CN106502416A - A kind of driving simulation system of Intelligent Recognition bimanual input and its control method - Google Patents
A kind of driving simulation system of Intelligent Recognition bimanual input and its control method Download PDFInfo
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Abstract
The invention discloses a kind of driving simulation system of Intelligent Recognition bimanual input and its control method, including Left-hand gesture identification bracelet, right-hand gesture identification bracelet and terminal, the Left-hand gesture identification bracelet and right-hand gesture identification bracelet are connected with terminal by communication network, and the Left-hand gesture identification bracelet includes：First 3-axis acceleration sensor, for gathering the left hand 3-axis acceleration sequence at each moment in Left-hand gesture change.Only need user's both hands to wear the Left-hand gesture identification bracelet and right-hand gesture identification bracelet for being loaded with 3-axis acceleration sensor respectively, gesture identification is carried out by 3-axis acceleration sensor, recognition speed is faster；Can hand locus be identified tracking, be analyzed using space coordinates sequence is simplified, identification error is less, and activity space is unfettered, more easy and convenient.
Description
Technical field
A kind of the present invention relates to human-computer interaction technique field, more particularly to driving simulation system of Intelligent Recognition bimanual input
And its control method.
Background technology
With the high speed development of body feeling interaction technology, and 3D sensors is widely used, and the application of body feeling interaction is more next
More popularize, especially Gesture Recognition, be used widely in human-computer interaction intelligent system.In recent years, gesture identification skill
Art is also applied in drive simulating learning system or virtual race car system, makes user make various combination gestures by both hands to grasp
Control system, allows user to obtain infinite enjoyment between physical sport and intention imagination.But existing gesture identification formula simulation is driven
Learning system or virtual race car system is sailed, using video identification bimanual input method, hand is taken pictures by camera,
Then carry out normalizing analysis to image, and the image that normalization is obtained carried out space projection, and by the projection coordinate of gained with
The projection coordinate of the image for prestoring is compared, so as to identify corresponding bimanual input.This video identification bimanual input
Though method comparison is directly perceived, need through complicated mathematical calculation process, recognition speed is slow, and hand locus cannot be entered
Row recognition and tracking, identification error are larger；And, user must in the image pickup scope of camera so as to activity space is constrained, or
Person's user's head is worn and is loaded with camera but so more burdensome inconvenience.
Content of the invention
It is an object of the invention to proposing a kind of gesture identification rapidly and efficiently, accuracy of identification is high, makes User Activity not by about
The driving simulation system of the Intelligent Recognition bimanual input of beam and its control method.
It is that the present invention is employed the following technical solutions up to this purpose：
A kind of driving simulation system of Intelligent Recognition bimanual input, including Left-hand gesture identification bracelet, right-hand gesture identification
Bracelet and terminal, the Left-hand gesture identification bracelet and right-hand gesture identification bracelet are connected with terminal by communication network, described
Left-hand gesture identification bracelet includes：
First 3-axis acceleration sensor, for gathering the left hand 3-axis acceleration sequence at each moment in Left-hand gesture change
Row；
First microprocessor, for generating left hand ring pairing address code, and is used for the left hand 3-axis acceleration sequence,
Corresponding actual Left-hand gesture motion sequence is generated by 3-dimensional encoding module；
First data collector, for being packaged into left hand by actual Left-hand gesture motion sequence and left hand ring pairing address code
Ring exercise data bag is sent to terminal；
The right-hand gesture identification bracelet includes：
Second 3-axis acceleration sensor, for gathering the right hand 3-axis acceleration sequence at each moment in right-hand gesture change
Row；
Second microprocessor, for generating right hand ring pairing address code, and is used for the right hand 3-axis acceleration sequence,
Corresponding actual right-hand gesture motion sequence is generated by 3-dimensional encoding module；
Second data collector, for being packaged into the right hand by actual right-hand gesture motion sequence and right hand ring pairing address code
Ring exercise data bag is sent to terminal；
The terminal includes：
Standard Left-hand gesture storehouse, for storing standard Left-hand gesture motion sequence corresponding with each Left-hand gesture；
Standard right hand gesture library, for storing standard right hand gesture motion sequence corresponding with each right-hand gesture；
Bracelet communicator, for receiving the left hand ring exercise data bag and right-hand gesture identification hand of Left-hand gesture identification bracelet
The right hand ring exercise data bag of ring；
Bracelet data class manager, is carried out for the left hand ring exercise data bag and right hand ring exercise data bag to receiving
Classification storage；
Left-hand gesture adaptation, for transferring the actual Left-hand gesture motion sequence of the left hand ring exercise data bag, and
Mated with the standard Left-hand gesture motion sequence of storage, corresponding Left-hand gesture is obtained from standard Left-hand gesture storehouse；
Right-hand gesture adaptation, for transferring the actual right-hand gesture motion sequence of the right hand ring exercise data bag, and
Mated with the standard right hand gesture motion sequence of storage, corresponding right-hand gesture is obtained from standard right hand gesture library；
Drive simulating manager, selects analogue-key for presetting multiple analog Driving Scene and scene set, by field
Scape selects analogue-key to select and switching drive simulating scene.
Preferably, the drive simulating manager, be additionally operable to the default drive simulation comprising multiple drive simulation buttons by
Keyset, and be the corresponding drive simulating action of each drive simulation key configurations；
Gesture and analogue-key configurator, for presetting bimanual input combination of sets, the bimanual input combination of sets includes a left side
Multiple bimanual input combinations that hand gesture and right-hand gesture are combined, and be each drive simulation button and corresponding both hands
Mapping relations are set up in gesture combination, also select analogue-key and the combination of corresponding bimanual input to set up mapping relations for scene；
Analogue-key controller, obtains for the Left-hand gesture that obtains Left-hand gesture adaptation and right hand gesture adaptation
Right-hand gesture is combined, and is then mated with bimanual input combination of sets, finds out corresponding bimanual input combination, and is mapped as
Scene selects analogue-key, selects analogue-key to select drive simulating scene finally by scene；Analogue-key controller, also uses
The right-hand gesture obtained in the Left-hand gesture that obtains Left-hand gesture adaptation and right hand gesture adaptation is combined, then with double
Hand gesture combination of sets is mated, and finds out corresponding bimanual input combination, and is mapped as corresponding drive simulation button, finally holds
Row drive simulating action corresponding with drive simulation button.
Preferably, the 3-dimensional encoding module includes three axle angle generators and three-axis moving data encoder, described three
Axle angle generator includes：
For presetting X-axis threshold value dX, Y-axis threshold value dYWith Z axis threshold value dZ；
For in TnWhen inscribe, gather X-axis output voltage variation delta xn, Y-axis output voltage variation delta ynDefeated with Z axis
Go out voltage variety Δ zn, n=0,1,2 ..., wherein T0For initial time；
For in TnWhen inscribe, judge | Δ xn| whether it is less than dX, | Δ yn| whether it is less than dY, and | Δ yn| whether it is less than
dZ；If then continue down to execute, if not then resurvey data；
For in TnWhen inscribe, according to the angle α that three shaft angle degree formula calculate X-axis and acceleration of gravityn, Y-axis added with gravity
The angle β of speedn, and the angle γ of Z axis and acceleration of gravityn；The three shaft angles degree formula is as follows：
αn=ar cos (Δ xn/gkx), βn=arcos (Δ yn/gky), γn=ar cos (Δ zn/gkz)；
Wherein, g is acceleration of gravity, kxFor X-axis sensitivity, kyFor Y-axis sensitivity, kzFor Z axis sensitivity, g, kx、kyWith
kzIt is constant；
For the α calculated according to Filtering Formulan、βnAnd γnFiltered, if αn、βnAnd γnMeet Filtering Formula,
Then export to the three-axis moving data encoder, and renewable time Tn=Tn+1, enter next three shaft angles degree and generated
Journey；If αn、βnAnd γnFiltering Formula is not met, then direct renewable time Tn=Tn+1, enter next three shaft angles degree and generated
Journey；
The Filtering Formula is as follows：
cos(2αn)+cos(2βn)+cos(2γn)=1.
