CN112857362A - Intelligent shoe and action type identification method, device, equipment and storage medium thereof - Google Patents
Intelligent shoe and action type identification method, device, equipment and storage medium thereof Download PDFInfo
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Abstract
The application discloses an intelligent shoe and a method, a device, equipment and a storage medium for identifying the action type of the intelligent shoe, wherein the method comprises the following steps: acquiring first air pressure change data generated by a first intelligent shoe at present, and judging whether the first air pressure change data enters a squatting time zone or not; acquiring second air pressure change data synchronized from a second intelligent shoe, and judging whether the second air pressure change data enters a squatting time zone or not; when the first air pressure change data and the second air pressure change data simultaneously enter the squatting time zone, recognizing that the squatting action type is executed; outputting, to a computer device having the first smart shoe as an input device, an event notification indicating that the type of squat action was performed. This application carries out the measurement of atmospheric pressure value to the application of force main part through set up the atmospheric pressure measuring unit in the body sensing device at intelligent shoes, utilizes the atmospheric pressure change data that a plurality of atmospheric pressure values constitute to judge the appearance time zone of squatting and the appearance action type of squatting of accurate discernment application of force main part, compares in the mode that adopts IMU, judges more accurately.
Description
Technical Field
The application relates to the technical field of motion recognition, in particular to an intelligent shoe, a motion type recognition method and device thereof, and a computer readable storage medium.
Background
The IMU (Inertial Measurement Unit) is an Inertial Measurement Unit (IMU) that detects motion signals of an object in a carrier coordinate system through an acceleration sensor and/or a gyroscope in the Unit. The IMU is often applied to peripheral devices of the motion sensing game, and the motion sensing game is a novel electronic motion sensing game which breaks through the traditional operation mode of simply inputting by using handle keys and converts the change of body motion into a mode similar to the input of the handle keys for operation.
One of the popular ways to do this is to design the relevant inputs into the smart shoe, identify the motion patterns of the user by the relevant data generated by the foot motions of the lower body of the human body, identify the relevant foot motions, and input the relevant foot motions into the game device through communication means such as bluetooth, so that the user can participate in the interaction of the motion sensing game.
However, the technical means adopted by the existing intelligent shoes are limited to be more traditional, the existing entertainment and fitness algorithms are basically limited to algorithms for analyzing the step number, the step frequency, the length and the like, the algorithms mostly depend on three-axis data of a gyroscope, and generally depend on dynamic data generated under the condition that the motion amplitude of legs of a human body is large. However, for the situation that the foot itself does not basically displace, such as when the human body squats, the data provided by the gyroscope often cannot meet the requirement, and it is difficult to correctly identify the relevant action type, so that in the application aspect, for example, some sports application software cannot depend on whether the user of the intelligent shoe performs the squat action, or some game software cannot determine whether the user performs the action, and thus, in the prior art, the identification effect of the intelligent shoe is not ideal particularly when the intelligent shoe identifies the posture type of the human body squat.
Disclosure of Invention
The application aims to provide an action type identification method, which at least realizes accurate identification of squat action types by introducing air pressure change data.
Another object of the present application is to provide an action type recognition apparatus, a smart shoe, a computer device, and a computer-readable storage medium.
In order to achieve the above object, the present application provides an action type identification method, including:
acquiring first air pressure change data generated by a first intelligent shoe at present, and judging whether the first air pressure change data enters a squatting time zone or not;
acquiring second air pressure change data synchronized from a second intelligent shoe, and judging whether the second air pressure change data enters a squatting time zone or not;
when the first air pressure change data and the second air pressure change data simultaneously enter the squatting time zone, recognizing that the squatting action type is executed;
outputting, to a computer device having the first smart shoe as an input device, an event notification indicating that the type of squat action was performed.
In a preferred embodiment, the step of determining whether the first/second air pressure variation data enters the squatting time zone includes:
setting a calculation window with the length of N, and sliding the calculation window to calculate, wherein each calculation window comprises N air pressure values continuously collected in the air pressure change data, and N is a natural number more than 2;
judging the data characteristics presented by each calculation window according to the N air pressure values, and determining whether the data representing the corresponding air pressure change is positioned on the rising edge representing the landing of the intelligent shoe;
and determining a calculation window corresponding to the rising edge as the squatting time zone.
In a further embodiment, the step of determining whether the data characteristic presented in each calculation window represents that the corresponding air pressure change data is on a rising edge according to the N air pressure values includes:
determining a maximum air pressure value and a minimum air pressure value in the calculation window;
comparing whether the difference value between the maximum air pressure value and the minimum air pressure value exceeds a preset threshold value or not;
when the maximum air pressure value exceeds the preset threshold value, determining that the maximum air pressure value lags or leads the minimum air pressure value in time, and if the maximum air pressure value lags or leads the minimum air pressure value, determining the calculation window as a rising edge representing the intelligent shoe landing; if so, the calculation window is determined as a falling edge which represents that the intelligent shoe leaves the ground.
