CN108496144A - Motion recognition method, portable device, machine readable storage medium - Google Patents
Motion recognition method, portable device, machine readable storage medium Download PDFInfo
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- CN108496144A CN108496144A CN201780005455.4A CN201780005455A CN108496144A CN 108496144 A CN108496144 A CN 108496144A CN 201780005455 A CN201780005455 A CN 201780005455A CN 108496144 A CN108496144 A CN 108496144A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
Abstract
A kind of motion recognition method, portable device, machine readable storage medium, the method is applied to portable device, the portable device is used to detect the athletic posture of carrier, the portable device includes Inertial Measurement Unit, the Inertial Measurement Unit is used to obtain IMU data, the method includes：Detect the current towards different from default direction of the Inertial Measurement Unit；According to described default towards the processing IMU data.Using the embodiment of the present invention, the athletic posture of accurately identification carrier may be implemented.
Description
Technical field
The present invention relates to movement identification technology field more particularly to motion recognition method, portable device, machine readable deposit
Storage media.
Background technology
IMU (Inertial Measurement Unit, Inertial Measurement Unit) by three uniaxial acceleration transducers with
Three uniaxial angular-rate sensors (gyroscope) compositions, can measure IMU data, including carrier is in three dimensions
Acceleration information and angular velocity data are based on this, can be in portable device, such as wearable portable devices, hand-portable
IMU is installed in formula equipment, the athletic posture of carrier is gone out according to IMU data calculations measured by IMU.
When carrying orientation difference of the portable device relative to carrier, in the coordinate system that IMU is applied three it is uniaxial
Direction will be different, also, due to that can not identify portable device putting relative to carrier according to the IMU data that IMU is measured
Direction is set, to which the movement that carrier can not be recognized accurately according to the IMU data measured by IMU will be caused.For example, it is assumed that
Portable device is wrist-watch, when wrist-watch is worn on right human hand wrist, and right human hand raises one's hand to act, and when wrist-watch is worn on
Human body left hand wrist, when human body left hand does sagging action, the IMU data measured by IMU are identical, also, according to IMU institutes
It is human body right finesse portion or left hand wrist that the IMU data None- identifieds measured, which go out carrier, to according to measured by IMU
IMU data will be unable to the athletic posture that carrier is recognized accurately.
Invention content
The present invention provides motion recognition method, portable device, machine readable storage medium.
First aspect present invention provides a kind of motion recognition method, is applied to portable device, which is used for
The athletic posture of carrier is detected, which includes Inertial Measurement Unit, and the Inertial Measurement Unit is for obtaining IMU numbers
According to this method includes：
Detect the current towards different from default direction of the Inertial Measurement Unit；
According to described default towards the processing IMU data.
Second aspect of the present invention provides a kind of portable device, which is used to detect the athletic posture of carrier,
The portable device includes：
Inertial Measurement Unit, the Inertial Measurement Unit is for obtaining IMU data；And
Processor, the processor are used for：
Detect the current towards different from default direction of the Inertial Measurement Unit；
According to described default towards the processing IMU data.
Third aspect present invention provides a kind of machine readable storage medium, if being stored on the machine readable storage medium
Dry computer instruction, which, which is performed, is handled as follows：
Detect the current towards different from default direction of the Inertial Measurement Unit；
According to described default towards the processing IMU data.
Based on the above-mentioned technical proposal, in the embodiment of the present invention, can detect first Inertial Measurement Unit it is current towards with
Whether default direction different, when detect it is current towards from it is default towards it is different when, the IMU data got are handled,
Due to treated IMU data symbol with it is default identical towards corresponding data symbol, to follow-up according to treated
The athletic posture for the carrier that IMU data identify is more accurate, to detect inertia measurement list according to IMU data
In the case of first currently direction, the athletic posture that carrier is recognized accurately still may be implemented.
Description of the drawings
It, below will be to the present invention in order to clearly illustrate the embodiment of the present invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is only some embodiments described in the present invention for those of ordinary skill in the art can also be according to this hair
These attached drawings of bright embodiment obtain other attached drawings.
