CN115956904A - Neck posture detection method and device and head-mounted display equipment - Google Patents
Neck posture detection method and device and head-mounted display equipment Download PDFInfo
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Abstract
The invention discloses a neck posture detection method, a neck posture detection device and a head-mounted display device, and relates to the technical field of head-mounted display devices, wherein the method comprises the following steps: acquiring sensor data acquired by each preset inertial sensor; the preset inertial sensor comprises a first inertial sensor arranged on the head-mounted display equipment main body and a second inertial sensor arranged on a neck sensing part connected with the head-mounted display equipment main body; determining attitude data corresponding to each preset inertial sensor according to the sensor data; wherein the attitude data comprises displacement data and/or rotation angle data; determining a neck pose of a wearer of the head mounted display device body from the pose data; according to the invention, the relative relation between the head and the cervical vertebra of the user is detected by using the inertial sensors on the head-mounted display device main body and the neck sensing part, so that the neck posture of the user can be conveniently and accurately detected, the user is reminded to adjust improper posture, and the occurrence of cervical spondylosis is prevented.
Description
Technical Field
The invention relates to the technical field of head-mounted display equipment, in particular to a neck posture detection method and device and head-mounted display equipment.
Background
At present, head-mounted display devices such as VR (Virtual Reality), AR (Augmented Reality), MR (Mix Reality) and the like are mostly in a model function definition stage, and there is still no mainstream head-mounted display device in the market, and head-mounted display devices applied to human health detection and protection are rare. The current head-mounted display equipment is mostly defined to be in a form of portable glasses, and the glasses are worn in a contact mode for a long time, so that the head-mounted display equipment has natural advantages in the aspect of health monitoring compared with electronic products such as smart phones and panels.
After the mobile internet era is entered, besides the convenient experience brought by the smart phone, a group of 'head-lowering groups' are derived, and neck muscle rigidity and other problems can be caused by the long-term head-lowering gesture of playing the smart phone. At present, most cervical vertebra anteversion correctors specially used for cervical vertebra correction on the market need to be surrounded at the neck, the strange modeling of the cervical vertebra anteversion corrector often enables a user to be a 'crane chicken flock', certain psychological burden is easily brought to a wearer, and poor experience is brought to the user through mechanical and physical forced correction. In addition, long-term use of the cervical forward-leaning corrector can cause stiffness of neck muscles and unsmooth blood flow.
Therefore, how to detect the neck posture of the user conveniently and accurately by using the head-mounted display device so as to remind the user of adjusting improper posture and prevent cervical spondylosis is a problem which needs to be solved urgently nowadays.
Disclosure of Invention
The invention aims to provide a neck posture detection method and device and a head-mounted display device, so that the neck posture of a user can be conveniently and accurately detected by using the head-mounted display device, the user can be reminded of adjusting an improper posture, and cervical spondylosis can be prevented.
In order to solve the above technical problem, the present invention provides a neck posture detection method, including:
acquiring sensor data acquired by each preset inertial sensor; the preset inertial sensor comprises a first inertial sensor arranged on a head-mounted display device main body and a second inertial sensor arranged on a neck sensing part connected with the head-mounted display device main body;
determining attitude data corresponding to each preset inertial sensor according to the sensor data; wherein the attitude data comprises displacement data and/or rotational angle data;
determining a neck pose of a wearer of the head mounted display device body from the pose data.
Optionally, the determining, according to the sensor data, the attitude data corresponding to each preset inertial sensor includes:
and determining the attitude data by using a Kalman filtering algorithm according to the sensor data.
Optionally, the determining the attitude data by using a kalman filter algorithm according to the sensor data includes:
determining the estimated angular velocity and the estimated position corresponding to each preset inertial sensor by using the Kalman filtering algorithm according to the detected angular velocity in the sensor data;
according to the estimated position, carrying out zero offset correction on each preset inertial sensor;
determining the attitude data according to the estimated angular velocity.
Optionally, before determining, according to the detected angular velocity in the sensor data, the estimated angular velocity and the estimated position corresponding to each of the preset inertial sensors by using the kalman filtering algorithm, the method further includes:
and adjusting a filter coefficient in the Kalman filtering algorithm according to the detection acceleration in the sensor data.
Optionally, the number of the first inertial sensors is 2, and the number of the second inertial sensors is 1.
Optionally, before acquiring the sensor data acquired by each preset inertial sensor, the method further includes:
judging whether the head-mounted display equipment main body is in a head-mounted state or not according to first wearing detection data acquired by a first wearing detection sensor arranged on the head-mounted display equipment main body;
if so, judging whether the neck sensing component is in a neck wearing state according to second wearing detection data acquired by a second wearing detection sensor arranged on the neck sensing component;
and if the neck is in the wearing state, the step of acquiring the sensor data acquired by each preset inertial sensor is executed.
Optionally, after determining the neck posture of the wearer of the head mounted display device main body according to the posture data, the method includes:
if the neck posture is the target neck posture, detecting whether the accumulated time of the target neck posture in a preset time period reaches a time threshold value; wherein the target neck posture is any improper neck posture;
and if so, outputting correction reminding information corresponding to the target neck posture by using a loudspeaker and/or a display screen on the head-mounted display equipment main body.
