WO2015165162A1 - Machine movement sensing method and assemblies, and movement sensing system - Google Patents

Machine movement sensing method and assemblies, and movement sensing system Download PDF

Info

Publication number
WO2015165162A1
WO2015165162A1 PCT/CN2014/083815 CN2014083815W WO2015165162A1 WO 2015165162 A1 WO2015165162 A1 WO 2015165162A1 CN 2014083815 W CN2014083815 W CN 2014083815W WO 2015165162 A1 WO2015165162 A1 WO 2015165162A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
motion sensing
sensing component
relative
data
Prior art date
Application number
PCT/CN2014/083815
Other languages
French (fr)
Chinese (zh)
Inventor
冯伟林
钟文汉
刘宁
Original Assignee
诺力科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 诺力科技有限公司 filed Critical 诺力科技有限公司
Publication of WO2015165162A1 publication Critical patent/WO2015165162A1/en

Links

Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer

Definitions

  • the invention belongs to the technical field of motion sensing acquisition and the field of human-computer interaction technology, and particularly relates to a host motion sensing method, component and motion sensing system.
  • the first way is a motion recognition method based on pattern recognition, which acquires the motion track of the point by performing image recognition on the target by optical tracking technology or monitoring and tracking a specific spot on the target.
  • This method has high precision, but the implementation is difficult, the range of occlusion and tracking is small, and it is not easy to carry, and it is difficult to be widely applied.
  • some small sensor nodes are worn in various parts of the user's body, and motion information is collected in real time, and processed, analyzed, and converted to obtain the user's body language. Or motion status and trajectory.
  • the implementation is relatively simple and can be widely used in various portable applications.
  • the first problem the motion state data collected by the sensor in the existing motion sensing method is not comprehensive, and the accuracy of the subsequent analysis results is low.
  • the meaning expressed by the user is different, or the user presents the same gesture at the same position and at different tempos, the meaning is different, or the user's body is in an environment where the acceleration or angular velocity changes, in the environment.
  • the acceleration or angular velocity is superimposed on the sensor to obtain motion state data, resulting in inaccurate subsequent analysis results.
  • the second problem the existing motion sensing method lacks the personal integration of the sensor and the user's physical characteristics. Because the user's body has individual differences, the height and weight are not the same, so the same sensor and coordinate system are not necessarily the same. Suitable for different users, so the applicability is low.
  • An object of the embodiments of the present invention is to provide a host motion sensing method, which aims to solve the problem that the motion state data collected by the sensor in the existing motion sensing method is not comprehensive, and the sensor and the user body feature are personalized and integrated, resulting in accurate analysis results. Low rate and low applicability.
  • a host motion sensing method includes:
  • the finger data includes a finger triaxial acceleration, a finger triaxial angular velocity, and a finger three-axis magnetic field direction;
  • the host motion sensing component data includes a host motion sensing component triaxial acceleration, a host motion sensing component triaxial angular velocity, and a host motion sensing component magnetic field direction;
  • the finger motion sensing component is worn or implanted in a user's finger
  • the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
  • Another object of the embodiments of the present invention is to provide a host motion sensing component, including:
  • a first acquiring unit configured to acquire three-axis coordinates of the self-collected finger and real finger data of the finger, the finger data includes a three-axis acceleration of the finger, an angular velocity of the finger, and a direction of the three-axis magnetic field of the finger;
  • a second acquiring unit configured to acquire real-time collected host motion sensing component data, where the host motion sensing component data includes a three-axis acceleration of the host motion sensing component, a three-axis angular velocity of the host motion sensing component, and a host motion sensing Component magnetic field direction;
  • a generating unit configured to compare the collected finger data and the host motion sensing component data to generate a relative azimuth and relative acceleration between the finger motion sensing component and the host motion sensing component Relative speed, relative displacement;
  • a correction unit configured to correct three-axis coordinates of each of the fingers according to the user body correction data, the correction mode, and the relative displacement;
  • a sending unit configured to adjust the three-axis coordinates of each of the fingers and the relative acceleration, relative speed, relative displacement, Sending to an external application terminal through a wireless communication module;
  • the finger motion sensing component is worn or implanted in a user's finger
  • the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
  • Another object of embodiments of the present invention is to provide a motion sensing system including the above-described host motion sensing component and a plurality of finger motion sensing components, each of the finger motion sensing components and the host motion sensing component Between, through the respective wireless communication module to connect.
  • the invention solves the corrected three-axis coordinates of each finger and the relative acceleration, relative speed and relative displacement, and sends the same to the external application terminal through the wireless communication module, and solves the motion collected by the sensor in the existing motion sensing method.
  • the incompleteness of the state data, the lack of sensor and the personal integration of the user's physical characteristics lead to the low accuracy of the analysis results and the low applicability, which improves the accuracy and applicability of the subsequent analysis results.
  • FIG. 1 is a flowchart of an implementation of a motion sensing method according to an embodiment of the present invention
  • FIG. 2a is a schematic diagram of a preferred example of a finger motion sensing component according to an embodiment of the present invention
  • FIG. 2b is a diagram showing a preferred example of another finger motion sensing component according to an embodiment of the present invention.
  • FIG. 3 is a view showing a preferred example of a user wearing a host motion sensing component according to an embodiment of the present invention
  • FIG. 4 is a diagram showing a preferred example of correcting the three-axis coordinates of the finger according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of interconnection between a host motion sensing component and a finger motion sensing component according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of interconnection between a host motion sensing component and an external application terminal according to an embodiment of the present invention
  • FIG. 8 is a schematic structural diagram of a system of a motion sensing system according to an embodiment of the present invention.
  • FIG. 9 is a structural block diagram of a motion sensing component according to an embodiment of the present invention.
  • FIG. 10 is a block diagram showing a specific structure of a motion sensing component according to an embodiment of the present invention.
  • Embodiments of the present invention provide a motion sensing system including a host motion sensing component and a plurality of finger motion sensing components, each of the finger motion sensing components and the host motion sensing component
  • the wireless communication module is connected.
  • FIG. 1 is a flowchart of implementing a host motion sensing method according to an embodiment of the present invention, which is described in detail as follows:
  • step S101 Obtaining three-axis coordinates of the self-finger collected by each finger motion sensing component and finger data of the self-finger, the finger data includes a finger triaxial acceleration, a finger triaxial angular velocity, and a finger three-axis magnetic field direction;
  • the finger motion sensing component is worn or implanted in a user's finger
  • the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer;
  • the three-axis coordinate of the finger motion sensing component is based on the coordinates of the motion sensing component of the host as a reference coordinate system, so as to avoid acceleration or angular velocity superimposed on the three axes when the user's body is in a state of acceleration or angular velocity change.
  • the stability of the three-axis coordinates of the finger motion sensing component is improved.
  • each finger of the user can wear a finger motion sensing component.
  • the finger motion sensing component includes at least one three-axis accelerometer, at least one three-axis gyroscope and at least one three-axis magnetometer, obtains three-axis acceleration of the finger through the three-axis accelerometer, and acquires three-axis angular velocity of the finger through the three-axis gyroscope Through the three-axis magnetometer, the direction of the three-axis magnetic field of the finger is obtained.
  • FIG. 2a is a schematic diagram of a preferred example of a finger motion sensing component according to an embodiment of the present invention.
  • the finger motion sensing component 102 includes a minimum set of three-axis accelerometer 002, a three-axis gyroscope 003, and a three-axis magnetometer 004 To sense the movement state of the finger (three-axis acceleration of the finger, the angular velocity of the three axes of the finger, and the direction of the three-axis magnetic field of the finger).
  • the data is filtered, integrated, and packaged into a specific format by the microprocessor 112 on the component, and then passed through the wireless communication module.
  • 205 Send the data packet to the host motion sensing component 502 on the user's body.
  • FIG. 2b is a diagram of a preferred example of another finger motion sensing component according to an embodiment of the present invention.
  • the motion sensor 403 among the finger motion sensing components 302 includes a minimum set of three-axis accelerometers 002, three-axis gyroscope 003, and three-axis magnetometer 004 to sense the movement of the finger.
  • the data is filtered, integrated, and packaged into a specific format by the microprocessor 404 on the palm component 304, and then passed through the wireless communication module 405.
  • the data packet is sent to the host motion sensing component 502 on the user's body.
  • the palm assembly 304 receives wirelessly transmitted electromagnetic waves through the wireless charging module 407 to charge the micro rechargeable battery 406. Power is supplied from the palm miniature rechargeable battery 406 to the motion sensing component 302 and palm assembly 304 of each finger.
  • the main difference between this version and Figure 2a is the structure of the finger microprocessor, wireless communication, micro-rechargeable battery, and wireless charging module to the palm portion to reduce finger load. Both functions and operating principles are consistent.
  • the finger is the part of the body that most frequently contacts the external environment, and the finger motion sensing component adopts a fully sealed design.
  • step S102 real-time collected host motion sensing component data is acquired, the host motion sensing component data includes a host motion sensing component triaxial acceleration, a host motion sensing component triaxial angular velocity, and a host motion sensing component magnetic field. direction;
  • the host motion sensing component is worn on a body region of the user's body other than the finger;
  • the host motion sensing component includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
  • the user can wear a host motion sensing component on the body to wirelessly collect finger data of each finger motion sensing component, and the main motion sensing component main power supply provides wireless charging power to the miniature rechargeable battery on the finger sleeve.
  • FIG. 3 is a diagram of a preferred example of a user wearing a host motion sensing component according to an embodiment of the present invention.
  • the finger motion sensing component sleeve contacts the host motion sensing component when the finger motion sensing component is started or reset, the position and orientation of the finger motion sensing component relative to the host motion sensing component are recalibrated.
  • step S103 the collected finger data and the host motion sensing component data are compared to generate a relative azimuth and relative acceleration between the finger motion sensing component and the host motion sensing component. Relative speed, relative displacement;
  • the host motion sensing component data is used as reference data.
  • each finger and body components are equipped with a three-axis accelerometer, an angular velocity sensor and a magnetometer to estimate a series of trajectories of displacement, azimuth, acceleration, velocity, angular velocity, geomagnetic sensing, and the like.
  • the state of motion greatly improves the accuracy and reduces the deviation of the external magnetic field interference on the sensor.
  • step S104 the three-axis coordinates of each finger are corrected according to the user body correction data, the correction mode, and the relative displacement that are established in advance;
  • the correction mode is to correct the distance between the three-axis coordinate and the motion sensing component of the host so that the distance does not exceed the relative displacement.
  • the method before the correcting data according to the user body established in advance, the method further includes:
  • the component comprises a finger motion sensing component and a host motion sensing component.
  • the method before correcting the three-axis coordinates of each of the fingers, the method further includes:
  • the relative azimuth is corrected based on the pre-established user body correction data such that the relative azimuth is within a range of a relative minimum azimuth and a maximum relative azimuth.
  • the relative displacement is corrected based on the pre-established user body correction data such that the relative displacement is within a range of relative minimum displacement and maximum relative displacement.
  • the relative displacement is corrected so that the three-axis coordinates can be corrected later so that the distance of the three-axis coordinates relative to the motion sensing component of the host is also within the range of the minimum displacement and the maximum relative displacement.
  • FIG. 4 is a view showing a preferred example of correcting the three-axis coordinates of the finger according to the embodiment of the present invention.
  • the index finger B coordinate is derived from the finger relative to the host motion sensing component coordinate position estimating module 080.
  • the index A coordinate in the figure is the correction module 081
  • the estimated position based on the rotational degrees of freedom allowed by the body and the relative distance allowed.
  • the correction module 081 will correct the coordinate position of the finger relative to the main body motion sensing component according to the difference D between the A and B coordinates, and the index finger B The coordinates are changed to A coordinates.
  • the body correction data is set according to the initial movement of the user, and the subsequent data is corrected. In this way, the error generated in the long-term wearing can be reduced, and the inconvenience of the correction function to the user operation is reduced to one. The degree of awareness.
  • step S105 the corrected three-axis coordinates of each finger and the relative acceleration, the relative speed, and the relative displacement are Sending to an external application terminal through a wireless communication module;
  • the host motion sensing component is estimated through a series of positions, azimuths, and motion states, and the corrected three-axis coordinates of each finger and the relative acceleration, relative speed, and relative displacement are preset.
  • the format is packaged, packaged, and sent to the external application terminal through the wireless communication module.
  • the wireless communication module may be any one of the prior art, such as a wireless communication module such as a Bluetooth communication module, a WIFI communication module, a zigbee communication module, etc., and the wireless communication mode utilizes the advantages of high speed, stability, and accuracy of the wired mode, and simultaneously It also overcomes the shortcomings of wired installation and uninstallation.