Figure 1A is the example that portable device is bracelet；
Figure 1B is the Application Scenarios-Example that the embodiment of the present invention realizes motion recognition method；
Fig. 2A is the flow chart of motion recognition method；
Fig. 2 B are a kind of examples of the client of bracelet；
Fig. 3 is the example of portable device.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.In addition, in the absence of conflict, in following embodiment and embodiment
Feature can be combined with each other.
Terminology used in the present invention is not intended to limit the present invention merely for the sake of the purpose of description specific embodiment.The present invention
It is also intended to including most forms with the "an" of singulative used in claims, " described " and "the", unless up and down
Text clearly shows that other meanings.It should be appreciated that term "and/or" used herein refers to comprising one or more associated
List items purpose any or all may combine.
Although may describe various information using term first, second, third, etc. in the present invention, these information are not answered
It is limited to these terms.These terms are used for same type of information being distinguished from each other out.For example, not departing from the scope of the invention
In the case of, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.Depend on
In context, in addition, used word " if " can be construed to " ... when ", either " when ... " or " ring
It should be in determination ".
The embodiment of the present invention proposes that a kind of motion recognition method, this method can be applied to portable device, this is portable
Equipment can apply the athletic posture of this method detection carrier.Wherein, which can be bracelet, and carrier can be people
Body left finesse or right human hand wrist.Certainly, it will be appreciated by persons skilled in the art that the portable device can also be it
Its type, such as armlet, handheld portable devices etc., the application is not limited the type of portable device, in addition, with just
The type of portable device is different, and the type of carrier can also be different, for example, carrier can be human arm, palm etc., the application
The type of carrier is not also limited.
It is the example that portable device is bracelet shown in Figure 1A, includes Inertial Measurement Unit on the bracelet (in Figure 1A
Do not show that), which can utilize certain technology, such as MEMS (Microelectromechanical
Systems, MEMS) technology detection is along the linear motion of three orthogonal axis and around the rotation of three orthogonal axis
Transhipment is dynamic, which may include x-axis, y-axis, z-axis；Or pitch axis, roll axis, yaw axis.
It is the Application Scenarios-Example that the embodiment of the present invention realizes motion recognition method, in the applied field shown in Figure 1B
Bracelet exemplified by Jing Zhong, Figure 1A is worn on right human hand wrist.In fig. ib, include with the reference axis of Inertial Measurement Unit
X-axis, y-axis, for z-axis, it is assumed that the x-axis of the Inertial Measurement Unit of the bracelet is oriented the finger of finger when right human hand palm stretches
To y-axis is oriented the direction of thumb when right human hand thumb side is stretched, and z-axis is oriented from the right human hand palm centre of the palm and is directed toward
Direction when palm back, shown in Figure 1B.So, when the bracelet is worn on human body left hand wrist, the hand
For the x-axis of the Inertial Measurement Unit of ring towards the negative direction for being then finger direction when human body left-hand palm stretches, y-axis direction is then people
The direction of thumb when body left hand thumb side is stretched, z-axis direction are then finger when being directed toward palm back from the human body left-hand palm heart
To.
By foregoing description it is found that when bracelet is worn on human body left hand wrist and right human hand wrist respectively, bracelet
The direction of Inertial Measurement Unit differ, so as to cause, when human body left hand arm does identical action with right human hand arm,
IMU data accessed by the Inertial Measurement Unit simultaneously differ, to the movement according to the carrier that IMU data are identified
Posture is different；Also, when human body left hand arm does different actions from right human hand arm, such as human body left hand arm does sagging move
When making to raise one's hand to act with right human hand arm, the IMU data accessed by the Inertial Measurement Unit are identical, thus, according to
The athletic posture of the carrier identified according to IMU data is identical.By foregoing description it can be found that being existed according to Inertial Measurement Unit
The IMU data that are got when carrier movement and the athletic posture that carrier can not be recognized accurately.