Preferably, the three-axis moving data encoder includes：
For receiving the α of the three axles angle generator outputn、βnAnd γn, n=0,1,2 ...；
For formula being generated according to three axle amount of deflections generate three axle amount of deflection data combination of sets, the three axles amount of deflection data
Combination of sets is in TnWhen the X-axis amount of deflection X that inscribesn, Y-axis amount of deflection YnWith Z axis amount of deflection Zn, the three axles amount of deflection generates public
Formula is as follows：
Xn=cos (αn-α0), Yn=cos (βn-β0),Zn=cos (γn-γ0)；
Segmentation is carried out for the three axle amount of deflection data combination of sets to generating,
If -1≤Xn＜ -0.5, then update Xn=1；If -0.5≤Xn＜ 0, then update Xn=2；If 0≤Xn＜ 0.5, then more
New Xn=3；If 0.5≤Xn≤ 1, then update Xn=4；
If -1≤Yn＜ -0.5, then update Yn=1；If -0.5≤Yn＜ 0, then update Yn=2；If 0≤Yn＜ 0.5, then more
New Yn=3；If 0.5≤Yn≤ 1, then update Yn=4；
If -1≤Zn＜ -0.5, then update Zn=1；If -0.5≤Zn＜ 0, then update Zn=2；If 0≤Zn＜ 0.5, then more
New Zn=3；If 0.5≤Zn≤ 1, then update Zn=4；
For setting up three axle amount of deflection data combination sequence number table, it is that three axle amount of deflection data groups after each segmentation are compiled in collaboration with
Sequence number；
For three axle amount of deflection data combination of sets after to segmentation, according to three axle amount of deflection data combine sequence number table obtain right
The sequence number row that answers, and three-axis moving data sequence is constituted by sequence number row.
Preferably, the first microprocessor also includes：
First data validity judge module, for the reality to newly-generated actual Left-hand gesture motion sequence and caching
Left-hand gesture motion sequence is compared：If newly-generated actual Left-hand gesture motion sequence and the actual Left-hand gesture fortune of caching
Dynamic sequence is identical, then do not send data command to first data collector；If newly-generated actual Left-hand gesture fortune
The actual Left-hand gesture motion sequence of dynamic sequence and caching is differed, then send the transmission number to first data collector
According to instruction.
Preferably, second microprocessor also includes：
Second data validity judge module, for the reality to newly-generated actual right-hand gesture motion sequence and caching
Right-hand gesture motion sequence is compared：If newly-generated actual right-hand gesture motion sequence and the actual right-hand gesture fortune of caching
Dynamic sequence is identical, then do not send data command to second data collector；If newly-generated actual right-hand gesture fortune
The actual right-hand gesture motion sequence of dynamic sequence and caching is differed, then send the transmission number to second data collector
According to instruction.
Preferably, the control method of the driving simulation system of the Intelligent Recognition bimanual input, builds storehouse process including terminal
Process is manipulated with analogue-key：
Terminal builds storehouse process：
Step E1, the terminal Criterion Left-hand gesture storehouse and standard right hand gesture library, standard Left-hand gesture library storage
Standard Left-hand gesture motion sequence corresponding with each Left-hand gesture, standard right hand gesture library storage are corresponding with each right-hand gesture
Standard right hand gesture motion sequence；
Step E2, the default multiple analog Driving Scene of the terminal and scene set select analogue-key, are selected by scene
Select analogue-key to select and switching drive simulating scene；
Step E3, the default bimanual input combination of sets of the terminal, the bimanual input combination of sets include Left-hand gesture and the right side
Multiple bimanual input combinations that hand gesture is combined；And analogue-key and the combination of corresponding bimanual input is selected for scene
Set up mapping relations；
Step E4, the Left-hand gesture identification bracelet arrange left hand ring pairing address code, and the right-hand gesture recognizes bracelet
Right hand ring pairing address code is set；
Analogue-key manipulates process：
Step G1, the left hand 3-axis acceleration at each moment in the Left-hand gesture identification bracelet collection Left-hand gesture change
Sequence, and generate corresponding actual Left-hand gesture motion sequence；Meanwhile, the right-hand gesture identification bracelet collection right-hand gesture becomes
The right hand 3-axis acceleration sequence at each moment in change, and generate corresponding actual right-hand gesture motion sequence；
Actual Left-hand gesture motion sequence and left hand ring pairing address code are beaten by step G2, the Left-hand gesture identification bracelet
It is bundled into left hand ring exercise data bag to send to terminal；Meanwhile, the right-hand gesture recognizes bracelet by actual right-hand gesture motion sequence
Row and right hand ring pairing address code are packaged into right hand ring exercise data bag and send to terminal；
Step G3, the terminal receive the left hand ring exercise data bag of Left-hand gesture identification bracelet and right-hand gesture identification hand
The right hand ring exercise data bag of ring, and the left hand ring exercise data bag and right hand ring exercise data bag that receive are carried out by classification and deposited
Storage；
Step G4, the terminal transfer the actual Left-hand gesture motion sequence of the left hand ring exercise data bag, and and deposit
The standard Left-hand gesture motion sequence of storage is mated, and obtains corresponding Left-hand gesture from standard Left-hand gesture storehouse；
Step G5, the terminal transfer the actual right-hand gesture motion sequence of the right hand ring exercise data bag, and and deposit
The standard right hand gesture motion sequence of storage is mated, and obtains corresponding right-hand gesture from standard right hand gesture library；
The Left-hand gesture of acquisition and the right-hand gesture for obtaining are combined by step G6, the terminal, then with both hands hand
Gesture combination of sets is mated, and finds out corresponding bimanual input combination, and is mapped as corresponding scene selection analogue-key, finally leads to
Crossing scene selects analogue-key to select drive simulating scene.
Preferably, the terminal is built storehouse process and is also included：
Step E5, the terminal preset the drive simulation comprising multiple drive simulation buttons by keyset, and drive for each
Sail analogue-key and configure corresponding drive simulating action, and be that each drive simulation button and corresponding bimanual input group are built jointly
Vertical mapping relations；
The analogue-key manipulation process also includes：
The Left-hand gesture of acquisition and the right-hand gesture for obtaining are combined by step G7, the terminal, then with both hands hand
Gesture combination of sets is mated, and finds out corresponding bimanual input combination, and is mapped as corresponding analogue-key, finally executes and simulation
The corresponding drive simulating action of button.
