CN115042546B - Force feedback intelligent pen based on touch Internet of things and writing gesture monitoring method - Google Patents
Force feedback intelligent pen based on touch Internet of things and writing gesture monitoring method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43K—IMPLEMENTS FOR WRITING OR DRAWING
- 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
- B43K29/005—Combinations of writing implements with other articles with sound or noise making devices, e.g. radio, alarm
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—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
- 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 the touch internet of things and a writing gesture monitoring method, wherein the intelligent pen comprises the following components: the pen comprises a pen body, a pen holder and a pen holder, wherein 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 pressure signals received by the pen holding area; the pressure sensor is used for receiving the pressure signal detected by the pressure difference sensor and transmitting the pressure signal to the processor; the acceleration sensor is used for detecting a pen holding gesture and transmitting a pen holding gesture signal to the processor; the processor is used for receiving the pressure signal and the pen holding gesture signal and sending a pen holding gesture adjusting instruction when judging that the pen holding gesture error exists; and the prompting device is used for performing early warning action according to the holding gesture adjusting instruction fed back by the processor. The technical problem of writing posture adjustment effect relatively poor caused by the fact that a holding posture is fixed by a hardware die in the prior art 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 the touch internet of things and a writing gesture monitoring method.
Background
Writing is a necessary process for children to learn growth, and correct writing habits have positive effects on the physiological and psychological growth of the children. From the beginning of gripping crayon graffiti, children are in the process of continuously learning, training and co-developing the collaboration of eyes and brain to complete writing. And the correct pen holding posture is used for writing and learning, so that the writing process is continuous and stable, a clear visual field is provided, and 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 are all in shapes suitable for writing penholders or pen holders to ensure that students can write in correct postures. In the practical use scene, the hands of the user are large and small, and the positions of the holding pens are different although the holding pens are the same. However, the existing pen holding corrector adopts a hardware die with a fixed structure, and cannot be adjusted according to different conditions of users, so that the writing posture adjusting effect is poor.
Disclosure of Invention
Therefore, the embodiment of the invention provides a force feedback intelligent pen based on the touch Internet of things and a writing gesture monitoring method, aiming at least partially solving the technical problem of poor writing gesture adjustment effect caused by adopting a hardware die to fix a holding gesture in the prior art.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a haptic internet of things-based force feedback smart pen, comprising:
the pen comprises a pen body, wherein 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 pressure signals received by the pen holding area;
the pressure sensor is used for receiving the pressure signal detected by the pressure difference sensor and transmitting the pressure signal to the processor;
the acceleration sensor is used for detecting a pen holding gesture and transmitting a pen holding gesture signal to the processor;
the processor is used for receiving the pressure signal and the pen holding gesture signal and sending a pen holding gesture adjusting instruction when judging that the pen holding gesture error exists;
And the prompting device is arranged in the pen holding area and performs early warning action according to the holding gesture adjusting instruction fed back by the processor.
Further, the differential pressure sensor includes:
the first pressure sensing piece is arranged in the 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;
the second pressure sensing piece is arranged in the index finger area in the pen holding area and is 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 the middle finger area in the pen holding area and is 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 the tiger mouth area in the pen holding area and is used for acquiring a pressure signal of the tiger mouth area, 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 following:
the MEMS sensor is arranged in the pen holding area, and starts a vibration mode when receiving a holding gesture adjusting instruction fed back by the processor;
the voice prompt module is arranged on the pen body, and when receiving the holding gesture adjusting instruction fed back by the processor, the voice prompt module starts a voice prompt mode.
The invention also provides a writing gesture 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 the preset condition, an early warning instruction is sent out, 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.
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 further comprising:
And if the comparison result does not meet the preset condition, a first voice prompt is sent out, and the first voice prompt is used for prompting that the current holding gesture is correct.
Further, the determining that the comparison result meets the preset condition further includes:
and sending out a second voice prompt, wherein the second voice prompt is used for prompting that the current holding gesture 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 value interval, judging that the comparison result meets a preset condition; or alternatively, the first and second heat exchangers may be,
and if the difference value between the current pressure value and the preset pressure value is in a threshold value interval and the difference value between the current angle value and the preset angle value exceeds the threshold value interval, judging that the comparison result meets the preset condition.
