CN115042546A - Force feedback intelligent pen based on touch Internet of things and writing posture monitoring method - Google Patents
Force feedback intelligent pen based on touch Internet of things and writing posture monitoring method Download PDFInfo
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- B43K23/00—Holders or connectors for writing implements; Means for protecting the writing-points
- B43K23/008—Holders comprising finger grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43K—IMPLEMENTS FOR WRITING OR DRAWING
- B43K29/00—Combinations of writing implements with other articles
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
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- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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Abstract
The invention discloses a force feedback intelligent pen based on a touch Internet of things and a writing posture monitoring method, wherein the intelligent pen comprises the following components: the pen body is provided with a pen holding area; the pressure difference sensor is arranged in the pen holding area and is used for detecting a pressure signal received by the pen holding area; the pressure sensor is used for receiving a pressure signal detected by the differential pressure sensor and transmitting the pressure signal to the processor; the acceleration sensor is used for detecting a pen holding posture and transmitting a pen holding posture signal to the processor; the processor is used for receiving the pressure signal and the pen holding posture signal and sending a pen holding posture adjusting instruction when judging that the pen holding posture is wrong; and the prompting device is used for making an early warning action according to the holding posture adjusting instruction fed back by the processor. The technical problem of adopt among the prior art hardware mould fixed holding the appearance and the relatively poor writing posture adjustment effect that leads to is solved.
Description
Technical Field
The invention relates to the technical field of teaching equipment, in particular to a force feedback intelligent pen based on a touch Internet of things and a writing posture monitoring method.
Background
Writing is a necessary process for children to learn to grow, and correct writing habits have positive effects on physiological and psychological growth of the children. From the beginning of holding the crayon graffiti, the child is in the process of continuously learning, training and cooperatively developing hands, eyes and brains to complete writing. And the writing process can be continuously and stably carried out only by using the correct pen holding posture for writing and learning, and a clear visual field is provided, so that the writing is smooth and convenient.
The holding posture correcting products in the market at present comprise holding posture correcting pens and pen holder accessories, and the correcting products ensure that students can use correct postures to write through the shapes suitable for writing penholders or pen holders. In an actual use scene, the user has different hand sizes and different pen holding postures but different pen holding positions. However, the existing pen holding corrector adopts a hardware mould with a fixed structure, and cannot be adjusted according to the conditions of different users, so that the adjustment effect of the writing posture is poor.
Disclosure of Invention
Therefore, the embodiment of the invention provides a force feedback intelligent pen based on a touch Internet of things and a writing posture monitoring method, aiming at least partially solving the technical problem of poor writing posture adjustment effect caused by the fact that a hardware mould is adopted to fix a holding posture in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
a haptic Internet of things-based force feedback smart pen comprises:
the pen body is provided with a pen holding area, and the pen holding area comprises a thumb area, an index finger area, a middle finger area and a tiger mouth area;
the pen point is arranged at the end part of the pen body;
the pressure difference sensor is arranged in the pen holding area and is used for detecting a pressure signal received by the pen holding area;
the pressure sensor is used for receiving a pressure signal detected by the differential pressure sensor and transmitting the pressure signal to the processor;
the acceleration sensor is used for detecting a pen holding posture and transmitting a pen holding posture signal to the processor;
the processor is used for receiving the pressure signal and the pen holding posture signal and sending a pen holding posture adjusting instruction when judging that the pen holding posture is wrong;
and the prompting device is arranged in the pen holding area and performs early warning action according to the holding posture adjusting instruction fed back by the processor.
Further, the differential pressure sensor includes:
the first pressure sensing piece is arranged in a thumb area in the pen holding area and used for acquiring a pressure signal of the thumb area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor;
the second pressure sensing piece is arranged in an index finger area in the pen holding area and used for acquiring a pressure signal of the index finger area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor;
the third pressure sensing piece is arranged in a middle finger area in the pen holding area and used for acquiring a pressure signal of the middle finger area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor;
the fourth pressure sensing piece is arranged in a mouth region in the pen holding region and used for acquiring a pressure signal of the mouth region, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor.
Further, the prompting device comprises at least one of:
the MEMS sensor is arranged in the pen holding area and starts a vibration mode when receiving a holding posture adjusting instruction fed back by the processor;
and the voice prompt module is arranged on the pen body and starts a voice prompt mode when receiving the holding posture adjustment instruction fed back by the processor.
