CN108627284A - A kind of human body midstance perception floor - Google Patents
A kind of human body midstance perception floor Download PDFInfo
- Publication number
- CN108627284A CN108627284A CN201810423403.5A CN201810423403A CN108627284A CN 108627284 A CN108627284 A CN 108627284A CN 201810423403 A CN201810423403 A CN 201810423403A CN 108627284 A CN108627284 A CN 108627284A
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- pressure
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- floor
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- 230000008447 perception Effects 0.000 title claims description 26
- 238000004891 communication Methods 0.000 claims abstract description 20
- 239000011159 matrix material Substances 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 238000004804 winding Methods 0.000 claims abstract description 14
- 230000005484 gravity Effects 0.000 claims abstract description 6
- 238000000354 decomposition reaction Methods 0.000 claims abstract description 5
- 230000002452 interceptive effect Effects 0.000 claims abstract description 5
- 239000000203 mixture Substances 0.000 claims abstract description 4
- 150000001875 compounds Chemical class 0.000 claims abstract description 3
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000036544 posture Effects 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 2
- 210000001364 upper extremity Anatomy 0.000 claims 1
- 230000035945 sensitivity Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003750 conditioning effect Effects 0.000 description 2
- 230000037081 physical activity Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Emergency Alarm Devices (AREA)
- Manipulator (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a kind of human body midstances to perceive floor, and diaphragm pressure sensor is laid in the upper surface of support baseboard, blend compounds hydropexis connection, and buffer protection layer is arranged on diaphragm pressure sensor；Arrangement decomposition pressure sensor matrices are arranged in a matrix in multiple diaphragm pressure sensors.The output of data selection unit is connected by winding displacement with signal condition unit, and signal condition unit will be connected by winding displacement or PCB printed circuits with microprocessor after signal condition；Microprocessor is connected by data/address bus with communication module；Communication module is connected by wired or wireless mode with host computer.Each pressure sensor can perceive its surface pressure situation, and have higher sensitivity.Realize that human body is stood and the human action feature recognition of robot interactive simultaneously, including basic stance identification, forward lean, hypsokinesis, center of gravity left and right foot feature recognition, across a step action recognition before the foot of left and right.
Description
Technical field
The present invention relates to a kind of pressure to perceive floor, is applied to intelligence manufacture, human-computer interaction and man-machine collaboration apparatus field.
Background technology
Intelligent perception technology is suffered from various reality scenes and is widely applied, in Intelligent life field, intelligent floor
The elemental motion perception of human body may be implemented.But it cooperates with industrial robot field in people, although robot machine in recent ten years
Device people technology is fast-developing, and more and more intelligent, and robot is to the perception level of environment also far from the perception energy of the same mankind
Power compares favourably, it is still desirable to and people reaches active perception environment capacity as machine portrait people to its continuous study with training,
Pressure perception floor is exactly a kind of intelligent perception system for robot active perception physical activity.
Invention content
The purpose of the present invention is to propose to a kind of intelligent pressures to perceive floor, be applied to people and robot cooperated occasion, improve
The environment sensing ability of robot is a kind of supplement of existing environment perception technology.
To achieve the above object, the technical solution adopted by the present invention is that a kind of human body midstance perceives floor, the perception
Floor includes 64*i diaphragm pressure sensor, and i takes positive integer；Diaphragm pressure sensor is a per 8*8 for perceiving human pressure
Diaphragm pressure sensor i.e. 64 become one group, and every group of sensor composition square, the diaphragm pressure sensor of 16 groups of 8*8 forms
The pressure array of 32*32 sends the pressure signal of diaphragm pressure sensor to data acquisition unit put by signal line
Big unit.
Microprocessor, the signal for acquiring the pressure sensor that amplifying unit transmission comes, and pass through communication module in real time
The signal of acquisition is sent to host computer processor.Power module is that microprocessor and communication module are powered, power supply, Wei Chu
Reason device, communication module are embedded in pressure floor bottoms.