The invention also provides a writing gesture monitoring system based on the method as described above, the system comprising:
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;
a result obtaining unit, 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 is used for judging that the comparison result meets a preset condition, and sending an early warning instruction which 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 invention also provides an intelligent terminal, which comprises: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is used for storing 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 performing 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 force feedback intelligent pen and the writing gesture monitoring method based on the touch internet of things 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 correction pen and the pen holder of the current correction posture, and the related accessories for pressure detection are added in the pen, so that the requirements of students on using the correction pen can be met better, and the correction operation of the correction pen can be realized better. In the design of the force feedback intelligent pen based on the touch Internet of things, the gesture of the student pen is judged through the pressure sensing sheet and the acceleration sensor, so that the current pen gesture of the student is judged through the sensor, the correctness of the pen gesture is judged, and a prompt is made under the condition of errors. And further solves the technical problem of poor writing posture adjustment effect caused by adopting a hardware mold to fix the holding posture in the prior art.
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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 will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
FIG. 1 is a schematic diagram of a force feedback smart pen according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a hardware architecture of a control system of the smart pen of FIG. 1;
FIG. 3 is a schematic block diagram of a microelectromechanical system;
FIG. 4 is a block diagram of a chip configuration of a voice module;
FIG. 5 is a flowchart of an embodiment of a writing gesture monitoring method provided by 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 of monitoring writing gestures in a usage scenario;
FIG. 8 is a space rectangular coordinate system of a pen holder;
FIG. 9 is a flow chart of a method of gesture correction in a usage scenario;
fig. 10 is a block diagram of a writing gesture monitoring system according to an embodiment of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to solve the problem that the existing holding gesture correcting products (such as holding gesture correcting pens or pen holders) adjust writing gestures in a mode of limiting finger positions, extra structures are added at the finger positions, so that a pen body is thicker and heavier, the gravity center is lowered, and the daily use is not facilitated; the invention provides a force feedback intelligent pen based on a touch Internet of things and a writing gesture monitoring method based on the force feedback intelligent pen, so that the monitoring effect of the writing gesture is improved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a force feedback smart pen according to the present invention.
In a specific embodiment, the force feedback smart pen provided by the invention is based on the tactile internet of things, which is the internet that enables the remote transmission of tactile sensation. From a hardware structure, the force feedback intelligent pen comprises a pen body 5 and a pen point 6, wherein the pen body is provided with a pen holding area, and according to pen holding habit during writing, the pen holding area comprises a thumb area, an index finger area, a middle finger area and a tiger mouth area, and the pen body is provided with a shell package so as to integrate functional components into the pen body. The pen point is arranged at the end part of the pen body and is a part which is in direct contact with paper when writing.
In order to collect the pressure value during use, process and transmit the pressure value, and realize voice prompt or early warning according to the feedback instruction, a control system needs to be integrated in the intelligent pen. 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 is used for detecting pressure signals received by the pen holding area. The pressure sensor is used for receiving the pressure signal detected by the pressure difference sensor and transmitting the pressure signal to the processor; the pressure sensor (Pressure Transducer) is a device or apparatus that senses a pressure signal and converts the pressure signal to a usable output electrical signal according to a certain law. A differential pressure sensor is a sensor that is used to measure the difference between two pressures, typically the pressure difference across a device or component.
The acceleration sensor is used for detecting the pen holding gesture and transmitting a pen holding gesture signal to the processor. The acceleration sensor is a sensor capable of measuring acceleration and is generally composed of a mass block, a damper, an elastic element, a sensitive element, an adaptive circuit and the like. In the acceleration process of the acceleration sensor, an acceleration value is obtained by measuring the inertial force borne by the mass block and utilizing Newton's second law.
The processor is used for receiving the pressure signal and the pen holding gesture signal and sending a pen holding gesture adjusting instruction when judging that the pen holding gesture is wrong. Wherein the processor is a Soc host processor 10 and ESP32-D0WD-V3 is used as the host processor. In cooperation with this, 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 performs early warning action according to the holding gesture adjusting instruction fed back by the processor.
In addition, in the hardware constitution of the control system of the intelligent pen, the intelligent pen further comprises a power supply module 7 and the like, wherein the power supply module 7 provides power support for the sensor module, the communication module and the processor, the Soc main processor forms a 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 by using the ESP32, and connection is established with the background server 15 and the wireless terminal 16 through Bluetooth and WiFi.