In a preferred embodiment, the data characteristic of the calculation window representing the rising edge of the intelligent shoe landing represents a rule that the subsequent air pressure value is greater than the previous air pressure value, and the difference between the two values exceeds a preset threshold value.
In some embodiments, after the first air pressure change data and the second air pressure change data enter the squatting time zone simultaneously, displacement information of the first intelligent shoe or the second intelligent shoe in the squatting time zone is obtained by using motion inertia data in the first intelligent shoe, and when the displacement information is smaller than a preset value or zero, the type of the squatting action is identified as being executed.
In a further embodiment, the method for identifying an action type further includes the following steps:
and receiving a notification instruction of the computer equipment, and driving the vibration sensors of the first intelligent shoe and the second intelligent shoe to vibrate and alarm according to the notification instruction.
To achieve the above object, the present application also provides an action type recognition apparatus, including:
the first judgment module is used for acquiring first air pressure change data generated by the current first intelligent shoe and judging whether the first air pressure change data enters a squatting time zone or not;
the second judgment module is used for acquiring second air pressure change data synchronized from the second intelligent shoe and judging whether the second air pressure change data enters the squatting time zone or not;
the action identification module is used for identifying the type of the squatting action as being executed when the first air pressure change data and the second air pressure change data simultaneously enter the squatting time zone;
and the event notification module is used for outputting an event notification representing that the squatting action type is executed to the computer equipment taking the first intelligent shoe as the input equipment.
In a preferred embodiment, the first/second determining module includes:
the sliding submodule is used for setting a calculation window with the length of N, and sliding the calculation window to calculate, wherein each calculation window comprises N air pressure values continuously collected in the air pressure change data, and N is a natural number more than 2;
the judgment submodule is used for judging the data characteristics presented by each calculation window according to the N air pressure values and determining whether the corresponding air pressure change data representing the intelligent shoe is positioned at the rising edge representing the intelligent shoe landing;
and the determining submodule is used for determining the calculation window corresponding to the rising edge as the squatting time zone.
In a further embodiment, the determining sub-module is specifically configured to:
determining a maximum air pressure value and a minimum air pressure value in the calculation window;
comparing whether the difference value between the maximum air pressure value and the minimum air pressure value exceeds a preset threshold value or not;
when the maximum air pressure value exceeds the preset threshold value, determining that the maximum air pressure value lags or leads the minimum air pressure value in time, and if the maximum air pressure value lags or leads the minimum air pressure value, determining the calculation window as a rising edge representing the intelligent shoe landing; if so, the calculation window is determined as a falling edge which represents that the intelligent shoe leaves the ground.
In a preferred embodiment, in the judgment sub-module, the data characteristic of the calculation window representing the rising edge of the intelligent shoe landing represents a rule that the subsequent air pressure value is greater than the previous air pressure value, and the difference between the two values exceeds a preset threshold value.
In some embodiments, in the action identification module, after the first air pressure change data and the second air pressure change data enter the squatting time zone at the same time, displacement information generated by the first intelligent shoe or the second intelligent shoe in the squatting time zone is acquired by using motion inertia data in the first intelligent shoe, and when the displacement information is smaller than a preset value or zero, the action type of the squatting position is identified as the execution type of the squatting position action.
In a further embodiment, the motion type recognition apparatus further includes:
and the warning response module is used for receiving a notification instruction of the computer equipment and driving the respective vibration sensors of the first intelligent shoe and the second intelligent shoe to vibrate and warn according to the notification instruction.
For realizing above-mentioned purpose, this application still provides an intelligent shoes, and this intelligent shoes is including feeling sensing device, and with another intelligent shoes wireless connection who has the same structure and function, wherein, sensing device is felt to the body of intelligent shoes includes:
the inertia measurement unit is used for detecting the motion inertia data of the intelligent shoes so as to determine the displacement information of the intelligent shoes;
the air pressure measuring unit is used for detecting air pressure change data generated by pressurizing the intelligent shoe so as to determine a squatting time zone;
the control unit is used for detecting whether the first air pressure change data of the current intelligent shoe and the second air pressure change data of another intelligent shoe connected with the current intelligent shoe enter the squatting position time zone at the same time, identifying the type of the executed squatting position action when the two air pressure change data enter the squatting position time zone, and outputting an event notice representing the type of the executed squatting position action to the computer equipment through the communication module;
and the communication module is used for transmitting the event notification to the computer equipment and acquiring displacement information and air pressure change data generated by another intelligent shoe.