Preferably, step G2 also includes that data validity judges sub-step：
The Left-hand gesture identification bracelet is first to newly-generated actual Left-hand gesture motion sequence and the actual left hand of caching
Gesture motion sequence is compared：If newly-generated actual Left-hand gesture motion sequence and the actual Left-hand gesture motion sequence of caching
Row are identical, then do not send left hand ring exercise data bag to the terminal；If newly-generated actual Left-hand gesture motion sequence eases up
The actual Left-hand gesture motion sequence that deposits is differed, then send left hand ring exercise data bag to the terminal；
Meanwhile, the right-hand gesture identification bracelet is first to newly-generated actual right-hand gesture motion sequence and the reality of caching
Right-hand gesture motion sequence is compared：If newly-generated actual right-hand gesture motion sequence and the actual right-hand gesture fortune of caching
Dynamic sequence is identical, then do not send right hand ring exercise data bag to the terminal；If newly-generated actual right-hand gesture motion sequence
Differ with the actual right-hand gesture motion sequence of caching, then right hand ring exercise data bag is sent to the terminal.
The driving simulation system of the Intelligent Recognition bimanual input gathers user's by the first 3-axis acceleration sensor
Left hand 3-axis acceleration sequence and the right hand 3-axis acceleration sequence by the second 3-axis acceleration sensor collection user, then lead to
3-dimensional encoding module converter is crossed for actual Left-hand gesture motion sequence and actual right-hand gesture motion sequence, and sends it to end
End is analyzed coupling, so as to identify corresponding Left-hand gesture and right-hand gesture.The simulation of the Intelligent Recognition bimanual input
Control loop only needs user's both hands to wear the Left-hand gesture identification bracelet and right-hand gesture for being loaded with 3-axis acceleration sensor respectively
Identification bracelet, carries out gesture identification by 3-axis acceleration sensor, compares existing video identification bimanual input method, mathematics
Calculating process is more simplified, so as to recognition speed faster；Can hand locus be identified tracking, be sat using space is simplified
Mark sequence is analyzed, and identification error is less；And, Left-hand gesture identification bracelet and right-hand gesture identification bracelet need to only be put
At user's wrist, activity space is unfettered, more easy and convenient.
Description of the drawings
The present invention will be further described for accompanying drawing, but the content in accompanying drawing does not constitute any limitation of the invention.
Fig. 1 is the communication connection schematic diagram of one of embodiment of the invention；
Fig. 2 is the Left-hand gesture identification bracelet module connection figure of one of embodiment of the invention；
Fig. 3 is the right-hand gesture identification bracelet module connection figure of one of embodiment of the invention；
Fig. 4 is the terminal module connection figure of one of embodiment of the invention；
Fig. 5 is three axle angle generator principle flow charts of one of embodiment of the invention；
Fig. 6 is the three-axis moving data encoder principle flow chart of one of embodiment of the invention；
Fig. 7 is the drive simulating method flow diagram of one of embodiment of the invention；
Fig. 8 is the Left-hand gesture identification bracelet data validity decision flow chart of one of embodiment of the invention；
Fig. 9 is the right-hand gesture identification bracelet data validity decision flow chart of one of embodiment of the invention.
Wherein：Left-hand gesture recognizes bracelet 1；Right-hand gesture recognizes bracelet 2；Terminal 3；Standard Left-hand gesture storehouse 31；Standard
Right-hand gesture storehouse 32；First 3-axis acceleration sensor 11；First microprocessor 12；First data collector 13；Two or three axle
Acceleration transducer 21；Second microprocessor 22；Second data collector 23；Bracelet communicator 33；Bracelet data Classification Management
Device 34；Left-hand gesture adaptation 35；Right-hand gesture adaptation 36；Drive simulating manager 37；Gesture and analogue-key configurator
38；Analogue-key controller 39；First data validity judge module 121；Second data validity judge module 221.
Specific embodiment
Technical scheme is further illustrated below in conjunction with the accompanying drawings and by specific embodiment.
The driving simulation system of the Intelligent Recognition bimanual input of the present embodiment, recognizes bracelet 1, right hand hand including Left-hand gesture
Gesture identification bracelet 2 and terminal 3, as shown in figure 1, Left-hand gesture identification bracelet 1 and right-hand gesture identification bracelet 2 are by communication
Network is connected with terminal 3, as shown in Fig. 2 Left-hand gesture identification bracelet 1 includes：
First 3-axis acceleration sensor 11, for gathering the left hand 3-axis acceleration at each moment in Left-hand gesture change
Sequence；
First microprocessor 12, for generating left hand ring pairing address code, and is used for the left hand 3-axis acceleration sequence
Row, generate corresponding actual Left-hand gesture motion sequence by 3-dimensional encoding module；
First data collector 13, for being packaged into a left side by actual Left-hand gesture motion sequence and left hand ring pairing address code
Bracelet exercise data bag is sent to terminal 3；
As shown in figure 3, the right-hand gesture identification bracelet 2 includes：
Second 3-axis acceleration sensor 21, for gathering the right hand 3-axis acceleration at each moment in right-hand gesture change
Sequence；
Second microprocessor 22, for generating right hand ring pairing address code, and is used for the right hand 3-axis acceleration sequence
Row, generate corresponding actual right-hand gesture motion sequence by 3-dimensional encoding module；
Second data collector 23, for being packaged into the right side by actual right-hand gesture motion sequence and right hand ring pairing address code
Bracelet exercise data bag is sent to terminal 3；
As shown in figure 4, the terminal 3 includes：
Standard Left-hand gesture storehouse 31, for storing standard Left-hand gesture motion sequence corresponding with each Left-hand gesture；
Standard right hand gesture library 32, for storing standard right hand gesture motion sequence corresponding with each right-hand gesture；
Bracelet communicator 33, knows for receiving the left hand ring exercise data bag and right-hand gesture of Left-hand gesture identification bracelet 1
The right hand ring exercise data bag of other bracelet 2；
Bracelet data class manager 34, enters for the left hand ring exercise data bag and right hand ring exercise data bag to receiving
Row classification storage；
Left-hand gesture adaptation 35, for transferring the actual Left-hand gesture motion sequence of the left hand ring exercise data bag,
And mated with the standard Left-hand gesture motion sequence of storage, corresponding Left-hand gesture is obtained from standard Left-hand gesture storehouse 31；
Right-hand gesture adaptation 36, for transferring the actual right-hand gesture motion sequence of the right hand ring exercise data bag,
And mated with the standard right hand gesture motion sequence of storage, corresponding right-hand gesture is obtained from standard right hand gesture library 32；
Drive simulating manager 37, selects analogue-key for presetting multiple analog Driving Scene and scene set, passes through
Scene selects analogue-key to select and switching drive simulating scene.