In some embodiments, the differential pressure sensor includes a plurality of pressure sensing pieces, each of which is disposed at each of the key positions in the pen holding area, so as to detect the pressure value of each of the key positions, and process the pressure value of each of the positions, so as to monitor the pen holding gesture more accurately. The pressure sensing sheet used in the invention is a differential pressure sensor, which receives the signals transmitted by each pressure sensing sheet and transmits the signals to the processor.
Specifically, the differential pressure sensor includes 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 an actual use scene, the first pressure sensing piece senses a pressure signal given by the 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 is 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 a pressure signal given by the index finger and can convert the pressure signal into an available output electric signal according to a certain rule. The third pressure sensing piece is arranged in the middle finger area in the pen holding area and is 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 the actual use situation, the third pressure sensing piece senses the pressure signal given by the middle finger 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 the tiger mouth area in the pen holding area and is used for acquiring a pressure signal of the tiger mouth area, 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 by 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 when receiving a holding gesture adjusting instruction fed back by the processor, the MEMS sensor starts a vibration mode. In particular, the MEMS sensor is used for posture correction, and the MEMS sensor (Microelectro Mechanical Systems), i.e. a microelectromechanical system, involves various subjects and technologies such as electronics, mechanics, materials, physics, chemistry, biology, medicine, etc., and is a multi-subject crossing leading-edge research field developed on the basis of microelectronics technology. The MEMS-based sensor product is developed to measure pressure by the aid of the micro-pressure sensor in the design of the force feedback intelligent pen based on the touch Internet of things, so that the requirements in the design of the force feedback intelligent pen based on the touch Internet of things are fully met. In the process that students use force feedback intelligent pens based on the touch Internet of things, users receive, convert and transmit sensed force into a processor through hand acting force by MEMS miniature pressure sensors arranged on the pens.
After the MEMS miniature pressure sensor is acted, the received data is calculated and analyzed through a force feedback technology. Force feedback refers to that in the human-computer interaction process, a user inputs a mechanical signal or a motion signal through a sensor, a computer calculates the magnitude and the direction of feedback force according to a corresponding algorithm, and the feedback force is output through force feedback equipment, so that the user obtains feedback.
In the embodiment, the force feedback intelligent pen based on the tactile Internet of things analyzes the obtained related pressure signals through the processor, judges the pen using posture of the student, and feeds back the obtained result. After the relevant feedback is obtained, the intelligent pen can give relevant prompts in modes of vibration, sound or indicator lights of the motor, and the like, so that students are prompted to correct pen gestures. The MEMS-based sensor product is developed to measure pressure by the aid of the micro-pressure sensor in the design of the force feedback intelligent pen based on the touch Internet of things, so that the requirements in the design of the force feedback intelligent pen based on the touch Internet of things are fully met. With the development of MEMS technology of a micro-electro-mechanical system and the application of the MEMS technology in a gesture sensor, a force feedback intelligent pen based on the touch Internet of things collects pen holding gesture action information of a learner, and judgment and recognition of pen holding gestures are realized through 3 steps of data collection, feature extraction and model comparison. In the process that students use force feedback intelligent pens based on the touch Internet of things, users sense the force of the students through hand acting forces, MEMS miniature pressure sensors arranged on the pens sense the force of the students, the finger pen holding angle is achieved, and related data are collected. Thereby receiving, converting and transmitting the force to be sensed to the processor.
In principle, the basic principle of measuring the inclination angle of the MEMS sensor is to embed a micro-electromechanical 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 respective capacitance between the electrodes when the inclinometer is in a horizontal position. If the sensor is tilted, the elastic electrode will change its relative position 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 tilt value. The pen posture correction principle adopts MEMS actuator micro-motors. The actuator is used for processing according to signals, and the instruction recovered by the control circuit is automatically completed. When a voltage is applied to the two conductors, an electrostatic force is generated. The magnitude of the electrostatic force is inversely proportional to the square of the dimension. Based on the basic structure of parallel plate capacitors, there are two types of parallel plates, normal and tangential, and when one of the plates is fixed, the other is suspended by a mechanical spring, and the plates will be displaced under a bias voltage.
The principle of the output vibration of the MEMS sensor is that the original mechanical quantity to be measured is taken 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 transformation, and finally the mechanical quantity is transformed into electric quantity by an electromechanical transformation part.
