WO2018040695A1 - 基于姿态识别控制游戏的智能座椅、智能交互系统及方法 - Google Patents

基于姿态识别控制游戏的智能座椅、智能交互系统及方法 Download PDF

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Publication number
WO2018040695A1
WO2018040695A1 PCT/CN2017/090228 CN2017090228W WO2018040695A1 WO 2018040695 A1 WO2018040695 A1 WO 2018040695A1 CN 2017090228 W CN2017090228 W CN 2017090228W WO 2018040695 A1 WO2018040695 A1 WO 2018040695A1
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Prior art keywords
seat
game
smart
posture
module
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PCT/CN2017/090228
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English (en)
French (fr)
Inventor
周骏
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浙江玛拉蒂智能家具科技有限公司
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Publication of WO2018040695A1 publication Critical patent/WO2018040695A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A63F13/245—Constructional details thereof, e.g. game controllers with detachable joystick handles specially adapted to a particular type of game, e.g. steering wheels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
    • A63F2300/1043—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being characterized by constructional details
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
    • A63F2300/1056—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals involving pressure sensitive buttons
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
    • A63F2300/1062—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being specially adapted to a type of game, e.g. steering wheel

Definitions

  • the invention relates to the field of smart seat, in particular to a smart seat, an intelligent interaction system and a method based on gesture recognition control game.
  • Most game equipment is designed to use the handles, with the arrow keys and at least 2 buttons.
  • the long-term bad game play posture of the person sitting in the seat will cause the player to be stiff and gradually affect the people. health.
  • smart seats with sitting recognition function mainly adopt multiple groups.
  • the pressure sensor recognizes the sitting posture, the recognition accuracy is low, and in order to effectively identify the pressure sensing signals in different directions, multiple sets of pressure sensors are needed for identification, so that the structure of the identification device is complicated.
  • most of the existing smart seats with sitting posture recognition function can only realize the health reminding function, and have no other game or entertainment functions, and can not satisfy the user's demand for the smart seat.
  • the smart device and processing method for sitting posture recognition are realized by relying on the pressure sensor built in the seat cushion.
  • the pressure sensor needs multiple sets of evenly distributed on the seat cushion and uses the software method to judge the user's sitting posture instead of an exact sitting posture.
  • Description, for example, a plurality of pressure sensor groups can only sense the tendency of the user to lean forward, but cannot accurately describe the amplitude of the forward tilt.
  • the upstream application software judges, the sitting posture in the correct range of the user is judged as bad. Therefore, the error signal is sent to the user, which greatly reduces the practicability and user experience of the software.
  • the pressure sensor is used by the user for a long time, and the accuracy and stability may be unpredictable functional degradation.
  • the invention provides a smart seat based on gesture recognition with high recognition precision, simple structure and various functions.
  • the invention adopts an attitude sensor to collect motion signals, and can realize multiple sitting postures with a small number of sensors, simplifying the device structure and further
  • the Kalman filter can be used to denoise the recognized posture information to improve the accuracy of signal recognition.
  • the game operation function is optimized in combination with the smart device, and the device function in the prior art is single and cannot be satisfied. User demand issues.
  • One of the objects of the present invention is to mount an attitude sensor on a seat, so that corresponding angular velocity values and acceleration values can be generated according to seat posture changes, providing an accurate data basis for further posture determination and attitude amplitude determination; attitude sensor values Accurate, generally one, compared to a set of multiple pressure sensors set up in the past, not only improves the accuracy, but also significantly saves the cost; the posture of the attitude sensor output can be converted into the direction control in the game, which can replace the game operation handle The direction key, at the same time, the invention further sets a button on the seat, which replaces the traditional game operation handle as a whole, so that people can move back and forth on the seat, thereby achieving the purpose of fitness and entertainment during the game.
  • the second object of the present invention is to establish an interactive system for wireless communication between a smart seat and a smart device.
  • the smart device runs with upstream game software and has a display interface, which realizes a game operation function and solves the single function of the existing smart seat. Insufficient to meet user needs.
  • the third object of the present invention is to propose an intelligent interaction method based on gesture recognition control game, which calculates the angle data by calculating the acceleration value and the angular velocity value outputted by the attitude sensor, and solves the problem of recognizing the sitting posture using only the pressure data in the prior art.
  • the larger problem is to denoise the angle data, which provides an accurate data foundation for the attitude judgment.
  • the angle data is firstly represented with the horizontal state of the front and rear horizontal state, the left and right horizontal state, and the last obtained rotation angle.
  • the step posture judgment further compares the angle data with the preset angle threshold to obtain posture information of different amplitudes, improves the accuracy of the posture judgment, and correspondingly converts the posture information into a game control signal, thereby realizing the game entertainment of the smart device. operating.