The invention also provides a writing posture monitoring method based on the force feedback intelligent pen, which comprises the following steps:
acquiring a current pressure value of a pen holding area and a current angle value of a finger of a user;
comparing the current pressure value with a pre-stored standard pressure value and comparing the current angle value with a pre-stored standard angle value to obtain a comparison result;
if the comparison result meets a preset condition, sending an early warning instruction, wherein the early warning instruction is used for controlling the early warning device to perform early warning action;
wherein the standard pressure value and the standard angle value are obtained by storing standard pen holding data.
Further, comparing the current pressure value with a pre-stored standard pressure value, and comparing the current angle value with a pre-stored standard angle value to obtain a comparison result, and then:
and if the comparison result does not meet the preset condition, sending a first voice prompt, wherein the first voice prompt is used for prompting that the current holding posture is correct.
Further, the step of judging that the comparison result meets a preset condition further comprises the following steps:
and sending a second voice prompt, wherein the second voice prompt is used for prompting that the current holding posture is incorrect.
Further, if the comparison result is judged to meet the preset condition, an early warning instruction is sent out, and the method specifically comprises the following steps:
if the difference value between the current pressure value and the preset pressure value exceeds a threshold interval, judging that the comparison result meets a preset condition; or the like, or, alternatively,
and if the difference value between the current pressure value and the preset pressure value is within a threshold interval and the difference value between the current angle value and the preset angle value exceeds the threshold interval, judging that the comparison result meets a preset condition.
The invention also provides a writing gesture monitoring system based on the method, which comprises the following steps:
the data acquisition unit is used for acquiring the current pressure value of the pen holding area and the current angle value of the finger of the user;
the result obtaining unit is used for comparing the current pressure value with a pre-stored standard pressure value and comparing the current angle value with a pre-stored standard angle value to obtain a comparison result;
the instruction output unit is used for sending out an early warning instruction when the comparison result meets a preset condition, and the early warning instruction is used for controlling the early warning device to perform early warning action;
wherein the standard pressure value and the standard angle value are obtained by storing standard pen holding data.
The present invention also provides an intelligent terminal, including: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the method as described above.
The present invention also provides a computer readable storage medium having embodied therein one or more program instructions for executing the method as described above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
In one or more specific embodiments, the haptic internet of things-based force feedback smart pen and the writing gesture monitoring method provided by the invention have the following technical effects:
the force feedback intelligent pen based on the touch Internet of things and the writing posture monitoring method solve the defects of the current posture correction pen and the pen holder, can better meet the requirements of students on using the correction pen by adding related accessories for pressure detection in the pen, and can better realize the correction operation of the correction pen. The gesture of the pen used by the student is judged through the pressure sensing sheet and the acceleration sensor in the design of the force feedback intelligent pen based on the touch Internet of things, so that the current gesture of the pen used by the student is judged through the sensor, the correctness of the gesture of the pen used is judged, and the prompt is given under the error condition. And then solved the fixed appearance of holding of hardware mould among the prior art and the relatively poor technical problem of writing posture adjustment effect that leads to.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic structural diagram of an embodiment of a force feedback smart pen provided in the present invention;
FIG. 2 is a schematic diagram of a hardware configuration of a control system of the smart pen shown in FIG. 1;
FIG. 3 is a functional block diagram of a micro-electro-mechanical system;
FIG. 4 is a block diagram of a chip architecture of a speech module;
FIG. 5 is a flowchart of a writing gesture monitoring method according to an embodiment of the present invention;
FIG. 6 is a flow chart of a method of data processing in a usage scenario;
FIG. 7 is a flow chart of a method for monitoring writing gestures in a use scenario;
FIG. 8 is a pen holder space rectangular coordinate system;
FIG. 9 is a flow chart of a method of using posture correction in a scene;
FIG. 10 is a block diagram of a writing gesture monitoring system according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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 invention.
In order to solve the problems that the existing holding posture correcting products (such as holding posture correcting pens or holding devices) adjust the writing posture in a finger position limiting mode, an extra structure is added at the finger position, so that the pen body is thicker and heavier, the gravity center is reduced, and the daily use is not facilitated; the invention provides another force feedback intelligent pen based on the touch thing networking and a writing posture monitoring method based on the force feedback intelligent pen, so that the monitoring effect of the writing posture is improved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a force-feedback smart pen provided in the present invention.