The driving simulation system of the Intelligent Recognition bimanual input gathers user by the first 3-axis acceleration sensor 11
Left hand 3-axis acceleration sequence and by the second 3-axis acceleration sensor 21 gather user right hand 3-axis acceleration sequence,
It is actual Left-hand gesture motion sequence and actual right-hand gesture motion sequence to pass through 3-dimensional encoding module converter again, and is sent to
Coupling is analyzed to terminal 3, so as to identify corresponding Left-hand gesture and right-hand gesture.The Left-hand gesture recognizes bracelet 1
Recognize that bracelet 2 is connected with terminal 3 by wireless communication modes such as WIFI, bluetooths with right-hand gesture, left hand ring fortune is sent to terminal 3
Dynamic packet and right hand ring exercise data bag, the terminal 3 are PC, mobile phone, panel computer etc..The Intelligent Recognition both hands hand
The driving simulation system of gesture only needs user's both hands to wear Left-hand gesture identification 1 He of bracelet for being loaded with 3-axis acceleration sensor respectively
Right-hand gesture recognizes bracelet 2, carries out gesture identification by 3-axis acceleration sensor, compares existing video identification bimanual input
Method, mathematical calculation process are more simplified, so as to recognition speed faster；Can hand locus be identified tracking, be adopted
Simplify space coordinates sequence to be analyzed, identification error is less；And, Left-hand gesture identification bracelet 1 and right-hand gesture are known
2 need of other bracelet are placed at user's wrist, and activity space is unfettered, more easy and convenient.
The terminal 3 is to match address code with Left-hand gesture identification hand by transferring the left hand ring of left hand ring exercise data bag
Ring 1 is matched, and is transferred the right hand ring pairing address code and right-hand gesture identification bracelet 2 of right hand ring exercise data bag and matched, and
The left hand ring exercise data bag and right hand ring exercise data bag for arranging the 34 pairs of receptions of bracelet data class manager carries out classification and deposits
Storage；So as to realize recognizing that bracelet 1 and right-hand gesture recognize the differentiation of bracelet 2 to Left-hand gesture, it is ensured that to left hand ring exercise data
Bag and the shunting independent process of right hand ring exercise data bag, it is to avoid Left-hand gesture is misidentified into right-hand gesture, or by right hand hand
Gesture misidentifies into this factor data of Left-hand gesture and exchanges the identification mistake for causing, and improves bimanual input identification certainty.
Preferably, as shown in figure 4, the drive simulating manager 37, is additionally operable to default comprising multiple drive simulation buttons
Drive simulation press keyset, and be the corresponding drive simulating action of each drive simulation key configurations；
Gesture and analogue-key configurator 38, for presetting bimanual input combination of sets, the bimanual input combination of sets includes
Multiple bimanual input combinations that Left-hand gesture and right-hand gesture are combined, and be each drive simulation button and corresponding pair
Mapping relations are set up in the combination of hand gesture, also select analogue-key and the combination of corresponding bimanual input to set up mapping relations for scene；
Analogue-key controller 39, for the Left-hand gesture that obtains Left-hand gesture adaptation 35 and right hand gesture adaptation 36
The right-hand gesture of acquisition is combined, and is then mated with bimanual input combination of sets, finds out corresponding bimanual input combination, and
It is mapped as scene and selects analogue-key, selects analogue-key to select drive simulating scene finally by scene；Analogue-key is controlled
Device 39, being additionally operable to the right-hand gesture that the Left-hand gesture that obtains Left-hand gesture adaptation 35 and right hand gesture adaptation 36 obtain is carried out
Combination, is then mated with bimanual input combination of sets, is found out corresponding bimanual input combination, and is mapped as corresponding driving mould
Intend button, finally execute drive simulating action corresponding with drive simulation button.
The driving simulation system of the Intelligent Recognition bimanual input is first by being mapped to scene by the bimanual input of user
Analogue-key is selected, and the drive simulating scene for needing is selected so as to user can be combined by bimanual input；Then, user makes again
The various bimanual input combinations for being mapped to drive simulation button, so that execute corresponding simulation by the combination of various bimanual inputs
Driver behavior.The driving simulation system can arrange corresponding car racing game program or Driving study program, break through existing with true
Real handle or the mode of operation of button, but change to be operated by bimanual input, make user simulate direction by both hands
Disk controls the operation of virtual car, user can be made to produce cordial feeling and dependence feeling with similar operation is truly driven, be greatly improved
User experience.
The drive simulating manager 37 arranges multiple scenes and selects analogue-key and analogue-key, selects mould by scene
Intending button and selecting drive simulating scene, and corresponding drive simulating action is configured for each analogue-key, multiple scenes select mould
Intend button and analogue-key also sets up mapping relations with the combination of corresponding bimanual input, the mapping relations are as shown in table 1 below：
Table 1
As shown in Table 1, the driving simulation system of the Intelligent Recognition bimanual input makes user simulate steering wheel by both hands
The operation of control virtual car, similar with truly driving operate with family more easy to get started manipulation, different from mechanical keyboard, touch
Button and other game paddles, make user feel that in hand be exactly to hold one based on the body-sensing technology of bimanual input recognition methods
Steering wheel, has very real presence.
Preferably, the 3-dimensional encoding module includes three axle angle generators and three-axis moving data encoder, such as Fig. 5 institutes
Show, the three axles angle generator includes：
For presetting X-axis threshold value dX, Y-axis threshold value dYWith Z axis threshold value dZ；
For in TnWhen inscribe, gather X-axis output voltage variation delta xn, Y-axis output voltage variation delta ynDefeated with Z axis
Go out voltage variety Δ zn, n=0,1,2 ..., wherein T0For initial time；
For in TnWhen inscribe, judge | Δ xn| whether it is less than dX, | Δ yn| whether it is less than dY, and | Δ yn| whether it is less than
dZ；If then continue down to execute, if not then resurvey data；
For in TnWhen inscribe, according to the angle α that three shaft angle degree formula calculate X-axis and acceleration of gravityn, Y-axis added with gravity
The angle β of speedn, and the angle γ of Z axis and acceleration of gravityn；The three shaft angles degree formula is as follows：
αn=ar cos (Δ xn/gkx), βn=ar cos (Δ yn/gky), γn=ar cos (Δ zn/gkz)；
Wherein, g is acceleration of gravity, kxFor X-axis sensitivity, kyFor Y-axis sensitivity, kzFor Z axis sensitivity, g, kx、kyWith
kzIt is constant；
For the α calculated according to Filtering Formulan、βnAnd γnFiltered, if αn、βnAnd γnMeet Filtering Formula,
Then export to the three-axis moving data encoder, and renewable time Tn=Tn+1, enter next three shaft angles degree and generated
Journey；If αn、βnAnd γnFiltering Formula is not met, then direct renewable time Tn=Tn+1, enter next three shaft angles degree and generated
Journey；
The Filtering Formula is as follows：
cos(2αn)+cos(2βn)+cos(2γn)=1.
The 3-dimensional encoding module first passes through X, Y and Z axis that three axle angle generators calculate 3-axis acceleration sensor
The angle α of the acceleration of gravity at each moment in gesture changen、βnAnd γn；Then pass through three-axis moving data encoder again
Calculate the amount of deflection X of X, Y and Z axis in gesture change between each moment and initial positionn、YnAnd Zn, the initial position is
In initial time T0Under α0、β0And γ0；Obtain with X, Y and Z axis in hand finally according to three axle amount of deflection data combination sequence number table
Each moment amount of deflection X in gesture changen、YnAnd ZnCorresponding sequence number row, and three-axis moving data sequence is constituted by sequence number row
Row.The Left-hand gesture identification bracelet 1 and right-hand gesture identification bracelet 2 are entered to detection data using the 3-dimensional encoding module
Row is processed：The Left-hand gesture recognizes the left hand 3-axis acceleration sequence of the collection of bracelet 1, and right-hand gesture identification bracelet 2 is gathered
Right hand 3-axis acceleration sequence, its essence is X, Y in 3-dimensional encoding module and Z axis each moment in gesture change
Δxn、ΔynWith Δ zn；The actual Left-hand gesture motion sequence that Left-hand gesture identification bracelet 1 is generated, right-hand gesture recognize bracelet 2
The actual right-hand gesture motion sequence for generating, and standard Left-hand gesture motion sequence and the standard right hand gesture of the storage of terminal 3
Motion sequence, its essence are the three-axis moving data sequence that the three-axis moving data encoding processor in 3-dimensional encoding module is generated
Row.