To achieve the above object, the present application further provides a computer device wirelessly connected to the intelligent shoe as described above, wherein at least one process running in the computer device triggers another computer event to change the business process being executed by itself in response to the event notification.
To achieve the above object, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when being executed by a processor, implements the steps of the action type identification method as described above.
Compared with the prior art, the technical scheme that this application provided, through calling the atmospheric pressure change data that two intelligent shoes produced, utilize atmospheric pressure change data judge whether every intelligent shoe is in the position of squatting motion state, through distinguishing and analyzing and utilizing the data characteristic that two atmospheric pressure change data that two intelligent shoes produced jointly appear, whether the motion state of confirming intelligent shoes in time gets into the position of squatting time zone, under the condition that both got into the position of squatting time zone, judge that two intelligent shoes have been executed the position of squatting action type. Compared with the traditional IMU (inertial measurement Unit) which utilizes gyroscope data to judge, the judgment mechanism can more accurately describe the squatting action characteristics of the human body, and the benefit of the judgment mechanism is that the air pressure change data depends on the relation between stress and the area of the stress, but not on space motion displacement information. Therefore, the intelligent shoe enriches the types of user actions which can be identified by the intelligent shoe, can accurately identify the squat action of the user, and has practical significance for developing games, sports projects, interactive services and the like which are carried out based on the squat action of the human body.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic block diagram of a motion sensing device for a smart shoe according to an embodiment of the present application;
FIG. 2 is a schematic structural view of an air pressure measuring unit employed in a smart shoe to which an embodiment of the present application is applied, which generally shows a side view of a structure provided in the form of an insole;
fig. 3 is a flowchart of an action type recognition method according to an embodiment of the present application;
FIG. 4 is a flow chart of a process for determining a squat time zone using barometric pressure change data as described herein;
fig. 5 is a schematic block diagram of an action type recognition device according to an embodiment of the present application.
Detailed Description
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The person skilled in the art will know this: although the various methods and apparatus of the present application are described based on the same concept so as to be common to each other, they can be operated independently unless otherwise specified. In the same way, for each embodiment disclosed in the present application, it is proposed based on the same inventive concept, and therefore, concepts of the same expression and concepts of which expressions are different but are appropriately changed only for convenience should be equally understood.
The core of the application is to provide an intelligent shoe action type identification method and device, an intelligent shoe, computer equipment and a computer readable storage medium, wherein whether first air pressure change data enters a squatting posture time zone or not is judged by acquiring the first air pressure change data generated by the current first intelligent shoe; meanwhile, second air pressure change data synchronized from a second intelligent shoe are obtained, and whether the second air pressure change data enter a squatting time zone or not is judged; then, when the first air pressure change data and the second air pressure change data simultaneously enter the squatting time zone, identifying as the type of executing the squatting action; finally, an event notice representing that the squatting action type is performed is output to the computer device with the first intelligent shoe as an input device. Therefore, accurate identification of the type of squatting action performed by the intelligent shoe using main body is realized.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The body sensing device provided by the invention is internally arranged in the intelligent shoe provided by the invention, the functional block diagram of the body sensing device is shown in figure 1, a singlechip 213 or other intelligent chips and other processors are used as a control unit of the body sensing device, the battery 214 supplies power to control the inertial measurement unit 211 and the air pressure measurement unit 122 to collect various corresponding sensing data, the corresponding sensing data comprises the motion inertial data and the air pressure change data, wherein the inertial measurement unit 211 is used for collecting the motion inertial data, the air pressure measurement unit 122 is used for collecting the air pressure change data, after the gait and action types related to the foot of the human body are identified by using the sensing data, the related identification result and/or the related data are sent to the wirelessly connected personal computer, mobile terminal, intelligent television and other devices for communication through the communication module 22, thereby participating in a motion sensing game or performing health data interaction and the like. The communication module 22 is preferably bluetooth or other near field communication technology, although communication mechanisms based on mobile communication, WiFi and the like are not excluded, and those skilled in the art can flexibly select the communication mechanism. In addition, the one-chip microcomputer 213 may also control the vibration sensor 212 to vibrate by receiving a command from the device side through its communication module, so as to implement interaction with the user.
As mentioned above, the intelligent shoe is provided with an inertial measurement unit IMU, which is mainly used to obtain the motion inertial data, i.e. the relevant data that can be collected about the IMU and is known to those skilled in the art. More specifically, in one embodiment, the intelligent shoe measures acceleration and angular velocity data through an accelerometer and a gyroscope carried by the IMU itself, and acceleration and geomagnetic data through a magnetometer carried by the IMU itself, which collectively constitute the inertial data of the movement. These data can subsequently be used by the control unit to make further identifications of the type of action.