In a specific embodiment, the force feedback smart pen provided by the invention is based on the haptic internet of things, which is the internet that enables haptic sensations to be transmitted remotely. From the hardware structure, this force feedback intelligence pen includes a body 5 and nib 6, the body has holds a district, according to the habit of holding a pen when writing, hold a district including thumb district, forefinger district, middle finger district and tiger's mouth district, the body has the shell packing to integrate each functional component in the body. The pen point is arranged at the end part of the pen body and is a part which is directly contacted with paper during writing.
In order to collect the pressure value during use, process and transmit the pressure value, and realize carrying out voice prompt or early warning according to the feedback instruction, integrated control system in the intelligent pen is needed. Specifically, in the hardware configuration of the control system of the smart pen, as shown in fig. 2, the smart pen further includes a differential pressure sensor, a pressure sensor 8, an acceleration sensor 9, and a presentation device. The pressure difference sensor is arranged in the pen holding area and used for detecting a pressure signal received by the pen holding area. The pressure sensor is used for receiving a pressure signal detected by the differential pressure sensor and transmitting the pressure signal to the processor; a Pressure Transducer is a device or apparatus that senses a Pressure signal and converts the Pressure signal into a usable output electrical signal according to a certain rule. A differential pressure sensor is a sensor used to measure the difference between two pressures, and is typically used to measure the pressure difference across a device or component.
The acceleration sensor is used for detecting the pen holding posture and transmitting a pen holding posture signal to the processor. An acceleration sensor is a sensor capable of measuring acceleration, and generally comprises a mass, a damper, an elastic element, a sensing element, an adjusting circuit and the like. In the acceleration process, the acceleration sensor obtains an acceleration value by measuring the inertial force borne by the mass block and utilizing a Newton's second law.
The processor is used for receiving the pressure signal and the pen holding posture signal and sending a pen holding posture adjusting instruction when judging that the pen holding posture is wrong. Wherein the processor is the Soc master processor 10 and uses ESP32-D0WD-V3 as the master processor. In cooperation with it, the communication module is used for sending the measured pressure value to the mobile terminal. The prompting device is arranged in the pen holding area and gives out early warning actions according to the holding posture adjusting instruction fed back by the processor.
In addition, in the hardware structure of the control system of the smart pen, the smart pen further comprises a power module 7 and the like, wherein the power module 7 provides power support for the sensor module, the communication module and the processor, the Soc main processor uses the ESP32 to form the hardware part of the control system together with the pressure sensor, the acceleration sensor, the voice module 11, the MEMS sensor 12 and the communication module, and the connection is established with the background server 15 and the wireless terminal 16 through bluetooth and WiFi.
In some embodiments, the pressure difference sensor comprises a plurality of pressure sensing pieces, and each pressure sensing piece is respectively arranged at each key position in the pen holding area so as to respectively detect the pressure value of each key position and respectively process the pressure value of each position, thereby more accurately monitoring the pen holding posture. The pressure sensing pieces used in the invention are differential pressure sensors, and the signals transmitted by the pressure sensing pieces are received and transmitted to the processor.
Specifically, the differential pressure sensor comprises a first pressure sensing piece 1, a second pressure sensing piece 2, a third pressure sensing piece 3 and a fourth pressure sensing piece 4. The first pressure sensing piece is arranged in a thumb area in the pen holding area, and is used for acquiring a pressure signal of the thumb area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor. In a practical use scene, the first pressure sensing piece senses a pressure signal given by a thumb and can convert the pressure signal into a usable output electric signal according to a certain rule. The second pressure sensing piece is arranged in an index finger area in the pen holding area and used for acquiring a pressure signal of the index finger area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor; in an actual use scene, the second pressure sensing piece senses the pressure signal given by the index finger and can convert the pressure signal into a usable output electric signal according to a certain rule. The third pressure sensing piece is arranged in a middle finger area in the pen holding area and used for acquiring a pressure signal of the middle finger area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor; in a practical use scene, the third pressure sensing piece senses the given pressure signal and can convert the pressure signal into a usable output electric signal according to a certain rule. The fourth pressure sensing piece is arranged in a mouth region in the pen holding region and used for acquiring a pressure signal of the mouth region, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor. In an actual use scene, the fourth pressure sensing piece senses the pressure signal given out from the tiger mouth and can convert the pressure signal into a usable output electric signal according to a certain rule.