The voice prompt module is arranged on the pen body, and starts a voice prompt mode when receiving a holding gesture adjusting instruction fed back by the processor. Specifically, as shown in fig. 4, the voice module uses the WT588D chip, and functions to output a warning tone through the judgment made by the pen-hold gesture analysis system. In an actual use scene, when the pen holding posture of the student is correct, the student is prompted to have correct pen holding posture, when the pen holding posture of the student is incorrect, the student is prompted to have incorrect pen holding posture, and corresponding prompt tones are provided for indicating 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 burnt OTP voice chip, an SPI-flash with 2M-32Mbit can be hung externally, voice content and the like are stored in the SPI-flash, and the voice content, the control mode, the output mode and the like can be repeatedly burnt and changed. And the control modes of independent keys, 3*8 matrix keys, parallel port control, a first-line serial port, a third-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, and 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 connecting the intelligent pen. The CPU is an ESP32-D0WD-V3 built-in two low-power Xtensa cube 32-bit LX6 MCU, and the on-chip storage of the memory comprises a ROM, SRAM, RTC fast memory and an RTC slow memory; the ROM448KB is used for program starting and kernel function calling, the SRAM is used for 520KB chips for data and instruction storage, the RTC flash memory is 8KB SRAM, the RTC flash memory can be used for data storage and is accessed by the main CPU when the RTC is started in the Deep-sleep mode, the RTC flash memory is 8KB SRAM, and the RTC flash memory can be accessed by the coprocessor in the Deep-sleep mode. The Flash memory also comprises an external Flash and an SRAM so as to support a plurality of external QSPI Flash and a static random access memory SRAM and also support a hardware encryption and decryption function based on AES, thereby protecting programs and data in the Flash of a developer. The external QSPI flash and the SRAM can be accessed through the cache, and the external flash can be mapped to the CPU instruction and the read-only data space at the same time. 4MB SPI flash and 8MB PSRAM are integrated. And the system also comprises low-power management, and can switch between different power consumption modes by adopting an advanced power management technology. The wireless communication system also comprises a WT588D voice chip, and the purpose of voice prompt is achieved by controlling the playing sound.
In this way, a pressure sensing piece and an acceleration sensor are added into the pen body of the intelligent pen, and the force feedback equipment of the touch thing networking judges the pen holding posture; meanwhile, whether the posture is correct or not is timely prompted through voice prompt, and the position of the student corrected by the posture of the pen is prompted through system analysis by using the MEMS sensor.
In addition to the intelligent pen, the invention also provides a writing gesture 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: the current pressure value of the pen holding area and the current angle value of the finger of the user are obtained. In the actual operation process, the standard writing posture is that the pen holder is placed between three tips of the thumb, the index finger and the middle finger, the index finger is in front, the thumb is at the left rear, the middle finger is at the right lower, the index finger is slightly lower than the thumb, the thumb and the index finger are naturally bent to form an ellipse shape, and the tip of the index finger is about 3 cm away from the pen point. The first joint of the middle finger is propped against the penholder from the rear, the penholder leans against the tiger mouth, and the ring finger and the little finger are bent simultaneously and sequentially propped against the rear of the middle finger. The penholder and the exercise book keep the inclination of about sixty degrees, the palm center is in a virtual circle, and the joints of the fingers are slightly bent. In order to obtain the data to be detected, a pressure value and an angle value can be obtained according to this principle. 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, wifi or bluetooth may be used to transmit the detected current pressure value and the current angle value to the processor. Wifi is a transmission mode commonly used, is very convenient to access to the internet of things because of good expansibility, has higher reliability and higher transmission rate, and is very suitable for the indoor field. The disadvantage is that the transmission distance is relatively short and the low power consumption is still to be enhanced. Bluetooth is a radio technology supporting short-range communication (typically within 10 m) of devices, enabling wireless information exchange between numerous devices including mobile phones, PDAs, wireless headsets, notebook computers, related peripherals, and the like. By utilizing the Bluetooth technology, the communication between mobile communication terminal devices can be effectively simplified, and the communication between the devices and the Internet can be successfully simplified, so that the data transmission becomes quicker and more efficient, and the road is widened for wireless communication. The invention transmits data to the wireless terminal through Bluetooth, and also can transmit data to the background server through the WiFi module. The background server is provided with a pen holding gesture analysis system and can judge the pen holding gesture of the student.
S503: if the comparison result meets the preset condition, an early warning instruction is sent out, 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.