Upper computer software, human pressure's signal data stream for receiving microprocessor transmission, pressure signal is converted into pressing
Try hard to picture, and carry out Data Analysis Services, realizes the pressure perception of the physical activity in interactive process, closed in interactive process
Key feature recognition, including basic stance identification, human body lean forward, human body hypsokinesis, center of gravity left and right foot feature recognition
With human motion action recognition.
The present invention proposes a kind of Intellisense floor, and human pressure's perception and posture perception may be implemented, can realize people
Machine midstance Feature extraction and recognition.The perception floor perception data of the present invention can be transmitted and can intuitively be shown at a distance
Show, can be applied to the multiple fields such as human-computer interaction, man-machine collaboration, intelligent environment perception.
Description of the drawings
Fig. 1 is the structure diagram on pressure perception proposed by the present invention floor.
In Fig. 1,1 be 1 is diaphragm pressure sensor, and 2 be buffer protection layer, and 3 be support baseboard.Diaphragm pressure sensor root
It is round or rectangular according to needing to be designed to；Buffer protection layer needs have certain elasticity and compression automatic recovery ability；Support
Bottom plate requirement certain rigidity and flatness.
Fig. 2 is the system schematic on the pressure perception floor of the present invention.
In Fig. 2,4 be pressure sensor matrix, and 5 be data selection unit, and 6 be signal condition unit, and 7 be microprocessor, 8
It is communication module, 9 be power module, and 10 be host computer.
Specific implementation mode
Pressure proposed by the present invention perceives floor, and structure diagram is as shown in Figure 1, diaphragm pressure sensor 1 is laid in branch
The upper surface of bottom plate 3, blend compounds hydropexis connection are supportted, buffer protection layer 2 is arranged on diaphragm pressure sensor 1；Its system block diagram
As shown in Fig. 2, arrangement decomposition pressure sensor matrices 4, pressure sensor matrix is arranged in a matrix in multiple diaphragm pressure sensors 1
4 have m rows, n row, draw m root row winding displacements respectively and n root row winding displacements, row winding displacement are connected with data selection unit 5, row winding displacement and base
Quasi- voltage is connected.The output of data selection unit 5 is connected by winding displacement with signal condition unit 6, and signal condition unit 6 is by signal
It is connected with microprocessor 7 by winding displacement or PCB printed circuits after conditioning；Microprocessor 7 passes through data/address bus and communication module 8
It is connected；Communication module 8 is connected by wired or wireless mode with host computer 10.
Including：
64 diaphragm pressure sensors 1 press the formal distribution decomposition pressure sensor matrices 4 of 8*8, i pressure sensor square
The pressure value of all pressure sensors is sent to letter by battle array 4 for measuring stress when human body is stood by data selection unit 5
Number conditioning unit 6.
Signal condition unit 6 is used to carry out Linear Amplifer to every road signal of gating, to reach 7 analog-to-digital conversion of microprocessor
Voltage range, and transmit signals to the analog-to-digital conversion channel of microprocessor 7.
Microprocessor 7, the pressure signal of all pressure sensor matrixes 4 for acquiring pressure sensing array 4, and pass through
Collected signal is sent to host computer 10 by communication module 8, and power module 9 is microprocessor 7, signal condition unit 6 and leads to
Believe that module 8 is powered, power module 9, microprocessor 7, signal condition unit 6 and communication module 8 are placed in together under pressure floor
Face.
Host computer 10 perceives the pressure signal of floor pressure sensor matrix 4 for receiving pressure, and generates tonogram
Picture, the situation of change of real-time display pressure, while pressure data matrix and image are analyzed, realize human body standing and machine
The human action feature recognition of people's interaction, including basic stance identification, human body lean forward, and human body hypsokinesis, center of gravity is in left and right foot
Feature recognition, the action recognition of human motion.