And the air pressure measuring unit 12, as shown in fig. 2, is a module added in the form of an insole 10 in the intelligent shoe. As shown in fig. 2, by providing a shoe pad-shaped air bag 121, providing a cavity inside the air bag 121, and disposing one or more air pressure sensors 122 in the cavity, when the air bag 121 is pressed by the foot of a human body, the air pressure sensors 122 can acquire the air pressure change data related to the foot movement. In order to make the data acquisition of the air pressure sensor 122 more uniform, a flexible cushion 11 may be disposed above the air bag 12, which is also convenient for improving the pressing feeling of the user. Typically, the air pressure change data may be represented and read in the form of air pressure values. Thus, in essence, the air pressure measuring unit 12 is an air pressure gauge in the form of an insole.
When a user uses the intelligent shoes, the intelligent shoes are usually matched with one another for use, the two intelligent shoes are usually preset to be in a master-slave relationship when leaving a factory, so that the two intelligent shoes can be mutually backed up when necessary, while in work, a first intelligent shoe in the two intelligent shoes is responsible for establishing wireless communication connection with computer equipment, a second intelligent shoe is only required to synchronize the relevant data and the output result generated by the second intelligent shoe to the first intelligent shoe, and the first intelligent shoe serving as a host is responsible for intensively identifying the relevant action types.
It is understood that, in an embodiment, the master-slave relationship between the first intelligent shoe and the second intelligent shoe may be switched or the disaster-backup relationship may be formed at any time, that is, when the communication link between the first intelligent shoe and the computer device is disconnected, the control instruction may be sent to control the second intelligent shoe to establish the communication link with the computer device, instead of the first intelligent shoe communicating with the computer device. In this case, the second smart shoe and the first smart shoe are exchanged in roles. Therefore, those skilled in the art should understand that the serial numbers of the first intelligent shoe and the second intelligent shoe are assigned to the roles played by the intelligent shoes, and are not specific to the intelligent shoes.
Referring to fig. 3, fig. 3 is a flowchart of an intelligent shoe action type identification method according to an embodiment of the present application.
The method specifically comprises the following steps:
step S1100, acquiring first air pressure change data generated by the current first intelligent shoe, and judging whether the first air pressure change data enters a squatting posture time zone:
as previously mentioned, the first intelligent shoe itself processes the first air pressure change data generated by itself, which is characterized by the change relationship between the continuously collected air pressure values, and in one embodiment of the invention, the air pressure change data is embodied by a calculation window comprising N air pressure values. After the control unit of the first intelligent shoe obtains the first air pressure change data from the air pressure sensor, the control unit of the first intelligent shoe calculates the first air pressure change data by adopting the calculation window so as to determine whether the motion state of the first intelligent shoe enters the squatting position time zone.
The squatting time zone represents a time period, a plurality of air pressure values of the time period form air pressure change data of the time period, and in the air pressure change data of the time period, the change of the air pressure value of the time period has a rapid increasing trend, and the increase of the change exceeds a certain threshold value. The same holds true for the understanding of the concept of the squat time zone.
Step S1200, obtaining second air pressure change data synchronized from a second intelligent shoe, and judging whether the second air pressure change data enters a squatting time zone:
the first intelligent shoe is simultaneously responsible for processing the second air pressure change data synchronously sent by the second intelligent shoe. Because the real-time synchronous relation is established between the first intelligent shoe and the second intelligent shoe through respective Bluetooth modules under the default condition, the first intelligent shoe can continuously acquire the air pressure value generated by the air pressure sensor generated by the second intelligent shoe to form the second air pressure change data, and therefore, in the same way, the first intelligent shoe can judge whether the second air pressure change data represents the motion state of the second intelligent shoe and enters the squatting time zone or not in a calculation window mode.
Step S1300, when the first air pressure change data and the second air pressure change data enter the squatting position time zone at the same time, identifying that the squatting position action type is executed:
because two intelligent shoes are usually worn by the left foot and the right foot of a human body, when the force application main body of the human body is stepped on the shoes to execute the squatting action, the gravity acts on the two intelligent shoes through the two feet of the human body, when the first air pressure change data and the second air pressure change data generated by the two intelligent shoes both represent that the two intelligent shoes enter the squatting position time zone, the time when the two intelligent shoes enter the squatting position time zone is preferably synchronous, and therefore the force application main body can be judged to execute the squatting action, and the type of the squatting position action executed by a user is identified.