  • a smart seat based on gesture recognition comprising an intelligent hardware unit, the intelligent hardware unit comprising:
  • At least one attitude sensor is configured to sense a seat posture change, and output a corresponding acceleration value and an angular velocity value according to the corresponding posture change;
  • a control panel including at least two buttons for issuing a first game control command
  • a wireless communication module for wirelessly communicating with the outside world
  • a microprocessor module configured to receive a corresponding value or signal outputted by the attitude sensor and the control panel, and after processing, obtain a seat posture, a first game control signal, and output the same through the wireless communication module;
  • Power supply module for power supply to each module.
  • At least one pressure sensor is coupled to the microprocessor module for detecting the pressure experienced by the seat and outputting a corresponding pressure sensing signal. After the pressure sensor detects that the human body is seated, the attitude sensor starts to work, and the output is valid data, so this can effectively reduce the power consumption of the system.
  • the smart seat comprises a seat bottom plate, and a support plate for improving the sensitivity of the posture sensor is arranged on the seat bottom plate, and the posture sensor is disposed on the support plate.
  • the support plate comprises a central fulcrum and a side plate extending obliquely upward along the circumferential direction of the central fulcrum, a gap is left between the side plate and the seat bottom plate, and the posture sensor is disposed on the middle surface of the support plate.
  • the attitude sensor is arranged in the middle of the support plate, which can more accurately and accurately sense the state change of the support plate and accurately output the attitude change value.
  • a wire hole is provided at the bottom of the mounting groove, and the wire hole is to be installed.
  • the slot remains in communication with the gap.
  • the support plate is fixed to the seat bottom plate by screws.
  • the center pivot point is fixed to the seat bottom plate.
  • the microprocessor module calculates angle data including front and rear pitch angles, right and left roll angles, and rotation angles according to the acceleration value and the angular velocity value, and obtains stable angle data after denoising, and stabilizes the angle data and
  • the value 0 indicating the front and rear horizontal state, the left and right horizontal state, and the last obtained rotation angle value are compared to obtain the current posture.
  • the intelligent hardware unit further includes a storage module for storing preset information; and further the microprocessor module compares the stable angle data with a preset angle threshold in the storage module, and outputs different amplitudes.
  • Corresponding posture information The recognized posture or sitting posture is upright, left forward, right forward, slightly forward, slightly backward, slightly left, slightly right, slightly left, slightly right, slightly forward, large back, large left
  • the fifteen sitting postures with a large rightward tilt, a large leftward rotation, and a large right rotation.
  • the intelligent hardware unit further comprises a threshold setting module for setting a corresponding angle threshold or a time threshold according to the posture state, the information set by the threshold setting module being stored in the storage module.
  • the wireless communication module is a Bluetooth module or a WI-FI module.
  • control panel and the button are disposed at the armrest position of the smart seat.
  • the pressure sensor is disposed on a seat of the smart seat.
  • said attitude sensor is a combination of an accelerometer and a gyroscope
  • An accelerometer is used to convert the detected attitude change into an acceleration value
  • the gyroscope is used to convert the detected attitude change into an angular velocity value.
  • An intelligent interactive system for controlling games based on gesture recognition including the smart seat as described above And a smart device that communicates wirelessly with upstream game software.
  • the smart device is any one of a smart phone, a tablet computer, a PC or a VR device.
  • the microprocessor module calculates angle data including front and rear pitch angles, right and left roll angles, and rotation angles according to the acceleration value and the angular velocity value, and obtains stable angle data after denoising, and stabilizes the angle data and
  • the value 0 indicating the front and rear horizontal state, the left and right horizontal state, and the last obtained rotation angle value are compared to obtain the current posture;
  • the intelligent hardware unit further includes a storage module for storing preset information; and further the microprocessor module compares the stable angle data with a preset angle threshold in the storage module, and outputs corresponding posture information of different amplitudes;
  • the software converts the posture into a second game control signal for controlling the game character or the item movement according to the preset game control mode, combining the corresponding posture information of different amplitudes and the length of time, and the first and second game control signals are combined to control the upstream game.
  • the upstream game software includes a storage module for storing preset information, and the upstream game software calculates angle data including front and rear pitch angles, right and left roll angles, and rotation angles according to the received acceleration values and angular velocity values. Obtain stable angle data after noise, and compare the stable angle data with the value 0 indicating the front and rear horizontal state, the left and right horizontal state, and the last obtained rotation angle value to obtain the current posture;
  • the microprocessor module compares the stable angle data with the preset angle threshold in the storage module, and outputs corresponding posture information of different amplitudes; the upstream game software combines the corresponding posture information of different amplitudes according to the preset game control mode. And the length of time, the posture is converted into a second game control signal for controlling the game character or the item movement, and the first and second game control signals are combined to control the execution and progress of the upstream game software.
  • the first game control signal includes a determination of a game menu option, a cancellation or shooting game target, and an item selection; the second game control signal controls an overall action of the game object, the vehicle object, and the second game control signal. Including normal speed left turn, normal speed right turn, fast left turn, fast right turn, left flashback, middle right, right flashback, middle jump, squat, constant speed forward, constant speed backward, fast forward, fast backward.
