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

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

 Host motion sensing method, component and motion sensing system Technical field

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.

Background technique

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.

There are two main methods for the existing motion sensing, which are detailed as follows:

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.

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.

However, the sensor-based motion sensing method in the prior art has the following two problems, which are detailed as follows:

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.

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.

technical problem

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.

Technical solution

The embodiment of the present invention is implemented as follows. A host motion sensing method includes:

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;

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;

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

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;

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;

Wherein the finger motion sensing component is worn or implanted in a user's finger;

Wherein, 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;

Wherein the finger motion sensing component is worn or implanted in a user's finger;

Wherein, 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.

Beneficial effect

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.

DRAWINGS

1 is a flowchart of an implementation of a motion sensing method according to an embodiment of the present invention;

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;

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;

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;

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;

7 is a flowchart of implementing relative acceleration, relative speed, and relative displacement 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 invention

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.

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.

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:

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;

Wherein the finger motion sensing component is worn or implanted in a user's finger;

Wherein the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer;

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.

Wherein, 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.

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.

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.

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.

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.

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.

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;

Wherein 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. .

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.

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.

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;

The host motion sensing component data is used as reference data.

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.

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;

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.

As a preferred embodiment of the present invention, before the correcting data according to the user body established in advance, the method further includes:

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;

Wherein, the component comprises a finger motion sensing component and a host motion sensing component.

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.

Wherein, 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.

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.

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.

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.

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.

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;

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.

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.

The external application terminal includes but is not limited to a smart phone, a large display interface, and a medical monitoring device.

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.

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.

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.

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.

As a preferred embodiment of the present invention, before comparing the collected finger data and the host motion sensing component data, the method includes:

Filtering the collected finger data and the noise of the host motion sensing component data;

Interpolating the data lost in the finger data and/or

The data lost in the motion sensing component of the host is filled by interpolation.

Among them, the noise filtering and the lost data are filled by interpolation to obtain a complete set of motion state data.

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:

In step S701, the finger triaxial angular velocity and the preset angular velocity time interval are integrated to generate a finger azimuth angle;

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;

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;

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;

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.

In step S705, the relative acceleration and the preset acceleration time interval are integrated once to generate a relative speed;

In step S706, the relative acceleration and the preset acceleration time interval are integrated twice to generate a relative displacement.

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.

As a preferred embodiment of the present invention, the method further includes:

Read system time and pre-configured correction time;

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.

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.

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.

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.

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.

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.

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.

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.

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:

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.

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.

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.

Referring to Figure 9, 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;

Wherein the finger motion sensing component is worn or implanted in a user's finger;

Wherein, the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.

Further, in the component, 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.

Further, in the component, 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.

Further, in the component, 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;

Wherein, the component comprises a finger motion sensing component and a host motion sensing component.

Further, in the 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.

Wherein, 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.

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.

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.

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.

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.  A host motion sensing method, comprising:

   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;

   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;

   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

   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;

   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;

   Wherein the finger motion sensing component is worn or implanted in a user's finger;

   Wherein, the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
2. The method according to claim 1, wherein the comparing the collected finger data and the host motion sensing component data comprises:

   Filtering the collected finger data and the noise of the host motion sensing component data;

   Interpolating the data lost in the finger data and/or

   The data lost in the motion sensing component of the host is filled by interpolation.
3. 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:

   Integrating the finger triaxial angular velocity and the preset angular velocity time interval to generate a finger azimuth;

   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;

   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;

   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;

   And integrating the relative acceleration and the preset acceleration time interval to generate a relative speed;

   The relative acceleration and the preset acceleration time interval are integrated twice to generate a relative displacement.
4. The method according to claim 3, further comprising: before the correcting data based on the user body established in advance;

   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;

   Wherein, the component comprises a finger motion sensing component and a host motion sensing component.
5. The method of claim 1 further comprising:

   Read system time and pre-configured correction time;

   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. A host motion sensing component, comprising:

   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;

   Wherein the finger motion sensing component is worn or implanted in a user's finger;

   Wherein, the finger motion sensing component comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
7. The assembly of claim 6 further comprising:

   a filtering unit, configured to filter the collected finger data and the noise of the host motion sensing component data;

   a padding unit for filling in 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.
8. The component according to claim 6, wherein the generating unit comprises:

   a first generating subunit, configured to integrate the finger triaxial angular velocity and the preset angular velocity time interval to generate a finger azimuth;

   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;

   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 ;

   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

   a fifth generation subunit, configured to integrate the relative acceleration and the preset acceleration time interval to generate a relative speed;

   And a sixth generating subunit, configured to integrate the relative acceleration and the preset acceleration time interval twice to generate a relative displacement.
9. The assembly of claim 6 further comprising:

   a reading unit for reading system time and pre-configured correction time;

   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. 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.