In some embodiments, the prompting device comprises a MEMS sensor or a voice prompt module. The MEMS sensor is arranged in the pen holding area, and starts a vibration mode when receiving a holding posture adjusting instruction fed back by the processor. Specifically, the MEMS sensor is used for posture correction, and the MEMS sensor (micro electro Mechanical Systems), i.e. a micro electro Mechanical system, relates to various subjects and technologies such as electronics, mechanics, materials, physics, chemistry, biology, medicine, etc., and is a leading-edge research field of multidisciplinary crossing developed on the basis of microelectronic technology. The MEMS sensor-based product including the miniature pressure sensor is developed in the design of the force feedback smart pen based on the touch Internet of things to measure the pressure, and the requirement in the design of the force feedback smart pen based on the touch Internet of things is fully met. In the process that a student uses the force feedback intelligent pen based on the touch Internet of things, a user receives, converts and transmits sensed force to a processor through hand acting force and an MEMS micro pressure sensor arranged on the pen.
After the function of the MEMS miniature pressure sensor is realized, the received data is calculated and analyzed through a force feedback technology. The force feedback means that in the process of man-machine interaction, a user inputs a mechanical signal or a motion signal through a sensor, and a computer calculates the magnitude and the direction of feedback force according to a corresponding algorithm and outputs the feedback force through force feedback equipment so that the user can obtain feedback.
In the embodiment, the force feedback smart pen based on the touch internet of things analyzes the obtained related pressure signals through the processor, judges pen using postures of students and feeds back the obtained results. After the relevant feedback is obtained, the intelligent pen can give relevant prompts in the modes of vibration, sound or indicator lights of the motor and the like, and prompts students to correct pen using postures. The MEMS sensor-based product including the miniature pressure sensor is developed in the design of the force feedback smart pen based on the touch Internet of things to measure the pressure, and the requirement in the design of the force feedback smart pen based on the touch Internet of things is fully met. With the development of the MEMS technology and the application of the MEMS technology in a posture sensor, the force feedback intelligent pen based on the touch Internet of things acquires the pen holding posture action information of a learner, and the judgment and identification of the pen using posture are realized through 3 steps of data acquisition, feature extraction and model comparison. In the process that a student uses the force feedback intelligent pen based on the touch Internet of things, the user uses the hand acting force, the MEMS miniature pressure sensor arranged on the pen senses the force exertion magnitude of the student and the finger pen holding angle, and relevant data are collected. Thereby receiving, converting and transmitting the sensed force to the processor.
In principle, the basic principle of the MEMS sensor for measuring the tilt angle is to embed a Micro Electro Mechanical System (MEMS) sensor unit in a fully-formed Application Specific Integrated Circuit (ASIC), and integrate an acceleration sensing chip therein. As shown in fig. 3, the micro-electromechanical system includes an analog signal processor, a digital signal processor, and an actuator that measures the corresponding capacitance between the electrodes when the inclinometer is in a horizontal position. If the sensor is tilted, the elastic electrode will change its position relative to the fixed electrode, and the capacitance between the two electrodes measured by the sensor unit will change accordingly. The change in capacitance translates into a corresponding slope value. The pen posture correction principle adopts an MEMS actuator micromotor. The actuator processes according to the signal, the command recovered by the control circuit is automatically completed, and the electrostatic micromotor is adopted in the invention. When a voltage is applied across the two conductors, an electrostatic force is created. The magnitude of the electrostatic force is inversely proportional to the square of the dimension. Based on the basic structure of a parallel plate capacitor, the parallel plates are opposite in two types, namely normal movement and tangential movement, when one of the plates is fixed and the other plate is suspended by a mechanical spring, the plates are displaced under the bias voltage.
The principle of the output vibration of the MEMS sensor is that the original mechanical quantity to be measured is used as the input quantity of the vibration sensor, then the mechanical quantity is received by a mechanical receiving part to form another mechanical quantity suitable for conversion, and finally the mechanical quantity is converted into electric quantity by an electromechanical conversion part.
The voice prompt module is installed on the pen body, and starts a voice prompt mode when receiving a holding posture adjusting instruction fed back by the processor. Specifically, as shown in fig. 4, the voice module uses the WT588D chip, and functions to output an alert tone based on the determination made by the pen-holding gesture analysis system. In an actual use scene, when the student holds the pen correctly, the student prompts that the pen holding posture is correct, and when the student holds the pen incorrectly, the student prompts that the pen holding posture is incorrect, and corresponding prompt tones indicate how to adjust. The voice prompt module adopts a WT588D voice chip, the main control of the series of voice chips is a one-time burning OTP voice chip, 2M-32Mbit SPI-flash can be hung externally, voice contents and the like are stored in the SPI-flash, and the voice contents, the control mode, the output mode and the like can be repeatedly burnt and replaced. And various control modes such as independent keys, 3-by-8 matrix keys, parallel port control, one-line serial port, three-line serial port and the like are supported.