Optionally, the determining, according to the posture data, a neck posture of the wearer of the head-mounted display device main body includes:
determining the neck posture of the wearer of the head-mounted display equipment main body according to the posture data and preset posture data corresponding to each preset neck posture; wherein the neck pose is any of the predetermined neck poses;
correspondingly, before acquiring the sensor data collected by each preset inertial sensor, the method further comprises:
acquiring initial sensor data which are acquired by each preset inertial sensor and respectively correspond to each preset neck posture according to the acquired preset neck posture input instruction;
and acquiring preset posture data corresponding to each preset neck posture according to the initial sensor data.
The present invention also provides a neck posture detecting device, comprising:
the acquisition module is used for acquiring sensor data acquired by each preset inertial sensor; the preset inertial sensor comprises a first inertial sensor arranged on a head-mounted display device main body and a second inertial sensor arranged on a neck sensing part connected with the head-mounted display device main body;
the determining module is used for determining attitude data corresponding to each preset inertial sensor according to the sensor data; wherein the attitude data comprises displacement data and/or rotational angle data;
and the recognition module is used for determining the neck posture of the wearer of the head-mounted display equipment main body according to the posture data.
The present invention also provides a head-mounted display device, including:
a memory for storing a computer program;
a processor for implementing the steps of the neck pose detection method as described above when executing the computer program.
The invention provides a neck posture detection method, which comprises the following steps: acquiring sensor data acquired by each preset inertial sensor; the preset inertial sensor comprises a first inertial sensor arranged on the head-mounted display equipment main body and a second inertial sensor arranged on a neck sensing part connected with the head-mounted display equipment main body; determining attitude data corresponding to each preset inertial sensor according to the sensor data; wherein the attitude data comprises displacement data and/or rotation angle data; determining a neck posture of a wearer wearing the head-mounted display device main body according to the posture data;
therefore, the relative relationship between the head and the cervical vertebra of the user is detected by the inertial sensors on the head-mounted display device main body and the neck sensing component through acquiring the sensor data acquired by the preset inertial sensors, so that the neck posture of the user can be detected conveniently and accurately to reflect the current state of the neck of the user, the user is reminded of adjusting the improper posture, and the occurrence of cervical spondylosis is prevented. In addition, the invention also provides a neck posture detection device and head-mounted display equipment, and the neck posture detection device and the head-mounted display equipment also have the beneficial effects.
Drawings
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 is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a neck posture detection method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a neck posture detection system of AR glasses according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for detecting neck gestures according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating another method for detecting neck gestures according to an embodiment of the present invention;
fig. 5 is a block diagram of a neck posture detection apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a head-mounted display device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a neck posture detection method according to an embodiment of the present invention. The method can comprise the following steps:
step 101: acquiring sensor data acquired by each preset inertial sensor; the preset inertial sensor comprises a first inertial sensor arranged on the head-mounted display device main body and a second inertial sensor arranged on the neck sensing part connected with the head-mounted display device main body.
The preset inertial sensor in the present embodiment may be a preset inertial sensor for detecting a neck posture of a wearer (i.e., a user) wearing the head-mounted display device. The preset inertial sensors may include an inertial sensor (i.e., a first inertial sensor) provided in a head-mounted display device body (e.g., AR glasses in fig. 2) and an inertial sensor (i.e., a second inertial sensor) provided on a neck sensing part connected to the head-mounted display device body, so as to detect a relative relationship between the head and the cervical vertebrae of the user using sensor data collected by the first inertial sensor and the second inertial sensor, thereby accurately detecting the posture of the neck of the wearer.
Specifically, the specific setting number and position of the preset inertial sensors in this embodiment may be set by a designer according to a practical scene and a user requirement, for example, the number of the first inertial sensors in this embodiment may be 2, and the number of the second inertial sensors may be 1, so as to detect the neck posture of the wearer by using posture data corresponding to a triangular spatial position formed by the three preset inertial sensors, and further improve the accuracy of detecting the neck posture; as shown in fig. 2, the AR glasses may be provided with two first inertial sensors, i.e., a left inertial sensor 1 on a left side temple and a right inertial sensor 3 on a right side temple, and one inertial sensor (i.e., a second inertial sensor) may be provided on a neck sensing part 5 wired to the AR glasses. In this embodiment, the number of the first inertial sensors and the number of the second inertial sensors may be both 1. The present embodiment does not set any limit to this.
It should be noted that the neck posture detection method provided by this embodiment may be applied to a head-mounted display device (i.e., a head-mounted display device main body), that is, a processor in the head-mounted display device may execute the neck posture detection method provided by this embodiment, and detect the neck posture of the wearer by using the head-mounted display device main body and the neck sensing part; the neck posture detection method provided by the present embodiment may also be applied to a neck sensing part, that is, a processor of the neck sensing part may execute the neck posture detection method provided by the present embodiment, and detect the neck posture of the wearer by using the head-mounted display apparatus main body and the neck sensing part; the positioning method provided by this embodiment may further include another device (such as a server, a host device, or a smart phone) in communication with the head-mounted display device and/or the neck sensing component, for example, a processor in the server wirelessly connected to the head-mounted display device may execute the neck posture detection method provided by this embodiment, and detect the neck posture of the wearer by using the head-mounted display device body and the neck sensing component. The present embodiment does not set any limit to this.