To solve the above-mentioned problems, the present invention proposes a kind of motion recognition method, with reference to portable shown in Figure 1A
Equipment and the application scenarios shown in Figure 1B, are described in detail the embodiment of the present invention.
It is the flow chart of motion recognition method, this method can be applied to portable device, such as scheme shown in Fig. 2A
Bracelet exemplified by 1A includes seen from the above description, on the bracelet Inertial Measurement Unit, and the Inertial Measurement Unit is for obtaining
IMU data, this method may comprise steps of：
Step 201：Detect the current towards different from default direction of Inertial Measurement Unit.
In the present invention, the current direction of Inertial Measurement Unit may include the reference axis direction of the Inertial Measurement Unit,
Wherein, reference axis may include x-axis, y-axis, and at least one at least one of z-axis or pitch axis, roll axis, yaw axis
It is a.
In the present invention, can wearing site be preset for the bracelet setting exemplified by Figure 1A in advance, for example, default wearing portion
Position is human body right finesse portion, also, in the present invention, is provided with the default wearing site of bracelet, you can be equivalent to as bracelet
On include the reference axis of Inertial Measurement Unit be provided with default direction, for example, as shown in Figure 1B, it is human body to preset wearing site
When right hand wrist, the default direction of the x-axis of Inertial Measurement Unit is then the direction of finger when right human hand palm stretches, and inertia is surveyed
The default direction for measuring the y-axis of unit is then the direction of thumb when right human hand thumb side is stretched, the z-axis of Inertial Measurement Unit
Default direction is then direction when being directed toward palm back from the right human hand palm centre of the palm.
It in the present invention, first can be with when detecting the athletic posture of carrier by the Inertial Measurement Unit that includes on bracelet
Detect the current towards whether different from default direction of the Inertial Measurement Unit：
In an optional realization method, can according to user setting detect Inertial Measurement Unit it is current direction with it is pre-
If towards whether different.Specifically, being a kind of example of the client of bracelet as shown in Figure 2 B, in the present invention, user can be with
The current wearing site of bracelet is set by the client exemplified by Fig. 2 B, which can be human body right finesse
Portion or human body left hand wrist.In the present invention, it is provided with the current wearing site of bracelet, you can be equivalent to as on bracelet
Including Inertial Measurement Unit reference axis be provided with current direction, for example, as shown in Figure 2 B, it is assumed that user currently select be
Human body left hand wrist, then, the current direction of the x-axis of Inertial Measurement Unit is then that finger is directed toward when human body left-hand palm stretches
Negative direction, the current direction towards thumb when then being stretched for human body left hand thumb side of the y-axis of Inertial Measurement Unit, inertia are surveyed
The current direction for measuring the z-axis of unit is then direction when being directed toward palm back from the human body left-hand palm centre of the palm.
By foregoing description it is found that when bracelet is worn on right human hand wrist and human body left hand wrist respectively, inertia
The direction of the reference axis of measuring unit is different, you can to pass through the current wearing site of user setting and default wearing site
Difference detects the current towards different from default direction of the Inertial Measurement Unit.
In another optional realization method, when can obtain carrier execution required movement, Inertial Measurement Unit is obtained
The IMU data got, by detecting whether the IMU data meet preset condition, to detect the current direction of Inertial Measurement Unit
It is whether different from default direction, if specifically, the IMU data meet preset condition, it can determine working as Inertial Measurement Unit
The previous dynasty is to towards different, preset condition mentioned here can be the symbol of the acceleration information included by IMU data from default
From default different towards corresponding data symbol, or symbol for the angular velocity data included by IMU data and default direction
Corresponding data symbol is different.