In addition, this intelligence pen adopts the data transmission mode that bluetooth transmission mode and wiFi transmission mode combined together, and it includes bluetooth data acquisition module 13 and wiFi module 14, utilizes the wireless communication technique of short distance for data transmission, the wiFi module is used for wireless networking. The intelligent pen is in communication connection with the background server through Bluetooth or WiFi, so that the background server can calculate and store data, the intelligent pen is also in communication connection with the terminal through Bluetooth or WiFi, and the wireless terminal is used for being connected with the intelligent pen. The CPU is provided with two low-power Xtensa 32-bit LX6 MCUs inside an ESP32-D0WD-V3, and on-chip storage of a memory comprises a ROM, an SRAM, an RTC fast memory and an RTC slow memory; the ROM448KB is used for program starting and kernel function calling, the SRAM is used on a 520KB chip for storing data and instructions, the RTC fast memory is an 8KB SRAM and can be used for data storage and being accessed by a main CPU when the RTC is started in a Deep-sleep mode, and the RTC slow memory is an 8KB SRAM and can be accessed by a coprocessor in the Deep-sleep mode. The system also comprises an external Flash and an SRAM to support a plurality of external QSPI flashes and Static Random Access Memories (SRAMs), and also supports the hardware encryption and decryption function based on AES, so that programs and data in the Flash of a developer are protected. External QSPI flash and SRAM are accessible through a cache, and the external flash can be mapped to both CPU instructions and read-only data space. 4MB SPI flash and 8MB PSRAM are integrated. The power supply management system also comprises low-power management, and can switch between different power consumption modes by adopting an advanced power supply management technology. The voice prompt device also comprises a WT588D voice chip, and achieves the purpose of voice prompt by controlling playing sound.
Therefore, a pressure sensing sheet and an acceleration sensor are added to the pen body of the intelligent pen, and the touch Internet of things force feedback equipment judges the pen holding posture; meanwhile, whether the posture is correct or not is prompted in time through voice prompt, and the MEMS sensor is used for prompting the position of the student for correcting the posture with the pen through system analysis.
Besides the intelligent pen, the invention also provides a writing posture monitoring method based on the force feedback intelligent pen (also called intelligent pen for short). In one embodiment, as shown in fig. 5, the method comprises the steps of:
s501: and acquiring the current pressure value of the pen holding area and the current angle value of the finger of the user. In the actual operation process, the standard writing posture is that the penholder is placed among three tips of a thumb, an index finger and a middle finger, the index finger is in front, the thumb is in the left back, the middle finger is in the right lower part, the index finger is slightly lower than the thumb, the thumb and the index finger are naturally bent to form an oval shape, and the tip of the index finger is about 3 centimeters away from the penpoint. The first joint of the middle finger supports against the penholder from the back, the penholder leans against the tiger mouth, and the ring finger and the little finger bend simultaneously and lean against the back of the middle finger in sequence. The penholder and the exercise book keep an inclination of about sixty degrees, the palm center is a virtual circle, and the finger joints are slightly bent. According to this principle, in order to acquire data to be detected, a pressure value and an angle value may be acquired. The pen holding area comprises a thumb area, an index finger area, a middle finger area and a tiger mouth area, the pressure detection position can be at least one of the thumb area, the index finger area, the middle finger area and the tiger mouth area, and preferably, the pressure detection position is four positions of the thumb area, the index finger area, the middle finger area and the tiger mouth area.
S502: and comparing the current pressure value with a pre-stored standard pressure value, and comparing the current angle value with a pre-stored standard angle value to obtain a comparison result. In some embodiments, the detected current pressure value and the detected current angle value may be transmitted to the processor by using wireless transmission methods such as wifi or bluetooth. Wifi is a transmission mode which is commonly used, and is very convenient to access the Internet of things due to good expansibility, has higher reliability and higher transmission rate, and is very suitable for the indoor field. The disadvantage is the relatively short transmission distance and the low power consumption is still enhanced. Bluetooth is a radio technology that supports short-range communication (typically within 10 m) of devices, enabling wireless information exchange between many devices, including mobile phones, PDAs, wireless headsets, laptops, related peripherals, etc. By using the bluetooth technology, the communication between mobile communication terminal devices can be effectively simplified, and the communication between the devices and the Internet can also be successfully simplified, so that the data transmission becomes faster and more efficient, and the way is widened for wireless communication. According to the invention, data is transmitted to the wireless terminal through Bluetooth, and can also be transmitted to the background server through the WiFi module. The background server is provided with a pen holding posture analysis system and can judge the pen holding posture of the student.