It is different from the existing process mould by trying to achieve displacement to acceleration continuous integral twice and then obtain bimanual input
Block, the 3-dimensional encoding module are entered by calculating each moment each axle and the relative angle of initial position in gesture change
And pass through relative angle and can just obtain bimanual input, this avoid initial position punctuate error present in multiple integral and calculating
The problems such as amplifying with error accumulation, simplifies operand, improves arithmetic speed.The three axles angle generator presets X-axis threshold
Value dX, Y-axis threshold value dYWith Z axis threshold value dZ, can eliminate what the shake of human body was brought to the data that 3-axis acceleration sensor is collected
Affect；And the three axles angle generator is also to αn、βnAnd γnFiltered, some are not met the data mistake of Filtering Formula
Filter, improve data accuracy, and then improve gesture identification precision.
Preferably, as shown in fig. 6, the three-axis moving data encoder includes：
For receiving the α of the three axles angle generator outputn、βnAnd γn, n=0,1,2 ...；
For formula being generated according to three axle amount of deflections generate three axle amount of deflection data combination of sets, the three axles amount of deflection data
Combination of sets is in TnWhen the X-axis amount of deflection X that inscribesn, Y-axis amount of deflection YnWith Z axis amount of deflection Zn, the three axles amount of deflection generates public
Formula is as follows：
Xn=cos (αn-α0), Yn=cos (βn-β0),Zn=cos (γn-γ0)；
Segmentation is carried out for the three axle amount of deflection data combination of sets to generating,
If -1≤Xn＜ -0.5, then update Xn=1；If -0.5≤Xn＜ 0, then update Xn=2；If 0≤Xn＜ 0.5, then more
New Xn=3；If 0.5≤Xn≤ 1, then update Xn=4；
If -1≤Yn＜ -0.5, then update Yn=1；If -0.5≤Yn＜ 0, then update Yn=2；If 0≤Yn＜ 0.5, then more
New Yn=3；If 0.5≤Yn≤ 1, then update Yn=4；
If -1≤Zn＜ -0.5, then update Zn=1；If -0.5≤Zn＜ 0, then update Zn=2；If 0≤Zn＜ 0.5, then more
New Zn=3；If 0.5≤Zn≤ 1, then update Zn=4；
For setting up three axle amount of deflection data combination sequence number table, it is that three axle amount of deflection data groups after each segmentation are compiled in collaboration with
Sequence number；
For three axle amount of deflection data combination of sets after to segmentation, according to three axle amount of deflection data combine sequence number table obtain right
The sequence number row that answers, and three-axis moving data sequence is constituted by sequence number row.
Coordinate system is set up in three axle amount of deflection data combination of sets segmentations in the three-axis moving data encoder, carries out coordinate
Coding, is divided into four sections per axle, so both ensure that the speed of data processing and data transfer, while also obtaining higher essence
Degree.And, if directly transmitting the data processing difficulty and easily that three axle amount of deflection data combination of sets after segmentation will improve terminal 3
There is factor data intersection extraction etc. and process the gesture identification mistake for causing by mistake, therefore the three-axis moving data encoder sets up three
Axle amount of deflection data combine sequence number table, send sequence number to terminal 3 and arrange composition three-axis moving data sequence, so as to reduce data processing
Difficulty, improves the efficiency and precision of gesture identification.The three axles amount of deflection data combination sequence number table is as shown in table 2：
| Xn | Yn | Zn | Sequence number |
| 1 | 1 | 1 | 1 |
| 1 | 1 | 2 | 2 |
| 1 | 1 | 3 | 3 |
| 1 | 1 | 4 | 5 |
| 1 | 2 | 1 | 6 |
| 1 | 2 | 2 | 7 |
| 1 | 2 | 3 | 8 |
| 1 | 2 | 4 | 9 |
| 1 | 3 | 1 | 10 |
| … | … | … | … |
| 4 | 2 | 4 | 56 |
| 4 | 3 | 1 | 57 |
| 4 | 3 | 2 | 58 |
| 4 | 3 | 3 | 59 |
| 4 | 3 | 4 | 60 |
| 4 | 4 | 1 | 61 |
| 4 | 4 | 2 | 62 |
| 4 | 4 | 3 | 63 |
| 4 | 4 | 4 | 64 |
Table 2
According to table 2, the data area of the three-axis moving data sequence is 1～64, the three-axis moving data sequence
It is classified as in the data area, any combination that multiple sequence numbers are arranged according to time sequencing, such as described three-axis moving data
Sequence can be { Isosorbide-5-Nitrae, 3,23,54, Isosorbide-5-Nitrae 3,6,4,63 }.
Preferably, as shown in Fig. 2 the first microprocessor 12 also includes：
First data validity judge module 121, for newly-generated actual Left-hand gesture motion sequence and caching
Actual Left-hand gesture motion sequence is compared：If newly-generated actual Left-hand gesture motion sequence and the actual left hand hand of caching
Potential motion sequence is identical, then do not send data command to first data collector 13；If newly-generated actual left hand
The actual Left-hand gesture motion sequence of gesture motion sequence and caching is differed, then send institute to first data collector 13
State transmission data command.
Preferably, as shown in figure 3, second microprocessor 22 also includes：
Second data validity judge module 221, for newly-generated actual right-hand gesture motion sequence and caching
Actual right-hand gesture motion sequence is compared：If newly-generated actual right-hand gesture motion sequence and the actual right hand hand of caching
Potential motion sequence is identical, then do not send data command to second data collector 23；If the newly-generated actual right hand
The actual right-hand gesture motion sequence of gesture motion sequence and caching is differed, then send institute to second data collector 23
State transmission data command.
When actual Left-hand gesture motion sequence or actual right-hand gesture motion sequence produce change, the left hand ring fortune of transmission
Dynamic packet or right hand ring exercise data Bao Caiwei valid data；And actual Left-hand gesture motion sequence or actual right-hand gesture fortune
When dynamic sequence does not produce change, the left hand ring exercise data bag of transmission or right hand ring exercise data bag are invalid data, and this is not only
The speed of processing data is affected, and substantially increases power consumption.Therefore, the Left-hand gesture identification bracelet 1 arranges first
Data validity judge module 121, the right-hand gesture identification bracelet 2 arrange the second data validity judge module 221, work as reality
When border Left-hand gesture motion sequence or actual right-hand gesture motion sequence do not produce change, left hand ring is not sent to terminal 3 and moved
Packet or right hand ring exercise data bag, so as to effectively reduce useless data transfer, greatly reduce Left-hand gesture identification hand
Ring 1 and right-hand gesture recognize the power consumption of bracelet 2.