Specifically, the sensor data in this step may be sensor data acquired by each preset inertial sensor. Specific data content of the sensor data acquired by each preset inertial sensor in the embodiment can be set by a designer according to a practical scene and user requirements, for example, the sensor data can include angular velocity data (namely, detected angular velocity) so as to obtain attitude data (such as displacement data and corner data) corresponding to each preset inertial sensor by using the angular velocity data acquired by each preset inertial sensor; the sensor data may also include angular velocity data and acceleration data (i.e., detected acceleration) to reflect the state of the user's neck using the change in the degrees of freedom in the respective corresponding six axes of space of each of the preset inertial sensors. The present embodiment does not set any limit to this.
Correspondingly, for the specific sensor type of the preset inertial sensor in this embodiment, the specific sensor type may be set by a designer according to a practical scenario and a user requirement, for example, the preset inertial sensor may specifically be a gyroscope, and may also be another inertial sensor such as an angular accelerometer, which is not limited in this embodiment.
The specific way in which the processor acquires the sensor data acquired by each preset inertial sensor in this step can be set by a designer according to a practical scene and user requirements, for example, when the method provided by this embodiment is applied to a head-mounted display device, the processor in the main body of the head-mounted display device can directly acquire the sensor data acquired by the first inertial sensor and receive the sensor data acquired by the second inertial sensor arranged on the neck sensing part; when the method provided by the embodiment is applied to the server, the processor of the server may receive the sensor data acquired by the first inertial sensor and the second inertial sensor, which are sent by the head-mounted display device main body. The present embodiment does not set any limit to this.
Correspondingly, in order to ensure the accuracy of the neck posture detection, the method provided by this embodiment may further include, before step 101, a process of wearing detection of the head-mounted display device main body (i.e., head wearing detection) and/or wearing detection of the neck sensing component (i.e., neck wearing detection); for example, the processor may detect whether both the head-mounted display device main body and the neck sensing part are in a wearing state according to wearing detection data acquired by a wearing detection sensor (i.e., a first wearing detection sensor, such as a capacitive sensor) provided on the head-mounted display device main body and a wearing detection sensor (i.e., a second wearing detection sensor) provided on the neck sensing part; if yes, go to step 101; if not, the process is ended or wearing detection data collected by the wearing detection sensor is continuously acquired. For example, before step 101, the processor may determine whether the head-mounted display device main body is in a head-mounted state according to first mounting detection data acquired by a first mounting detection sensor arranged on the head-mounted display device main body; if the neck sensing component is in the head wearing state, judging whether the neck sensing component is in the neck wearing state according to second wearing detection data acquired by a second wearing detection sensor arranged on the neck sensing component; if the neck wearing state is reached, the process goes to step 101. The present embodiment does not set any limit to this.
Step 102: determining attitude data corresponding to each preset inertial sensor according to the sensor data; wherein the attitude data comprises displacement data and/or rotation angle data.
It is understood that the posture data in this embodiment may be data for representing the user posture corresponding to each preset inertial sensor position, for example, the posture data may include displacement data and/or rotation angle data. In the step, the processor can determine the posture data corresponding to the positions of the preset inertial sensors by using the current sensor data acquired by the preset inertial sensors, so that the posture data of all the preset inertial sensors are used for reflecting the relative relation between the head and the cervical vertebra of the user, and the neck posture of the user is accurately identified.
Specifically, the specific manner in which the processor determines the attitude data corresponding to each preset inertial sensor according to the sensor data in this step may be set by the designer according to the practical scene and the user's requirement, for example, the processor may directly integrate the detected angular velocity in the sensor data corresponding to each preset inertial sensor to obtain the attitude data (e.g., displacement data and rotation angle data) corresponding to each preset inertial sensor. In order to improve the accuracy of neck posture detection, the processor in the step can determine the posture data by using a Kalman filtering algorithm according to the sensor data; for example, the processor may determine, according to the detected angular velocity in the sensor data, the estimated angular velocity corresponding to each preset inertial sensor by using a kalman filtering algorithm; from the estimated angular velocity, attitude data is determined. This embodiment does not set any limit to this.