In a specific usage scenario, pre-stored standard pen-hold data may be used as standard data by collecting teacher pen-hold data. For example, as shown in fig. 6, the pen holding posture data of a teacher or a student is acquired by a sensor mounted on the pen body, and the pen holding posture analysis system determines whether the posture is correct or not based on the acquired data, and the student whose posture is determined to be wrong gives a prompt and corrects the pen holding posture. The pressure sensor acquires pressure from the fingers of the student; the acceleration sensor acquires the angle of the fingers of the student, and 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 a remote terminal through a 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 gesture of holding a pen 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 enters a posture correcting stage, and the posture of the student is corrected through the MEMS sensor.
In some embodiments, comparing the current pressure value to a pre-stored standard pressure value, comparing the current angle value to 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, a first voice prompt is sent out, and the first voice prompt is used for prompting that the current holding gesture is correct.
That is, when the comparison result does not meet the preset condition, it indicates that there is no problem of incorrect holding gesture, and at this time, a first voice prompt is sent, where the voice prompt is used to prompt that the current holding gesture is correct, and the first voice prompt may be "correct" or "gesture correct", etc.
Further, the determining that the comparison result meets the preset condition further includes:
and sending out a second voice prompt, wherein the second voice prompt is used for prompting that the current holding gesture is incorrect.
When the comparison result meets the preset condition, the position with incorrect holding gesture is indicated, and at the moment, a second voice prompt can be synchronously sent out while an early warning instruction is sent out, wherein the second voice prompt can be 'thumb area too high pressure', 'index finger area too low pressure' or 'tiger area too high pressure' 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 value interval, judging that the comparison result meets a preset condition; or alternatively, the first and second heat exchangers may be,
and if the difference value between the current pressure value and the preset pressure value is in a threshold value interval and the difference value between the current angle value and the preset angle value exceeds the threshold value interval, judging that the comparison result meets the preset condition.
In one specific use scenario, as shown in FIG. 7, a pen-hold gesture analysis system is utilized for analyzing, storing, and collecting data. The pressure values acquired 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 the 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 acceleration, wherein the included angle alpha is an included angle between the x axis and the projection of the pen holder on the x and y plane, and the included angle beta is an included angle between the projection of the pen holder and the projection of the pen holder on the x and y plane.
As shown in fig. 7, the user is set as a "standard pen gesture user", the pressure-sensitive sheet data is zeroed, the calligrapher uses the invention to write, the numerical values of F1, F2, F3 and F4 are dynamically recorded, the four numerical values after writing take the average value in the time period, the included angle alpha and the included angle beta are calculated, and the data are recorded and stored as standard comparison.
The key is initialized, a user is set as student 1, student 1 writes by using the invention, numerical values of F1, F2, F3 and F4 are recorded, the four numerical values are taken as the average value in a time period, and an included angle alpha and an included angle beta are calculated.
Comparing four groups of pressure data corresponding to the two users, if the difference between 1 group of numerical values exceeds 20%, marking the student as incorrect pen holding posture, if the difference is 20%, comparing an included angle alpha with an included angle beta, if one of the difference is greater 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 initializing keys, namely setting the user as ' student 2 ', ' student 3 ', ' and the third party, respectively recording data and comparing the data with a standard control group, and repeating the steps to judge whether the pen holding gesture of each student is correct.
In the process of correcting the pen gesture, when the sensor data is transmitted to a background server, and is judged by a pen-holding gesture analysis system, if the gesture is judged to be incorrect, the background server returns information of incorrect gesture to the invention, and the invention gives a prompt to a corresponding incorrect pen-holding position through a force feedback device, for example, the index finger position is excessively stressed, and prompts that the index finger position is required to be stressed in a single slight vibration mode, for example, the index finger position is excessively stressed, and prompts that the index finger position is required to be stressed in a single more obvious vibration mode.
In a specific usage scenario, as shown in fig. 9, the server determines whether the pen-holding gesture is correct through the pen-holding gesture analysis system, if yes, the user completes gesture correction, if not, the pen-holding gesture is determined to be incorrect, and the gesture correction stage is entered; judging whether the force of the part to be corrected is excessively heavy, if so, prompting the MEMS sensor of the corresponding part (such as the tiger mouth area) by single slight vibration, and prompting the user that the force of the part (corresponding to the tiger mouth area) is required to be reduced; if not, the MEMS sensor at the corresponding part is prompted by a plurality of obvious vibrations to prompt the user that the force at the part needs to be increased. After the pressure adjustment, the user is adjusted in posture to complete the user posture correction.