  • a wireless communication module such as a Bluetooth communication module, a WIFI communication module, a zigbee communication module, etc.
  • the external application terminal includes but is not limited to a smart phone, a large display interface, and a medical monitoring device.
  • FIG. 5 is a structural diagram of a connection between a host motion sensing component and a finger motion sensing component according to an embodiment of the present invention.
  • FIG. 6 is a structural diagram of a connection between a host motion sensing component and an external application terminal according to an embodiment of the present invention.
  • the user wears the host motion sensing component 502 to his waist, and the host motion sensing component includes one or more wireless communication modules. 609 A packet that receives motion information for each finger motion. The data packet is then transferred to the microprocessor 604 on the host motion sensing component.
  • the sensor module on the main body motion sensing component 502 will simultaneously put a three-axis accelerometer 012, a three-axis gyroscope 013 and a three-axis magnetometer 014 The motion information is sent to the microprocessor 604 on the host motion sensing component.
  • the present invention will correct the three-axis coordinates of each finger and the relative acceleration, relative speed, relative displacement.
  • the wireless communication module is sent to the external application terminal to solve the problem that the motion state data collected by the sensor in the existing motion sensing method is incomplete, the lack of the sensor and the user's physical characteristics are personalized, resulting in low accuracy of the analysis result and low applicability. Improve the accuracy and applicability of the analysis results.
  • the sensor is arranged in the middle joint, which is convenient to carry, and thus is more easily applied to portable applications in different fields.
  • the method before comparing the collected finger data and the host motion sensing component data, the method includes:
  • the data lost in the motion sensing component of the host is filled by interpolation.
  • the noise filtering and the lost data are filled by interpolation to obtain a complete set of motion state data.
  • FIG. 7 is a flowchart of an implementation of generating relative acceleration, relative speed, and relative displacement according to an embodiment of the present invention, which is described in detail as follows:
  • step S701 the finger triaxial angular velocity and the preset angular velocity time interval are integrated to generate a finger azimuth angle
  • step S702 the main motion sensing component triaxial angular velocity and the preset angular velocity time interval are integrated to generate a host motion sensing component azimuth;
  • step S703 the collected azimuth of the finger is compared with the azimuth of the host motion sensing component to generate a relative azimuth between the finger motion sensing component and the host motion sensing component;
  • step S704 a relative acceleration between the finger motion sensing component and the host motion sensing component is generated according to the finger triaxial acceleration, the main motion sensing component triaxial acceleration, and the relative azimuth angle;
  • the angle of the relative azimuth is converted into a corresponding value according to the trigonometric function formula, and the triaxial acceleration of the three-axis acceleration of the finger on the three axes of the main motion sensing component is generated by multiplying the triaxial acceleration of the finger and the numerical value.
  • the component compares the triaxial acceleration component with the three-axis acceleration of the main motion sensing component to obtain the difference between the two, which is the relative acceleration.
  • step S705 the relative acceleration and the preset acceleration time interval are integrated once to generate a relative speed
  • step S706 the relative acceleration and the preset acceleration time interval are integrated twice to generate a relative displacement.
  • the relative displacement is derived from the relative acceleration, and even if the user's body is in a state of acceleration or angular velocity change, the calculation result of the relative displacement is not affected.
  • the method further includes:
  • the direction of the triaxial angular velocity of the finger is corrected according to the direction of the triaxial acceleration of the finger and the direction of the magnetic field.
  • the Kalman filter algorithm is used to measure the geomagnetism and gravity acceleration, and the direction of gravity and the orientation of the geomagnetic direction are obtained.
  • the orientation information is used to correct the orientation of the main motion sensing component and the finger from the angular velocity integral, thereby eliminating the angular velocity.
  • the cumulative error of the points is used to correct the orientation of the main motion sensing component and the finger from the angular velocity integral, thereby eliminating the angular velocity.
  • the user can manually or automatically detect the correction range of the hand motion sensing component in the manual position. Correction is performed on the initial position and orientation of the finger relative to the main motion sensing component.
  • FIG. 8 is a schematic structural diagram of a system of a motion sensing system according to an embodiment of the present invention.
  • three-axis accelerometer 002 & 012 In the finger or main motion sensing component, three-axis accelerometer 002 & 012, three-axis gyroscope 003 & The 013 and three-axis three-axis magnetometers 004 & 014 output data to the data filtering processing module 072 & 071, respectively.
  • data filtering processing module 072 & 071 fills the noise filtering and missing data by interpolation. Thereby obtaining a complete set of motion state data.
  • the angular velocity data of the host motion sensing component and the finger sensor is transmitted to the angular velocity difference estimating module 023 to calculate the azimuth relative velocity of the finger relative to the host motion sensing component coordinates.
  • the main motion sensing component and the finger respectively have an azimuth estimation module 076 & 075 that calculates the angular change information in one time interval by one-time integral of the angular velocity.
  • the orientation information of the finger relative to the motion sensing component of the host is estimated by the finger relative body orientation difference estimation module 079 receiving the host motion sensing component and the finger angle change, and the azimuth correction module function.
  • Relative acceleration, relative speed, relative displacement estimation module 077 Acquire acceleration data from the host motion sensing component and the finger respectively, and then obtain a finger-to-host motion sensing component azimuth difference estimation module 079 The value is calculated by trigonometric function, the three-axis acceleration of the finger in the coordinates of the motion sensing component of the host is calculated, and the velocity is estimated by integrating the acceleration once, and the displacement is estimated by the secondary integral of the acceleration.
  • Finger relative body coordinate position estimation module 080 receiving relative displacement, human biological constraint correction module 081. Correct the body coordinates.
  • the interactive data packaging module 082 packages the data and sends it to the external application terminal through the application interface 083.
  • Scene 1 In order to make people understand the ideas of deaf people, it is convenient to communicate with deaf people.
  • the deaf-mute person can measure the finger trajectory and the motion state by wearing a sign language translation device with the core technology of the present invention and performing a corresponding sign language action by the deaf person, through the finger motion sensing component and the host motion sensing component.
  • the recognized sign language meaning is displayed on the screen of the screen display system through the sound system, or translated into text to make people understand the thoughts of deaf people.
  • the sign language translation system can also receive the voice of the other party.
  • the form translated into text is displayed on the screen of the screen display system.
  • Scenario 2 Several architects discuss the design of a project's perimeter environment. They can display the three-axis outline of the entire project on a large computer screen. Each architect wears a gesture control human-computer interaction device with the core technology of the present invention. They can use a human-computer interaction device to control the three-axis image building model with a three-axis mouse. Before the operation, the architect can simply point the center of the display with the preset gesture, and make a center correction between the finger and the display's three-axis coordinates. You can also set the three-axis mouse movement speed to your liking. When the calibration and settings are completed, one or more architects can simultaneously move their fingers and preset gestures to control the three-axis image building model in the display.
  • an architect uses a three-axis mouse to select a large tree in front of a building. He can move and rotate the big tree according to his own ideas. Delete the modified stone lion and so on and modify the action, and present the modified three-axis image model to other architects in real time.
  • Scene 3 In the darts movement, when the athlete's fingers grip the darts by the stationary, accelerating, releasing the darts, the coordinated action of the fingers is the key point of the most difficult control.
  • the dart player can wear the host motion sensing component and the finger motion sensing component of the present application during training to record the finger motion information and trajectory of the entire throwing process. Give the athlete the result of the division on the dart target, and the recorded motion information and trajectory to make a judgment on how to adjust the finger coordination action when the next throw is made. Athletes can also review the sports information and trajectories recorded during each throw to understand the athlete's finger coordination ability and trend, and provide a scientific management method for sports training.
  • FIG. 9 is a structural block diagram of a motion sensing component according to an embodiment of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown.
  • the motion sensing component includes:
  • the first obtaining unit 91 is configured to acquire the three-axis coordinates of the self-collected finger and the finger data of the self-finger in real time, and the finger data includes a finger triaxial acceleration, a finger triaxial angular velocity, and a finger three-axis magnetic field direction;
  • the second obtaining unit 92 is configured to acquire real-time collected host motion sensing component data, where the host motion sensing component data includes a three-axis acceleration of the host motion sensing component, a three-axis angular velocity of the host motion sensing component, and a host motion sense Measuring the direction of the magnetic field of the component;
  • a generating unit 93 configured to compare the collected finger data and the host motion sensing component data to generate a relative azimuth and a relative azimuth between the finger motion sensing component and the host motion sensing component Acceleration, relative speed, relative displacement;
  • a correction unit 94 configured to correct three-axis coordinates of each finger according to the user body correction data, the correction mode, and the relative displacement that are established in advance;
  • a sending unit 95 configured to use the corrected three-axis coordinates of each finger and the relative acceleration, relative speed, and relative displacement, Sending to an external application terminal through a wireless communication module;
  • the finger motion sensing component is worn or implanted in a user's finger
  • the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
  • the method further includes:
  • a filtering unit 96 configured to filter collected finger data and noise of the host motion sensing component data
  • a padding unit 97 configured to fill in the data lost in the finger data and/or by interpolation
  • the data lost in the motion sensing component of the host is filled by interpolation.
  • the generating unit 93 includes:
  • a first generating sub-unit 931 configured to integrate the finger triaxial angular velocity and a preset angular velocity time interval to generate a finger azimuth
  • a second generating sub-unit 932 configured to integrate the three-axis angular velocity of the host motion sensing component and the preset angular velocity time interval to generate an azimuth of the host motion sensing component
  • a third generating subunit 933 configured to compare the collected azimuth of the finger with azimuth of the host motion sensing component to generate a relative orientation between the finger motion sensing component and the host motion sensing component angle;
  • a fourth generating subunit 934 configured to generate, between the finger motion sensing component and the host motion sensing component, according to the finger triaxial acceleration, the host motion sensing component triaxial acceleration, and the relative azimuth Relative acceleration
  • a fifth generation subunit 935 configured to integrate the relative acceleration and the preset acceleration time interval to generate a relative speed
  • the sixth generation subunit 936 is configured to integrate the relative acceleration and the preset acceleration time interval twice to generate a relative displacement.
  • the method further includes:
  • the storage unit 98 is configured to acquire a relative minimum azimuth, a maximum relative azimuth, a minimum relative displacement, and a maximum relative displacement of each finger motion sensing component coordinate relative to other components within a preset time, and record storage to establish use.
  • Body correction data
  • the component comprises a finger motion sensing component and a host motion sensing component.
  • the method further includes:
  • a reading unit 99 configured to read a system time and a pre-configured correction time
  • the correcting unit 910 is configured to correct the direction of the triaxial angular velocity of the finger according to the direction of the triaxial acceleration of the finger and the direction of the magnetic field when the correction time is reached.
  • the finger motion sensing component and the host motion sensing component are used separately.
  • the finger motion sensing assembly is worn or implanted in the user's finger to contact the finger.
  • the main body motion sensing component is worn on the body area of the user's body other than the finger to obtain the coordinates of the main body motion sensing component.
  • the coordinates of the main body motion sensing component represent the position of the user's body, and can also be understood as the user's body coordinates.
  • FIG. 10 is a block diagram showing a specific structure of a motion sensing component according to an embodiment of the present invention.
  • the present invention can be implemented by means of software plus necessary general hardware.
  • the technical solution of the present invention which is essential or contributes to the prior art, can be embodied in the form of a software product stored in a readable storage medium, such as a floppy disk of a computer.
  • a hard disk or optical disk, etc. includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in various embodiments of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The present invention is applicable to the technical field of movement sensing acquisition and the technical field of human-computer interaction, and provides a machine movement sensing method and assemblies, and a movement sensing system. The method comprises: acquiring three-axis coordinates and finger data of fingers collected by finger movement sensing assemblies (102, 302) in real time; acquiring machine movement sensing assembly data collected by a machine movement sensing assembly (502) in real time; comparing the collected finger data with the machine movement sensing assembly data to generate relative azimuth angles, relative accelerations, relative speeds, and relative displacements between the finger movement sensing assemblies (102, 302) and the machine movement sensing assembly (502); correcting the three-axis coordinates of each finger according to user body correction data established in advance, a correction mode, and the relative displacements; and sending the corrected three-axis coordinates of each finger, the relative accelerations, the relative speeds, and the relative displacements to an external application terminal. The method improves accuracy and applicability of a subsequent analysis result.