S503: if the comparison result meets a preset condition, sending an early warning instruction, wherein the early warning instruction is used for controlling the early warning device to perform early warning action;
wherein the standard pressure value and the standard angle value are obtained by storing standard pen holding data.
In a specific use scene, the pre-stored standard pen holding data can be used as standard data by collecting data of pen holding of a teacher. For example, as shown in fig. 6, pen-holding posture data of a teacher or a student is acquired by a sensor mounted on a pen body, and a pen-holding posture analysis system determines whether the posture is correct or not based on the acquired data, determines that the posture is wrong, and presents the correct posture to the student. The pressure sensor obtains pressure from the fingers of the student; the acceleration sensor acquires the angle of the fingers of the student, transmits the angle to the terminal through Bluetooth, or directly transmits the angle to the network server through WiFi, the terminal or the network server directly transmits the angle to the remote terminal through the network, two data are displayed on a screen of the terminal, and the curve of the force and the angle is used for displaying whether the pen holding posture is correct or not. If the pen holding posture is correct, the voice prompt prompts that the pen holding posture is correct, and if the pen holding posture is incorrect, the voice prompt prompts that the pen holding posture is incorrect, a posture correction stage is entered, and the posture of the student is corrected through an MEMS sensor.
In some embodiments, comparing the current pressure value with a pre-stored standard pressure value, and comparing the current angle value with a pre-stored standard angle value to obtain a comparison result, and then further comprising:
and if the comparison result does not meet the preset condition, sending a first voice prompt, wherein the first voice prompt is used for prompting that the current holding posture is correct.
That is to say, when the comparison result does not satisfy the preset condition, it indicates that there is no problem that the holding posture is incorrect, and at this time, a first voice prompt is issued, where the voice prompt is used to prompt that the current holding posture is correct, and the first voice prompt may be "correct" or "correct posture" or the like.
Further, the step of judging that the comparison result meets a preset condition further comprises the following steps:
and sending a second voice prompt, wherein the second voice prompt is used for prompting that the current holding posture is incorrect.
When the comparison result meets the preset condition, the position with incorrect holding posture exists currently, at the moment, a second voice prompt can be synchronously sent while the early warning instruction is sent, and the second voice prompt can be that the pressure of a thumb area is too large, the pressure of a forefinger area is too small, the pressure of a tiger mouth area is too large, and the like.
Further, if the comparison result is judged to meet the preset condition, an early warning instruction is sent out, and the method specifically comprises the following steps:
if the difference value between the current pressure value and the preset pressure value exceeds a threshold interval, judging that the comparison result meets a preset condition; or the like, or, alternatively,
and if the difference value between the current pressure value and the preset pressure value is within a threshold interval and the difference value between the current angle value and the preset angle value exceeds the threshold interval, judging that the comparison result meets a preset condition.
In one particular use scenario, as shown in FIG. 7, a pen-grip gesture analysis system is utilized for analyzing, storing the collected data. The pressure values collected by the first pressure sensing piece, the second pressure sensing piece, the third pressure sensing piece and the fourth pressure sensing piece are respectively recorded as F1, F2, F3 and F4. In a pen holder space rectangular coordinate system shown in fig. 8, the acceleration sensor measures the gravitational acceleration of the x-axis, the y-axis and the z-axis. And calculating an included angle alpha and an included angle beta according to the accelerometer, wherein the included angle alpha is the included angle of the projection of the x axis and the penholder on the plane x and y, and the included angle beta is the included angle of the projection of the penholder and the penholder on the plane x and y.
As shown in fig. 7, the user is set as a "standard pen gesture user", the data of the pressure-sensitive sheet is set to zero, the calligrapher writes by using the invention, the values of F1, F2, F3 and F4 are dynamically recorded, the four written values are averaged within a time period, the included angle α and the included angle β are calculated, and the data are recorded and stored as standard contrast.
The key is initialized, the user is set to be 'student 1', the student 1 writes by using the method, F1, F2, F3 and F4 are recorded, the four values are averaged in a time period, and the included angle alpha and the included angle beta are calculated.