  • An intelligent interaction method based on gesture recognition comprising the following steps:
  • the smart seat is in the monitoring mode, determining whether the user is seated on the seat, and if yes, entering the working mode, the attitude sensor detecting the change of the seat posture, performing the second step; otherwise, maintaining the listening mode;
  • the smart seat is in the working mode
  • the attitude sensor detects the change of the seat posture, and converts the detected posture change into an acceleration value (a x , a y , a z ) and an angular velocity value (GYR_X, GYR_Y, GYR_Z), and Feedback to the microprocessor;
  • the microprocessor calculates acceleration values (a x , a y , a z ) and angular velocity values (GYR_X, GYR_Y, GYR_Z) to obtain angle data including front and rear pitch angles, right and left roll angles, and rotation angles;
  • S400 the microprocessor performs denoising processing on the angle data to obtain stable angle data
  • S500 the microprocessor compares the stable angle data, and compares the stable angle data with the value of the front and rear horizontal state, the left and right horizontal state, and the last obtained rotation angle to obtain the current posture; and sends the data to the smart terminal. ;
  • the upstream game software on the smart terminal converts the posture into the control game character or the prop movement according to the preset game control mode, combining the corresponding posture information and the length of time of different amplitudes.
  • the second game control signal in combination with the first game control signal of the preset button trigger output on the seat, controls the execution and progress of the upstream game software.
  • the pressure sensor is used to continuously detect the pressure received by the seat. If the pressure is detected, the operation mode is entered, and the second step is performed; otherwise, the monitoring mode is maintained.
  • the step S300 is specifically:
  • the denoising in step S400 is denoising using a Kalman filter.
  • the recognition efficiency is high, and the default 15 poses can be recognized.
  • Different angle thresholds can be set by the upstream game software to recognize more gestures.
  • the lowest single attitude sensor can work, the number is small, the sensing performance is enhanced by the additional device, the direct contact of the user is isolated, and the service life of the chair is improved.
  • the lowest single pressure sensor can work, the number is small, used to determine whether there is a user sitting to determine whether to enter the working state, if no one is used, keep the low power consumption monitoring mode, reduce system energy consumption, in addition
  • the pressure sensor only judges whether the system is in the working mode. It only needs to detect whether there is pressure, and can use the low-cost switch mode. It does not need high-precision and expensive precision pressure sensors, which reduces system cost and improves the service life of the chair.
  • the present invention adds a game control button to the seat and converts it into a game by gesture
  • the direction control replaces the game controller, so that people can control the game by switching between different postures on the seat, and exercise the body while playing the game, achieving the purpose of healthy riding.
  • FIG. 1 is a schematic view showing the split structure of the smart seat of the present invention.
  • FIG. 2 is a schematic cross-sectional structural view of a gusset and a seat bottom plate
  • FIG. 3 is a schematic three-dimensional structure diagram of a support plate and a seat bottom plate
  • FIG. 4 is a structural diagram of an intelligent hardware unit of the present invention.
  • FIG. 5 is a schematic view showing the working principle of the attitude sensor in the smart seat of the present invention.
  • FIG. 8 is a schematic perspective view of the smart seat of the present invention.
  • seat base 1, seat base; 2, intelligent hardware unit; 3, seat chassis mechanism; 4, support plate; 5, center fulcrum; 6, side plate; 7, gap; 8, installation slot; 9, wire hole; , cushion; 11, support foot; 12, screw mounting hole; 21- attitude sensor; 22-pressure sensor; 23-microprocessor module; 24--storage module; 25-power supply module; 26-control board; Setting module; 28-wireless communication module; 29-button; 30-handrail.
  • the present invention provides a smart seat based on gesture recognition control game, including a cushion 10 , a seat bottom plate 1 , a seat chassis mechanism 3 and an intelligent hardware unit 2 , and an intelligent hardware list
  • the element 2 is mounted in the mounting groove 8 at the central position of the support plate 4.
  • the support plate 4 is located on the seat bottom plate 1.
  • the support plate 4 includes a central fulcrum 5 and a circumferentially inclined upwardly extending along the central fulcrum 5.
  • the support plate 4 is fixed to the seat bottom plate 1 by screws, and the screw is disposed in the screw mounting hole 12, and the mounting groove 8 is used for installing the intelligent hardware unit 2,
  • a wire hole 9 is provided at the bottom of the mounting groove 8.
  • buttons 29 are provided at the bottom of the front end of the armrest 30 of the seat.
  • the button 29 is connected to a control panel hidden in the armrest.
  • the buttons can be respectively disposed on the two armrests, or can be set in the same On one armrest; similarly, multiple buttons can be placed on one control panel or on different control panels.
  • the control board issues a first game control command according to the trigger of the corresponding button, and the first game control signal includes determining, canceling, shooting, and the like.
  • the control panel can also be integrated with the button 29 as a component.
  • the support plate When the human body sits on the seat, the buttocks touch the rear of the seat, and the rear of the seat is subjected to a large pressure. Therefore, the support plate is easily tilted backwards, even when the human body is sitting, so this causes interference to the posture judgment. In order to further improve the attitude sensing accuracy, the support plate will follow the change when the posture of the human body actually changes; as shown in FIG. 3, the side plate of the support plate 4 near the rear end of the seat bottom plate 1 is provided. The support leg 11 is in contact with the seat bottom plate 1.