Of course, it will be appreciated by those skilled in the art that the requirement for synchronization in time allows for a range of tolerances, and also allows for some variance in the magnitude of the air pressure experienced by the two intelligent shoes. In some embodiments, imbalance in time and force is allowed to occur between the first air pressure change data and the second air pressure change data caused by instant uneven stress on both feet of the user, but when the squatting posture time zone is judged, the calculation window is adopted to compatibly calculate by utilizing a plurality of sampling values, and a time period is formed between the plurality of sampling values, so that as long as the time spanned by the air pressure values of the calculation window is long enough, the change relations of the air pressure change data obtained by the two intelligent shoes tend to be highly approximate or even consistent and tend to be synchronous or basically synchronous, and therefore, the factor does not actually hinder the implementation of the invention.
Step S1400, outputting an event notice representing that the squatting action type is executed to a computer device with the first intelligent shoe as an input device:
when the first intelligent shoe identifies the squatting action type, a corresponding event notice can be constructed and sent to computer equipment in wireless connection with the first intelligent shoe to be used as input data required by the computer equipment. For example, the computer device is running a motion sensing game program, and event notifications sent by the first smart shoe that characterize the type of action performed in a squatting position are received and responded to by the progress of the motion sensing game program, thereby causing the progress to trigger a new computer event, such as generating a screen change on a graphical user interface, giving an evaluation score associated with the type of action, and the like.
Therefore, whether the force application main body performs squatting action on a pair of intelligent shoes or not can be effectively and accurately identified by utilizing the air pressure change data through the method.
In another embodiment, in step S1300, the control unit of the first intelligent shoe is responsible for calculating the first air pressure variation data to determine the corresponding squatting time zone, and is also responsible for calculating the second air pressure variation data to determine the corresponding squatting time zone, therefore, the two air pressure variation data can adopt a completely consistent calculation method, and step S1300 is deepened. Referring to fig. 4, the process of determining whether the first/second air pressure variation data enters the squatting time zone in step S1300 includes the following specific steps:
step S1301, setting a calculation window with a length of N, and sliding the calculation window to perform calculation, where each calculation window includes N air pressure values continuously collected in the air pressure change data, and N is a natural number greater than 2:
in one embodiment, several recent air pressure values of 10 or other nominal number are buffered using a calculation window as illustrated below.
| Pn-9 | Pn-8 | ... | Pn-1 | Pn |
Wherein p is the air pressure value and n is the data subscript.
And reading data according to the calculation window in a sliding mode continuously, and calculating the next step of each calculation window.
Step S1302, judging the data characteristics presented by each calculation window according to the N air pressure values, and determining whether the corresponding air pressure change data representing the rising edge of the intelligent shoe landing is positioned:
this step is responsible for calculating the relationship between the individual air pressure values in each calculation window to determine whether the data characteristic represented by the calculation window is on a rising edge or a falling edge. Specifically, the data characteristics presented in each calculation window are judged according to the N air pressure values in one calculation window, and whether the data characteristics represent that the corresponding air pressure change data is on the rising edge or not is mainly determined. For the judgment condition of the rising edge, the air pressure value of the data characteristic of the rising edge is larger than the air pressure value of the data characteristic of the rising edge, and the difference value of the air pressure value and the air pressure value exceeds a preset threshold value; for the determination condition of the falling edge, the data characteristic shows that the prior air pressure value is greater than the later air pressure value, and the difference value of the two values exceeds the preset threshold value. As for the preset threshold, the same principle can be determined by those skilled in the art through statistical averaging of the variation data of the measured air pressure measuring unit in use, and it can be understood that the specific number of the preset threshold will be an empirical, test value.
Correspondingly, when the calculation window is judged to be at a rising edge or a falling edge, the judgment method can be implemented by referring to the following codes:
max_index,max_val＝max(press_buff)
min_index,min_val＝min(press_buff)
if(max_val-min_val＞threshhold)
if(max_index＞min_index)
is_up
if(max_index＜min_index)
is_down
if the difference value between the maximum value and the minimum value in the window data exceeds a certain threshold, and the subscript max _ index of the maximum value data max _ val is greater than the subscript min _ index of the minimum value data min _ val, the section of code representation is judged to be a rising edge; if the difference between the maximum value data max _ val and the minimum value data min _ val in the window data exceeds a threshold, and the index max _ index of the maximum value data max _ val is smaller than the index min _ index of the minimum value data min _ val, it is determined as a falling edge. In an alternative embodiment, the N sampled air pressure values included in the calculation window may be divided into two halves for comparison, so as to improve the comparison efficiency.