Comparing four groups of pressure data corresponding to two users, if the difference between the upper value and the lower value of 1 group of pressure data exceeds 20%, marking the student as incorrect pen holding posture, if the difference is 20%, comparing the included angle alpha and the included angle beta, if the difference is more than 10%, marking the student as incorrect pen holding posture, and if the difference is less than 10%, marking the student as correct pen holding posture.
And (3) initializing keys, setting the user as student 2 and student 3, comparing the recorded data with a standard comparison group, repeating the steps, and judging whether the pen holding posture of each student is correct.
In the process of correcting the pen using posture, when the sensor data is transmitted to the background server, the background server judges that the posture is incorrect through the pen holding posture analysis system, and if the posture is judged to be incorrect, the background server returns the incorrect posture information to the pen holding posture correction device.
In a specific use scenario, as shown in fig. 9, the server determines whether the pen holding posture is correct through the pen holding posture analysis system, if so, the user completes posture correction, and if not, the server determines that the pen holding posture is incorrect, and enters a posture correction stage; judging whether the part needing to be corrected is too hard, if so, prompting the MEMS sensor of the corresponding part (such as the tiger mouth area) by single slight vibration to prompt a user that the part (corresponding to the tiger mouth area) needs to be relieved when the force is applied; if not, the MEMS sensor at the corresponding part is prompted by multiple obvious vibrations to prompt a user that the part needs to be aggravated by force. After the pressure adjustment, a posture adjustment is performed on the user to complete the user posture correction.
In the embodiment, in the process of correcting the pen posture by the force feedback intelligent pen based on the touch Internet of things, the touch feedback technology is fully utilized to help students to complete the learning of the correct pen posture, and the students can more accurately grasp the correct posture in the process, so that the correct pen posture can be better learned.
In the above specific embodiment, the haptic internet of things-based force feedback intelligent pen and the writing posture monitoring method provided by the invention solve the defects of the current posture correction pen and the pen holder, and can better meet the requirements of students on using the correction pen and better realize the correction work of the correction pen by adding related accessories for pressure detection in the pen. The gesture of the pen used by the student is judged through the pressure sensing sheet and the acceleration sensor in the design of the force feedback intelligent pen based on the touch Internet of things, so that the current gesture of the pen used by the student is judged through the sensor, the correctness of the gesture of the pen used is judged, and the prompt is given under the error condition. And then solved and adopted the fixed appearance of holding of hardware mould and lead to among the prior art the relatively poor technical problem of writing posture adjustment effect.
In addition to the above method, the present invention also provides a writing gesture monitoring system based on the above method, and in one embodiment, as shown in fig. 10, the system comprises:
the data acquisition unit 100 is used for acquiring the current pressure value of the pen holding area and the current angle value of the finger of the user;
a result obtaining unit 200, configured to compare the current pressure value with a pre-stored standard pressure value, and compare the current angle value with a pre-stored standard angle value, so as to obtain a comparison result;
the instruction output unit 300 is configured to send an early warning instruction if the comparison result meets a preset condition, where the early warning instruction is used to control the early warning device to perform an early warning action;
wherein the standard pressure value and the standard angle value are obtained by storing standard pen holding data.
In the above embodiment, the writing posture monitoring system provided by the invention overcomes the defects of the current posture correcting pen and the pen holder, and can better meet the requirements of students on using the correcting pen and better realize the correcting operation of the correcting pen by adding related accessories for pressure detection in the pen. The gesture of the pen used by the student is judged through the pressure sensing sheet and the acceleration sensor in the design of the force feedback intelligent pen based on the touch Internet of things, so that the current gesture of the pen used by the student is judged through the sensor, the correctness of the gesture of the pen used is judged, and the prompt is given under the error condition. And then solved the fixed appearance of holding of hardware mould among the prior art and the relatively poor technical problem of writing posture adjustment effect that leads to.
The present invention also provides an intelligent terminal, including: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the method as described above.
In correspondence with the above embodiments, the present invention also provides a computer-readable storage medium containing one or more program instructions therein. Wherein the one or more program instructions are for executing the method as described above by a binocular camera depth calibration system.
Corresponding to the above embodiments, the present invention also provides a computer program product, including a computer program, which when executed by a processor implements the method as described above.
In an embodiment of the invention, the processor may be an integrated circuit chip having signal processing capability. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The various methods, steps, and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), SLDRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that the functionality described in the present invention may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer-readable storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The above embodiments are only for illustrating the embodiments of the present invention and are not to be construed as limiting the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the embodiments of the present invention shall be included in the scope of the present invention.