  • the support plate is substantially horizontal due to the support of the support feet, and the attitude sensor is not disturbed, and when the human body leans back, a greater force is applied backwards, which will give The attitude of the seat and the posture of the support plate bring about changes, so that the attitude sensor can accurately sense.
  • the intelligent hardware unit 2 includes an attitude sensor 21, a pressure sensor 22, a microprocessor module 23, a storage module 24, a power supply module 25, a control board 26, a threshold setting module 27, and a wireless communication module 28.
  • the side panel 6 does not simply refer to a panel. If the support panel 4 is hollow, the side panel is represented as a component.
  • the smart seat is in the listening mode.
  • the pressure sensor 22 detects the pressure when the user touches the cushion 10, and converts the pressure into a digital signal, that is, a pressure sensing signal, and the microprocessor module 23 detects Go to the pressure sensing signal and switch to the working mode. Otherwise, judge that no user is sitting in the seat and keep listening mode.
  • the attitude sensor 21 detects the change of the seat posture and converts it into a digital signal. As shown in FIG. 5, the coordinate system xyz is established with the center position of the smart seat as the origin, and the accelerometer in the attitude sensor 21 measures three axes of xyz.
  • the acceleration values in the direction (a x , a y , a z ) are positive along the coordinate axis when positive values are taken, negative directions along the coordinate axes when negative values are taken, and xyz are measured by gyroscopes in the attitude sensor 21
  • the angular velocity values in the axial direction (GYR_X, GYR_Y, GYR_Z) take a positive value in a clockwise direction and a negative value in a counterclockwise direction.
  • the microprocessor module 23 measures the acceleration values (a x , a y , a z ) and angular velocity.
  • the values (GYR_X, GYR_Y, GYR_Z) are calculated. The specific calculation process is as follows:
  • the attitude angle data ⁇ 0 is obtained, And ⁇ 0 , and as shown in FIG. 5, the direction is positive along the direction indicated by the arrow in FIG. 5, that is, the ⁇ 0 angle is positive in the back direction, The angle of the right tilt direction is positive, and the angle of ⁇ 0 is positive in the clockwise direction.
  • Angle data contains a lot of noise, because Therefore, it is necessary to extract the signal in the noise, that is, to find a filter having the best linear filtering characteristic, the filter can reproduce the signal as accurately as possible at the output when the signal and noise are simultaneously input, and The noise is most suppressed.
  • a Kalman filter is used.
  • the Kalman filter is a recursive filter for a time-varying linear system. This system can be described by a differential equation model containing orthogonal state variables, which is a past measurement. The estimation error is incorporated into the new measurement error to estimate the future error. The system inputs and outputs the observation data to optimally estimate the system state.
  • the working principle of the Kalman filter is shown in Figure 6. The specific process is as follows:
  • the Kalman filter can be represented by a linear stochastic differential equation:
  • X(k) is the system state at time k
  • U(k) is the control amount of the system at time k
  • a and B are system parameters, for multi-model systems, they are matrices
  • Z(k) is k-time
  • H is the parameter of the measurement system.
  • W(k) and V(k) represent the process and measured noise, respectively, they are assumed to be Gaussian white noise, and their covariance is Q, R, and assume that they do not change as the state of the system changes.
  • the system state is k, according to the model of the system, it can be predicted to appear in the state based on the previous state of the system:
  • k-1) is the result of prediction using the previous state
  • k-1) is the result of the previous state
  • U(k) is the current state.
  • the amount of control, since there is no control, the value is 0.
  • Equations (5) and (6) are the predictions of the system in the Kalman filter.
  • k) X(k
  • Kg is the Kalman gain
  • Kg(k) P(k
  • k) is P(k-1
  • the input signal input to the Kalman filter is the attitude angle data ⁇ 0 , And ⁇ 0
  • the output is the stable attitude angle data ⁇ after denoising processing, And ⁇ .
  • the smart seat detects the change of the seat posture at a certain time interval.
  • 5 minutes is selected as a time interval
  • the attitude angle data after the motion state detected by the time before the time interval is ⁇ 0, And ⁇ 0
  • the attitude angle data after denoising of the motion state detected at a time after the time interval is ⁇ 1 And ⁇ 1
  • the angle threshold set in advance in the storage module or set by the user through the threshold setting module is ⁇ th, And ⁇ th
  • the angle threshold is determined by the oblique front angle set by the threshold setting module 27, and the angle threshold is positive.
  • the microprocessor module 23 displays the stable angle data and the horizontal state and the horizontal state. The value 0 and the last obtained rotation angle value are compared to obtain the current posture.
  • the microprocessor module 23 sets the stable angle data with a preset angle threshold in the storage module or the user through the threshold setting module.
  • the angle threshold is compared, and corresponding posture information of different amplitudes is output, and the threshold is established based on statistics, and the specific discrimination process is as follows:
  • the smart seat is in the monitor mode.