Correspondingly, the processor can determine the estimated angular velocity and the estimated position corresponding to each preset inertial sensor by using a Kalman filtering algorithm according to the detected angular velocity in the sensor data; and performing zero offset correction on each preset inertial sensor by utilizing the estimated position so as to filter out the accumulated error through a Kalman filtering algorithm. For example, the formula may be used for the angle calculation: angle t ＝Angle t-1 + Gyro × dt; wherein, angle t Presetting the angular velocity data (namely, the detected angular velocity) measured by an inertial sensor (such as a gyroscope) at the time t (namely, the current time) t-1 The Gyro is the static drift of a preset inertial sensor, and is angular velocity data (namely, the detected angular velocity) measured at the moment t-1 (namely, the previous moment); since the inertial sensor is preset to have drift in reality, the above equation can be modified as follows in this embodiment: angle t ＝Angle t-1 +(Gyro-Q_Bias t-1 )*dt，Q_Bias t-1 The position at time t-1.
Accordingly, the following equation of state can be established:
Angle t ＝Angle t-1 +(Gyro-Q_Bias t-1 )*dt
Q_Bias t ＝Q_Bias t-1
wherein, the state quantity: angle t And Q _ Bias t (ii) a Measurement quantity: z is a radical of 1 = angle; the matrix form is as follows:
the kalman filtering algorithm employed in this embodiment may be as follows:
and (3) a priori estimation:
wherein it is present>
For the predicted angular speed at instant k>
For the estimated angular velocity at time k-1 (i.e., kalman estimated angular velocity), ->
For the predicted position at instant k>
Is the estimated position at time k-1;
prior error covariance:
kalman gain:
K k kalman gain at time k; q is a quality factor;
updating the error covariance:
and (3) posterior estimation:
an estimated angular velocity for time k (i.e., the current time); />
Is the estimated position at time k; z is a radical of formula k The angular velocity data (i.e., the detected angular velocity) measured at the time k by the inertial sensor (e.g., gyroscope) is preset.
That is, the processor may utilize the detected angular velocity in the sensor data at the current time (i.e., time k)
Respective estimated angular speed ^ corresponding to each preset inertial sensor determining current moment>
And the estimated position->
Wherein +>
And &>
To utilize the last momentThe estimated angular velocity and the estimated position at time k (i.e., time k-1) are calculated to obtain the predicted angular velocity and the predicted position at time k. Correspondingly, the processor can estimate the deviation of each preset inertial sensor by using the estimated position at the current moment, so as to perform zero offset correction on each preset inertial sensor; the processor may also calculate attitude data (e.g., displacement data and rotation angle data) corresponding to each of the preset inertial sensors using the estimated angular velocity at the current time.
Furthermore, the processor can adjust a filter coefficient in a Kalman filtering algorithm according to the detected acceleration in the sensor data.
Step 103: from the pose data, a neck pose of a wearer of the head mounted display device body is determined.
It can be understood that, in this step, the processor may identify the neck posture of the wearer wearing the main body of the head display device by using the posture data corresponding to each of the preset inertial sensors, so as to more accurately detect the neck posture of the wearer by using the relative relationship between the head and the cervical vertebrae of the wearer included in the preset inertial sensors.
Specifically, the specific setting mode of the neck posture determined in this step may be set by a designer according to a practical scenario and a user requirement, for example, the determined neck posture in this embodiment may be any preset neck posture, and in this step, the processor may match a preset neck posture from each preset neck posture as the current neck posture by using posture data corresponding to each preset inertial sensor at the current time; for example, common neck postures such as "normal upright", "forward leaning", "backward leaning", and "side leaning" that may be set in advance in this embodiment may be used as the preset neck posture, and the posture data (i.e., the preset posture data) corresponding to each preset neck posture is configured, so that the processor may determine the neck posture of the wearer of the head-mounted display device main body according to the posture data and the preset posture data corresponding to each preset neck posture; wherein the neck posture is any one of the preset neck postures. The neck pose determined in this embodiment may also be an angle value, such as an angle value relative to a predetermined neck pose (e.g., a normal upright neck pose) to represent the wearer's neck pose using the angle value. The present embodiment does not set any limit to this.
Further, the method provided by the embodiment may further include a correction reminding process of an incorrect neck posture (i.e. an incorrect neck posture) to correct the bad daily habits of the user, such as the forward inclination of the neck. For example, the method provided by this embodiment may detect, after determining the neck posture of the wearer wearing the head-mounted display device main body, if the determined neck posture is the target neck posture, whether the accumulated time of the target neck posture in the preset time period reaches a time threshold; if so, outputting correction reminding information corresponding to the target neck posture by using a loudspeaker and/or a display screen on the head-mounted display equipment main body; if not, the process can be ended or step 101 can be returned to continue to detect the neck posture at the next moment; wherein the target neck posture is any improper neck posture; the improper neck posture may be a partially preset neck posture, such as an improper preset neck posture of "lean forward", "lean backward", and "lean sideways". When the neck posture is the angle value, the processor can also judge whether the angle value is in a preset reminding range after determining the neck posture of the wearer wearing the head-mounted display device main body; if yes, judging whether the number of the angle values within the preset reminding range determined in the preset time period reaches a number threshold value or not; and if the quantity threshold is reached, outputting correction reminding information by using a loudspeaker and/or a display screen on the head-mounted display equipment main body. The present embodiment does not set any limit to this.