Below in conjunction with the accompanying drawings, the course of work on pressure perception proposed by the present invention floor is introduced：Pressure perception floor is divided into
Three-decker, upper layer are buffer protection layers 2, and centre is multiple diaphragm pressure sensors 1, and here is support baseboard 3.Pressure sensing
Device is every 64 one group (8*8), and the pressure that 16 groups of pressure sensors constitute 32*32 perceives array.Each pressure sensor can be felt
Know its surface pressure situation, and there is higher sensitivity.Each pressure sensor matrix 4 passes through data selection unit 5
Pressure signal is transmitted to signal condition unit 6.
Signal condition unit 6 carries out Linear Amplifer processing, to reach 7 mould of microprocessor for every road signal to gating
The voltage range of number conversion, and transmit signals to the analog-to-digital conversion channel of microprocessor 7.
Microprocessor 7, the pressure signal of all pressure sensing matrixes 4 for acquiring pressure sensing array, and by logical
Collected signal is continually transmitted to host computer 10 by letter module 8, forms pressure data stream；Power module 9 be microprocessor 7,
Signal condition unit 6 and communication module 8 are powered, and power module 9, microprocessor 7, signal condition unit 6 and communication module 8 are together
It is positioned over below pressure floor.
Host computer 10 changes picture format into pressure data circulation and analyzes, the situation of change of real-time display pressure, together
Shi Shixian human bodies are stood and the human action feature recognition of robot interactive, including basic stance identification, forward lean, after
Incline, center of gravity left and right foot feature recognition, across a step action recognition before the foot of left and right.
Step pressure shape identifies：Pressure sensing array can perceive the field of force of contact surface, be carried out to pressure perception matrix
Gray scale is shown and binary conversion treatment, realizes the image of sole stress and identification.
Human body midstance is analyzed：When human normal is stood, the Center of Pressure coordinate in pressure face is basically unchanged, on human body
The movement of limb can influence human body sole and is distributed to the pressure on pressure floor, by the change procedure for identifying pressure matrix centre coordinate
The foot pressure characteristic information of various postures when human body is stood can be extracted.
Human body midstance identifies：Using pressure image, the characteristic under various stances is obtained, can identify that human body exists
Various postures on floor.
Claims (10)
1. a kind of human body midstance perceives floor, it is characterised in that：Diaphragm pressure sensor (1) is laid in support baseboard (3)
The upper surface of, blend compounds hydropexis connection, buffer protection layer (2) is arranged on diaphragm pressure sensor (1)；Multiple diaphragm pressures pass
Arrangement decomposition pressure sensor matrices (4) are arranged in a matrix in sensor (1), and pressure sensor matrix (4) has m rows, n row, draws respectively
Go out m root row winding displacements and n root row winding displacements, row winding displacement is connected with data selection unit (5), and row winding displacement is connected with reference voltage；Data
The output of selecting unit (5) is connected by winding displacement with signal condition unit (6), and signal condition unit (6) will lead to after signal condition
Winding displacement or PCB printed circuits is crossed with microprocessor (7) to be connected；Microprocessor (7) passes through data/address bus and communication module (8) phase
Even；Communication module (8) is connected by wired or wireless mode with host computer (10).
2. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：64 diaphragm pressure sensings
Device (1) presses the formal distribution decomposition pressure sensor matrices (4) of 8*8, and i pressure sensor matrix (4) is for measuring human body station
The pressure value of all pressure sensors is sent to signal condition unit (6) by stress immediately by data selection unit (5).
3. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：Signal condition unit (6)
For carrying out Linear Amplifer to every road signal of gating, to reach the voltage range of microprocessor (7) analog-to-digital conversion, and by signal
It is sent to the analog-to-digital conversion channel of microprocessor (7).
4. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：Microprocessor (7), is used for
The pressure signal of all pressure sensor matrixes (4) of pressure sensor matrix (4) is acquired, and will be adopted by communication module (8)
The signal collected is sent to host computer (10), and power module (9) is microprocessor (7), signal condition unit (6) and communication module
(8) it powers, power module (9), microprocessor (7), signal condition unit (6) and communication module (8) with being placed in pressure together
Below plate.
5. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：Host computer (10), is used for
The pressure signal of pressure perception pressure sensor matrix (4) is received, and generates pressure image, the variation feelings of real-time display pressure
Condition, while pressure data matrix and image are analyzed, it realizes that human body is stood and knows with the human action feature of robot interactive
, including basic stance identification, human body do not lean forward, human body hypsokinesis, center of gravity left and right foot feature recognition, human motion it is dynamic
It identifies.
6. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：Pressure perception floor is divided into
Three-decker, upper layer are buffer protection layer (2), and centre is multiple diaphragm pressure sensors (1), and here is support baseboard (3)；Pressure
Force snesor is every 64 one group (8*8), and the pressure that 16 groups of pressure sensors constitute 32*32 perceives array；Each diaphragm pressure passes
Sensor (1) can perceive its surface pressure situation；Each pressure sensor matrix (4) will by data selection unit (5)
Pressure signal is transmitted to signal condition unit (6).
7. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：Signal condition unit (6),
Linear Amplifer processing is carried out for every road signal to gating, to reach the voltage range of microprocessor (7) analog-to-digital conversion, and will
Signal is sent to the analog-to-digital conversion channel of microprocessor (7).
8. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：Microprocessor (7), is used for
The pressure signal of all pressure sensor matrixes (4) of pressure sensing array is acquired, and will be collected by communication module (8)
Signal is continually transmitted to host computer (10), forms pressure data stream；Power module (9) is microprocessor (7), signal condition unit
(6) it powers with communication module (8), power module (9), microprocessor (7), signal condition unit (6) and communication module (8) are together
It is positioned over below pressure floor.
9. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：Host computer (10), to pressure
Force data circulation changes picture format into and is analyzed, the situation of change of real-time display pressure, while realizing human body standing and machine
People interaction human action feature recognition, including basic stance identification, forward lean, hypsokinesis, center of gravity left and right foot spy
Sign identifies, across a step action recognition before the foot of left and right.
10. a kind of human body midstance according to claim 1 perceives floor, it is characterised in that：Step pressure shape is known
Not：Pressure sensing array can perceive the field of force of contact surface, and carrying out gray scale to pressure perception matrix shows and binary conversion treatment, real
The now image of sole stress and identification；
Human body midstance is analyzed：When human normal is stood, the Center of Pressure coordinate in pressure face is basically unchanged, human upper limb
Movement can influence human body sole and is distributed to the pressure on pressure floor, by identifying that the change procedure of pressure matrix centre coordinate can be with
Extract the foot pressure characteristic information of various postures when human body is stood；
Human body midstance identifies：Using pressure image, the characteristic under various stances is obtained, human body can be identified on floor
On various postures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810423403.5A CN108627284A (en) | 2018-05-06 | 2018-05-06 | A kind of human body midstance perception floor |
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| CN201810423403.5A CN108627284A (en) | 2018-05-06 | 2018-05-06 | A kind of human body midstance perception floor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109632160A (en) * | 2018-10-15 | 2019-04-16 | 王长贵 | A kind of ultrasonic wave compound tile |
| CN111972928A (en) * | 2020-08-21 | 2020-11-24 | 浙江指云信息技术有限公司 | Sleep-aiding pillow with surrounding sound field and adjusting and controlling method thereof |
| CN112270076A (en) * | 2020-10-15 | 2021-01-26 | 同济大学 | Environment model construction method and system based on intelligent agent active perception |
| CN115487480A (en) * | 2022-08-11 | 2022-12-20 | 江西中业光文化科技有限公司 | Body position sensing device and method and boxing system |
| CN115674202A (en) * | 2022-11-01 | 2023-02-03 | 东北大学 | Method, device and system for correcting pose of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115487480A (en) * | 2022-08-11 | 2022-12-20 | 江西中业光文化科技有限公司 | Body position sensing device and method and boxing system |
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| CN115674202A (en) * | 2022-11-01 | 2023-02-03 | 东北大学 | Method, device and system for correcting pose of robot |
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Application publication date: 20181009 |