  • the pressure sensor 22 detects the pressure when the user touches the cushion 10, and converts the pressure into a digital signal, that is, a pressure sensing signal, and micro processing.
  • the module module 23 detects the pressure sensing signal, switches to the operating mode, and determines to sit.
  • the upstream game software can convert different gestures into second game control signals required in the game, and the second game control signals include normal speed left turn, normal speed right turn, fast left turn, fast right turn, left flashback, Right flash to hide in the middle, take off, kneel, constant speed forward, normal speed back, fast forward, fast back and so on.
  • An intelligent interactive system based on gesture recognition includes the above smart seat and a smart device wirelessly communicating therewith and running upstream game software, wherein the communicable smart device is a smart phone, a tablet computer, a PC or a VR device Any of them.
  • the specific working process is shown in FIG. 7.
  • the smart seat is in the listening mode.
  • the pressure sensor 22 detects the pressure when the user touches the cushion 10, and converts the pressure into a digital signal, that is, pressure transmission.
  • the sense signal, the microprocessor module 23 detects the pressure sensing signal, and switches to the working mode; otherwise, it determines that no user is sitting on the seat and maintains the listening mode.
  • the attitude sensor 21 detects the seat posture and converts it into a digital signal, that is, an acceleration value (a x , a y , a z ) and an angular velocity value (GYR_X, GYR_Y, GYR_Z), and the microprocessor module 23 pairs the acceleration value (a x , a y , a z ) and angular velocity values (GYR_X, GYR_Y, GYR_Z) are calculated to obtain attitude angle data ⁇ 0 , And ⁇ 0 , using the Kalman filter for the attitude angle data ⁇ 0 , Denoising with ⁇ 0 to obtain stable attitude angle data ⁇ , And ⁇ .
  • the microprocessor module compares the stable angle data with the value 0 indicating the front and rear horizontal state, the left and right horizontal state, and the last acquired rotation angle value to obtain the current posture. Further, the microprocessor module 23 compares the stable angle data with The preset angle threshold value in the storage module or the angle threshold value set by the user through the threshold setting module is compared, and corresponding posture information of different amplitudes is output, and the threshold value is established based on statistics, and the specific discrimination process is the same as in the above process.
  • the wireless communication module 28 transmits the acceleration values (a x , a y , a z ) and the angular velocity values (GYR_X, GYR_Y, GYR_Z) to the smart device, and the smart device pairs the acceleration values (a x , a y , a z ) and the angular velocity values.
  • GYR_X, GYR_Y, GYR_Z performs calculation to obtain attitude angle data ⁇ 0 , And ⁇ 0 , using the Kalman filter for the attitude angle data ⁇ 0 , Denoising with ⁇ 0 to obtain stable attitude angle data ⁇ , And ⁇ .
  • the smart device compares the stable angle data with the value of the front and rear horizontal state, the left and right horizontal state, and the last acquired rotation angle to obtain the current posture. Further, the smart device sets the stable angle data and the preset in the storage module.
  • the angle threshold or the user compares the angle threshold set by the threshold setting module, and outputs corresponding posture information of different amplitudes, the threshold value is based on statistics establishment, and the specific discrimination process is the same as in the above process, and the upstream game software is based on the preset
  • the game control mode combines the different posture information and the length of time to convert the posture into a second game control signal for controlling the game character or the item movement, and the first and second game control signals are combined to control the execution and process of the upstream game software. .
  • the game prop is controlled to move left or right. If the posture information is a large left or a large right, the character is controlled to move left or right. If the posture information is forward tilt, then the control is performed. The game character squats, if the posture information is backward, the game character is controlled to jump; the button control can be output as the shooting signal of the game.