Claims (10)
1. A force feedback smart pen based on the internet of things of touch is characterized by comprising:
the pen body is provided with a pen holding area, and the pen holding area comprises a thumb area, an index finger area, a middle finger area and a tiger mouth area;
the pen point is arranged at the end part of the pen body;
the pressure difference sensor is arranged in the pen holding area and is used for detecting a pressure signal received by the pen holding area;
the pressure sensor is used for receiving a pressure signal detected by the differential pressure sensor and transmitting the pressure signal to the processor;
the acceleration sensor is used for detecting a pen holding posture and transmitting a pen holding posture signal to the processor;
the processor is used for receiving the pressure signal and the pen holding posture signal and sending a pen holding posture adjusting instruction when judging that the pen holding posture is wrong;
and the prompting device is arranged in the pen holding area and performs early warning action according to the holding posture adjusting instruction fed back by the processor.
2. A force feedback smart pen according to claim 1, wherein the differential pressure sensor comprises:
the first pressure sensing piece is arranged in a thumb area in the pen holding area and used for acquiring a pressure signal of the thumb area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor;
the second pressure sensing piece is arranged in an index finger area in the pen holding area and used for acquiring a pressure signal of the index finger area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor;
the third pressure sensing piece is arranged in a middle finger area in the pen holding area and used for acquiring a pressure signal of the middle finger area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor;
the fourth pressure sensing piece is arranged in a mouth region in the pen holding region and used for acquiring a pressure signal of the mouth region, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor.
3. A force feedback smart pen according to claim 1, wherein the prompting device comprises at least one of:
the MEMS sensor is arranged in the pen holding area and starts a vibration mode when receiving a holding posture adjusting instruction fed back by the processor;
and the voice prompt module is arranged on the pen body and starts a voice prompt mode when receiving the holding posture adjustment instruction fed back by the processor.
4. A writing gesture monitoring method based on a force feedback smart pen according to any of claims 1-3, characterized in that the method comprises:
acquiring a current pressure value of a pen holding area and a current angle value of a finger of a user;
comparing the current pressure value with a pre-stored standard pressure value, and comparing the current angle value with a pre-stored standard angle value to obtain a comparison result;
if the comparison result meets a preset condition, sending an early warning instruction, wherein the early warning instruction is used for controlling the early warning device to perform early warning action;
wherein the standard pressure value and the standard angle value are obtained by storing standard pen holding data.
5. The writing gesture monitoring method of claim 4, wherein comparing the current pressure value with a pre-stored standard pressure value and comparing the current angle value with a pre-stored standard angle value to obtain a comparison result, and thereafter further comprising:
and if the comparison result does not meet the preset condition, sending a first voice prompt, wherein the first voice prompt is used for prompting that the current holding posture is correct.
6. The writing gesture monitoring method of claim 4, wherein the comparing result is judged to satisfy a preset condition, and then further comprising:
and sending a second voice prompt, wherein the second voice prompt is used for prompting that the current holding posture is incorrect.
7. The writing posture monitoring method according to claim 4, wherein if the comparison result is judged to satisfy a preset condition, an early warning instruction is issued, and the method specifically comprises the following steps:
if the difference value between the current pressure value and the preset pressure value exceeds a threshold interval, judging that the comparison result meets a preset condition; or the like, or, alternatively,
and if the difference value between the current pressure value and the preset pressure value is within a threshold interval and the difference value between the current angle value and the preset angle value exceeds the threshold interval, judging that the comparison result meets a preset condition.
8. A writing gesture monitoring system based on the method according to any of claims 4-7, characterized in that the system comprises:
the data acquisition unit is used for acquiring the current pressure value of the pen holding area and the current angle value of the finger of the user;
the result acquiring unit is used for comparing the current pressure value with a pre-stored standard pressure value and comparing the current angle value with a pre-stored standard angle value to obtain a comparison result;
the instruction output unit is used for sending out an early warning instruction when the comparison result meets a preset condition, and the early warning instruction is used for controlling the early warning device to perform early warning action;
wherein the standard pressure value and the standard angle value are obtained by storing standard pen holding data.
9. An intelligent terminal, characterized in that, intelligent terminal includes: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor, configured to execute one or more program instructions to perform the method of any of claims 4-7.
10. A computer-readable storage medium having one or more program instructions embodied therein for performing the method of any of claims 4-7.
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