Description

一种主机运动感测方法、组件及运动感测系统  Host motion sensing method, component and motion sensing system 技术领域Technical field
本发明属于本发明属于运动感测获取技术领域以及人机交互技术领域,尤其涉及一种主机运动感测方法、组件及运动感测系统。The invention belongs to the technical field of motion sensing acquisition and the field of human-computer interaction technology, and particularly relates to a host motion sensing method, component and motion sensing system.
背景技术Background technique
随着便携智能装置和传感器技术与日常生活的结合会日趋紧密,许多人机交互高新技术慢慢被广泛地应用到不同领域,例如,以手势动作输入来控制人机互动装置、采集人体姿态作体育运动辅助训练系统以及采集手势动作来翻译手语等。With the combination of portable smart devices and sensor technology and daily life, many human-computer interaction technologies are slowly being widely applied to different fields, for example, using gesture input to control human-machine interaction devices and collecting human body gestures. Sports assisted training system and collecting gestures to translate sign language.
现有的运动感测主要有以下两种方法,详述如下:There are two main methods for the existing motion sensing, which are detailed as follows:
第一种方式,基于图形识别的运动感测方法,其通过光学追踪技术对目标进行图形识别或对目标上特定光点的监视和跟踪而获取该点的运动轨迹。这种方式精度高,可是实现较为困难,容易被遮挡和追踪的范围较小,不便于携带,难以广泛应用。The first way is a motion recognition method based on pattern recognition, which acquires the motion track of the point by performing image recognition on the target by optical tracking technology or monitoring and tracking a specific spot on the target. This method has high precision, but the implementation is difficult, the range of occlusion and tracking is small, and it is not easy to carry, and it is difficult to be widely applied.
二,基于传感器的运动感测方法,在使用者身体各部分佩带一些微小的传感器节点,实时采集运动信息,经过处理、分析和转换, 而获取使用者肢体语言, 或运动状态和轨迹。 实现相对简单,可以广泛用于各种便携应用领域上。Second, based on the sensor-based motion sensing method, some small sensor nodes are worn in various parts of the user's body, and motion information is collected in real time, and processed, analyzed, and converted to obtain the user's body language. Or motion status and trajectory. The implementation is relatively simple and can be widely used in various portable applications.
然而,现有技术中基于传感器的运动感测方法,其存在以下两个方面的问题,详述如下:However, the sensor-based motion sensing method in the prior art has the following two problems, which are detailed as follows:
第一个问题:现有运动感测方法中传感器采集到的运动状态数据不全面,后续分析结果准确率低。例如以同样的运动状态(加速度和角速),却在不同位置演示手势, 使用者所表达的意思就不一样,或者使用者在相同位置,以不同节奏来演示同一样手势,所表达的意思就不一样,或者使用者身体处于一个加速或角速度改变的环境,该环境中的加速或角速度会叠加于传感器获取运动状态数据中,导致后续分析结果不准确。The first problem: the motion state data collected by the sensor in the existing motion sensing method is not comprehensive, and the accuracy of the subsequent analysis results is low. For example, in the same state of motion (acceleration and angular velocity), but in different positions to demonstrate gestures, The meaning expressed by the user is different, or the user presents the same gesture at the same position and at different tempos, the meaning is different, or the user's body is in an environment where the acceleration or angular velocity changes, in the environment. The acceleration or angular velocity is superimposed on the sensor to obtain motion state data, resulting in inaccurate subsequent analysis results.
第二个问题:现有运动感测方法中缺少传感器与使用者身体特征个人化融合,由于使用者身体存在个性化的差异,身高和体重并不相同,因此,相同的传感器和坐标系不一定适用于不同的使用者,因此适用性低。The second problem: the existing motion sensing method lacks the personal integration of the sensor and the user's physical characteristics. Because the user's body has individual differences, the height and weight are not the same, so the same sensor and coordinate system are not necessarily the same. Suitable for different users, so the applicability is low.
技术问题technical problem
本发明实施例的目的在于提供一种主机运动感测方法,旨在解决现有运动感测方法中传感器采集到的运动状态数据不全面、缺少传感器与使用者身体特征个人化融合导致分析结果准确率低以及适用性低的问题。An object of the embodiments of the present invention is to provide a host motion sensing method, which aims to solve the problem that the motion state data collected by the sensor in the existing motion sensing method is not comprehensive, and the sensor and the user body feature are personalized and integrated, resulting in accurate analysis results. Low rate and low applicability.
技术解决方案Technical solution
本发明实施例是这样实现的,一种主机运动感测方法,包括:The embodiment of the present invention is implemented as follows. A host motion sensing method includes:
获取每个手指运动感测组件实时采集到的自身手指的三轴坐标以及自身手指的手指数据,所述手指数据包括手指三轴加速度、手指三轴角速度以及手指三轴磁场方向;Obtaining three-axis coordinates of the self-finger collected by each finger motion sensing component and finger data of the self-finger, the finger data includes a finger triaxial acceleration, a finger triaxial angular velocity, and a finger three-axis magnetic field direction;
获取实时采集到的主机运动感测组件数据,所述主机运动感测组件数据包括主机运动感测组件三轴加速度,主机运动感测组件三轴角速度、主机运动感测组件磁场方向;Obtaining real-time collected host motion sensing component data, the host motion sensing component data includes a host motion sensing component triaxial acceleration, a host motion sensing component triaxial angular velocity, and a host motion sensing component magnetic field direction;
将采集到的所述手指数据以及所述主机运动感测组件数据相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角、相对加速度、相对速度、相对位移;Comparing the collected finger data and the host motion sensing component data to generate a relative azimuth, relative acceleration, relative speed, relative relative between the finger motion sensing component and the host motion sensing component Displacement
根据预先建立的使用者身体修正数据、修正模式以及所述相对位移,对所述每根手指的三轴坐标进行修正; Correcting the three-axis coordinates of each finger according to the user body correction data, the correction mode, and the relative displacement that are established in advance;
将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移, 通过无线通信模块发送到外部应用终端;The corrected three-axis coordinates of each finger and the relative acceleration, relative speed, relative displacement, Sending to an external application terminal through a wireless communication module;
其中,所述手指运动感测组件佩带或植入在使用者手指中;Wherein the finger motion sensing component is worn or implanted in a user's finger;
其中,所述手指运动感测组件包括三轴陀螺仪、三轴加速计、三轴磁力计。Wherein, the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
本发明实施例的另一目的在于提供一种主机运动感测组件,包括:Another object of the embodiments of the present invention is to provide a host motion sensing component, including:
第一获取单元,用于获取实时采集到的自身手指的三轴坐标以及自身手指的手指数据,所述手指数据包括手指三轴加速度、手指三轴角速度以及手指三轴磁场方向;a first acquiring unit, configured to acquire three-axis coordinates of the self-collected finger and real finger data of the finger, the finger data includes a three-axis acceleration of the finger, an angular velocity of the finger, and a direction of the three-axis magnetic field of the finger;
第二获取单元,用于获取实时采集到的主机运动感测组件数据,所述主机运动感测组件数据包括主机运动感测组件三轴加速度,主机运动感测组件三轴角速度、主机运动感测组件磁场方向;a second acquiring unit, configured to acquire real-time collected host motion sensing component data, where the host motion sensing component data includes a three-axis acceleration of the host motion sensing component, a three-axis angular velocity of the host motion sensing component, and a host motion sensing Component magnetic field direction;
生成单元,用于将采集到的所述手指数据以及所述主机运动感测组件数据相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角、相对加速度、相对速度、相对位移;a generating unit, configured to compare the collected finger data and the host motion sensing component data to generate a relative azimuth and relative acceleration between the finger motion sensing component and the host motion sensing component Relative speed, relative displacement;
修正单元,用于根据预先建立的使用者身体修正数据、修正模式以及所述相对位移,对所述每根手指的三轴坐标进行修正; a correction unit, configured to correct three-axis coordinates of each of the fingers according to the user body correction data, the correction mode, and the relative displacement;
发送单元,用于将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移, 通过无线通信模块发送到外部应用终端;a sending unit, configured to adjust the three-axis coordinates of each of the fingers and the relative acceleration, relative speed, relative displacement, Sending to an external application terminal through a wireless communication module;
其中,所述手指运动感测组件佩带或植入在使用者手指中;Wherein the finger motion sensing component is worn or implanted in a user's finger;
其中,所述手指运动感测组件包括三轴陀螺仪、三轴加速计、三轴磁力计。Wherein, the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
本发明实施例的另一目的在于提供一种运动感测系统,包括上述主机运动感测组件以及若干个手指运动感测组件,每个所述手指运动感测组件与所述主机运动感测组件之间,通过各自的无线通信模块进行连接。Another object of embodiments of the present invention is to provide a motion sensing system including the above-described host motion sensing component and a plurality of finger motion sensing components, each of the finger motion sensing components and the host motion sensing component Between, through the respective wireless communication module to connect.
有益效果Beneficial effect
本发明将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移,通过无线通信模块发送到外部应用终端,解决现有运动感测方法中传感器采集到的运动状态数据不全面、缺少传感器与使用者身体特征个人化融合导致分析结果准确率低以及适用性低的问题,提高了后续分析结果准确率以及适用性。The invention solves the corrected three-axis coordinates of each finger and the relative acceleration, relative speed and relative displacement, and sends the same to the external application terminal through the wireless communication module, and solves the motion collected by the sensor in the existing motion sensing method. The incompleteness of the state data, the lack of sensor and the personal integration of the user's physical characteristics lead to the low accuracy of the analysis results and the low applicability, which improves the accuracy and applicability of the subsequent analysis results.
附图说明DRAWINGS
图1是本发明实施例提供的运动感测方法的实现流程图;1 is a flowchart of an implementation of a motion sensing method according to an embodiment of the present invention;
图2a是本发明实施例提供的手指运动感测组件较佳的样例图;2a is a schematic diagram of a preferred example of a finger motion sensing component according to an embodiment of the present invention;
图2b是本发明实施例提供的另一个手指运动感测组件较佳的样例图;FIG. 2b is a diagram showing a preferred example of another finger motion sensing component according to an embodiment of the present invention; FIG.
图3是本发明实施例提供的使用者佩带主机运动感测组件的较佳样例图;3 is a view showing a preferred example of a user wearing a host motion sensing component according to an embodiment of the present invention;
图4是本发明实施例提供的所述手指的三轴坐标进行修正的较佳样例图;4 is a diagram showing a preferred example of correcting the three-axis coordinates of the finger according to an embodiment of the present invention;
图5是本发明实施例提供的主机运动感测组件与手指运动感测组件互连的较佳的结构图;5 is a schematic structural diagram of interconnection between a host motion sensing component and a finger motion sensing component according to an embodiment of the present invention;
图6是本发明实施例提供的主机运动感测组件与外部应用终端互连的较佳的结构图;6 is a schematic structural diagram of interconnection between a host motion sensing component and an external application terminal according to an embodiment of the present invention;
图7是本发明实施例提供的生成相对加速度、相对速度、相对位移的实施流程图;7 is a flowchart of implementing relative acceleration, relative speed, and relative displacement according to an embodiment of the present invention;
图8是本发明实施例提供的运动感测系统的较佳的系统结构图;FIG. 8 is a schematic structural diagram of a system of a motion sensing system according to an embodiment of the present invention; FIG.
图9是本发明实施例提供的运动感测组件的结构框图;9 is a structural block diagram of a motion sensing component according to an embodiment of the present invention;
图10是本发明实施例提供的运动感测组件的具体结构框图。FIG. 10 is a block diagram showing a specific structure of a motion sensing component according to an embodiment of the present invention.
本发明的实施方式Embodiments of the invention
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
以下所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。The following are only the preferred embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, and improvements made within the spirit and scope of the present invention should be included in the protection of the present invention. Within the scope.
本发明实施例提供了一种运动感测系统,包括主机运动感测组件以及若干个手指运动感测组件,每个所述手指运动感测组件与所述主机运动感测组件之间,通过各自的无线通信模块进行连接。Embodiments of the present invention provide a motion sensing system including a host motion sensing component and a plurality of finger motion sensing components, each of the finger motion sensing components and the host motion sensing component The wireless communication module is connected.
图1是本发明实施例提供的一种主机运动感测方法的实现流程图,详述如下:FIG. 1 is a flowchart of implementing a host motion sensing method according to an embodiment of the present invention, which is described in detail as follows:
在步骤S101中, 获取每个手指运动感测组件实时采集到的自身手指的三轴坐标以及自身手指的手指数据,所述手指数据包括手指三轴加速度、手指三轴角速度以及手指三轴磁场方向;In step S101, Obtaining three-axis coordinates of the self-finger collected by each finger motion sensing component and finger data of the self-finger, the finger data includes a finger triaxial acceleration, a finger triaxial angular velocity, and a finger three-axis magnetic field direction;
其中,所述手指运动感测组件佩带或植入在使用者手指中;Wherein the finger motion sensing component is worn or implanted in a user's finger;
其中,所述手指运动感测组件包括三轴陀螺仪、三轴加速计、三轴磁力计;Wherein the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer;
其中,手指运动感测组件的三轴坐标,是以主机运动感测组件的坐标为参考坐标系,以避免当使用者身体处于一个加速或角速度改变的状态时,出现加速或角速度叠加于三轴坐标的情况,提高手指运动感测组件的三轴坐标的稳定性。Wherein, the three-axis coordinate of the finger motion sensing component is based on the coordinates of the motion sensing component of the host as a reference coordinate system, so as to avoid acceleration or angular velocity superimposed on the three axes when the user's body is in a state of acceleration or angular velocity change. In the case of coordinates, the stability of the three-axis coordinates of the finger motion sensing component is improved.
其中,使用者的每只手指头可佩带一个手指运动感测组件。Wherein, each finger of the user can wear a finger motion sensing component.
手指运动感测组件包括至少一个三轴加速计,至少一个三轴陀螺仪和至少一个三轴磁力计,通过三轴加速计,获取手指三轴加速度,通过三轴陀螺仪,获取手指三轴角速度,通过三轴磁力计,获取手指三轴磁场方向。The finger motion sensing component includes at least one three-axis accelerometer, at least one three-axis gyroscope and at least one three-axis magnetometer, obtains three-axis acceleration of the finger through the three-axis accelerometer, and acquires three-axis angular velocity of the finger through the three-axis gyroscope Through the three-axis magnetometer, the direction of the three-axis magnetic field of the finger is obtained.
参考图2a,图2a是本发明实施例提供的手指运动感测组件较佳的样例图。Referring to FIG. 2a, FIG. 2a is a schematic diagram of a preferred example of a finger motion sensing component according to an embodiment of the present invention.
其中,手指运动感测组件102包括最少一套的三轴加速计 002,三轴陀螺仪003,和三轴磁力计 004 来感测手指的运动状态 (手指三轴加速度、手指三轴角速度以及手指三轴磁场方向)。 通过组件上微型处理器204把数据过滤,整合、封装成特定格式,再通过无线通信模块 205 把数据包发送到使用者身体上主机运动感测组件502。Wherein, the finger motion sensing component 102 includes a minimum set of three-axis accelerometer 002, a three-axis gyroscope 003, and a three-axis magnetometer 004 To sense the movement state of the finger (three-axis acceleration of the finger, the angular velocity of the three axes of the finger, and the direction of the three-axis magnetic field of the finger). The data is filtered, integrated, and packaged into a specific format by the microprocessor 112 on the component, and then passed through the wireless communication module. 205 Send the data packet to the host motion sensing component 502 on the user's body.
参考图2b,图2b是本发明实施例提供的另一个手指运动感测组件较佳的样例图。Referring to FIG. 2b, FIG. 2b is a diagram of a preferred example of another finger motion sensing component according to an embodiment of the present invention.
手指运动感测组件302当中的运动感测器403包括最少一套的三轴加速计 002,三轴陀螺仪003,和三轴磁力计 004 来感测手指的运动状态。 通过掌心组件304上微型处理器404把数据过滤,整合、封装成特定格式,再通过无线通信模块 405 把数据包发送到使用者身体上主机运动感测组件502。掌心组件304通过无线充电模块407接收无线发射电磁波,给微型充电电池406充电。由掌心微型充电电池406提供电源到每手指的运动感测组件302和掌心组件304。此版本和图2a的主要分别是结构上把手指的微型处理器,无线通信,微型充电电池,和无线充电模块集合至手掌部分来减少手指负载。两者功能和运作原理是一致的。The motion sensor 403 among the finger motion sensing components 302 includes a minimum set of three-axis accelerometers 002, three-axis gyroscope 003, and three-axis magnetometer 004 to sense the movement of the finger. The data is filtered, integrated, and packaged into a specific format by the microprocessor 404 on the palm component 304, and then passed through the wireless communication module 405. The data packet is sent to the host motion sensing component 502 on the user's body. The palm assembly 304 receives wirelessly transmitted electromagnetic waves through the wireless charging module 407 to charge the micro rechargeable battery 406. Power is supplied from the palm miniature rechargeable battery 406 to the motion sensing component 302 and palm assembly 304 of each finger. The main difference between this version and Figure 2a is the structure of the finger microprocessor, wireless communication, micro-rechargeable battery, and wireless charging module to the palm portion to reduce finger load. Both functions and operating principles are consistent.
其中,手指是身体上最频繁接触外界环境的部分,手指运动感测组件采用全密封式设计, 在手指运动感测组件表面上加入纳米涂层或喷雾,以彻底防尘防水。从而可以广泛应用到使用者日常生活中,包括洗手,游泳,清洁工作等等。Among them, the finger is the part of the body that most frequently contacts the external environment, and the finger motion sensing component adopts a fully sealed design. Add a nano-coating or spray to the surface of the finger motion sensing component to provide complete dust and water resistance. Therefore, it can be widely applied to the daily life of the user, including washing hands, swimming, cleaning work and the like.
在步骤S102中,获取实时采集到的主机运动感测组件数据,所述主机运动感测组件数据包括主机运动感测组件三轴加速度,主机运动感测组件三轴角速度、主机运动感测组件磁场方向;In step S102, real-time collected host motion sensing component data is acquired, the host motion sensing component data includes a host motion sensing component triaxial acceleration, a host motion sensing component triaxial angular velocity, and a host motion sensing component magnetic field. direction;
其中,所述主机运动感测组件佩带在使用者身体除手指以外的身体区域;Wherein the host motion sensing component is worn on a body region of the user's body other than the finger;
其中,所述主机运动感测组件包括三轴陀螺仪、三轴加速计、三轴磁力计。The host motion sensing component includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
其中,使用者可以在身上佩带一个主机运动感测组件,以无线方式收集每个手指运动感测组件的手指数据,主机运动感测组件主电源提供无线充电电源供应给手指套上的微型充电电池。The user can wear a host motion sensing component on the body to wirelessly collect finger data of each finger motion sensing component, and the main motion sensing component main power supply provides wireless charging power to the miniature rechargeable battery on the finger sleeve. .
参考图3,图3是本发明实施例提供的使用者佩带主机运动感测组件的较佳样例图。Referring to FIG. 3, FIG. 3 is a diagram of a preferred example of a user wearing a host motion sensing component according to an embodiment of the present invention.
其中,在手指运动感测组件起始或重置时,若手指运动感测组件套接触主机运动感测组件时,手指运动感测组件相对主机运动感测组件的位置和方位会经过重新校正。 Wherein, when the finger motion sensing component sleeve contacts the host motion sensing component when the finger motion sensing component is started or reset, the position and orientation of the finger motion sensing component relative to the host motion sensing component are recalibrated.
在步骤S103中,将采集到的所述手指数据以及所述主机运动感测组件数据相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角、相对加速度、相对速度、相对位移;In step S103, the collected finger data and the host motion sensing component data are compared to generate a relative azimuth and relative acceleration between the finger motion sensing component and the host motion sensing component. Relative speed, relative displacement;
其中,主机运动感测组件数据作为参考数据。The host motion sensing component data is used as reference data.
其中,采用更全面运动信息获取方式,每手指和身体上组件都装有三轴加速计、角速度传感器及磁力计来估算位移,方位,加速度,速度,角速,地磁感测等等一系列轨迹和运动状态,大大提高精准度和减少外界磁场干扰对感测器影响产生的偏差。Among them, a more comprehensive motion information acquisition method, each finger and body components are equipped with a three-axis accelerometer, an angular velocity sensor and a magnetometer to estimate a series of trajectories of displacement, azimuth, acceleration, velocity, angular velocity, geomagnetic sensing, and the like. The state of motion greatly improves the accuracy and reduces the deviation of the external magnetic field interference on the sensor.
在步骤S104中,根据预先建立的使用者身体修正数据、修正模式以及所述相对位移,对所述每根手指的三轴坐标进行修正; In step S104, the three-axis coordinates of each finger are corrected according to the user body correction data, the correction mode, and the relative displacement that are established in advance;
其中,修正模式为修正三轴坐标与主机运动感测组件之间的距离,使距离不超过相对位移。The correction mode is to correct the distance between the three-axis coordinate and the motion sensing component of the host so that the distance does not exceed the relative displacement.
作为本发明的一个优选实施例,在所述根据预先建立的使用者身体修正数据之前,还包括:As a preferred embodiment of the present invention, before the correcting data according to the user body established in advance, the method further includes:
在预设时间内,获取每个手指运动感测组件坐标相对其它组件的相对最小方位角、最大相对方位角、最小相对位移以及最大相对位移,并记录存储,以建立使用者身体修正数据;Obtaining, in a preset time, a relative minimum azimuth, a maximum relative azimuth, a minimum relative displacement, and a maximum relative displacement of each finger motion sensing component coordinate with respect to other components, and recording storage to establish user body correction data;
其中,所述组件包括手指运动感测组件和主机运动感测组件。Wherein, the component comprises a finger motion sensing component and a host motion sensing component.
其中,使用者佩戴手指运动感测组件和主机运动感测组件启动时,会通过用户一系列简单伸展动作,记录在不同姿态下,每个组件坐标相对其他组件的位移和方位角。以形成使用者身体修正数据。Wherein, when the user wears the finger motion sensing component and the host motion sensing component, a series of simple stretching actions are recorded by the user, and the displacement and azimuth of each component coordinate with respect to other components are recorded in different postures. To form user body correction data.
其中,在对所述每根手指的三轴坐标进行修正之前,还包括:Wherein, before correcting the three-axis coordinates of each of the fingers, the method further includes:
根据预先建立的使用者身体修正数据,对相对方位角进行修正,以使相对方位角处于相对最小方位角与最大相对方位角的范围内。The relative azimuth is corrected based on the pre-established user body correction data such that the relative azimuth is within a range of a relative minimum azimuth and a maximum relative azimuth.
根据预先建立的使用者身体修正数据,对相对位移进行修正,以使相对位移处于相对最小位移与最大相对位移的范围内。The relative displacement is corrected based on the pre-established user body correction data such that the relative displacement is within a range of relative minimum displacement and maximum relative displacement.
对相对位移进行修正,使得后续可以修正三轴坐标,使得三轴坐标相对于主机运动感测组件的距离,也处于最小位移与最大相对位移的范围内。The relative displacement is corrected so that the three-axis coordinates can be corrected later so that the distance of the three-axis coordinates relative to the motion sensing component of the host is also within the range of the minimum displacement and the maximum relative displacement.
参考图4,图4是本发明实施例提供的所述手指的三轴坐标进行修正的较佳样例图。Referring to FIG. 4, FIG. 4 is a view showing a preferred example of correcting the three-axis coordinates of the finger according to the embodiment of the present invention.
当使用者佩带手指运动感测组件和主机运动感测组件一段时间后,从手指相对主机运动感测组件坐标位置估算模块080得出食指 B 坐标。After the user wears the finger motion sensing component and the host motion sensing component for a period of time, the index finger B coordinate is derived from the finger relative to the host motion sensing component coordinate position estimating module 080.
而根据预先建立的使用者身体修正数据、图中食指 A坐标为修正模块 081 按身体允许的转动自由度和允许的相对距离估算出来的位置。修正模块 081会按照A和B坐标的差距D给手指相对主机运动感测组件坐标位置作出修正,将食指 B 坐标改为A坐标。According to the pre-established user body correction data, the index A coordinate in the figure is the correction module 081 The estimated position based on the rotational degrees of freedom allowed by the body and the relative distance allowed. The correction module 081 will correct the coordinate position of the finger relative to the main body motion sensing component according to the difference D between the A and B coordinates, and the index finger B The coordinates are changed to A coordinates.
本发明实施例根据使用者初始动时设定身体修正数据,对后续数据进行修正,通过这种方式,可以减少在长期佩带下所产生误差,而修正功能对用户操作上的不便减至一个不觉察的程度。In the embodiment of the present invention, the body correction data is set according to the initial movement of the user, and the subsequent data is corrected. In this way, the error generated in the long-term wearing can be reduced, and the inconvenience of the correction function to the user operation is reduced to one. The degree of awareness.