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Abstract

一种基于姿态识别控制游戏的智能座椅、智能交互系统及方法，智能座椅包括智能硬件单元（2），智能硬件单元（2）包括：至少一个姿态传感器（21），用于感应椅座姿态变化，并根据相应的姿态变化输出相应的加速度值、角速度值；至少包含两个按钮（29）的控制板（26），用于向外发出第一游戏控制指令；无线通信模块（28），用于与外界无线通信；微处理器模块（23），用于接收压力传感器（22）、姿态传感器（21）输出的相应数值或信号，经处理后得出椅座姿态并通过无线通信模块（28）对外输出；供电模块（25），用于对各模块进行电源供应。通过在座椅上增设游戏控制按钮（29），并通过姿态转换为游戏里的方向控制，使人可以在座椅上进行不同姿态的转换而控制游戏进行，在游戏娱乐的同时锻炼了身体。

Description

基于姿态识别控制游戏的智能座椅、智能交互系统及方法 技术领域
本发明涉及智能座具领域，具体为一种基于姿态识别控制游戏的智能座椅、智能交互系统及方法。
背景技术
大多数游戏设备在设计的时候，使用的操控设备都是手柄,带有方向键和至少2个按钮，人坐在座椅上长期不良的玩游戏姿态会造成玩家身体僵硬,逐渐影响危害人们身体健康。
目前，人们工作学习过程中保持坐姿的时间较长，利用智能设备来进行坐姿识别在人们工作学习娱乐过程中发挥的作用越来越大，目前，具有坐姿识别功能的智能座椅主要采用多组压力传感器来识别坐姿，识别精度较低，且为了有效识别各个方向不同的压力传感信号，需使用多组压力传感器进行识别，使识别装置结构复杂。此外，目前已有的具有坐姿识别功能的智能座椅多数仅能实现健康提醒功能，而不具有其他游戏或娱乐功能，不能满足使用者对智能座椅的使用需求。
具体的说，坐姿识别的智能设备和处理方法都是依赖坐垫内置的压力传感器来实现,压力传感器需要多组均匀分布在椅垫上并通过使用软件方法判断用户的坐姿倾向,而非一个确切的坐姿描述,比如多个压力传感器组只能感应出用户前倾的动作倾向,却无法精确描述前倾的幅度,这在上游应用软件判断的时候,会将用户正确范围内的坐姿姿态判断为不良,从而错误的发出报警信号给用户,大大降低了软件的实用性和用户体验，压力传感器长期受用户压迫使用,精度和稳定性都会发生不可预知的功能性退化。
所以综上所述,目前还没有提供性价比高的、用户使用便捷的、硬件软件统一集成的解决方案。
发明内容
本发明提出了一种识别精度高、结构简单、功能多样的基于姿态识别的智能座椅，本发明采用姿态传感器采集运动信号，可实现用较少数量传感器识别多种坐姿，简化装置结构，进一步又可采用卡尔曼滤波器对识别后的姿态信息进行去噪处理，提高信号识别精确度，此外，与智能设备结合使用，优化了游戏操作功能，解决了现有技术中设备功能单一，不能满足使用者需求的问题。
本发明的目的之一是在椅座上安装姿态传感器，从而可根据椅座姿态变化产生对应的角速度值与加速度值，为下面进一步的姿态判断以及姿态幅度判断提供精确的数据基础；姿态传感器数值精确，一般一个即可，较之以往设置的一组多个压力传感器，不仅提高了精度，还明显节省了成本；姿态传感器输出的姿态可以对应转换为游戏里的方向控制，可以替代游戏操作手柄的方向键，同时本发明又在座椅上设置按钮，整体替代了传统的游戏操作手柄，使人可以在座椅上来回动作，达到了在游戏时健身娱乐的目的。
本发明的目的之二是建立智能座椅与智能设备进行无线通信的交互系统，智能设备运行有上游游戏软件，并具有显示界面，实现了游戏操作功能，解决了现有的智能座椅功能单一的不足，以满足使用者需求。
本发明的目的之三是提出了一种基于姿态识别控制游戏的智能交互方法，将姿态传感器输出的加速度值和角速度值通过计算得到角度数据，解决了现有技术中仅使用压力数据识别坐姿误差较大的问题，对角度数据进行去噪处理，为姿态判断提供了精确的数据基础，姿态判断时，先将角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较，得到初 步姿态判断，进一步将角度数据与预设的角度阈值进行比较，得到不同幅度的姿态信息，提高姿态判断的准确度，对应的又将姿态信息转换为游戏控制信号，实现智能设备的游戏娱乐性操作。
本发明是通过以下技术方案实现的：
一种基于姿态识别的智能座椅，包括智能硬件单元，所述的智能硬件单元包括：
至少一个姿态传感器，用于感应椅座姿态变化，并根据相应的姿态变化输出相应的加速度值、角速度值；
至少包含两个按钮的控制板，用于向外发出第一游戏控制指令；
无线通信模块，用于与外界无线通信；
微处理器模块，用于接收姿态传感器、控制板输出的相应数值或信号，经处理后得出椅座姿态、第一游戏控制信号并通过无线通信模块对外输出；
供电模块，用于对各模块进行电源供应。
作为优选，至少一个压力传感器，与微处理器模块相连，用于检测椅座承受的压力并输出相应的压力传感信号。压力传感器侦测到人体入座后，姿态传感器才开始工作，输出的才是有效数据，因此这样可以有效降低系统的功耗。
