-29 2014-10-29 Direction of action recognition methods and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410594223.5A CN105589576B (en) 2014-10-29 2014-10-29 Direction of action recognition methods and device

Publications (2)

Publication Number Publication Date
CN105589576A true CN105589576A (en) 2016-05-18
CN105589576B CN105589576B (en) 2019-03-29

Family

ID=55929215

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410594223.5A Active CN105589576B (en) 2014-10-29 2014-10-29 Direction of action recognition methods and device

Country Status (1)

Country Link
CN (1) CN105589576B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106210269A (en) * 2016-06-22 2016-12-07 南京航空航天大学 A kind of human action identification system and method based on smart mobile phone
CN106412249A (en) * 2016-09-06 2017-02-15 广东欧珀移动通信有限公司 Detection method and device of drop information
CN106419826A (en) * 2016-12-07 2017-02-22 安徽新华传媒股份有限公司 Vision detecting system based on fingerprint recognition
CN109828679A (en) * 2019-01-21 2019-05-31 青岛海信电器股份有限公司 Starting-up method and device
CN111735515A (en) * 2020-07-01 2020-10-02 江苏三恒科技股份有限公司 Wind barrel air quantity sensor based on inclination angle identification and use method thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004082248A1 (en) * 2003-03-11 2004-09-23 Philips Intellectual Property & Standards Gmbh Configurable control of a mobile device by means of movement patterns
CN103077170A (en) * 2011-10-26 2013-05-01 腾讯科技(深圳)有限公司 Method and device for browsing webpage based on physical movement
CN103096156A (en) * 2012-12-27 2013-05-08 广州杰赛科技股份有限公司 Control method and control device of set top box
CN103150036A (en) * 2013-02-06 2013-06-12 宋子健 Information acquisition system and method, man-machine interaction system and method, and shoes
CN103176623A (en) * 2011-12-20 2013-06-26 中国电信股份有限公司 Reading anti-shaking method and device of mobile terminal and mobile terminal

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004082248A1 (en) * 2003-03-11 2004-09-23 Philips Intellectual Property & Standards Gmbh Configurable control of a mobile device by means of movement patterns
CN103077170A (en) * 2011-10-26 2013-05-01 腾讯科技(深圳)有限公司 Method and device for browsing webpage based on physical movement
CN103176623A (en) * 2011-12-20 2013-06-26 中国电信股份有限公司 Reading anti-shaking method and device of mobile terminal and mobile terminal
CN103096156A (en) * 2012-12-27 2013-05-08 广州杰赛科技股份有限公司 Control method and control device of set top box
CN103150036A (en) * 2013-02-06 2013-06-12 宋子健 Information acquisition system and method, man-machine interaction system and method, and shoes

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106210269A (en) * 2016-06-22 2016-12-07 南京航空航天大学 A kind of human action identification system and method based on smart mobile phone
CN106412249A (en) * 2016-09-06 2017-02-15 广东欧珀移动通信有限公司 Detection method and device of drop information
CN106412249B (en) * 2016-09-06 2019-07-16 Oppo广东移动通信有限公司 The detection method and device of drop information
CN106419826A (en) * 2016-12-07 2017-02-22 安徽新华传媒股份有限公司 Vision detecting system based on fingerprint recognition
CN109828679A (en) * 2019-01-21 2019-05-31 青岛海信电器股份有限公司 Starting-up method and device
CN111735515A (en) * 2020-07-01 2020-10-02 江苏三恒科技股份有限公司 Wind barrel air quantity sensor based on inclination angle identification and use method thereof

Also Published As

Publication number Publication date
CN105589576B (en) 2019-03-29

Similar Documents

Publication Publication Date Title
CN105589576A (en) Action direction identification method and device
CN104866099B (en) The error compensating method of smart machine gesture identification precision is improved based on motion sensor
EP1460382B1 (en) Input system based on a three-dimensional inertial navigation system
CN103838367A (en) Orientation correction method for electronic device used to perform facial recognition and electronic device thereof
CN107688391A (en) A kind of gesture identification method and device based on monocular vision
CN102236412A (en) Three-dimensional gesture recognition system and vision-based gesture recognition method
CN104765487A (en) Input apparatus
TW200725380A (en) Motion recognition system and method for controlling electronic devices
CN104598143A (en) Electronic equipment and wakeup method thereof
CN104933441B (en) Object detection system and method
CN101100059A (en) Flexible double-wheel self-balancing robot attitude detecting method
CN106201239A (en) The control method of a kind of application program, device and mobile terminal
CN105487689A (en) Ring mouse and method for operating mobile terminal through same
KR102057531B1 (en) Mobile devices of transmitting and receiving data using gesture
CN106108909A (en) A kind of human body attitude detection wearable device, system and control method
CN106864461A (en) A kind of method that vehicle movement behavior is judged based on acceleration transducer
CN104765476B (en) Handwriting tracks generation method and device
EP2765477A3 (en) Method and apparatus for performing motion recognition using motion sensor fusion, and associated computer program product
CN103942524A (en) Gesture recognition module and gesture recognition method
CN106445193B (en) A kind of laser pen demo system based on mobile phone manipulation
TWI472953B (en) Inertial sensing input apparatus, system and method thereof
CN103207666B (en) A kind of processing method responding user operation and electronic equipment
CN106226558A (en) A kind of method and device detecting force-balanced accelerometer polarity
CN106525071A (en) Method and device for monitoring motion state
TWM595257U (en) Pen holding posture detector

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant