KR20160034760A - Wireless tracking system using a combination of non-contact and contact sensors - Google Patents

Wireless tracking system using a combination of non-contact and contact sensors Download PDF

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Publication number
KR20160034760A
KR20160034760A KR1020140126153A KR20140126153A KR20160034760A KR 20160034760 A KR20160034760 A KR 20160034760A KR 1020140126153 A KR1020140126153 A KR 1020140126153A KR 20140126153 A KR20140126153 A KR 20140126153A KR 20160034760 A KR20160034760 A KR 20160034760A
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South Korea
Prior art keywords
sensor unit
contact
contact sensor
sensing object
sensing
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KR1020140126153A
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Korean (ko)
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윤상원
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한양대학교 산학협력단
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Priority to KR1020140126153A priority Critical patent/KR20160034760A/en
Publication of KR20160034760A publication Critical patent/KR20160034760A/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

A system for tracking movement of a sensing object, comprising: a touch sensor unit attached to the sensing object to measure a relative movement of the sensing object in a contact manner; And a non-contact sensor unit provided separately from the sensing object and measuring an initial position of the sensing object in a non-contact manner to provide a reference point of the contact sensor unit. .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a wireless tracking system using a contact-

The present invention relates to a radio tracking system for combining contact-type and non-contact-type sensors for accurately estimating three-dimensional motion of a sensing object in real time.

Sensor systems that track the movement of objects in real time have been used in various fields since the past. In addition to well-known sports epidemiology and animation production, there is also a need to control the non-human objects, such as the software industry such as virtual reality implementation, medical / biomedical fields such as healthcare and rehabilitation medicine, and robots, cars or small quadrocopters. Therefore, there is a need to measure the movement of the human body in real time. In order to trace the object, especially the human motion in real time, the three-dimensional movement of the object should be accurately measured. The method of measuring the motion of the object includes a contact method of directly measuring an object motion by attaching an active element to an object and a non-contact method of indirectly measuring an object using an external device without attaching an active element. In the contact method, an active element (that is, a sensor) is required to measure the movement of the object. The active element used is a gravity sensor, an electromyogram sensor, a surface electrode sensor, a strain gauge sensor, a pressure sensor, . Another non-contact method is to measure the movement of a human body through a large device such as a high-speed camera without attaching to the human body, a medium-sized device such as a 3D depth camera, and an external optical sensor or an ultrasonic sensor.

Many contact systems use inertial measurement units (IMU), which are inertial sensors, to obtain the relative motion of the object. However, since the reference point is not known to the contact-type IMU, the absolute value of the motion can not be known. In other words, relative displacement can be measured using contact-type IMU, but absolute displacement can not be measured. For this purpose, other sensors such as geomagnetic sensor, EMG sensor, etc. may be additionally used to determine the reference value. However, the accuracy of the geomagnetic sensor is relatively low and the EMG sensor is not easy to measure the sensor signal due to the noise generated during the passage through the subcutaneous fat. In addition, since the contact method is a direct measurement, it is possible to measure more precisely. However, since the size and weight of the system affects the motion of the object, a highly integrated system is required. Further, since the degree of integration of the constituent elements becomes important, an increase in cost is also expected. In addition, the weight and operating time of the rechargeable battery required for sensor operation and wireless communication of sensor data also limits the design of the contact system.

It is difficult to accurately measure the 3D motion of an object without being influenced by the surrounding environment, while the non-contact system has a relatively limited implementation of the system. There is little or no impact on the size or power capacity of the system because there are no or few parts attached to the human body. However, since most optical systems are used, they are limited to indoor use, which makes them difficult to carry and is affected by daylight, night, or the amount of light used. In addition, since the vertical operation requires the use of a special optical system, the accuracy is lower than that of the contact type.

As described above, in the measurement of the three-dimensional motion of the object, the contact and non-contact methods of the related art have problems such as size, weight, time, cost, and accuracy in measuring the motion of the object.

 Accordingly, the present applicant has developed the present invention to solve the above problems, and related art documents related thereto are disclosed in Japanese Patent Application Laid-Open No. 10-2013-0043159 (entitled " Contactless Gesture Recognition and Power Reduction Methods and apparatus, public date: April 29, 2013).

An object of the present invention is to provide an IMU sensor which is contacted to a sensing object through a contact-noncontact sensor combination in a contact manner, measures the relative movement of the sensing object as miniaturized as possible and measures initial position data in a non- Contactless sensor combination for efficiently and accurately measuring the three-dimensional movement of the object to be sensed.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

A system for tracking movement of a sensing object, comprising: a touch sensor unit attached to the sensing object to measure a relative movement of the sensing object in a contact manner; And a non-contact sensor unit provided separately from the sensing object and measuring an initial position of the sensing object in a non-contact manner to provide a reference point of the contact sensor unit.

The present invention relates to a method and a device for sensing a sensor device through a combination of a contact-non-contact type sensor integration method in which only a minimum number of sensors are integrated in a contact manner and a necessary component including the remaining sensors are integrated in a non- There is an effect that the size, power, and cost of the system are reduced.

In addition, the present invention implements a system for estimating the relative motion of a sensing object through a contact-type sensor, measuring the initial displacement of the sensing object through a non-contact sensor, There is an effect that can be done.

Further, according to the present invention, since the wireless charging coil is provided in the contact sensor unit and the non-contact sensor unit, the motion of the sensing target can be tracked in real time by radio, and the use time is increased by supplying additional power to the contact sensor unit.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic block diagram of a wireless tracking system using a contact-to-contact sensor combination in accordance with an embodiment of the present invention.
2 is a flow chart of data transmission in a wireless tracking system using a touch-and-contact sensor combination according to an embodiment of the present invention.
3 is a block diagram showing a configuration of a touch sensor unit according to an embodiment of the present invention;
4 is a block diagram showing the configuration of a noncontact sensor unit according to an embodiment of the present invention;
5 is a power supply flow diagram of a wireless tracking system using a contact-non-contact sensor combination in accordance with an embodiment of the present invention.

Brief Description of the Drawings The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings.

However, it should be understood that the present invention is not limited to the embodiments disclosed herein but may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

The same reference numerals denote the same components throughout the specification. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A radio tracking system using a contact-non-contact sensor combination according to an embodiment of the present invention will be described in detail below with reference to the drawings. In describing the present invention, a detailed description of known functions and configurations incorporated herein will be omitted so as not to obscure the gist of the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic block diagram of a wireless tracking system 100 using a contact-non-contact sensor combination according to an embodiment of the present invention.

1, a wireless tracking system 100 using a contact-non-contact sensor combination according to an embodiment of the present invention (hereinafter referred to as a 'wireless tracking system') is attached to a sensing object, A touch sensor unit 30 for measuring the relative movement of the sensing object 1 and an initial position (initial value) of the sensing object 1 in a non-contact manner provided separately from the sensing object 1, Contact sensor unit 10 for providing a reference point (reference value)

The contact sensor unit 30 is configured to have a minimum configuration in the sensing object 1 in such a manner as to directly contact the sensing object 1 and all the remaining necessary components are provided separately from the movable sensing object 1 Contact sensor section 10. The non-contact-

The sensing object 1 to which the contact sensor unit 30 is contacted can be measured and applied to a human body part such as the hand, shoulder, back and sole of the human body as shown in Fig. However, application of the radio tracking system 100 to the sensing target 1 is not limited to the human body. Thus, the wireless tracking system 100 can be applied to all objects, such as robots, cars, helicopters, quadrature, and unmanned armored vehicles, which may have motion. That is, if the contact sensor unit 30 can detect the movement of the sensing target 1 by the non-contact sensor unit 10, the sensing target 1 is not limited. If the contact sensor unit 30 in contact with the sensing target 1 senses the movement of the sensing target 1 by the noncontact sensor unit 10, And the non-contact sensor unit 10 may be installed or applied.

  Since the non-contact sensor unit 10 measures the initial position (initial value) of the sensing object 1 and provides the reference point (reference value) of the contact sensor unit 30, 1) is changed, it is not necessary to obtain the reference value, and it becomes possible to downsize according to the size and weight of the sensor, and the power consumption can also be reduced. That is, the non-contact sensor unit 10 measures the initial position of the sensing target 1 from the outside of the sensing target 1 and provides it to the touch sensor unit 30. [ Accordingly, the geomagnetic sensor for measuring the reference value in the contact sensor unit, which is a problem of the related art, can be omitted. In the wireless tracking system 100 of the present invention, the role of obtaining the reference point (reference value) And a non-contact sensor unit provided outside.

2 is a data transmission flow diagram of a wireless tracking system 100 using a contact-non-contact sensor combination according to an embodiment of the present invention.

2, the wireless tracking system 100 is configured to detect the relative movement data A of the sensing target 1 measured by the touch sensor unit 30 and the relative movement data A of the sensing target 1 measured by the non- And a data calculating unit 50 for calculating an absolute movement of the sensing target 1 based on the initial position data B of the sensing target 1. [ The wireless tracking system 100 measures relative motion data A of the sensing target 1 by the touch sensor unit 30 to derive relative coordinates and outputs the relative coordinates to the non-contact sensor unit 10 The initial position data B of the sensing object 1 is measured to derive reference coordinates. Accordingly, an absolute coordinate of the sensing object 1 can be provided using a combination of a contact method and a non-contact method.

The relative motion data A of the sensing target 1 measured by the contact sensor unit 30 is transmitted to the noncontact sensor unit 10 so that data detected by the noncontact sensor unit 10 May be transmitted to the data calculation unit 50 together with the initial position data B of the object 1. That is, the data calculating unit 50 can detect the accurate position information (result data) of the sensing object 1 in real time by merging the data by the contact sensor unit 30 and the data by the non-contact sensor unit 10 have.

At this time, the data calculation unit 50 may be provided in the non-contact sensor unit 10, or separately from the non-contact sensor unit 10. The calculation of the relative motion data A and the initial position data B of the sensing object 1 is performed by the non-contact sensor unit 10 and can be transmitted to the mass storage only of the result data (for example, a computer or the like).

Further, the data calculating unit 50 may be connected using a display device, a computer device, or the like to indicate the accurate position information of the sensing object 1, and the display device or the computer device may have a plurality of application programs. At this time, a user interface may be provided to implement the above application program.

3 is a block diagram showing a configuration of a touch sensor unit according to an embodiment of the present invention.

As shown in FIG. 3, the contact sensor unit 30 is provided with an IMU (Inertial Measurement Unit) sensor. The IMU sensor used in the radio tracking system 100 of the present invention is composed of only the acceleration sensor 31 and the angular velocity sensor 32 for measuring acceleration and angular velocity of three axes which are X-axis, Y-axis and Z-axis. Unlike the conventional IMU sensor, the IMU sensor constituting the touch sensor unit 30 of the present invention may omit other sensors such as a geomagnetic sensor or an EMG sensor. This is because, when the geomagnetic sensor or the electromyographic sensor is attached, the weight and volume of the IMU sensor become considerable, which may be costly. Therefore, the radio tracking system 100 of the present invention replaces the sensors (such as geomagnetic sensor or electromyography sensor) for measuring the initial position as described above, and includes the noncontact sensor unit 10 to detect the volume of the contact sensor unit 30, Weight, power consumption and cost can be minimized.

Since the IMU sensor includes only the acceleration sensor 31 and the angular velocity sensor 32, the size and weight of the IMU sensor attached to the sensing target 1 are minimized. Therefore, the size and weight of the IMU sensor attached to the sensing target 1, The size and weight of the IMU sensor hardly affects the movement of the object 1 when measuring the movement. The acceleration sensor 31 and the angular velocity sensor 32 are sensors for obtaining only the relative motion data A of the sensing target 1 and are provided for minimizing the contact sensor unit 30 of the radio tracking system 100 of the present invention It can be implemented by road design.

1, the wireless tracking system 100 according to the present invention includes a plurality of acceleration sensors 31 and an angular velocity sensor 31 in the contact sensor unit 30 for more accurately measuring the movement of the object 1 to be sensed. (32) may be provided. In other words, since the acceleration sensor 31 and the angular velocity sensor 32 are used as the IMU sensors used in the radio tracking system 100 of the present invention, the acceleration sensor 31 and the acceleration sensor 31 are provided in the contact sensor unit 30, And the angular velocity sensor 32 may be provided in a plurality of angular velocity sensors.

The contact sensor unit 30 includes a wireless communication module 33 for wirelessly transmitting the relative motion data A of the sensing object 1 to the noncontact sensor unit 10. [ At this time, the non-contact relative motion data A is transmitted or moved to the non-contact sensor unit 10, but may be transferred or moved to the data calculation unit 50 at some time.

The contact sensor unit 30 further includes a second wireless charging coil 37 for receiving the electric power transmitted from the noncontact sensor unit 10 and a charger 39 for charging the received electric power. At this time, the second wireless charging coil 37 is embedded in one side of the contact sensor unit 30, and power is wirelessly charged from the first wireless charging coil 15 provided at one side of the noncontact sensor unit 10.

The contact sensor unit 30 includes a multiplexer 35 for unifying the relative motion data A of the sensing target 1 obtained by the acceleration sensor 31 and the angular velocity sensor 32. The multiplexer 35 ) Can be transmitted to the non-contact sensor unit 10 by the wireless communication module 33. [ In this case, a demultiplexer for multiplexing signals unified by the non-contact sensor unit 10 or the data calculation unit 50 may be provided.

 The multiplexer 35 receives the relative motion data A of the sensing object 1 and integrates the same with the acceleration sensor 31 and the angular velocity sensor 32 and transmits the relative motion data A to the noncontact sensor unit 10 through the wireless communication module 33 The relative motion data A transmitted to the non-contact sensor unit 10 is transmitted again to the data calculation unit 50 together with the initial position data B of the sensing target 1 measured by the non-contact sensor unit 10, Lt; / RTI >

4 is a block diagram showing a configuration of the non-contact sensor unit 10 according to an embodiment of the present invention.

4, the non-contact sensor unit 10 measures an initial position of a sensing target when a movement of the sensing target 1 occurs for the first time. The noncontact sensor unit 30 includes a substrate 11 capable of being installed and an optical sensor 13 such as a camera or an IR sensor mounted on the substrate 11 for measuring the initial position of the sensing object 1 do. Also, at this time, the optical sensor 13 can be replaced with an ultrasonic sensor for noise stability and higher stability.

 The non-contact sensor unit 10 further includes a first wireless charging coil 15 for wirelessly transmitting the electric power supplied from the substrate 11 to the contact sensor unit 30. [

The substrate 11 may incorporate an optical sensor 13 such as a camera or an IR sensor and measure a reference point when the object 1 starts to operate. Further, the horizontal motion data obtained from the substrate 11 can be used for correction of the relative motion data A obtained from the IMU sensor, if necessary.

The substrate 11 can be of any shape as long as it is movably provided and can measure the initial position of the sensing object 1.

5 is a power supply flow diagram of a wireless tracking system 100 using a contact-non-contact sensor combination according to an embodiment of the present invention.

The wireless tracking system 100 sets the system power of the contact sensor unit 30 and the non-contact sensor unit 30 to a wireless charging scheme in order to solve the power problem. In order to realize this, the first wireless power coil 15 is provided in the contact sensor unit 30 and the second wireless power coil 37 is provided in the non-contact sensor unit 10. [ This solves the power problem of the wireless tracking system 100 and can maximize the use time of the contact sensor unit 30 and the non-contact sensor unit 10. [ In addition, since the wireless tracking system of the present invention is driven by attaching the wireless coil to the contact sensor unit 30 and the non-contact sensor unit 10, power consumption is reduced and the design of the wireless tracking system is simplified.

The power of the wireless tracking system 100 of the present invention is supplied by an external power source 60. 5, the power flow of the external power source 60 is transmitted to the second wireless power coil 37 through the first wireless power coil 15 provided in the non-contact sensor unit 10, The moved electric power can be acquired through the second wireless power coil 37 provided in the connection sensor unit 30 and can be driven by recharging the electric power of the charger 39 to drive the contact sensor unit 30. [

The external power supply 60 is connected to the non-contact sensor unit 10 by a cable.

The first wireless power coil 15 supplied with power from the external power source 60 wirelessly supplies power to the second wireless power coil 37 and the power supplied to the second wireless power coil 37 is supplied to the charger 39 and may be used as a power source of the contact sensor unit 30 connected wirelessly. At this time, since the sensor for the reference point (reference value) is not required in the contact sensor unit 30 unlike the existing system, the power consumption reduction effect and the design of the multiplexer can be simplified.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments.

Therefore, the scope of the present invention should not be limited by the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

100: Wireless tracking system 1: Target of detection
10: non-contact sensor unit 11: substrate 13: optical sensor 15: first wireless power coil
30: contact sensor unit 31: acceleration sensor
32: angular velocity sensor 33: wireless communication module 35: multiplexer 37: second wireless power coil 39: charger 50:
A: Relative motion data B: Initial position data
60: External power source

Claims (10)

A system for tracking movement of a sensing object,
A touch sensor unit attached to the sensing object and measuring a relative movement of the sensing object in a contact manner; And
And a non-contact sensor unit provided separately from the sensing object and measuring an initial position of the sensing object in a non-contact manner to provide a reference point of the contact sensor unit. The method according to claim 1,
And a data calculating unit for calculating an absolute movement of the sensing object based on the relative movement data of the sensing object measured by the contact sensor unit and the initial position data of the sensing object measured by the non-contact sensor unit Wireless tracking system using touch - to - contact sensor combination. The method according to claim 1,
The contact sensor unit includes:
Wherein the sensor is provided with an IMU sensor. The method of claim 3,
The IMU sensor comprises:
Wherein the acceleration sensor comprises only an acceleration sensor and the angular velocity sensor. 3. The method of claim 2,
The contact sensor unit includes:
And a wireless communication module for wirelessly transmitting the relative motion data of the sensing object to the non-contact sensor unit. 6. The method of claim 5,
And a multiplexer for unifying the data obtained by the contact sensor unit,
And the data unified by the multiplexer is transmitted to the non-contact sensor unit by the wireless communication module. The method according to claim 1,
The non-contact sensor unit includes:
Wherein the initial position of the sensing target is measured when the movement of the sensing target occurs at the first time. The method according to claim 1,
The non-contact sensor unit includes:
A movable mountable substrate; And
And an optical sensor or an ultrasonic sensor mounted on the substrate and measuring an initial position of the object to be sensed. 9. The method of claim 8,
The substrate is connected to an external power source to receive power,
Wherein the non-contact sensor unit further comprises a first wireless charging coil mounted on the substrate and wirelessly transmitting the electric power supplied to the substrate to the contact sensor unit. system. 10. The method of claim 9,
The contact sensor unit includes:
A second wireless charging coil for receiving power transmitted from the first wireless charging coil; And
Further comprising a charger in which the received power is charged.
KR1020140126153A 2014-09-22 2014-09-22 Wireless tracking system using a combination of non-contact and contact sensors KR20160034760A (en)

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