According to the idea expressed by the segment code, the method can be understood as being implemented according to the following steps:
determining a maximum air pressure value and a minimum air pressure value in the calculation window;
comparing whether the difference value between the maximum air pressure value and the minimum air pressure value exceeds a preset threshold value or not;
when the maximum air pressure value exceeds the preset threshold value, determining that the maximum air pressure value lags or leads the minimum air pressure value in time, and if the maximum air pressure value lags or leads the minimum air pressure value, determining the calculation window as a rising edge representing the intelligent shoe landing; if so, the calculation window is determined as a falling edge which represents that the intelligent shoe leaves the ground.
Step S1303, determining a calculation window corresponding to the rising edge as the time zone entering the squatting position:
it is understood that if a rising edge is detected, it means that the smart shoe enters a state of contact with the ground; a liftoff condition is typically detected if a falling edge is detected. And considering the time period of the corresponding calculation window when the user touches the ground as the squatting time zone, and determining the zero-speed starting point through the calculation window. When the air pressure sensor is not pressed by external force, the air pressure value is at the minimum value, and the intelligent shoe is lifted off the ground or is unloaded; when external force is applied, the air pressure value rises, and the intelligent shoe lands on the ground. Therefore, by utilizing the characteristic, by analyzing the relationship between the rising edge and the falling edge, it can be known how to determine the zero-speed state during the strenuous exercise, as mentioned above, the air pressure change data corresponding to the calculation window corresponding to the rising edge can be directly determined as the basis of the zero-speed moment, and the time period in which the calculation window is located is determined to enter the squatting time zone.
According to the embodiment, the calculation window containing N air pressure values is used for constraining the air pressure change data, the value of N can play a role in effectively grasping the synchronous rhythm of the air pressure change data of the two intelligent shoes in time, and when the value of N is in a proper range, the accuracy of judging the squatting action can be further ensured. This range can be determined by one skilled in the art from measurements based on the principles disclosed herein, for example, from 10 to 50 consecutive sampled air pressure values, preferably from 10 to 30.
In another embodiment, in step S1300, after the first air pressure variation data and the second air pressure variation data enter the squatting time zone simultaneously, the movement inertia data in the first intelligent shoe is used to obtain the displacement information generated by the first intelligent shoe or the second intelligent shoe in the squatting time zone, and when the displacement information is smaller than a preset value or zero, the type of the squatting action is identified as being executed. The embodiment can further ensure the error identification caused by the irregular action of the force application main body when the squatting position is identified, for example, the force application main body drives the intelligent shoes to slide on the ground, at the moment, the pressure conditions of the two intelligent shoes are not changed greatly, and the intelligent shoes can be judged as the squatting position by mistake, at the moment, the influence of a displacement factor is eliminated by means of acceleration data in motion inertia data generated by an IMU (inertial measurement unit) well known by a person skilled in the art, and the accuracy of judging the squatting position can be further improved.
In still another embodiment, the following steps may be performed after step S1400: and receiving a notification instruction of the computer equipment, and driving the vibration sensors of the first intelligent shoe and the second intelligent shoe to vibrate and alarm according to the notification instruction.
This step is performed on the premise that a data communication link has been established between the smart shoe and the computer device, and the smart shoe is typically used as an input device for the computer device to provide notification of events corresponding to when the squat action occurred. After the computer device receives the event notification, the process responsible for processing the event notification can respond to the event notification and return a notification instruction, and after the notification instruction is received by the first intelligent shoe and the second intelligent shoe, the computer device correspondingly drives the vibration sensor to perform vibration warning, so that the purpose of notifying the force application body of sensing the notification is achieved.
In another embodiment, when it is determined that the first and second intelligent shoes have the squat-position time zone, the zero-speed correction of the inertial data of the exercise obtained by the IMU equipped in the corresponding intelligent shoe may be triggered, and the technology for performing the zero-speed correction of the inertial data of the exercise is familiar to those skilled in the art, and thus, it is not necessary to expand the technology herein. Because the squat posture time zone is determined more accurately by the pressure change data, the observation information can be provided for zero-speed correction by utilizing gyroscope data in the traditional technology instead of relying on gyroscope data, the accuracy of IMU zero-speed correction is promoted, and the problem of misjudgment caused by the fact that a force application main body is deliberately suspended in the traditional zero-speed correction mode cannot be identified is solved.
As mentioned above, the intelligent shoe implementing the method of the invention can be used as an input device for user instructions when used for interacting with computer equipment such as an intelligent television, a mobile terminal, a game machine and the like. In this case, the intelligent shoe establishes communication connection with the computer device through the communication module of the intelligent shoe, and outputs the identification result obtained after the intelligent shoe identifies the action type to the computer device in real time. When the computer equipment starts the related game program or the health data APP, the identification results can also be regarded as related user instructions or user data, correspondingly, the program process of the computer equipment can also feed back information or send a notice to the intelligent shoe in response to the identification results, for example, a notice instruction for controlling the vibration alarm of the vibration sensor of the intelligent shoe is sent, and the like, so that the human-computer interaction experience in the application scenes can be improved on the basis that the intelligent shoe can more accurately provide the identification results of the foot action types of the user based on the air pressure change data.