In the embodiment of the invention, the relative relationship between the head and the cervical vertebra of the user is detected by acquiring the sensor data acquired by each preset inertial sensor and using the inertial sensors on the head-mounted display device main body and the neck sensing component, so that the neck posture of the user can be conveniently and accurately detected to reflect the current state of the neck of the user, the user is reminded to adjust the improper posture, and the occurrence of cervical spondylosis is prevented.
Based on the above embodiments, please refer to fig. 3, and fig. 3 is a flowchart of another neck posture detection method according to an embodiment of the present invention. The method can comprise the following steps:
step 201: judging whether the head-mounted display equipment main body is in a head-mounted state or not according to first wearing detection data acquired by a first wearing detection sensor arranged on the head-mounted display equipment main body; if yes, go to step 202.
It is understood that the first wearing detection sensor in the present embodiment may be a wearing detection sensor provided on the head-mounted display device main body, such as two first wearing detection sensors of a left capacitive sensor 2 provided on a left side temple and a capacitive sensor 4 provided on a right side temple of the AR glasses in fig. 2; that is, the first wearing detection sensor may be a sensor for detecting a wearing state (head wearing state) of the head mounted display apparatus main body, such as a capacitive sensor, an infrared sensor, and the like. The neck gesture detection method provided by the embodiment can be applied to a head-mounted display device main body. That is to say, in this step, the processor in the head-mounted display device main body may detect whether the head-mounted display device main body is in the wearing state according to the sensor data (i.e., the first wearing detection data) collected by the first wearing detection sensor, so that when both the head-mounted display device main body and the neck sensing part are in the wearing state, the neck posture of the wearer is detected, the accuracy of detecting the neck posture is ensured, and invalid neck posture detection is avoided. As shown in fig. 2, in this step, the processor of the AR glasses may sense whether the capacitance changes through the capacitive sensors 2 and 4 after the AR glasses are turned on, so as to determine that the AR glasses are in a wearing state when the capacitance changes.
Correspondingly, for the situation that the head-mounted display device main body is not in the head-mounted state in this embodiment, the setting may be performed by the designer, for example, the processor may directly end the process or continuously obtain the first wearing detection data acquired by the first wearing detection sensor, so as to detect whether the head-mounted display device main body is in the head-mounted state at the next moment.
Step 202: judging whether the neck sensing component is in a neck wearing state or not according to second wearing detection data acquired by a second wearing detection sensor arranged on the neck sensing component; if yes, go to step 203.
The second wearing detection sensor in this embodiment may be a wearing detection sensor provided on the neck sensing part that is in communication connection (such as wired connection or wireless connection) with the head-mounted display device, such as a capacitive sensor on the neck sensing part 5 in fig. 2, that is, the second wearing detection sensor may be a sensor for detecting a wearing state (neck wearing state) of the neck sensing part, such as a capacitive sensor and an infrared sensor. That is to say, in this step, the processor in the head-mounted display device main body may detect whether the neck sensing part is in the wearing state according to the sensor data (i.e., the second wearing detection data) collected by the second wearing detection sensor, so as to detect the neck posture of the wearer when both the head-mounted display device main body and the neck sensing part are in the wearing state, ensure the accuracy of the neck posture detection, and avoid invalid neck posture detection.
Correspondingly, for the case that the neck sensing component is not in the neck wearing state in this embodiment, the designer may set the neck sensing component by himself, for example, the processor may directly end the process or return to step 201, so as to detect whether the head-mounted display device main body is in the head wearing state at the next moment.
Step 203: acquiring sensor data acquired by each preset inertial sensor; wherein, it includes 2 first inertial sensors that wear to set up on the display device main part of wearing and 1 second inertial sensor that sets up on the neck sensing part to predetermine inertial sensor.
Specifically, in this step, the processor may acquire sensor data acquired by 3 preset inertial sensors when the head-mounted display device main body and the neck sensing component are both in a worn state, so as to detect the neck posture of the wearer by using the sensor data of the triangular spatial position corresponding to the 3 preset inertial sensors, thereby improving the accuracy of the neck posture detection.
The sensor data in this embodiment may include angular velocity data (i.e., detected angular velocity) and acceleration data (i.e., detected acceleration), so as to reflect the neck posture of the wearer by using the change of the degrees of freedom in the six axes corresponding to each preset inertial sensor.
Step 204: and adjusting a filter coefficient in a Kalman filtering algorithm according to the detection acceleration in the sensor data.
It can be understood that, in this embodiment, the processor may adjust the filter coefficient in the kalman filter algorithm by using the detected acceleration in the sensor data, so as to improve the accuracy of the estimated angular velocity and the estimated position determined by using the kalman filter algorithm. As shown in fig. 4, the processor may obtain a corresponding three-axis angle through dynamic solution by using the detection acceleration (three-axis acceleration) acquired by each preset inertial sensor (the inertial sensor on the two sides of the eye and the inertial sensor on the neck), so as to calculate the filter coefficient in the kalman filter algorithm according to the exercise intensity.
Step 205: and determining the estimated angular velocity and the estimated position corresponding to each preset inertial sensor by using a Kalman filtering algorithm according to the detected angular velocity in the sensor data.
Specifically, the processor in this step may utilize the detected angular velocity in the sensor data at the current time (i.e., time k)
Respective estimated angular speed ^ corresponding to each preset inertial sensor determining current moment>
And the estimated position->
Step 206: and performing zero offset correction on each preset inertial sensor according to the estimated position.
In this step, the processor may calculate respective corresponding deviations of the preset inertial sensors by using the currently determined estimated position, so as to perform zero offset correction on the preset inertial sensors.
Step 207: determining attitude data corresponding to each preset inertial sensor according to the estimated angular velocity; wherein the attitude data includes displacement data and rotation angle data.
Specifically, in this step, the processor may integrate the estimated angular velocities corresponding to the preset inertial sensors, to obtain displacement data and rotation angle data corresponding to the preset inertial sensors.
Step 208: determining the neck posture of the wearer wearing the head-mounted display equipment main body according to the posture data and the preset posture data corresponding to the preset neck postures; wherein the neck posture is any one of the preset neck postures.
It can be understood that, in this step, the processor may determine, according to the posture data of all current preset inertial sensor positions and the posture data (i.e., preset posture data) of all preset inertial sensor positions corresponding to each preset neck posture, one preset posture data (i.e., neck posture) matched with the posture data of all current preset inertial sensor positions. The preset neck postures may include a normal upright neck posture, a forward leaning neck posture, a backward leaning neck posture, and a side leaning neck posture.
Correspondingly, for the specific mode that the processor determines the neck posture of the wearer wearing the display device main body according to the posture data and the preset posture data corresponding to the preset neck postures, the specific mode can be set by a designer according to a practical scene and user requirements, if the processor can calculate the angle value corresponding to the preset neck postures according to the posture data and the preset posture data corresponding to the preset neck postures, and the preset neck posture with the minimum corresponding angle value is determined as the neck posture. This embodiment does not set any limit to this.
Further, the method provided by this embodiment may further include a process of entering preset posture data corresponding to each preset neck posture, so that the wearer can enter the preset posture data corresponding to each preset neck posture according to the actual situation of the wearer. If the processor can input an instruction according to the acquired preset neck postures, acquiring initial sensor data which are acquired by the preset inertial sensors and respectively correspond to the preset neck postures; and acquiring preset posture data corresponding to each preset neck posture according to the initial sensor data. For example, after a system is initialized when the head-mounted display device main body is started up for the first time, a preset neck posture entry instruction can be generated by itself so as to cooperate with a wearer to perform entry of initialization parameters (namely preset posture data) of each preset neck posture; if the processor is started for the first time and the head-mounted display device main body and the neck sensing part are both in a wearing state, generating a preset neck posture input instruction; inputting an instruction according to a preset neck posture, displaying or prompting a wearer by voice to finish actions of each preset neck posture, reserving a preset holding time (such as 5 seconds) for each action, and acquiring sensor data (namely initial sensor data) within the preset holding time corresponding to each action by using a preset inertial sensor, so as to generate preset posture data corresponding to each preset neck posture according to the initial sensor data, namely using a triangular space position formed by 3 preset inertial sensors corresponding to each preset neck posture as a reference space position of each preset neck posture.
Step 209: if the neck posture is the target neck posture, detecting whether the accumulated time of the target neck posture in a preset time period reaches a time threshold value; if yes, go to step 210.
Wherein the target neck posture is any improper neck posture; the improper neck posture may be a partially preset neck posture such as a forward leaning neck posture, a backward leaning neck posture, and a side leaning neck posture.
It can be understood that, in this step, when it is detected that the neck posture is any improper neck posture (i.e., a target neck posture), the processor determines whether the accumulated time in the improper neck posture within a preset time period (e.g., a starting time period of the head-mounted display device main body) reaches a time threshold, so that when the accumulated time in the improper neck posture reaches the time threshold, the speaker and/or the display screen on the head-mounted display device main body are used to output correction reminding information corresponding to the improper neck posture, e.g., side-tilt correction reminding information corresponding to the side-tilt neck posture, so as to correct the improper neck posture. The processor can also judge whether the accumulated time of any improper neck posture in a preset time period reaches a time threshold value when the neck posture is detected to be any improper neck posture, so that when the accumulated time of the improper neck posture reaches the time threshold value, correct reminding information of the improper neck posture is output by using a loudspeaker and/or a display screen on the head-mounted display equipment main body to remind a user of adopting a correct neck posture; that is, in this step, when the neck posture is the improper neck posture, the processor may detect whether the accumulated time of the improper neck posture within the preset time period reaches a time threshold (e.g., 1 hour in fig. 4), so that when the time threshold is reached, the processor may output a prompt message for correcting the improper neck posture by using the speaker and/or the display screen on the head-mounted display device main body. The present embodiment does not set any limit to this.
Correspondingly, for the case that the neck pose is not the target neck pose, the designer may set it by himself, for example, the processor may end the process or return to step 201 or step 203 to continue to detect the neck pose of the wearer at the next moment.