作为优选，所述的智能座椅包括椅座底板，在椅座底板上设有用于提高姿态传感器灵敏度的支撑板，姿态传感器设置在支撑板上。
作为优选，所述的支撑板包括中心支点及沿中心支点周向倾斜向上延伸的侧板，所述的侧板与椅座底板之间留有间隙，姿态传感器设置在支撑板上表面中部预设的安装槽内。姿态传感器设置在支撑板中部，可以更为均衡并准确的感受支撑板的状态变化，准确的输出姿态变化数值。
为了方便接线，作为优选，在安装槽底部设有走线孔，所述的走线孔将安 装槽与所述的间隙保持相通。
作为优选，所述的支撑板通过螺丝与椅座底板安装固定。具体的说，是将中心支点与椅座底板安装固定。
作为优选，所述微处理器模块根据加速度值和角速度值计算出包含有前后俯仰角度、左右翻滚角度以及旋转角度的角度数据，经过去噪后获取稳定的角度数据，并将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态。
作为优选，所述的智能硬件单元还包括用于存储预先设定信息的存储模块；再进一步微处理器模块又将稳定的角度数据与存储模块中预设的角度阈值进行对照，输出不同幅度的相应姿态信息。识别的姿态或坐姿为正立、左前倾、右前倾，略微前倾、略微后仰、略微左倾、略微右倾、略微左旋转,略微右旋转,大幅度前倾,大幅度后仰、大幅度左倾、大幅度右倾、大幅度左旋转,大幅度右旋转这十五种坐姿中的一种。
作为优选，所述智能硬件单元还包括用于根据姿态状态设置对应角度阈值或时间阈值的阈值设置模块，阈值设置模块设置的信息存储在所述的存储模块内。
作为优选，所述无线通信模块为蓝牙模块或WI-FI模块。
作为优选，所述控制板以及按钮设置在智能座椅的扶手位置。
为了准确感知压力，作为优选，所述压力传感器设置在智能座椅的椅座上。
作为优选，所述姿态传感器为加速度计和陀螺仪的组合；
加速度计用于将检测到的姿态变化转化为加速度值；
陀螺仪用于将检测到的姿态变化转化为角速度值。
一种基于姿态识别控制游戏的智能交互系统，包括如上所述的智能座椅以 及与其无线通信且运行有上游游戏软件的智能设备。
作为优选，所述的智能设备为智能手机、平板电脑、PC或VR设备中的任意一种。
作为优选，所述微处理器模块根据加速度值和角速度值计算出包含有前后俯仰角度、左右翻滚角度以及旋转角度的角度数据，经过去噪后获取稳定的角度数据，并将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态；
智能硬件单元还包括用于存储预先设定信息的存储模块；再进一步微处理器模块又将稳定的角度数据与存储模块中预设的角度阈值进行对照，输出不同幅度的相应姿态信息；上游游戏软件根据预设的游戏控制方式,结合不同幅度的相应姿态信息和时间长短,将姿态转换为控制游戏角色或者道具运动的第二游戏控制信号,第一、第二游戏控制信号相结合控制上游游戏软件的执行与进程。
作为优选，上游游戏软件包括有用于存储预先设定信息的存储模块，上游游戏软件根据接收到的加速度值和角速度值计算出包含有前后俯仰角度、左右翻滚角度以及旋转角度的角度数据，经过去噪后获取稳定的角度数据，并将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态；
再进一步微处理器模块又将稳定的角度数据与存储模块中预设的角度阈值进行对照，输出不同幅度的相应姿态信息；上游游戏软件根据预设的游戏控制方式,结合不同幅度的相应姿态信息和时间长短,将姿态转换为控制游戏角色或者道具运动的第二游戏控制信号,第一、第二游戏控制信号相结合控制上游游戏软件的执行与进程。
作为优选，所述的第一游戏控制信号包括游戏菜单选项之确定、取消或射击游戏目标、道具选取；第二游戏控制信号控制游戏人物、车辆道具这些游戏主体的整体动作，第二游戏控制信号包括常速左转、常速右转、快速左转、快速右转、左闪躲回中、右闪躲回中、起跳、蹲下、常速前进、常速后退、快速前进、快速后退。
一种基于姿态识别的智能交互方法，包括以下步骤：
S100：智能座椅处于监听模式，判断有无用户坐在椅座上，如果是，则进入工作模式，姿态传感器检测椅座姿态变化，执行第二步；否则，保持监听模式；
S200：智能座椅处于工作模式，姿态传感器检测椅座姿态变化，并将检测到的姿态变化转换为加速度值(ax,ay,az)和角速度值(GYR_X,GYR_Y,GYR_Z)，并反馈给微处理器；
S300：微处理器对加速度值(ax,ay,az)和角速度值(GYR_X,GYR_Y,GYR_Z)进行计算，得到包含有前后俯仰角度、左右翻滚角度以及旋转角度的角度数据；
S400：微处理器对上述角度数据进行去噪处理，获得稳定的角度数据；
S500：微处理器将上述稳定的角度数据，并将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态；并发送给智能终端；
S600：对照基于统计学建立的角度阈值或者通过用户自行设定的角度阈值，输出不同幅度的相应姿态信息；最后将不同幅度的相应姿态信息以及原始的传感器数据通过无线通信模块发送给智能终端；