To sum up, this application carries out the measurement of atmospheric pressure value to the application of force main part through set up the atmospheric pressure measuring unit in the body sensing device at intelligent shoes, utilizes the atmospheric pressure change data that a plurality of atmospheric pressure values constitute to judge the appearance time zone of squatting and the appearance action type of squatting of accurate discernment application of force main part, compares in the mode that adopts IMU, and the judgement degree of accuracy is high, has richened the function that the product was felt to the intelligence, helps richening and widening the human-computer interaction means.
Referring to fig. 5, fig. 5 is a block diagram of an action type recognition device according to an embodiment of the present disclosure. The device includes: the first judgment module 1100 is used for acquiring first air pressure change data generated by the current first intelligent shoe and judging whether the first air pressure change data enters a squatting time zone; the second judging module 1200 is configured to acquire second air pressure change data synchronized from the second smart shoe, and judge whether the second air pressure change data enters the squatting time zone; the action identification module 1300 is used for identifying the type of the squatting action as being executed when the first air pressure change data and the second air pressure change data simultaneously enter the squatting time zone; an event notification module 1400 for outputting an event notification characterizing the type of squat action performed to a computer device having the first smart shoe as an input device.
In a preferred embodiment, the first/second determining module includes: the sliding submodule is used for setting a calculation window with the length of N, and sliding the calculation window to calculate, wherein each calculation window comprises N air pressure values continuously collected in the air pressure change data, and N is a natural number more than 2; the judgment submodule is used for judging the data characteristics presented by each calculation window according to the N air pressure values and determining whether the corresponding air pressure change data representing the intelligent shoe is positioned at the rising edge representing the intelligent shoe landing; and the determining submodule is used for determining the calculation window corresponding to the rising edge as the squatting time zone.
In a further embodiment, the determining sub-module is specifically configured to: determining a maximum air pressure value and a minimum air pressure value in the calculation window; comparing whether the difference value between the maximum air pressure value and the minimum air pressure value exceeds a preset threshold value or not; when the maximum air pressure value exceeds the preset threshold value, determining that the maximum air pressure value lags or leads the minimum air pressure value in time, and if the maximum air pressure value lags or leads the minimum air pressure value, determining the calculation window as a rising edge representing the intelligent shoe landing; if so, the calculation window is determined as a falling edge which represents that the intelligent shoe leaves the ground.
In a preferred embodiment, in the judgment sub-module, the data characteristic of the calculation window representing the rising edge of the intelligent shoe landing represents a rule that the subsequent air pressure value is greater than the previous air pressure value, and the difference between the two values exceeds a preset threshold value.
In some embodiments, in the action identification module, after the first air pressure change data and the second air pressure change data enter the squatting time zone at the same time, displacement information generated by the first intelligent shoe or the second intelligent shoe in the squatting time zone is acquired by using motion inertia data in the first intelligent shoe, and when the displacement information is smaller than a preset value or zero, the action type of the squatting position is identified as the execution type of the squatting position action.
In a further embodiment, the motion type recognition apparatus further includes: and the warning response module is used for receiving a notification instruction of the computer equipment and driving the respective vibration sensors of the first intelligent shoe and the second intelligent shoe to vibrate and warn according to the notification instruction.
The present application further provides an embodiment of a smart shoe, comprising: this sensing device is felt including feeling to intelligence shoes, and with another intelligence shoes wireless connection that has the same structure and function, wherein, sensing device is felt to the body of intelligence shoes includes: the inertia measurement unit 211 is used for detecting the motion inertia data of the intelligent shoe so as to determine the displacement information of the intelligent shoe; the air pressure measuring unit 122 is used for detecting air pressure change data generated by pressurizing the intelligent shoes so as to determine a squatting time zone; the control unit 213 is used for detecting whether the first air pressure change data of the current intelligent shoe and the second air pressure change data of another intelligent shoe connected with the current intelligent shoe enter the squatting time zone at the same time, identifying the type of the executed squatting action when the two air pressure change data enter the squatting time zone, and outputting an event notice representing the type of the executed squatting action to the computer equipment through the communication module; and the communication module 22 is used for transmitting the event notification to the computer equipment and acquiring displacement information and air pressure change data generated by another intelligent shoe.