In the embodiment, in the process of correcting the pen posture of the force feedback intelligent pen based on the touch Internet of things, the touch feedback technology is fully utilized to help students complete learning of the correct pen posture, and the students can grasp the correct posture more accurately in the process, so that the students can learn the correct pen posture better.
In the specific embodiment, the force feedback intelligent pen and the writing posture monitoring method based on the touch Internet of things solve the defects of the correcting pen and the pen holder for correcting the posture at present, and the related accessories for pressure detection are added in the pen, so that the requirements of students on using the correcting pen can be met better, and the correcting operation of the correcting pen can be realized better. In the design of the force feedback intelligent pen based on the touch Internet of things, the gesture of the student pen is judged through the pressure sensing sheet and the acceleration sensor, so that the current pen gesture of the student is judged through the sensor, the correctness of the pen gesture is judged, and a prompt is made under the condition of errors. And further solves the technical problem of poor writing posture adjustment effect caused by adopting a hardware mold to fix the holding posture in the prior art.
In addition to the above method, the present invention also provides a writing gesture monitoring system, based on the method as described above, in a specific embodiment, as shown in fig. 10, the system includes:
the data acquisition unit 100 is used for acquiring a current pressure value of a pen holding area and a current angle value of a finger of a 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 determine that the comparison result meets a preset condition, and send an early warning instruction, 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 specific embodiment, the writing posture monitoring system provided by the invention solves the defects of the correcting pen and the pen holder of the current correcting posture, and can better meet the demands of students on using the correcting pen by adding the related accessories for pressure detection in the pen, thereby better realizing the correcting operation of the correcting pen. In the design of the force feedback intelligent pen based on the touch Internet of things, the gesture of the student pen is judged through the pressure sensing sheet and the acceleration sensor, so that the current pen gesture of the student is judged through the sensor, the correctness of the pen gesture is judged, and a prompt is made under the condition of errors. And further solves the technical problem of poor writing posture adjustment effect caused by adopting a hardware mold to fix the holding posture in the prior art.
The invention also provides an intelligent terminal, which comprises: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is used for storing one or more program instructions; the processor is configured to execute one or more program instructions to perform the method as described above.
Corresponding to the above embodiments, the present invention also provides a computer readable storage medium, which contains one or more program instructions. Wherein the one or more program instructions are for performing the method as described above by a binocular camera depth calibration system.
Corresponding to the above-described embodiments, the embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
In the embodiment of the invention, the processor may be an integrated circuit chip with signal processing capability. The processor may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP for short), an application specific integrated circuit (Application Specific f ntegrated Circuit ASIC for short), a field programmable gate array (FieldProgrammable Gate Array FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The disclosed methods, steps, and logic blocks 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 embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The processor reads the information in the storage medium and, in combination with its hardware, performs the steps of the above method.
The storage medium may be memory, for example, may be volatile memory or nonvolatile memory, or 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 ROM (Electrically EPROM, EEPROM), or a flash Memory.
The volatile memory may be a random access memory (Random Access Memory, RAM for short) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (Double Data RateSDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (directracram, DRRAM).
The storage media described in embodiments of the present 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 in one or more of the examples described above, the functions described in the present invention may be implemented in a combination of hardware and software. When the software is applied, the corresponding functions may be stored in a computer-readable medium or transmitted as one or more instructions or code on the 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 foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the foregoing is by way of illustration and description only, and is not intended to limit the scope of the invention.