For example, if default wearing site is human body right finesse portion, then, when required movement is the action or sagging of raising one's hand
When action, acceleration information in x-axis and angular velocity data included by IMU data are negative, you can default wear is arranged
When position is human body right finesse portion, it is negative sign to preset towards corresponding data symbol；If default wearing site is human body left finesse
Portion, then, when required movement is the action or when sagging action of raising one's hand, the acceleration information in x-axis included by IMU data and angle
Speed data is positive number, you can when presetting wearing site as human body left finesse portion to be arranged, is preset towards corresponding data symbol
For positive sign.
Assuming that default wearing site is human body right finesse portion, and it can not determine that the bracelet is currently worn on human body left hand
Wrist or right human hand wrist, at this point, the bracelet can on own display screen, or by the display interface of client,
It sends instruction user and executes required movement, such as the instruction message acted of raising one's hand, to which user can hold according to the instruction message
Row required movement.During user executes required movement, Inertial Measurement Unit gets IMU data, if the IMU data are wrapped
The acceleration information in x-axis or angular velocity data included is positive number, i.e. acceleration information in x-axis included by the IMU data
Symbol or angular velocity data symbol it is different from data symbol (negative sign) of default direction, at this point, can then detect that this is used
Property measuring unit it is current towards from default towards different.
Step 202：According to default towards processing IMU data.
By the associated description in step 201 it is found that when bracelet is worn on human body left hand wrist and right human hand respectively
When wrist, when human body right arm and human body left arm execute same action, the symbol of accessed IMU data is on the contrary, specifically may be used
With including acceleration information and the angular velocity data in x-axis in IMU data on the contrary, so, in this application, then can be to inertia
Acceleration information and angular velocity data in IMU data accessed by measuring unit in x-axis take opposite number to operate.
In one example, it is assumed that IMU data are (x, y, z), and IMU data that treated are (x ', y ', z ')T=R* (x,
Y, z)T.Wherein,
Based on the above-mentioned technical proposal, in the embodiment of the present invention, can detect first Inertial Measurement Unit it is current towards with
Whether default direction different, when detect it is current towards from it is default towards it is different when, the IMU data got are handled,
Due to treated IMU data symbol with it is default identical towards corresponding data symbol, to follow-up according to treated
The athletic posture for the carrier that IMU data identify is more accurate, to detect inertia measurement list according to IMU data
In the case of first currently direction, the athletic posture that carrier is recognized accurately still may be implemented.
Based on inventive concept same as the above method, a kind of portable device is also provided in the embodiment of the present invention, referring to
Fig. 3 is the example of portable device, as shown in figure 3, the portable device includes：Inertial Measurement Unit, processor.Wherein, it is used to
Property measuring unit for obtaining IMU data；Processor is used to detect the current direction of the Inertial Measurement Unit and default court
To difference；According to described default towards the processing IMU data.
In one example, the processor is used for：If the IMU data meet preset condition, it is determined that the inertia
The current direction of measuring unit is different from the default direction.
In one example, it is obtained when the IMU data carrier executes required movement.
In one example, the current direction includes the reference axis direction of the Inertial Measurement Unit.
In one example, the reference axis include at least one of x-axis, y-axis, z-axis or pitch axis, roll axis,
At least one of yaw axis.
In one example, the IMU data include acceleration information；
The preset condition is：The symbol of the acceleration information from it is described default different towards corresponding data symbol.
In one example, the IMU data include angular velocity data；
The preset condition is：The symbol of the angular velocity data from it is described default different towards corresponding data symbol.
In one example, the processor is used for：The IMU data are carried out that opposite number is taken to operate.
In one example, the carrier is human body left finesse portion or right human hand wrist.
Based on inventive concept same as the above method, a kind of machine readable storage Jie is also provided in the embodiment of the present invention
Matter, the machine readable storage medium can be located at portable device, several calculating are stored on the machine readable storage medium
Machine instructs, and the computer instruction, which is performed, to be handled as follows：Detect the Inertial Measurement Unit it is current towards with
Default direction is different；According to described default towards the processing IMU data.
It is described detect the Inertial Measurement Unit it is current towards from default towards during different, the computer
Instruction, which is performed, to be handled as follows：If the IMU data meet preset condition, it is determined that the Inertial Measurement Unit is worked as
The previous dynasty to from it is described default towards different.