Step 210: and outputting correction reminding information corresponding to the target neck posture by using a loudspeaker and/or a display screen on the head-mounted display device main body.
In this step, the processor may output correction reminding information corresponding to the target neck posture by using the speaker and/or the display screen on the head-mounted display device main body when the accumulated time of the wearer in the target neck posture reaches the time threshold, so as to prompt the wearer to correct the neck posture and reduce behaviors of the target neck posture. As shown in fig. 2, the processor of the AR glasses may display and output the correction reminding information corresponding to the target neck posture on the waveguide 7 (i.e. the display screen) by using the optical machine 6, or may output the correction reminding information corresponding to the target neck posture by using the speaker 8.
In this embodiment, the wearing detection sensors on the head-mounted display device main body and the neck sensing part are arranged to detect whether the head-mounted display device main body and the neck sensing part are both in a wearing state, so that when the head-mounted display device main body and the neck sensing part are both in a wearing state, the neck posture of a wearer is detected, the accuracy of neck posture detection is ensured, and invalid neck posture detection is avoided.
Corresponding to the above method embodiments, embodiments of the present invention further provide a neck posture detection apparatus, and a neck posture detection apparatus described below and a neck posture detection method described above may be referred to in correspondence with each other.
Referring to fig. 5, fig. 5 is a block diagram of a neck posture detection device according to an embodiment of the present invention. The apparatus may include:
the acquisition module 10 is used for acquiring sensor data acquired by each preset inertial sensor; the preset inertial sensor comprises a first inertial sensor arranged on the head-mounted display equipment main body and a second inertial sensor arranged on a neck sensing part connected with the head-mounted display equipment main body;
the determining module 20 is configured to determine, according to the sensor data, attitude data corresponding to each preset inertial sensor; wherein the attitude data comprises displacement data and/or rotation angle data;
and the recognition module 30 is used for determining the neck posture of the wearer wearing the head-mounted display equipment main body according to the posture data.
Optionally, the determining module 20 may be specifically configured to determine the attitude data by using a kalman filter algorithm according to the sensor data.
Optionally, the determining module 20 may include:
the Kalman filtering submodule is used for determining the estimated angular speed and the estimated position corresponding to each preset inertial sensor by utilizing a Kalman filtering algorithm according to the detected angular speed in the sensor data;
the zero offset correction submodule is used for performing zero offset correction on each preset inertial sensor according to the estimated position;
and the attitude determination submodule is used for determining attitude data according to the estimated angular velocity.
Optionally, the determining module 20 may further include:
and the coefficient adjusting submodule is used for adjusting the filter coefficient in the Kalman filtering algorithm according to the detection acceleration in the sensor data.
Optionally, the number of the first inertial sensors is 2, and the number of the second inertial sensors is 1.
Optionally, the apparatus may further include:
the head wearing judging module is used for judging whether the head-mounted display equipment main body is in a head wearing state or not according to first wearing detection data acquired by a first wearing detection sensor arranged on the head-mounted display equipment main body;
the neck wearing judging module is used for judging whether the neck sensing component is in a neck wearing state or not according to second wearing detection data acquired by a second wearing detection sensor arranged on the neck sensing component if the neck sensing component is in a head wearing state; if yes, the start information is sent to the obtaining module 10.
Optionally, the apparatus may further include:
the time detection module is used for detecting whether the accumulated time of the target neck posture in a preset time period reaches a time threshold value if the neck posture is the target neck posture; wherein the target neck posture is any improper neck posture;
and the correction reminding module is used for outputting correction reminding information corresponding to the target neck posture by using a loudspeaker and/or a display screen on the head-mounted display equipment main body if the time threshold is reached.
Optionally, the recognition module 30 may be specifically configured to determine the neck posture of the wearer wearing the head-mounted display device main body according to the posture data and preset posture data corresponding to each preset neck posture; wherein the neck posture is any one of preset neck postures;
correspondingly, the device can further comprise:
the initial acquisition module is used for acquiring initial sensor data which correspond to each preset neck posture acquired by each preset inertial sensor according to the acquired preset neck posture input instruction;
and the posture recording module is used for acquiring preset posture data corresponding to each preset neck posture according to the initial sensor data.
In the embodiment of the invention, the acquisition module 10 is used for acquiring the sensor data acquired by each preset inertial sensor, and the inertial sensors on the head-mounted display device main body and the neck sensing component are used for detecting the relative relationship between the head and the cervical vertebra of the user, so that the neck posture of the user can be conveniently and accurately detected to reflect the current state of the neck of the user, and therefore, the user is reminded of adjusting the improper posture, and the occurrence of cervical spondylosis is prevented.
Corresponding to the above method embodiment, the embodiment of the present invention further provides a head-mounted display device, and a head-mounted display device described below and a neck posture detection method described above may be referred to in correspondence with each other.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a head-mounted display device according to an embodiment of the present invention. The head mounted display device may include:
a memory D1 for storing a computer program;
and a processor D2, configured to implement the steps of the neck gesture detection method provided in the above method embodiment when executing the computer program.