Claims (8)
1. Force feedback intelligence pen based on touch thing networking, characterized by, include:
the pen comprises a pen body, wherein 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 pressure signals received by the pen holding area; the differential pressure sensor includes:
the first pressure sensing piece is arranged in the 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;
the second pressure sensing piece is arranged in the index finger area in the pen holding area and is 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 the middle finger area in the pen holding area and is 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 the tiger mouth area in the pen holding area and is used for acquiring a pressure signal of the tiger mouth area, converting the pressure signal into an electric signal and transmitting the electric signal to the pressure sensor;
the pressure sensor is used for receiving the pressure signal detected by the pressure difference sensor and transmitting the pressure signal to the processor;
the acceleration sensor is used for detecting a pen holding gesture and transmitting a pen holding gesture signal to the processor;
the processor is used for receiving the pressure signal and the pen holding gesture signal and sending a pen holding gesture adjusting instruction when judging that the pen holding gesture error exists;
the pressure values acquired by the first pressure sensing sheet, the second pressure sensing sheet, the third pressure sensing sheet and the fourth pressure sensing sheet are recorded as F1, F2, F3 and F4 respectively, a space rectangular coordinate system is established based on the pen body, the acceleration sensor measures the gravity acceleration of the x axis, the y axis and the z axis, an included angle alpha and an included angle beta are calculated according to the acceleration, the included angle alpha is the included angle of projection of the x axis and the pen holder on the plane x and y, and the included angle beta is the included angle of projection of the pen holder and the pen holder on the plane x and y;
Setting a user as a standard pen gesture user, zeroing pressure sensing sheet data, writing by a calligrapher, dynamically recording the values of F1, F2, F3 and F4 of the differential pressure sensor, taking the average value of the four written values in a time period, calculating an included angle alpha and an included angle beta, and recording and storing the data as standard contrast;
setting a user as 'student 1', writing by using the invention, recording values of F1, F2, F3 and F4, taking average values of the four values in a time period, calculating an included angle alpha and an included angle beta, comparing four groups of pressure data corresponding to the two users, if the upper and lower differences of 1 group of values exceed 20%, marking the student as incorrect pen holding gesture, if the difference is within 20%, comparing the included angle alpha and the included angle beta, if one of the differences is greater than 10%, marking the student as incorrect pen holding gesture, and if the difference is less than 10%, marking the student as correct pen holding gesture;
the prompting device is arranged in the pen holding area and performs early warning action according to a holding gesture adjusting instruction fed back by the processor;
the intelligent pen gives a relevant prompt by using vibration, sound or an indicator lamp of the motor to prompt students to correct the pen gesture.
2. The force feedback smart pen of 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 gesture adjusting instruction fed back by the processor;
the voice prompt module is arranged on the pen body, and when receiving the holding gesture adjusting instruction fed back by the processor, the voice prompt module starts a voice prompt mode.
3. A writing gesture monitoring method based on a force feedback smart pen according to any of claims 1-2, characterized in that the method comprises:
setting a user as a standard pen gesture user, resetting pressure sensing piece data, writing by a calligrapher, dynamically recording the values of pressure values F1, F2, F3 and F4 of a first pressure sensing piece, a second pressure sensing piece, a third pressure sensing piece and a fourth pressure sensing piece of the differential pressure sensor, taking the average value of the four written values in a time period, calculating an included angle alpha and an included angle beta, and recording and storing the data as standard contrast;
initializing keys, namely setting a user as 'student 1', writing by using an intelligent pen by the student 1, recording values of F1, F2, F3 and F4, taking average values of the four values in a time period, calculating an included angle alpha and an included angle beta, comparing four groups of pressure data corresponding to the two users, if the upper and lower differences of the 1 groups of values exceed 20%, marking the student as incorrect pen holding posture, if the difference is within 20%, comparing the included angle alpha with the included angle beta, if one of the differences is greater 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;
If the comparison result meets the preset condition, an early warning instruction is sent out, and the early warning instruction is used for controlling an early warning device to make early warning actions;
the intelligent pen gives a relevant prompt by using vibration, sound or an indicator lamp of the motor to prompt students to correct the pen gesture.
4. A writing gesture monitoring method according to claim 3, wherein comparing the current pressure value with a pre-stored standard pressure value, comparing the current angle value with a pre-stored standard angle value to obtain a comparison result, and further comprising:
and if the comparison result does not meet the preset condition, a first voice prompt is sent out, and the first voice prompt is used for prompting that the current holding gesture is correct.
5. The writing gesture monitoring method of claim 3, wherein determining that the comparison result satisfies a preset condition further comprises:
and sending out a second voice prompt, wherein the second voice prompt is used for prompting that the current holding gesture is incorrect.
6. The writing gesture monitoring method according to claim 3, wherein if the comparison result is determined to meet a preset condition, an early warning command is issued, and specifically comprising:
if the difference value between the current pressure value and the preset pressure value exceeds a threshold value interval, judging that the comparison result meets a preset condition; or alternatively, the first and second heat exchangers may be,
And if the difference value between the current pressure value and the preset pressure value is in the threshold value interval and the difference value between the current angle value and the preset angle value exceeds the threshold value interval, judging that the comparison result meets the preset condition.
7. An intelligent terminal, characterized in that, the 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 used for storing one or more program instructions; the processor being configured to execute one or more program instructions for performing the method of any of claims 3-6.
8. A computer readable storage medium having one or more program instructions embodied therein for performing the method of any of claims 3-6.
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