The IMU data carrier obtains when executing required movement.
The current direction includes the reference axis direction of the Inertial Measurement Unit.
The reference axis include at least one of x-axis, y-axis, z-axis or pitch axis, roll axis, yaw axis extremely
It is one few.
The IMU data include acceleration information；The preset condition is：The symbol of the acceleration information with it is described pre-
If towards corresponding data symbol difference.
The IMU data include angular velocity data；The preset condition is：The symbol of the angular velocity data with it is described pre-
If towards corresponding data symbol difference.
It is described according to described default towards during handling the IMU data, the computer instruction be performed into
The following processing of row：The IMU data are carried out that opposite number is taken to operate.
The carrier is human body left finesse portion or right human hand wrist.
System, device, module or the unit that above-described embodiment illustrates can realize by computer chip or entity, or
It is realized by the product with certain function.A kind of typically to realize that equipment is computer, the concrete form of computer can be
Personal computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, is led at laptop computer
It is arbitrary in equipment, E-mail receiver/send equipment, game console, tablet computer, wearable device or these equipment of navigating
The combination of several equipment.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit is realized can in the same or multiple software and or hardware when invention.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program production
Product.Therefore, complete hardware embodiment, complete software embodiment or implementation combining software and hardware aspects can be used in the present invention
The form of example.Moreover, the embodiment of the present invention can be used in one or more wherein include computer usable program code meter
The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It is generally understood that being realized by computer program instructions each in flowchart and/or the block diagram
The combination of flow and/or box in flow and/or box and flowchart and/or the block diagram.These computer journeys can be provided
Sequence instruct to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor with
Generate a machine so that the instruction generation executed by computer or the processor of other programmable data processing devices is used for
Realize the dress for the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes
It sets.
Computer or the processing of other programmable datas can be guided to set moreover, these computer program instructions can also be stored in
In standby computer-readable memory operate in a specific manner so that instruction stored in the computer readable memory generates
Manufacture including command device, the command device are realized in one flow of flow chart or multiple flows and/or block diagram one
The function of being specified in a box or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing devices so that calculate
Series of operation steps are executed on machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It will be understood by those skilled in the art that the embodiment of the present invention can be provided as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or implementation combining software and hardware aspects may be used in the present invention
The form of example.Moreover, it wherein includes the calculating of computer usable program code that the present invention, which may be used at one or more,
The computer implemented in machine usable storage medium (can include but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of program product.
The foregoing is merely the embodiment of the present invention, are not intended to restrict the invention.Those skilled in the art are come
It says, the invention may be variously modified and varied.It is all within spirit and principles of the present invention made by it is any modification, equally replace
It changes, improve, should be included within scope of the presently claimed invention.
Claims (27)
1. a kind of motion recognition method, which is characterized in that be applied to portable device, the portable device is for detecting carrier
Athletic posture, the portable device includes Inertial Measurement Unit, and the Inertial Measurement Unit is for obtaining IMU data, institute
The method of stating includes：
Detect the current towards different from default direction of the Inertial Measurement Unit；
According to described default towards the processing IMU data.
2. according to the method described in claim 1, it is characterized in that, the current direction for detecting the Inertial Measurement Unit
Include towards difference with default：
If the IMU data meet preset condition, it is determined that the current direction of the Inertial Measurement Unit is from default towards different.
3. according to the method described in claim 2, it is characterized in that,
The IMU data carrier obtains when executing required movement.
4. according to the method described in claim 1, it is characterized in that, the current direction includes the seat of the Inertial Measurement Unit
Parameter direction.
5. according to the method described in claim 4, it is characterized in that,
The reference axis includes at least one of x-axis, y-axis, z-axis, or
At least one of pitch axis, roll axis, yaw axis.
6. according to the method described in claim 2, it is characterized in that, the IMU data include acceleration information；
The preset condition is：The symbol of the acceleration information from it is described default different towards corresponding data symbol.