Specifically, the head-mounted display device provided in this embodiment may be specifically an AR device, such as AR glasses, and may also be specifically a VR device or an MR device.
The head-mounted display device (i.e. the head-mounted display device main body) provided by the embodiment can be in communication connection with the neck sensing part; as shown in fig. 2, the AR glasses may be wired to the neck sensing part 5 to receive sensor data collected by the inertial sensor (i.e., the second inertial sensor) in the neck sensing part 5.
Corresponding to the above method embodiments, the present invention further provides a computer-readable storage medium, and a computer-readable storage medium described below and a neck posture detection method described above may be referred to in correspondence with each other.
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the neck gesture detection method provided by the above method embodiments.
The computer-readable storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various other readable storage media capable of storing program codes.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The apparatus, the head-mounted display device and the computer-readable storage medium disclosed in the embodiments correspond to the method disclosed in the embodiments, so that the description is simple, and the relevant points can be referred to the description of the method.
The neck posture detection method, the neck posture detection device and the head-mounted display device provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, it is possible to make various improvements and modifications to the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A neck pose detection method, comprising:
acquiring sensor data acquired by each preset inertial sensor; the preset inertial sensor comprises a first inertial sensor arranged on a head-mounted display device main body and a second inertial sensor arranged on a neck sensing part connected with the head-mounted display device main body;
determining attitude data corresponding to each preset inertial sensor according to the sensor data; wherein the attitude data comprises displacement data and/or rotational angle data;
determining a neck pose of a wearer of the head mounted display device body from the pose data.
2. The neck pose detection method of claim 1, wherein said determining respective pose data for each of said predetermined inertial sensors based on said sensor data comprises:
and determining the attitude data by utilizing a Kalman filtering algorithm according to the sensor data.
3. The neck pose detection method of claim 2 wherein said determining said pose data using a kalman filter algorithm from said sensor data comprises:
determining the estimated angular velocity and the estimated position corresponding to each preset inertial sensor by using the Kalman filtering algorithm according to the detected angular velocity in the sensor data;
according to the estimated position, carrying out zero offset correction on each preset inertial sensor;
determining the attitude data according to the estimated angular velocity.
4. The method for detecting neck posture of claim 3, before determining the estimated angular velocity and the estimated position corresponding to each of the preset inertial sensors by using the kalman filter algorithm according to the detected angular velocity in the sensor data, further comprising:
and adjusting a filter coefficient in the Kalman filtering algorithm according to the detection acceleration in the sensor data.
5. The neck pose detection method according to claim 1, wherein the number of the first inertial sensors is 2, and the number of the second inertial sensors is 1.
6. The neck pose detection method of claim 1, wherein prior to acquiring the sensor data collected by each of the predetermined inertial sensors, further comprising:
judging whether the head-mounted display equipment main body is in a head-mounted state or not according to first wearing detection data acquired by a first wearing detection sensor arranged on the head-mounted display equipment main body;
if yes, judging whether the neck sensing component is in a neck wearing state according to second wearing detection data acquired by a second wearing detection sensor arranged on the neck sensing component;
and if the neck is in the wearing state, the step of acquiring the sensor data acquired by each preset inertial sensor is executed.
7. The neck gesture detection method according to claim 1, wherein after determining the neck gesture of the wearer of the head-mounted display device body according to the gesture data, the method comprises:
if the neck posture is the target neck posture, detecting whether the accumulated time of the target neck posture in a preset time period reaches a time threshold value; wherein the target neck posture is any improper neck posture;
and if so, outputting correction reminding information corresponding to the target neck posture by using a loudspeaker and/or a display screen on the head-mounted display equipment main body.
8. The neck pose detection method of any one of claims 1 to 7, wherein the determining the neck pose of the wearer of the head mounted display device body from the pose data comprises:
determining the neck posture of the wearer of the head-mounted display equipment main body according to the posture data and preset posture data corresponding to the preset neck postures; wherein the neck pose is any of the predetermined neck poses;
correspondingly, before acquiring the sensor data collected by each preset inertial sensor, the method further comprises:
acquiring initial sensor data which are acquired by each preset inertial sensor and respectively correspond to each preset neck posture according to an acquired preset neck posture input instruction;
and acquiring preset posture data corresponding to the preset neck postures according to the initial sensor data.
9. A neck posture detecting apparatus, comprising:
the acquisition module is used for acquiring sensor data acquired by each preset inertial sensor; the preset inertial sensor comprises a first inertial sensor arranged on a head-mounted display device main body and a second inertial sensor arranged on a neck sensing part connected with the head-mounted display device main body;
the determining module is used for determining attitude data corresponding to each preset inertial sensor according to the sensor data; wherein the attitude data comprises displacement data and/or rotation angle data;
an identification module to determine a neck pose of a wearer of the head mounted display device body from the pose data.
10. A head-mounted display device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the neck pose detection method of any one of claims 1 to 8 when executing said computer program.
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| CN202211710504.3A CN115956904A (en) | 2022-12-29 | 2022-12-29 | Neck posture detection method and device and head-mounted display equipment |
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