The present application also provides a computer device wirelessly connected to the intelligent shoe as described above, wherein at least one process running in the computer device triggers another computer event to change the business process it is performing in response to the event notification.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the action type recognition method as described above. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Because the situation is complicated and cannot be illustrated by a list, a person skilled in the art can realize that many examples exist according to the basic method principle provided by the application and the practical situation, and the protection scope of the application should be protected without enough inventive work.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. An action type recognition method is characterized by comprising the following steps:
acquiring first air pressure change data generated by a first intelligent shoe at present, and judging whether the first air pressure change data enters a squatting position time zone or not, wherein the squatting position data represents corresponding air pressure change data;
acquiring second air pressure change data synchronized from a second intelligent shoe, and judging whether the second air pressure change data enters a squatting time zone or not;
when the first air pressure change data and the second air pressure change data simultaneously enter the squatting time zone, recognizing that the squatting action type is executed;
outputting, to a computer device having the first smart shoe as an input device, an event notification indicating that the type of squat action was performed.
2. The method of claim 1, wherein the step of determining whether the first/second air pressure change data enters the squat time zone comprises:
setting a calculation window with the length of N, and sliding the calculation window to calculate, wherein each calculation window comprises N air pressure values continuously collected in the air pressure change data, and N is a natural number more than 2;
judging the data characteristics presented by each calculation window according to the N air pressure values, and determining whether the data representing the corresponding air pressure change is positioned on the rising edge representing the landing of the intelligent shoe;
and determining a calculation window corresponding to the rising edge as the squatting time zone.
3. The method of claim 2, wherein the step of determining whether the data characteristic presented in each calculation window is indicative of a rising edge of the corresponding air pressure variation data according to the N air pressure values comprises:
determining a maximum air pressure value and a minimum air pressure value in the calculation window;
comparing whether the difference value between the maximum air pressure value and the minimum air pressure value exceeds a preset threshold value or not;
when the maximum air pressure value exceeds the preset threshold value, determining that the maximum air pressure value lags or leads the minimum air pressure value in time, and if the maximum air pressure value lags or leads the minimum air pressure value, determining the calculation window as a rising edge representing the intelligent shoe landing; if so, the calculation window is determined as a falling edge which represents that the intelligent shoe leaves the ground.
4. The method of claim 2, wherein: the data characteristic of the calculation window representing the rising edge of the intelligent shoe landing shows that the following air pressure value is greater than the preceding air pressure value, and the difference value of the two values exceeds a preset threshold value.
5. The method according to any one of claims 1 to 4, characterized in that: after the first air pressure change data and the second air pressure change data enter the squatting time zone at the same time, displacement information of the first intelligent shoe or the second intelligent shoe in the squatting time zone is obtained by utilizing the motion inertia data in the first intelligent shoe, and when the displacement information is smaller than a preset value or is zero, the squatting action type is identified to be executed.
6. The method according to any one of claims 1 to 4, further comprising the steps of:
and receiving a notification instruction of the computer equipment, and driving the vibration sensors of the first intelligent shoe and the second intelligent shoe to vibrate and alarm according to the notification instruction.
7. An action type recognition apparatus, characterized by comprising:
the first judgment module is used for acquiring first air pressure change data generated by the current first intelligent shoe and judging whether the first air pressure change data enters a squatting time zone or not;
the second judgment module is used for acquiring second air pressure change data synchronized from the second intelligent shoe and judging whether the second air pressure change data enters the squatting time zone or not;
the action identification module is used for identifying the type of the squatting action as being executed when the first air pressure change data and the second air pressure change data simultaneously enter the squatting time zone;
and the event notification module is used for outputting an event notification representing that the squatting action type is executed to the computer equipment taking the first intelligent shoe as the input equipment.
8. The utility model provides an intelligent shoe, this intelligent shoe is including feeling sensing device, and with another intelligent shoe wireless connection who has the same structure and function, its characterized in that, sensing device is felt to the body of intelligent shoe includes:
the inertia measurement unit is used for detecting the motion inertia data of the intelligent shoes so as to determine the displacement information of the intelligent shoes;
the air pressure measuring unit is used for detecting air pressure change data generated by pressurizing the intelligent shoe so as to determine a squatting time zone;
the control unit is used for detecting whether the first air pressure change data of the current intelligent shoe and the second air pressure change data of another intelligent shoe connected with the current intelligent shoe enter the squatting position time zone at the same time, identifying the type of the executed squatting position action when the two air pressure change data enter the squatting position time zone, and outputting an event notice representing the type of the executed squatting position action to the computer equipment through the communication module;
and the communication module is used for transmitting the event notification to the computer equipment and acquiring displacement information and air pressure change data generated by another intelligent shoe.
9. A computer device wirelessly connected to the intelligent shoe of any one of claims 1 to 6, wherein at least one process running in the computer device triggers another computer event to change its own ongoing business process in response to the event notification.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the action type recognition method according to any one of claims 1 to 6.
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