7. according to the method described in claim 2, it is characterized in that, the IMU data include angular velocity data；
The preset condition is：The symbol of the angular velocity data from it is described default different towards corresponding data symbol.
8. according to the method described in claim 1, it is characterized in that, described according to described default towards the processing IMU data
Including：
The IMU data are carried out that opposite number is taken to operate.
9. according to the method described in claim 1, it is characterized in that, the carrier is human body left finesse portion or right human hand wrist
Portion.
10. a kind of portable device, which is characterized in that the portable device is used to detect the posture of carrier, described portable
Equipment includes：
Inertial Measurement Unit, the Inertial Measurement Unit is for obtaining IMU data；And
Processor, the processor are used for：
Detect the current towards different from default direction of the Inertial Measurement Unit；
According to described default towards the processing IMU data.
11. portable device according to claim 10, which is characterized in that the processor is used for：
If the IMU data meet preset condition, it is determined that current direction and the default direction of the Inertial Measurement Unit
It is different.
12. portable device according to claim 11, which is characterized in that
The IMU data carrier obtains when executing required movement.
13. portable device according to claim 10, which is characterized in that the current direction includes the inertia measurement
The reference axis direction of unit.
14. portable device according to claim 13, which is characterized in that
The reference axis includes at least one of x-axis, y-axis, z-axis, or
At least one of pitch axis, roll axis, yaw axis.
15. portable device according to claim 11, which is characterized in that the IMU data include acceleration information；
The preset condition is：The symbol of the acceleration information from it is described default different towards corresponding data symbol.
16. portable device according to claim 11, which is characterized in that the IMU data include angular velocity data；
The preset condition is：The symbol of the angular velocity data from it is described default different towards corresponding data symbol.
17. portable device according to claim 10, which is characterized in that the processor is used for：
The IMU data are carried out that opposite number is taken to operate.
18. portable device according to claim 10, which is characterized in that the carrier is human body left finesse portion or people
Body right hand wrist.
19. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium
Instruction, the computer instruction, which is performed, to be handled as follows：
Detect the current towards different from default direction of the Inertial Measurement Unit；
According to described default towards the processing IMU data.
20. machine readable storage medium according to claim 19, which is characterized in that described to detect the inertia measurement
Unit it is current towards, towards during different, the computer instruction, which is performed, to be handled as follows from default：
If the IMU data meet preset condition, it is determined that current direction and the default direction of the Inertial Measurement Unit
It is different.
21. machine readable storage medium according to claim 20, which is characterized in that the IMU data are the carrier
It is obtained when execution required movement.
22. machine readable storage medium according to claim 19, which is characterized in that the current direction includes described used
The reference axis direction of property measuring unit.
23. machine readable storage medium according to claim 22, which is characterized in that
The reference axis includes at least one of x-axis, y-axis, z-axis, or
At least one of pitch axis, roll axis, yaw axis.
24. machine readable storage medium according to claim 20, which is characterized in that the IMU data include acceleration
Data；
The preset condition is：The symbol of the acceleration information from it is described default different towards corresponding data symbol.
25. machine readable storage medium according to claim 20, which is characterized in that the IMU data include angular speed
Data；
The preset condition is：The symbol of the angular velocity data from it is described default different towards corresponding data symbol.
26. machine readable storage medium according to claim 19, which is characterized in that described according to described default at
During managing the IMU data, the computer instruction, which is performed, to be handled as follows：
The IMU data are carried out that opposite number is taken to operate.
27. machine readable storage medium according to claim 19, which is characterized in that the carrier is human body left finesse
Portion or right human hand wrist.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/083705 WO2018205159A1 (en) | 2017-05-10 | 2017-05-10 | Motion recognition method, portable device, and machine-readable storage medium |
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| Publication Number | Publication Date |
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| CN108496144A true CN108496144A (en) | 2018-09-04 |
| CN108496144B CN108496144B (en) | 2022-05-17 |
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