Preferably, the control method of the driving simulation system of the Intelligent Recognition bimanual input, as shown in fig. 7, comprises eventually
Build storehouse process and analogue-key manipulation process in end：
Terminal builds storehouse process：
Step E1,3 Criterion Left-hand gesture storehouse 31 of the terminal and standard right hand gesture library 32, standard Left-hand gesture storehouse
31 storages standard Left-hand gesture motion sequence corresponding with each Left-hand gesture, the storage of standard right hand gesture library 32 and each right hand
The corresponding standard right hand gesture motion sequence of gesture；
Step E2, the terminal 3 presets multiple analog Driving Scene and scene set selects analogue-key, is selected by scene
Select analogue-key to select and switching drive simulating scene；
Step E3, the terminal 3 preset bimanual input combination of sets, and the bimanual input combination of sets includes Left-hand gesture and the right side
Multiple bimanual input combinations that hand gesture is combined；And analogue-key and the combination of corresponding bimanual input is selected for scene
Set up mapping relations；
Step E4, the Left-hand gesture identification bracelet 1 arrange left hand ring pairing address code, and the right-hand gesture recognizes bracelet
2 arrange right hand ring pairing address code；
Analogue-key manipulates process：
Step G1, in the Left-hand gesture identification bracelet 1 collection Left-hand gesture change, three axle of left hand at each moment accelerates
Degree series, and generate corresponding actual Left-hand gesture motion sequence；Meanwhile, the right-hand gesture identification bracelet 2 collection right hand hand
The right hand 3-axis acceleration sequence at each moment in gesture change, and generate corresponding actual right-hand gesture motion sequence；
Actual Left-hand gesture motion sequence and left hand ring are matched address code by step G2, the Left-hand gesture identification bracelet 1
It is packaged into left hand ring exercise data bag to send to terminal 3；Meanwhile, actual right-hand gesture is transported by the right-hand gesture identification bracelet 2
Dynamic sequence and right hand ring pairing address code are packaged into right hand ring exercise data bag and send to terminal 3；
Step G3, the terminal 3 receive the left hand ring exercise data bag of Left-hand gesture identification bracelet 1 and right-hand gesture identification
The right hand ring exercise data bag of bracelet 2, and the left hand ring exercise data bag and right hand ring exercise data bag that receive are classified
Storage；
Step G4, the terminal 3 transfer the actual Left-hand gesture motion sequence of the left hand ring exercise data bag, and and deposit
The standard Left-hand gesture motion sequence of storage is mated, and obtains corresponding Left-hand gesture from standard Left-hand gesture storehouse 31；
Step G5, the terminal 3 transfer the actual right-hand gesture motion sequence of the right hand ring exercise data bag, and and deposit
The standard right hand gesture motion sequence of storage is mated, and obtains corresponding right-hand gesture from standard right hand gesture library 32；
The Left-hand gesture of acquisition and the right-hand gesture for obtaining are combined by step G6, the terminal 3, then with both hands hand
Gesture combination of sets is mated, and finds out corresponding bimanual input combination, and is mapped as corresponding scene selection analogue-key, finally leads to
Crossing scene selects analogue-key to select drive simulating scene.
Preferably, the terminal is built storehouse process and is also included：
Step E5, the default drive simulation comprising multiple drive simulation buttons of the terminal 3 press keyset, and drive for each
Sail analogue-key and configure corresponding drive simulating action, and be that each drive simulation button and corresponding bimanual input group are built jointly
Vertical mapping relations；
The analogue-key manipulation process also includes：
The Left-hand gesture of acquisition and the right-hand gesture for obtaining are combined by step G7, the terminal 3, then with both hands hand
Gesture combination of sets is mated, and finds out corresponding bimanual input combination, and is mapped as corresponding analogue-key, finally executes and simulation
The corresponding drive simulating action of button.
The control method of the driving simulation system of the Intelligent Recognition bimanual input is added by gathering three axle of left hand of user
Velocity series and right hand 3-axis acceleration sequence, then be actual Left-hand gesture motion sequence and reality by 3-dimensional encoding module converter
Border right-hand gesture motion sequence, and send it to terminal 3 and be analyzed coupling, so as to identify corresponding Left-hand gesture and the right side
Hand gesture.The control method recognition speed of the driving simulation system of the Intelligent Recognition bimanual input is fast, can be to hand space bit
Put and be identified tracking, be analyzed using space coordinates sequence is simplified, identification error is less；Also, to the left side for receiving
Bracelet exercise data bag and right hand ring exercise data bag carry out classification storage；So as to realize recognizing bracelet 1 and the right side to Left-hand gesture
The differentiation of hand gesture identification bracelet 2, it is ensured that to left hand ring exercise data bag and the shunting independent process of right hand ring exercise data bag,
Avoid for Left-hand gesture misidentifying into right-hand gesture, or right-hand gesture is misidentified into this factor data exchange of Left-hand gesture and cause
Identification mistake, improve bimanual input identification certainty.
The control method of the driving simulation system of the Intelligent Recognition bimanual input passes through first by the bimanual input of user
Be mapped to scene and select analogue-key, the drive simulating scene for needing is selected so as to user can be combined by bimanual input；Then,
User makes the various bimanual input combinations for being mapped to drive simulation button again, executes so as to pass through various bimanual input combinations
Corresponding drive simulating action.The control method can arrange corresponding car racing game program or Driving study program, break through existing
There is the mode of operation with true handle or button, but change to be operated by bimanual input, make user pass through both hands mould
Draft direction disk controls the operation of virtual car, user can be made to produce cordial feeling and dependence feeling with similar operation is truly driven, greatly
Big raising user experience.
Preferably, step G2 also includes that data validity judges sub-step：
As shown in figure 8, the Left-hand gesture identification bracelet 1 is first to newly-generated actual Left-hand gesture motion sequence and caching
Actual Left-hand gesture motion sequence be compared：If newly-generated actual Left-hand gesture motion sequence and the actual left hand of caching
Gesture motion sequence is identical, then do not send left hand ring exercise data bag to the terminal 3；If newly-generated actual Left-hand gesture fortune
The actual Left-hand gesture motion sequence of dynamic sequence and caching is differed, then send left hand ring exercise data bag to the terminal 3；
Meanwhile, as shown in figure 9, the right-hand gesture recognizes bracelet 2 first to newly-generated actual right-hand gesture motion sequence
It is compared with the actual right-hand gesture motion sequence of caching：If newly-generated actual right-hand gesture motion sequence and the reality of caching
Border right-hand gesture motion sequence is identical, then do not send right hand ring exercise data bag to the terminal 3；If the newly-generated actual right hand
The actual right-hand gesture motion sequence of gesture motion sequence and caching is differed, then send right hand ring to the terminal 3 and move number
According to bag.
When actual Left-hand gesture motion sequence or actual right-hand gesture motion sequence produce change, the left hand ring fortune of transmission
Dynamic packet or right hand ring exercise data Bao Caiwei valid data；And actual Left-hand gesture motion sequence or actual right-hand gesture fortune
When dynamic sequence does not produce change, the left hand ring exercise data bag of transmission or right hand ring exercise data bag are invalid data, and this is not only
The speed of processing data is affected, and substantially increases power consumption.Therefore, step G2 also includes that data validity judges
Sub-step, when actual Left-hand gesture motion sequence or actual right-hand gesture motion sequence do not produce change, does not send to terminal 3
Left hand ring exercise data bag or right hand ring exercise data bag, so as to effectively reduce useless data transfer, greatly reduce left hand
Gesture identification bracelet 1 and right-hand gesture recognize the power consumption of bracelet 2.
Above in association with the know-why that specific embodiment describes the present invention.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed to by any way.Based on explanation herein, the technology of this area
Personnel associate other specific embodiments of the present invention by need not paying performing creative labour, these modes fall within
Within protection scope of the present invention.
Claims (9)
1. a kind of driving simulation system of Intelligent Recognition bimanual input, recognizes hand including Left-hand gesture identification bracelet, right-hand gesture
Ring and terminal, the Left-hand gesture identification bracelet and right-hand gesture identification bracelet are connected with terminal by communication network, its feature
It is, the Left-hand gesture identification bracelet includes：
First 3-axis acceleration sensor, for gathering the left hand 3-axis acceleration sequence at each moment in Left-hand gesture change；
First microprocessor, for generating left hand ring pairing address code, and is used for the left hand 3-axis acceleration sequence, passes through
3-dimensional encoding module generates corresponding actual Left-hand gesture motion sequence；
First data collector, for being packaged into left hand ring fortune by actual Left-hand gesture motion sequence and left hand ring pairing address code
Dynamic packet is sent to terminal；
The right-hand gesture identification bracelet includes：
Second 3-axis acceleration sensor, for gathering the right hand 3-axis acceleration sequence at each moment in right-hand gesture change；
Second microprocessor, for generating right hand ring pairing address code, and is used for the right hand 3-axis acceleration sequence, passes through
3-dimensional encoding module generates corresponding actual right-hand gesture motion sequence；
Second data collector, for being packaged into right hand ring fortune by actual right-hand gesture motion sequence and right hand ring pairing address code
Dynamic packet is sent to terminal；
The terminal includes：
Standard Left-hand gesture storehouse, for storing standard Left-hand gesture motion sequence corresponding with each Left-hand gesture；
Standard right hand gesture library, for storing standard right hand gesture motion sequence corresponding with each right-hand gesture；
Bracelet communicator, for receiving the left hand ring exercise data bag and right-hand gesture identification bracelet of Left-hand gesture identification bracelet
Right hand ring exercise data bag；
Bracelet data class manager, classifies for the left hand ring exercise data bag and right hand ring exercise data bag to receiving
Storage；
Left-hand gesture adaptation, for transferring the actual Left-hand gesture motion sequence of the left hand ring exercise data bag, and and deposits
The standard Left-hand gesture motion sequence of storage is mated, and obtains corresponding Left-hand gesture from standard Left-hand gesture storehouse；
Right-hand gesture adaptation, for transferring the actual right-hand gesture motion sequence of the right hand ring exercise data bag, and and deposits
The standard right hand gesture motion sequence of storage is mated, and obtains corresponding right-hand gesture from standard right hand gesture library；
Drive simulating manager, is selected analogue-key for presetting multiple analog Driving Scene and scene set, is selected by scene
Select analogue-key to select and switching drive simulating scene.
2. the driving simulation system of Intelligent Recognition bimanual input according to claim 1, it is characterised in that：The simulation is driven
Manager is sailed, and the default drive simulation comprising multiple drive simulation buttons is additionally operable to by keyset, and is pressed for each drive simulation
Key configures corresponding drive simulating action；
Gesture and analogue-key configurator, for presetting bimanual input combination of sets, the bimanual input combination of sets includes left hand hand
Multiple bimanual input combinations that gesture and right-hand gesture are combined, and be each drive simulation button and corresponding bimanual input
Mapping relations are set up in combination, also select analogue-key and the combination of corresponding bimanual input to set up mapping relations for scene；
Analogue-key controller, for the right hand that the Left-hand gesture that obtains Left-hand gesture adaptation and right hand gesture adaptation are obtained
Gesture is combined, and is then mated with bimanual input combination of sets, finds out corresponding bimanual input combination, and is mapped as scene
Analogue-key is selected, selects analogue-key to select drive simulating scene finally by scene；Analogue-key controller, be additionally operable to by
The right-hand gesture that the Left-hand gesture and right hand gesture adaptation that Left-hand gesture adaptation is obtained is obtained is combined, then with both hands hand
Gesture combination of sets is mated, and finds out the combination of corresponding bimanual input, and is mapped as corresponding drive simulation button, finally execute with
The corresponding drive simulating action of drive simulation button.
3. the driving simulation system of Intelligent Recognition bimanual input according to claim 1, it is characterised in that described three-dimensional compile
Code module includes that three axle angle generators and three-axis moving data encoder, the three axles angle generator include：
For presetting X-axis threshold value dX, Y-axis threshold value dYWith Z axis threshold value dZ；
For in TnWhen inscribe, gather X-axis output voltage variation delta xn, Y-axis output voltage variation delta ynWith Z axis output electricity
Pressure variation delta zn, n=0,1,2 ..., wherein T0For initial time；
For in TnWhen inscribe, judge | Δ xn| whether it is less than dX, | Δ yn| whether it is less than dY, and | Δ yn| whether it is less than dZ；If
Then continue down to execute, if not then resurveying data；
For in TnWhen inscribe, according to the angle α that three shaft angle degree formula calculate X-axis and acceleration of gravityn, Y-axis and acceleration of gravity
Angle βn, and the angle γ of Z axis and acceleration of gravityn；The three shaft angles degree formula is as follows：
αn=ar cos (Δ xn/g kx), βn=ar cos (Δ yn/g ky), γn=ar cos (Δ zn/g kz)；
Wherein, g is acceleration of gravity, kxFor X-axis sensitivity, kyFor Y-axis sensitivity, kzFor Z axis sensitivity, g, kx、kyAnd kz?
For constant；
For the α calculated according to Filtering Formulan、βnAnd γnFiltered, if αn、βnAnd γnMeet Filtering Formula, then defeated
Go out to the three-axis moving data encoder, and renewable time Tn=Tn+1, enter next three shaft angles degree generating process；If
αn、βnAnd γnFiltering Formula is not met, then direct renewable time Tn=Tn+1, enter next three shaft angles degree generating process；
The Filtering Formula is as follows：
cos(2αn)+cos(2βn)+cos(2γn)=1.