在步骤S105中,将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移, 通过无线通信模块发送到外部应用终端;In step S105, the corrected three-axis coordinates of each finger and the relative acceleration, the relative speed, and the relative displacement are Sending to an external application terminal through a wireless communication module;
其中,主机运动感测组件经过一系列的位置,方位,和运动状态估算,将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移,以预先设定的格式进行打包,打包后,通过无线通信模块发送到外部应用终端。Wherein, the host motion sensing component is estimated through a series of positions, azimuths, and motion states, and the corrected three-axis coordinates of each finger and the relative acceleration, relative speed, and relative displacement are preset. The format is packaged, packaged, and sent to the external application terminal through the wireless communication module.
其中,无线通信模块可以为现有技术的任意一种,例如蓝牙通信模块,WIFI通信模块、zigbee通信模块等等的无线通信模块,无线通信方式发挥了有线方式高速、稳定、准确的优点,同时也克服了有线安装卸载麻烦缺点。The wireless communication module may be any one of the prior art, such as a wireless communication module such as a Bluetooth communication module, a WIFI communication module, a zigbee communication module, etc., and the wireless communication mode utilizes the advantages of high speed, stability, and accuracy of the wired mode, and simultaneously It also overcomes the shortcomings of wired installation and uninstallation.
其中,外部应用终端包括但不限于智能手机,大型显示屏接口,医疗监测设备。The external application terminal includes but is not limited to a smart phone, a large display interface, and a medical monitoring device.
参考图5,图5是本发明实施例提供的主机运动感测组件与手指运动感测组件互连的较佳的结构图。Referring to FIG. 5, FIG. 5 is a structural diagram of a connection between a host motion sensing component and a finger motion sensing component according to an embodiment of the present invention.
参考图6,图6是本发明实施例提供的主机运动感测组件与外部应用终端互连的较佳的结构图。Referring to FIG. 6, FIG. 6 is a structural diagram of a connection between a host motion sensing component and an external application terminal according to an embodiment of the present invention.
其中,使用者把主机运动感测组件 502佩带到他的腰部,主机运动感测组件包含了一个或以上无线通信模块 609 接收每根手指运动感测信息的数据包。数据包再传送到主机运动感测组件上的微型处理器 604。 另外主机运动感测组件502上的传感器模块同时会把三轴加速计012,三轴陀螺仪013和三轴磁力计014 的运动信息发送到主机运动感测组件上的微型处理器604。获取所有手指运动感测组件和主机运动感测组件感测信息,通过一个运动轨迹和状态算法把信息融合和分析,从而精确估算在每个时序, 每根手指相对于主机运动感测组件坐标的三轴加速度,速度,位置,角速,角差等。经过估算的每个时序的运动轨迹和状态信息会封装成特定格式,储存到储存器608和通过无线通信模块609 发送到外置应用端。Wherein, the user wears the host motion sensing component 502 to his waist, and the host motion sensing component includes one or more wireless communication modules. 609 A packet that receives motion information for each finger motion. The data packet is then transferred to the microprocessor 604 on the host motion sensing component. In addition, the sensor module on the main body motion sensing component 502 will simultaneously put a three-axis accelerometer 012, a three-axis gyroscope 013 and a three-axis magnetometer 014 The motion information is sent to the microprocessor 604 on the host motion sensing component. Acquiring sensing information of all finger motion sensing components and host motion sensing components, synthesizing and analyzing information through a motion trajectory and state algorithm to accurately estimate at each timing, Each finger senses the three-axis acceleration, velocity, position, angular velocity, angular difference, etc. of the component coordinates relative to the host motion. The estimated motion trajectory and status information for each sequence is encapsulated into a particular format, stored in memory 608 and passed through wireless communication module 609. Send to an external app.
其中,本发明将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移, 通过无线通信模块发送到外部应用终端,解决现有运动感测方法中传感器采集到的运动状态数据不全面、缺少传感器与使用者身体特征个人化融合导致分析结果准确率低以及适用性低的问题,提高了分析结果准确率以及适用性。与此同时,减少了在中间关节布置传感器,方便携带,从而更容易广泛应用至不同领域的便携应用中。Wherein, the present invention will correct the three-axis coordinates of each finger and the relative acceleration, relative speed, relative displacement, The wireless communication module is sent to the external application terminal to solve the problem that the motion state data collected by the sensor in the existing motion sensing method is incomplete, the lack of the sensor and the user's physical characteristics are personalized, resulting in low accuracy of the analysis result and low applicability. Improve the accuracy and applicability of the analysis results. At the same time, the sensor is arranged in the middle joint, which is convenient to carry, and thus is more easily applied to portable applications in different fields.
作为本发明的一个优选实施例,所述将采集到的手指数据以及主机运动感测组件数据相比较之前,包括:As a preferred embodiment of the present invention, before comparing the collected finger data and the host motion sensing component data, the method includes:
对采集到的手指数据以及主机运动感测组件数据的噪音进行过滤;Filtering the collected finger data and the noise of the host motion sensing component data;
采用插值的方式填补在所述手指数据中丢失的数据和/或Interpolating the data lost in the finger data and/or
采用插值的方式填补在所述主机运动感测组件数据丢失的数据。The data lost in the motion sensing component of the host is filled by interpolation.
其中,把噪音过滤和丢失的数据以插值方式填补, 从而获取一套完整的运动状态数据Among them, the noise filtering and the lost data are filled by interpolation to obtain a complete set of motion state data.
参考图7,图7是本发明实施例提供的生成相对加速度、相对速度、相对位移的实施流程图,详述如下:Referring to FIG. 7, FIG. 7 is a flowchart of an implementation of generating relative acceleration, relative speed, and relative displacement according to an embodiment of the present invention, which is described in detail as follows:
在步骤S701中,将所述手指三轴角速度以及预设的角速度时间区间进行积分,生成手指方位角;In step S701, the finger triaxial angular velocity and the preset angular velocity time interval are integrated to generate a finger azimuth angle;
在步骤S702中,将所述主机运动感测组件三轴角速度以及预设的角速度时间区间进行积分,生成主机运动感测组件方位角;In step S702, the main motion sensing component triaxial angular velocity and the preset angular velocity time interval are integrated to generate a host motion sensing component azimuth;
在步骤S703中,将采集到的所述手指方位角和主机运动感测组件方位角相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角;In step S703, the collected azimuth of the finger is compared with the azimuth of the host motion sensing component to generate a relative azimuth between the finger motion sensing component and the host motion sensing component;
在步骤S704中,根据所述手指三轴加速度、主机运动感测组件三轴加速度以及所述相对方位角,生成所述手指运动感测组件与所述主机运动感测组件之间的相对加速度;In step S704, a relative acceleration between the finger motion sensing component and the host motion sensing component is generated according to the finger triaxial acceleration, the main motion sensing component triaxial acceleration, and the relative azimuth angle;
其中,根据三角函数算式所述相对方位角的角度转换成相应的数值,并通过根据手指三轴加速度和数值的相乘,生成手指三轴加速度在主机运动感测组件三轴上的三轴加速度分量,将三轴加速度分量和主机运动感测组件三轴加速度相比较,获取两者之间的差值,即为相对加速度。The angle of the relative azimuth is converted into a corresponding value according to the trigonometric function formula, and the triaxial acceleration of the three-axis acceleration of the finger on the three axes of the main motion sensing component is generated by multiplying the triaxial acceleration of the finger and the numerical value. The component compares the triaxial acceleration component with the three-axis acceleration of the main motion sensing component to obtain the difference between the two, which is the relative acceleration.
在步骤S705中,将所述相对加速度以及预设的加速度时间区间进行一次积分,生成相对速度;In step S705, the relative acceleration and the preset acceleration time interval are integrated once to generate a relative speed;
在步骤S706中,将所述相对加速度以及预设的加速度时间区间进行两次积分,生成相对位移。In step S706, the relative acceleration and the preset acceleration time interval are integrated twice to generate a relative displacement.
其中,相对位移是由相对加速度得出的,即使使用者身体处于一个加速或角速度改变的状态,也不会影响相对位移的计算结果。Among them, the relative displacement is derived from the relative acceleration, and even if the user's body is in a state of acceleration or angular velocity change, the calculation result of the relative displacement is not affected.
作为本发明的一个优选实施例,还包括:As a preferred embodiment of the present invention, the method further includes:
读取系统时间和预先配置的较正时间;Read system time and pre-configured correction time;
当到达较正时间时,根据所述手指三轴加速度的方向以及所述磁场方向,较正所述手指三轴角速度的方向。When the correction time is reached, the direction of the triaxial angular velocity of the finger is corrected according to the direction of the triaxial acceleration of the finger and the direction of the magnetic field.
其中,采用卡尔曼滤波算法,同时对地磁和重力加速度的测量,获取重力方向以及地磁方向的方位,以此方位信息对主机运动感测组件和手指从角速度积分的方位进行修正,从而消除角速度的积分累计误差。Among them, the Kalman filter algorithm is used to measure the geomagnetism and gravity acceleration, and the direction of gravity and the orientation of the geomagnetic direction are obtained. The orientation information is used to correct the orientation of the main motion sensing component and the finger from the angular velocity integral, thereby eliminating the angular velocity. The cumulative error of the points.
其中,在每次佩戴主机运动感测组件后和开始运作前,或长时间佩戴累积误差变得明显时,使用者可以通过手动,或自动方式检测手部位置在主机运动感测组件校正范围,对手指相对主机运动感测组件初始位置和方位实行校正。Wherein, after each time the host motion sensing component is worn and before the operation starts, or when the cumulative error of wearing for a long time becomes obvious, the user can manually or automatically detect the correction range of the hand motion sensing component in the manual position. Correction is performed on the initial position and orientation of the finger relative to the main motion sensing component.
作为本发明的一个优选实施例,参考图8,图8是本发明实施例提供的运动感测系统的较佳的系统结构图。As a preferred embodiment of the present invention, referring to FIG. 8, FIG. 8 is a schematic structural diagram of a system of a motion sensing system according to an embodiment of the present invention.
在手指或主机运动感测组件中,三轴加速计 002 & 012, 三轴陀螺仪003 & 013和三轴三轴磁力计 004 & 014分别输出数据到数据过滤处理模块 072 & 071。 通过数据过滤处理模块072 & 071把噪音过滤和丢失的数据以插值方式填补, 从而获取一套完整的运动状态数据。主机运动感测组件和手指传感器的角速数据传送到角速差估算模块023来计算手指相对主机运动感测组件坐标的方位角相对速度。 主机运动感测组件和手指分别有一个方位估算模块 076 & 075 通过角速度一次积分来计算在一个时间区间的角度变化信息。 通过手指相对身体方位差估计模块079 接收主机运动感测组件和手指角度变化,和方位修正模块函数来估算手指相对主机运动感测组件坐标的方位信息。In the finger or main motion sensing component, three-axis accelerometer 002 & 012, three-axis gyroscope 003 & The 013 and three-axis three-axis magnetometers 004 & 014 output data to the data filtering processing module 072 & 071, respectively. Through data filtering processing module 072 & 071 fills the noise filtering and missing data by interpolation. Thereby obtaining a complete set of motion state data. The angular velocity data of the host motion sensing component and the finger sensor is transmitted to the angular velocity difference estimating module 023 to calculate the azimuth relative velocity of the finger relative to the host motion sensing component coordinates. The main motion sensing component and the finger respectively have an azimuth estimation module 076 & 075 that calculates the angular change information in one time interval by one-time integral of the angular velocity. The orientation information of the finger relative to the motion sensing component of the host is estimated by the finger relative body orientation difference estimation module 079 receiving the host motion sensing component and the finger angle change, and the azimuth correction module function.
相对加速度, 相对速度, 相对位移估算模块 077 分别从主机运动感测组件和手指获取加速度数据,再获取手指相对主机运动感测组件方位差估算模块 079 的数值,以三角函数算式,计算在主机运动感测组件坐标的手指三轴加速度,并以加速度一次积分估算速度,以加速度二次积分估算位移。Relative acceleration, relative speed, relative displacement estimation module 077 Acquire acceleration data from the host motion sensing component and the finger respectively, and then obtain a finger-to-host motion sensing component azimuth difference estimation module 079 The value is calculated by trigonometric function, the three-axis acceleration of the finger in the coordinates of the motion sensing component of the host is calculated, and the velocity is estimated by integrating the acceleration once, and the displacement is estimated by the secondary integral of the acceleration.
手指相对身体坐标位置和方位重置模块078,到达预设时间时,对主机运动感测组件方位差估算模块 079进行重置。The finger relative body coordinate position and orientation reset module 078, when the preset time is reached, the host motion sensing component azimuth difference estimation module 079 is reset.
手指相对身体坐标位置估算模块080,接收相对位移,人体生物约束修正模块 081。对身体坐标进行修正。Finger relative body coordinate position estimation module 080, receiving relative displacement, human biological constraint correction module 081. Correct the body coordinates.
交互数据打包模块082对数据进行打包,通过应用接口083,发送至外部应用终终端。The interactive data packaging module 082 packages the data and sends it to the external application terminal through the application interface 083.
作为本发明的一个优选实施例,以下为本发明的三个应用场景,详述如下:As a preferred embodiment of the present invention, the following are three application scenarios of the present invention, which are described in detail as follows:
场景一:为了使人了解聋哑人的想法,方便与聋哑人的交流。 聋哑人可以通过佩带上一副以本发明为核心技术的手语翻译装置,并由聋哑人进行相应的手语动作,通过该手指运动感测组件和主机运动感测组件测量手指轨迹和运动状态,经过微型处理器噪音处理,特征提取和分析, 和于内置资料库查找,把辨认后的手语含义通过发声系统,或者翻译成文字的形式显示在画面显示系统的屏幕上,以使人了解聋哑人的想法。为达致相向沟通,手语翻译系统也可通过接收对方语音, 翻译成文字的形式显示在画面显示系统的屏幕上。Scene 1: In order to make people understand the ideas of deaf people, it is convenient to communicate with deaf people. The deaf-mute person can measure the finger trajectory and the motion state by wearing a sign language translation device with the core technology of the present invention and performing a corresponding sign language action by the deaf person, through the finger motion sensing component and the host motion sensing component. , after microprocessor noise processing, feature extraction and analysis, And in the built-in database search, the recognized sign language meaning is displayed on the screen of the screen display system through the sound system, or translated into text to make people understand the thoughts of deaf people. In order to achieve the opposite communication, the sign language translation system can also receive the voice of the other party. The form translated into text is displayed on the screen of the screen display system.
场景二:几个建筑师讨论一个项目周边环境设计,他们可以在计算机大屏幕上显示整个项目的三轴外形图。每个建筑师都佩带有本发明核心技术的手势控制人机交互装置。他们可以运用人机交互装置,以三轴鼠标方式来控制三轴影像建筑模型。在操作前,建筑师可以简单用预设手势指向显示屏中心点,让手指和显示屏三轴坐标作一个中心校正, 也可以按自己喜好设定三轴鼠标移动速度。当校正和设定完毕,一个或多个建筑师可以同时移动他们的手指和预设手势来控制显示屏当中三轴影像建筑模型。例如,建筑师用三轴鼠标选择一个建筑物前面一颗大树,他可以因应自己想法把大树移动,旋转, 删除改成石狮子等等修改动作,并实时把修改过的三轴影像模型呈现给其他建筑师。Scenario 2: Several architects discuss the design of a project's perimeter environment. They can display the three-axis outline of the entire project on a large computer screen. Each architect wears a gesture control human-computer interaction device with the core technology of the present invention. They can use a human-computer interaction device to control the three-axis image building model with a three-axis mouse. Before the operation, the architect can simply point the center of the display with the preset gesture, and make a center correction between the finger and the display's three-axis coordinates. You can also set the three-axis mouse movement speed to your liking. When the calibration and settings are completed, one or more architects can simultaneously move their fingers and preset gestures to control the three-axis image building model in the display. For example, an architect uses a three-axis mouse to select a large tree in front of a building. He can move and rotate the big tree according to his own ideas. Delete the modified stone lion and so on and modify the action, and present the modified three-axis image model to other architects in real time.
场景三:在飞镖运动中,当运动员手指握紧飞镖由静止,加速,释放飞镖这个过程中的手指协调动作是最困难控制的关键点。飞镖运动员可以在训练时候佩带本申请的主机运动感测组件和手指运动感测组件,把整个投掷过程手指运动信息和轨迹记录下来。 给运动员按投掷到镖靶上分区的结果, 和记录下来的运动信息和轨迹,作出判断下一次投掷的时候,如何调整手指协调动作。 运动员也可以回顾过往每次投掷时记录下来的运动信息和轨迹, 从而了解运动员手指协调能力和趋势, 提供一种运动训练的科学化管理方式。Scene 3: In the darts movement, when the athlete's fingers grip the darts by the stationary, accelerating, releasing the darts, the coordinated action of the fingers is the key point of the most difficult control. The dart player can wear the host motion sensing component and the finger motion sensing component of the present application during training to record the finger motion information and trajectory of the entire throwing process. Give the athlete the result of the division on the dart target, and the recorded motion information and trajectory to make a judgment on how to adjust the finger coordination action when the next throw is made. Athletes can also review the sports information and trajectories recorded during each throw to understand the athlete's finger coordination ability and trend, and provide a scientific management method for sports training.
图9是本发明实施例提供的运动感测组件的结构框图。为了便于说明,仅示出了与本发明实施例相关的部分。FIG. 9 is a structural block diagram of a motion sensing component according to an embodiment of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown.
参照图9,该运动感测组件,包括:Referring to Figure 9, the motion sensing component includes:
第一获取单元91,用于获取实时采集到的自身手指的三轴坐标以及自身手指的手指数据,所述手指数据包括手指三轴加速度、手指三轴角速度以及手指三轴磁场方向;The first obtaining unit 91 is configured to acquire the three-axis coordinates of the self-collected finger and the finger data of the self-finger in real time, and the finger data includes a finger triaxial acceleration, a finger triaxial angular velocity, and a finger three-axis magnetic field direction;
第二获取单元92,用于获取实时采集到的主机运动感测组件数据,所述主机运动感测组件数据包括主机运动感测组件三轴加速度,主机运动感测组件三轴角速度、主机运动感测组件磁场方向;The second obtaining unit 92 is configured to acquire real-time collected host motion sensing component data, where the host motion sensing component data includes a three-axis acceleration of the host motion sensing component, a three-axis angular velocity of the host motion sensing component, and a host motion sense Measuring the direction of the magnetic field of the component;
生成单元93,用于将采集到的所述手指数据以及所述主机运动感测组件数据相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角、相对加速度、相对速度、相对位移;a generating unit 93, configured to compare the collected finger data and the host motion sensing component data to generate a relative azimuth and a relative azimuth between the finger motion sensing component and the host motion sensing component Acceleration, relative speed, relative displacement;
修正单元94,用于根据预先建立的使用者身体修正数据、修正模式以及所述相对位移,对所述每根手指的三轴坐标进行修正; a correction unit 94, configured to correct three-axis coordinates of each finger according to the user body correction data, the correction mode, and the relative displacement that are established in advance;
发送单元95,用于将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移, 通过无线通信模块发送到外部应用终端;a sending unit 95, configured to use the corrected three-axis coordinates of each finger and the relative acceleration, relative speed, and relative displacement, Sending to an external application terminal through a wireless communication module;
其中,所述手指运动感测组件佩带或植入在使用者手指中;Wherein the finger motion sensing component is worn or implanted in a user's finger;
其中,所述手指运动感测组件包括三轴陀螺仪、三轴加速计、三轴磁力计。Wherein, the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
进一步地,在该组件中,还包括:Further, in the component, the method further includes:
过滤单元96,用于对采集到的手指数据以及主机运动感测组件数据的噪音进行过滤;a filtering unit 96, configured to filter collected finger data and noise of the host motion sensing component data;
填补单元97,用于采用插值的方式填补在所述手指数据中丢失的数据和/或a padding unit 97, configured to fill in the data lost in the finger data and/or by interpolation
采用插值的方式填补在所述主机运动感测组件数据丢失的数据。The data lost in the motion sensing component of the host is filled by interpolation.
进一步地,在该组件中,所述生成单元93,包括:Further, in the component, the generating unit 93 includes:
第一生成子单元931,用于将所述手指三轴角速度以及预设的角速度时间区间进行积分,生成手指方位角;a first generating sub-unit 931, configured to integrate the finger triaxial angular velocity and a preset angular velocity time interval to generate a finger azimuth;
第二生成子单元932,用于将所述主机运动感测组件三轴角速度以及预设的角速度时间区间进行积分,生成主机运动感测组件方位角;a second generating sub-unit 932, configured to integrate the three-axis angular velocity of the host motion sensing component and the preset angular velocity time interval to generate an azimuth of the host motion sensing component;
第三生成子单元933,用于将采集到的所述手指方位角和主机运动感测组件方位角相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角;a third generating subunit 933, configured to compare the collected azimuth of the finger with azimuth of the host motion sensing component to generate a relative orientation between the finger motion sensing component and the host motion sensing component angle;
第四生成子单元934,用于根据所述手指三轴加速度、主机运动感测组件三轴加速度以及所述相对方位角,生成所述手指运动感测组件与所述主机运动感测组件之间的相对加速度;a fourth generating subunit 934, configured to generate, between the finger motion sensing component and the host motion sensing component, according to the finger triaxial acceleration, the host motion sensing component triaxial acceleration, and the relative azimuth Relative acceleration
第五生成子单元935,用于将所述相对加速度以及预设的加速度时间区间进行一次积分,生成相对速度;a fifth generation subunit 935, configured to integrate the relative acceleration and the preset acceleration time interval to generate a relative speed;
第六生成子单元936,用于将所述相对加速度以及预设的加速度时间区间进行两次积分,生成相对位移。The sixth generation subunit 936 is configured to integrate the relative acceleration and the preset acceleration time interval twice to generate a relative displacement.
进一步地,在该组件中,还包括:Further, in the component, the method further includes:
存储单元98,用于在预设时间内,获取每个手指运动感测组件坐标相对其它组件的相对最小方位角、最大相对方位角、最小相对位移以及最大相对位移,并记录存储,以建立使用者身体修正数据;The storage unit 98 is configured to acquire a relative minimum azimuth, a maximum relative azimuth, a minimum relative displacement, and a maximum relative displacement of each finger motion sensing component coordinate relative to other components within a preset time, and record storage to establish use. Body correction data;
其中,所述组件包括手指运动感测组件和主机运动感测组件。Wherein, the component comprises a finger motion sensing component and a host motion sensing component.
进一步地,在该组件中,还包括:Further, in the component, the method further includes:
读取单元99,用于读取系统时间和预先配置的较正时间;a reading unit 99, configured to read a system time and a pre-configured correction time;
较正单元910,用于当到达较正时间时,根据所述手指三轴加速度的方向以及所述磁场方向,较正所述手指三轴角速度的方向。The correcting unit 910 is configured to correct the direction of the triaxial angular velocity of the finger according to the direction of the triaxial acceleration of the finger and the direction of the magnetic field when the correction time is reached.
其中,手指运动感测组件和主机运动感测组件分开使用。Wherein, the finger motion sensing component and the host motion sensing component are used separately.
手指运动感测组件佩带或植入使用者手指中,以接触手指。The finger motion sensing assembly is worn or implanted in the user's finger to contact the finger.
主机运动感测组件佩带在使用者身体除手指以外的身体区域,以得到主机运动感测组件坐标,因主机运动感测组件坐标代表使用者身体的位置,也可理解为使用者身体坐标。The main body motion sensing component is worn on the body area of the user's body other than the finger to obtain the coordinates of the main body motion sensing component. The coordinates of the main body motion sensing component represent the position of the user's body, and can also be understood as the user's body coordinates.
参考图10,图10是本发明实施例提供的运动感测组件的具体结构框图。Referring to FIG. 10, FIG. 10 is a block diagram showing a specific structure of a motion sensing component according to an embodiment of the present invention.
本发明实施例提供的组件可以应用在前述对应的方法实施例中,详情参见上述实施例的描述,在此不再赘述。The components provided by the embodiments of the present invention may be applied to the foregoing corresponding method embodiments. For details, refer to the description of the foregoing embodiments, and details are not described herein again.
通过以上的实施方式的描述,所属领域的技术人员可以清楚地了解到本发明可借助软件加必需的通用硬件的方式来实现。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品存储在可读取的存储介质中,如计算机的软盘,硬盘或光盘等,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general hardware. Based on the understanding, the technical solution of the present invention, which is essential or contributes to the prior art, can be embodied in the form of a software product stored in a readable storage medium, such as a floppy disk of a computer. A hard disk or optical disk, etc., includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in various embodiments of the present invention.
以上所述,仅为本发明的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到的变化或替换,都应涵盖在本发明的保护范围之内。因此,本发明的保护范围应以权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. All should be covered by the scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims (10)

  1. 一种主机运动感测方法,其特征在于,包括: A host motion sensing method, comprising:
    获取每个手指运动感测组件实时采集到的自身手指的三轴坐标以及自身手指的手指数据,所述手指数据包括手指三轴加速度、手指三轴角速度以及手指三轴磁场方向;Obtaining three-axis coordinates of the self-finger collected by each finger motion sensing component and finger data of the self-finger, the finger data includes a finger triaxial acceleration, a finger triaxial angular velocity, and a finger three-axis magnetic field direction;
    获取实时采集到的主机运动感测组件数据,所述主机运动感测组件数据包括主机运动感测组件三轴加速度,主机运动感测组件三轴角速度、主机运动感测组件磁场方向;Obtaining real-time collected host motion sensing component data, the host motion sensing component data includes a host motion sensing component triaxial acceleration, a host motion sensing component triaxial angular velocity, and a host motion sensing component magnetic field direction;
    将采集到的所述手指数据以及所述主机运动感测组件数据相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角、相对加速度、相对速度、相对位移;Comparing the collected finger data and the host motion sensing component data to generate a relative azimuth, relative acceleration, relative speed, relative relative between the finger motion sensing component and the host motion sensing component Displacement
    根据预先建立的使用者身体修正数据、修正模式以及所述相对位移,对所述每根手指的三轴坐标进行修正; Correcting the three-axis coordinates of each finger according to the user body correction data, the correction mode, and the relative displacement that are established in advance;
    将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移,通过无线通信模块发送到外部应用终端;And correcting the corrected three-axis coordinates of each finger and the relative acceleration, the relative speed, and the relative displacement to the external application terminal through the wireless communication module;
    其中,所述手指运动感测组件佩带或植入在使用者手指中;Wherein the finger motion sensing component is worn or implanted in a user's finger;
    其中,所述手指运动感测组件包括三轴陀螺仪、三轴加速计、三轴磁力计。Wherein, the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
  2. 根据权利要求1所述的方法,其特征在于,所述将采集到的手指数据以及主机运动感测组件数据相比较之前,包括:The method according to claim 1, wherein the comparing the collected finger data and the host motion sensing component data comprises:
    对采集到的手指数据以及主机运动感测组件数据的噪音进行过滤;Filtering the collected finger data and the noise of the host motion sensing component data;
    采用插值的方式填补在所述手指数据中丢失的数据和/或Interpolating the data lost in the finger data and/or
    采用插值的方式填补在所述主机运动感测组件数据丢失的数据。The data lost in the motion sensing component of the host is filled by interpolation.
  3. 根据权利要求1所述的方法,其特征在于,所述将采集到的所述手指数据以及所述主机运动感测组件数据相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对加速度、相对速度、相对位移,具体为:The method according to claim 1, wherein the comparing the collected finger data and the host motion sensing component data to generate the finger motion sensing component and the host motion sensing The relative acceleration, relative velocity, and relative displacement between components are as follows:
    将所述手指三轴角速度以及预设的角速度时间区间进行积分,生成手指方位角;Integrating the finger triaxial angular velocity and the preset angular velocity time interval to generate a finger azimuth;
    将所述主机运动感测组件三轴角速度以及预设的角速度时间区间进行积分,生成主机运动感测组件方位角;Integrating the three-axis angular velocity of the host motion sensing component and the preset angular velocity time interval to generate an azimuth of the host motion sensing component;
    将采集到的所述手指方位角和主机运动感测组件方位角相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角;Comparing the collected azimuth of the finger with the azimuth of the host motion sensing component to generate a relative azimuth between the finger motion sensing component and the host motion sensing component;
    根据所述手指三轴加速度、主机运动感测组件三轴加速度以及所述相对方位角,生成所述手指运动感测组件与所述主机运动感测组件之间的相对加速度;Generating a relative acceleration between the finger motion sensing component and the host motion sensing component according to the finger triaxial acceleration, the main motion sensing component triaxial acceleration, and the relative azimuth angle;
    将所述相对加速度以及预设的加速度时间区间进行一次积分,生成相对速度;And integrating the relative acceleration and the preset acceleration time interval to generate a relative speed;
    将所述相对加速度以及预设的加速度时间区间进行两次积分,生成相对位移。The relative acceleration and the preset acceleration time interval are integrated twice to generate a relative displacement.
  4. 根据权利要求3所述的方法,其特征在于,在所述根据预先建立的使用者身体修正数据之前,还包括:The method according to claim 3, further comprising: before the correcting data based on the user body established in advance;
    在预设时间内,获取每个手指运动感测组件坐标相对其它组件的相对最小方位角、最大相对方位角、最小相对位移以及最大相对位移,并记录存储,以建立使用者身体修正数据;Obtaining, in a preset time, a relative minimum azimuth, a maximum relative azimuth, a minimum relative displacement, and a maximum relative displacement of each finger motion sensing component coordinate with respect to other components, and recording storage to establish user body correction data;
    其中,所述组件包括手指运动感测组件和主机运动感测组件。Wherein, the component comprises a finger motion sensing component and a host motion sensing component.
  5. 根据权利要求1所述的方法,其特征在于,还包括:The method of claim 1 further comprising:
    读取系统时间和预先配置的较正时间;Read system time and pre-configured correction time;
    当到达较正时间时,根据所述手指三轴加速度的方向以及所述磁场方向,较正所述手指三轴角速度的方向。When the correction time is reached, the direction of the triaxial angular velocity of the finger is corrected according to the direction of the triaxial acceleration of the finger and the direction of the magnetic field.
  6. 一种主机运动感测组件,其特征在于,包括:A host motion sensing component, comprising:
    第一获取单元,用于获取实时采集到的自身手指的三轴坐标以及自身手指的手指数据,所述手指数据包括手指三轴加速度、手指三轴角速度以及手指三轴磁场方向;a first acquiring unit, configured to acquire three-axis coordinates of the self-collected finger and real finger data of the finger, the finger data includes a three-axis acceleration of the finger, an angular velocity of the finger, and a direction of the three-axis magnetic field of the finger;
    第二获取单元,用于获取实时采集到的主机运动感测组件数据,所述主机运动感测组件数据包括主机运动感测组件三轴加速度,主机运动感测组件三轴角速度、主机运动感测组件磁场方向;a second acquiring unit, configured to acquire real-time collected host motion sensing component data, where the host motion sensing component data includes a three-axis acceleration of the host motion sensing component, a three-axis angular velocity of the host motion sensing component, and a host motion sensing Component magnetic field direction;
    生成单元,用于将采集到的所述手指数据以及所述主机运动感测组件数据相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角、相对加速度、相对速度、相对位移;a generating unit, configured to compare the collected finger data and the host motion sensing component data to generate a relative azimuth and relative acceleration between the finger motion sensing component and the host motion sensing component Relative speed, relative displacement;
    修正单元,用于根据预先建立的使用者身体修正数据、修正模式以及所述相对位移,对所述每根手指的三轴坐标进行修正; a correction unit, configured to correct three-axis coordinates of each of the fingers according to the user body correction data, the correction mode, and the relative displacement;
    发送单元,用于将修正后的所述每根手指的三轴坐标以及所述相对加速度、相对速度、相对位移, 通过无线通信模块发送到外部应用终端;a sending unit, configured to adjust the three-axis coordinates of each of the fingers and the relative acceleration, relative speed, relative displacement, Sending to an external application terminal through a wireless communication module;
    其中,所述手指运动感测组件佩带或植入在使用者手指中;Wherein the finger motion sensing component is worn or implanted in a user's finger;
    其中,所述手指运动感测组件包括三轴陀螺仪、三轴加速计、三轴磁力计。Wherein, the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
  7. 根据权利要求6所述的组件,其特征在于,还包括:The assembly of claim 6 further comprising:
    过滤单元,用于对采集到的手指数据以及主机运动感测组件数据的噪音进行过滤;a filtering unit, configured to filter the collected finger data and the noise of the host motion sensing component data;
    填补单元,用于采用插值的方式填补在所述手指数据中丢失的数据和/或a padding unit for filling in data lost in the finger data and/or by interpolation
    采用插值的方式填补在所述主机运动感测组件数据丢失的数据。The data lost in the motion sensing component of the host is filled by interpolation.
  8. 根据权利要求6所述的组件,其特征在于,所述生成单元,包括:The component according to claim 6, wherein the generating unit comprises:
    第一生成子单元,用于将所述手指三轴角速度以及预设的角速度时间区间进行积分,生成手指方位角;a first generating subunit, configured to integrate the finger triaxial angular velocity and the preset angular velocity time interval to generate a finger azimuth;
    第二生成子单元,用于将所述主机运动感测组件三轴角速度以及预设的角速度时间区间进行积分,生成主机运动感测组件方位角;a second generating subunit, configured to integrate the three-axis angular velocity of the host motion sensing component and the preset angular velocity time interval to generate an azimuth of the host motion sensing component;
    第三生成子单元,用于将采集到的所述手指方位角和主机运动感测组件方位角相比较,生成所述手指运动感测组件与所述主机运动感测组件之间的相对方位角;a third generating subunit, configured to compare the collected azimuth of the finger with an azimuth of the host motion sensing component to generate a relative azimuth between the finger motion sensing component and the host motion sensing component ;
    第四生成子单元,用于根据所述手指三轴加速度、主机运动感测组件三轴加速度以及所述相对方位角,生成所述手指运动感测组件与所述主机运动感测组件之间的相对加速度;a fourth generating subunit, configured to generate, between the finger motion sensing component and the host motion sensing component, according to the finger triaxial acceleration, the host motion sensing component triaxial acceleration, and the relative azimuth angle Relative acceleration
    第五生成子单元,用于将所述相对加速度以及预设的加速度时间区间进行一次积分,生成相对速度;a fifth generation subunit, configured to integrate the relative acceleration and the preset acceleration time interval to generate a relative speed;
    第六生成子单元,用于将所述相对加速度以及预设的加速度时间区间进行两次积分,生成相对位移。And a sixth generating subunit, configured to integrate the relative acceleration and the preset acceleration time interval twice to generate a relative displacement.
  9. 根据权利要求6所述的组件,其特征在于,还包括:The assembly of claim 6 further comprising:
    读取单元,用于读取系统时间和预先配置的较正时间;a reading unit for reading system time and pre-configured correction time;
    较正单元,用于当到达较正时间时,根据所述手指三轴加速度的方向以及所述磁场方向,较正所述手指三轴角速度的方向。And a correction unit configured to correct a direction of the triaxial angular velocity of the finger according to a direction of the triaxial acceleration of the finger and the direction of the magnetic field when the correction time is reached.
  10. 一种运动感测系统,其特征在于,包括权利要求6至权利要求9中任意一项权利要求所述的主机运动感测组件以及若干个手指运动感测组件,每个所述手指运动感测组件与所述主机运动感测组件之间,通过各自的无线通信模块进行连接。 A motion sensing system, comprising the host motion sensing component of any one of claims 6 to 9 and a plurality of finger motion sensing components, each of said finger motion sensing The components and the host motion sensing component are connected by respective wireless communication modules.
PCT/CN2014/083815 2014-04-29 2014-08-06 Machine movement sensing method and assemblies, and movement sensing system WO2015165162A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410178807.4A CN104020846A (en) 2014-04-29 2014-04-29 Method, assembly and system for sensing mainframe movement
CN201410178807.4 2014-04-29

Publications (1)

Publication Number Publication Date
WO2015165162A1 true WO2015165162A1 (en) 2015-11-05

Family

ID=51437640

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2014/083815 WO2015165162A1 (en) 2014-04-29 2014-08-06 Machine movement sensing method and assemblies, and movement sensing system

Country Status (2)

Country Link
CN (1) CN104020846A (en)
WO (1) WO2015165162A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4080329A1 (en) * 2021-04-21 2022-10-26 Hearable Labs UG (haftungsbeschränkt) Wearable control system and method to control an ear-worn device

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104484888A (en) * 2014-11-28 2015-04-01 英业达科技有限公司 Movement track sensing system and movement model establishing method thereof
CN104571506A (en) * 2014-12-25 2015-04-29 西安电子科技大学 Smart watch based on action recognition and action recognition method
CN104484047B (en) * 2014-12-29 2018-10-26 北京智谷睿拓技术服务有限公司 Exchange method and interactive device, wearable device based on wearable device
CN104484073B (en) * 2014-12-31 2018-03-30 北京维信诺光电技术有限公司 Hand touches interactive system
CN106020490B (en) * 2016-06-07 2018-12-25 青岛大学 Multi-contact data glove system based on triaxial gravity acceleration sensor
CN106767804B (en) * 2016-12-28 2018-03-27 华中科技大学 The multidimensional data measurement apparatus and method of a kind of moving object
WO2018205159A1 (en) * 2017-05-10 2018-11-15 深圳市大疆创新科技有限公司 Motion recognition method, portable device, and machine-readable storage medium
JP6881286B2 (en) * 2017-12-27 2021-06-02 愛知製鋼株式会社 Microcomputer reset system
CN109579758B (en) * 2018-11-22 2021-02-05 东华大学 Female chest motion state three-dimensional displacement measurement system
CN109917858A (en) * 2019-03-27 2019-06-21 Oppo广东移动通信有限公司 Folded state acquisition methods, device and the electronic equipment of Folding screen in electronic equipment
CN112686208B (en) * 2021-01-22 2022-11-08 上海喵眼智能科技有限公司 Motion recognition characteristic parameter algorithm based on machine vision

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6035274A (en) * 1988-10-14 2000-03-07 Board Of Trustees Of The Leland Stanford Junior University Strain-sensing goniometers, systems and recognition algorithms
US6452584B1 (en) * 1997-04-23 2002-09-17 Modern Cartoon, Ltd. System for data management based on hand gestures
CN103135765A (en) * 2013-02-20 2013-06-05 兰州交通大学 Human motion information capturing system based on micro-mechanical sensor
CN103226398A (en) * 2013-03-25 2013-07-31 上海交通大学 Data gloves based on micro-inertial sensor network technique
CN203204542U (en) * 2013-02-27 2013-09-18 辛炳宏 Movement sensor control and transmission integrated device
CN203405772U (en) * 2013-09-09 2014-01-22 北京诺亦腾科技有限公司 Immersion type virtual reality system based on movement capture

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6035274A (en) * 1988-10-14 2000-03-07 Board Of Trustees Of The Leland Stanford Junior University Strain-sensing goniometers, systems and recognition algorithms
US6452584B1 (en) * 1997-04-23 2002-09-17 Modern Cartoon, Ltd. System for data management based on hand gestures
CN103135765A (en) * 2013-02-20 2013-06-05 兰州交通大学 Human motion information capturing system based on micro-mechanical sensor
CN203204542U (en) * 2013-02-27 2013-09-18 辛炳宏 Movement sensor control and transmission integrated device
CN103226398A (en) * 2013-03-25 2013-07-31 上海交通大学 Data gloves based on micro-inertial sensor network technique
CN203405772U (en) * 2013-09-09 2014-01-22 北京诺亦腾科技有限公司 Immersion type virtual reality system based on movement capture

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4080329A1 (en) * 2021-04-21 2022-10-26 Hearable Labs UG (haftungsbeschränkt) Wearable control system and method to control an ear-worn device
WO2022223741A1 (en) * 2021-04-21 2022-10-27 Hearable Labs Ug (Haftungsbeschränkt) Wearable control system and method to control an ear-worn device

Also Published As

Publication number Publication date
CN104020846A (en) 2014-09-03

Similar Documents

Publication Publication Date Title
WO2015165162A1 (en) Machine movement sensing method and assemblies, and movement sensing system
WO2019156518A1 (en) Method for tracking hand pose and electronic device thereof
WO2015192416A1 (en) Electronic device and wearable input apparatus for electronic device
WO2010056024A2 (en) Method and device for inputting force intensity and rotation intensity based on motion sensing
US10092423B2 (en) Coordinated control for an arm prosthesis
US10585478B2 (en) Methods and systems for integrating one or more gestural controllers into a head mounted wearable display or other wearable devices
WO2018076912A1 (en) Virtual scene adjusting method and head-mounted intelligent device
WO2016182181A1 (en) Wearable device and method for providing feedback of wearable device
WO2018054056A1 (en) Interactive exercise method and smart head-mounted device
WO2019156416A1 (en) Apparatus and method for tracking movement of electronic device
JP2015109937A (en) Movement information processing device
WO2019037349A1 (en) Motion trajectory generating method and apparatus, and wearable device
JP2004264060A (en) Error correction method in attitude detector, and action measuring instrument using the same
EP3671119B1 (en) Attitude matrix calculating method and device
CN206224385U (en) A kind of motion capture system with positioning function for reality environment
WO2015026047A1 (en) Wearable biosignal interface and method of operating wearable biosignal interface
TWI684117B (en) Gesture post remote control operation method and gesture post remote control device
Xiao et al. A wearable system for articulated human pose tracking under uncertainty of sensor placement
WO2014086270A1 (en) System and method for selecting measuring basis correction dynamic state intelligently
CN111895997A (en) Human body action acquisition method based on inertial sensor without standard posture correction
KR20050052555A (en) Apparatus and method for motion capture using gyroscope and accelerometer sensor
WO2022182096A1 (en) Real-time limb motion tracking
WO2020085537A1 (en) Motion recognition device and motion recognition method using same
Takahashi et al. Head orientation sensing by a wearable device for assisted locomotion
CN105843388B (en) A kind of data glove system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14890883

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205N DATED 06/02/2017)

122 Ep: pct application non-entry in european phase

Ref document number: 14890883

Country of ref document: EP

Kind code of ref document: A1