4. the driving simulation system of Intelligent Recognition bimanual input according to claim 3, it is characterised in that the three axles fortune
Dynamic data encoder includes：
For receiving the α of the three axles angle generator outputn、βnAnd γn, n=0,1,2 ...；
For formula being generated according to three axle amount of deflections generate three axle amount of deflection data combination of sets, the three axles amount of deflection data combination
Collection is in TnWhen the X-axis amount of deflection X that inscribesn, Y-axis amount of deflection YnWith Z axis amount of deflection Zn, the three axles amount of deflection generation formula is such as
Under：
Xn=cos (αn-α0), Yn=cos (βn-β0),Zn=cos (γn-γ0)；
Segmentation is carried out for the three axle amount of deflection data combination of sets to generating,
If -1≤Xn＜ -0.5, then update Xn=1；If -0.5≤Xn＜ 0, then update Xn=2；If 0≤Xn＜ 0.5, then update Xn
=3；If 0.5≤Xn≤ 1, then update Xn=4；
If -1≤Yn＜ -0.5, then update Yn=1；If -0.5≤Yn＜ 0, then update Yn=2；If 0≤Yn＜ 0.5, then update Yn
=3；If 0.5≤Yn≤ 1, then update Yn=4；
If -1≤Zn＜ -0.5, then update Zn=1；If -0.5≤Zn＜ 0, then update Zn=2；If 0≤Zn＜ 0.5, then update Zn
=3；If 0.5≤Zn≤ 1, then update Zn=4；
For setting up three axle amount of deflection data combination sequence number table, it is that three axle amount of deflection data groups after each segmentation compile in collaboration with sequence
Number；
For three axle amount of deflection data combination of sets after to segmentation, according to three axle amount of deflection data combine sequence number table obtain corresponding
Sequence number is arranged, and constitutes three-axis moving data sequence by sequence number row.
5. the driving simulation system of Intelligent Recognition bimanual input according to claim 1, it is characterised in that described first is micro-
Processor also includes：
First data validity judge module, for the actual left hand to newly-generated actual Left-hand gesture motion sequence and caching
Gesture motion sequence is compared：If newly-generated actual Left-hand gesture motion sequence and the actual Left-hand gesture motion sequence of caching
Row are identical, then do not send data command to first data collector；If newly-generated actual Left-hand gesture motion sequence
The actual Left-hand gesture motion sequence of row and caching is differed, then send the transmission data to first data collector and refer to
Order.
6. the driving simulation system of Intelligent Recognition bimanual input according to claim 1, it is characterised in that described second is micro-
Processor also includes：
Second data validity judge module, for the actual right hand to newly-generated actual right-hand gesture motion sequence and caching
Gesture motion sequence is compared：If newly-generated actual right-hand gesture motion sequence and the actual right-hand gesture motion sequence of caching
Row are identical, then do not send data command to second data collector；If newly-generated actual right-hand gesture motion sequence
The actual right-hand gesture motion sequence of row and caching is differed, then send the transmission data to second data collector and refer to
Order.
7. the control method of the driving simulation system of the Intelligent Recognition bimanual input according to claim 1 to 6 any one,
Characterized in that, building storehouse process and analogue-key manipulation process including terminal：
Terminal builds storehouse process：
Step E1, the terminal Criterion Left-hand gesture storehouse and standard right hand gesture library, standard Left-hand gesture library storage with each
The corresponding standard Left-hand gesture motion sequence of individual Left-hand gesture, standard right hand gesture library storage mark corresponding with each right-hand gesture
Quasi- right-hand gesture motion sequence；
Step E2, the default multiple analog Driving Scene of the terminal and scene set select analogue-key, select mould by scene
Intend button to select and switching drive simulating scene；
Step E3, the default bimanual input combination of sets of the terminal, the bimanual input combination of sets include Left-hand gesture and right hand hand
Multiple bimanual input combinations that gesture is combined；And select analogue-key and the combination of corresponding bimanual input to set up for scene
Mapping relations；
Step E4, the Left-hand gesture identification bracelet arrange left hand ring pairing address code, and the right-hand gesture identification bracelet is arranged
Right hand ring matches address code；
Analogue-key manipulates process：
Step G1, the left hand 3-axis acceleration sequence at each moment in the Left-hand gesture identification bracelet collection Left-hand gesture change
Row, and generate corresponding actual Left-hand gesture motion sequence；Meanwhile, the right-hand gesture identification bracelet collection right-hand gesture change
In each moment right hand 3-axis acceleration sequence, and generate corresponding actual right-hand gesture motion sequence；
Actual Left-hand gesture motion sequence and left hand ring pairing address code are packaged into by step G2, the Left-hand gesture identification bracelet
Left hand ring exercise data bag is sent to terminal；Meanwhile, right-hand gesture identification bracelet by actual right-hand gesture motion sequence and
Right hand ring pairing address code is packaged into right hand ring exercise data bag and sends to terminal；
Step G3, the terminal receive the left hand ring exercise data bag and right-hand gesture of Left-hand gesture identification bracelet and recognize bracelet
Right hand ring exercise data bag, and classification storage is carried out to the left hand ring exercise data bag and right hand ring exercise data bag that receive；
Step G4, the terminal transfer the actual Left-hand gesture motion sequence of the left hand ring exercise data bag, and and storage
Standard Left-hand gesture motion sequence is mated, and obtains corresponding Left-hand gesture from standard Left-hand gesture storehouse；
Step G5, the terminal transfer the actual right-hand gesture motion sequence of the right hand ring exercise data bag, and and storage
Standard right hand gesture motion sequence is mated, and obtains corresponding right-hand gesture from standard right hand gesture library；
The Left-hand gesture of acquisition and the right-hand gesture for obtaining are combined by step G6, the terminal, then with bimanual input group
Intersection is mated, and finds out corresponding bimanual input combination, and is mapped as corresponding scene selection analogue-key, finally by field
Scape selects analogue-key to select drive simulating scene.
8. control method according to claim 7, it is characterised in that the terminal builds storehouse process also to be included：
Step E5, the terminal preset the drive simulation comprising multiple drive simulation buttons by keyset, and drive mould for each
Intend the corresponding drive simulating action of key configurations, and be that each drive simulation button and the combination foundation of corresponding bimanual input are reflected
Penetrate relation；
The analogue-key manipulation process also includes：
The Left-hand gesture of acquisition and the right-hand gesture for obtaining are combined by step G7, the terminal, then with bimanual input group
Intersection is mated, and finds out corresponding bimanual input combination, and is mapped as corresponding analogue-key, finally executes and analogue-key
Corresponding drive simulating action.
9. control method according to claim 7, it is characterised in that step G2 also includes that data validity judges son
Step：
The Left-hand gesture identification bracelet is first to newly-generated actual Left-hand gesture motion sequence and the actual Left-hand gesture of caching
Motion sequence is compared：If newly-generated actual Left-hand gesture motion sequence and the actual Left-hand gesture motion sequence phase of caching
With then not to terminal transmission left hand ring exercise data bag；If newly-generated actual Left-hand gesture motion sequence and caching
Actual Left-hand gesture motion sequence is differed, then send left hand ring exercise data bag to the terminal；
Meanwhile, the right-hand gesture identification bracelet is first to newly-generated actual right-hand gesture motion sequence and the actual right hand of caching
Gesture motion sequence is compared：If newly-generated actual right-hand gesture motion sequence and the actual right-hand gesture motion sequence of caching
Row are identical, then do not send right hand ring exercise data bag to the terminal；If newly-generated actual right-hand gesture motion sequence eases up
The actual right-hand gesture motion sequence that deposits is differed, then send right hand ring exercise data bag to the terminal.
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| CN107948570B (en) * | 2017-11-29 | 2020-09-04 | 长沙安行机电设备有限公司 | Real-time information source method for real-scene video playing and synchronous locomotive running of railway line |
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| CN111580660A (en) * | 2020-05-09 | 2020-08-25 | 清华大学 | Operation triggering method, device, equipment and readable storage medium |
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