S700：智能终端上的上游游戏软件根据预设的游戏控制方式,结合不同幅度的相应姿态信息和时间长短,将姿态转换为控制游戏角色或者道具运动的第 二游戏控制信号,第二游戏控制信号与座椅上预设的按钮触发输出的第一游戏控制信号相结合共同控制上游游戏软件的执行与进程。
作为优选，步骤S100中采用压力传感器不断检测椅座承受的压力，若检测到压力，则进入工作模式，执行第二步；否则，保持监听模式。
作为优选，所述步骤S300具体为：
S301：对加速度值(ax,ay,az)进行分解，分别得到：
前后俯仰角度：
Figure PCTCN2017090228-appb-000001
左右翻滚角度：
Figure PCTCN2017090228-appb-000002
S302：对角速度值(GYR_X,GYR_Y,GYR_Z)中的GYR_Z进行积分，得到旋转角度λ0；
S303：获得姿态角度数据ω0、
Figure PCTCN2017090228-appb-000003
和λ0。
作为优选，步骤S400中所述去噪是采用卡尔曼滤波器去噪。
与现有技术相比，本发明的有益效果是：
一，识别效率高，能够识别出默认的15种姿态，通过上游游戏软件设定不同的角度阈值,能够识别更加多的姿态。
二，最低单一姿态传感器即可工作,数量少,通过附加装置增强传感性能,隔绝用户的直接接触,提高椅子使用寿命。
三，最低单一压力传感器即可工作,数量少,用于判断是否有使用者就坐，以此判断是否进入工作状态，若无人使用，则保持低耗电的监听模式，降低系统能耗，此外，压力传感器只做系统是否处在工作模式的判断,只需检测是否有压力，可以使用低成本的开关模式即可,不需要高精度昂贵的精密压力传感器,降低系统成本并提高椅子使用寿命。
四，本发明通过在座椅上增设游戏控制按钮，并通过姿态转换为游戏里的 方向控制，替代了游戏手柄，使人可以在座椅上进行不同姿态的转换而控制游戏进行，在游戏娱乐的同时锻炼了身体，达到了健康乘坐的目的。
附图说明
图1是本发明智能座椅的拆分结构示意图；
图2是撑板与椅座底板配合的剖面结构示意图；
图3是支撑板与椅座底板配合的立体结构示意图；
图4是本发明智能硬件单元结构图；
图5是本发明的智能座椅中姿态传感器工作原理示意图；
图6是本发明卡尔曼滤波原理示意图；
图7是本发明智能交互系统工作流程图；
图8为本发明智能座椅的立体结构示意图。
附图标记说明：
1、椅座底板；2、智能硬件单元；3、座椅底盘机构；4、支撑板；5、中心支点；6、侧板；7、间隙；8、安装槽；9、走线孔；10、软垫；11、支撑脚；12、螺丝安装孔；21-姿态传感器；22-压力传感器；23-微处理器模块；24-存储模块；25-供电模块；26-控制板；27-阈值设置模块；28-无线通信模块；29-按钮；30-扶手。
具体实施方式
下面结合附图和实施例，对本发明的技术方案做详细描述。应当理解，附图中所示各零部件是示意性而非限制性的，各特征未按比例画出。
实施例
实施例：如图1所示，本发明提供了一种基于姿态识别控制游戏的智能座椅，包括软垫10、椅座底板1、座椅底盘机构3和智能硬件单元2，智能硬件单 元2安装于支撑板4的中央位置的安装槽8中，如图2所示,支撑板4位于椅座底板1上，支撑板4包括中心支点5及沿中心支点5周向倾斜向上延伸的侧板6，侧板6与椅座底板1之间有间隙7，支撑板4通过螺丝与椅座底板1固定，螺丝安置于螺丝安装孔12中，安装槽8用于安装智能硬件单元2，安装槽8底部设有走线孔9。
如图8所示，在座椅的扶手30前端底部设有至少两个按钮29，按钮29连接于隐藏在扶手内的控制板上，按钮可以分别设置在两个扶手上，也可以设置在同一个扶手上；同理，多个按钮可以设置在一个控制板上，也可分设于不同的控制板上。控制板根据相应按钮的触发向外发出第一游戏控制指令，所述的第一游戏控制信号包括确定、取消或射击等。当然，控制板也可以与按钮29整合为一个部件。
人体坐在座椅上时，臀部接触椅座后方，椅座后方承受较大压力，因此，支撑板很容易向后倾斜，即便人体正坐时也是如此，因此这就给姿态判断带来了干扰，为了进一步提高姿态传感准确性，使支撑板在人体真正产生姿态变化时才会跟随产生相应变化；如图3所示，在支撑板4的靠近椅座底板1后端的侧板上设有支撑脚11，所述的支撑脚11与椅座底板1相接触。由此，当人体正坐时，支撑板由于有支撑脚的支撑，基本处于水平状态，姿态传感器不会受到干扰，而当人体向后仰时，会向后施加一个更大的力，会给座椅姿态以及支撑板姿态带来变化，使姿态传感器能够准确的感应。
如图4所示，智能硬件单元2包括姿态传感器21、压力传感器22、微处理器模块23、存储模块24、供电模块25、控制板26、阈值设置模块27和无线通信模块28。
侧板6并非单纯指代一块板，如果支撑板4是空心的，侧板表示为构成支 撑板4的侧部板材；如果支撑板4是实心的，因支撑板4下表面周向为倾斜设置的，因此侧板6可以指代支撑板4的下表面或侧面。
智能座椅处于监听模式，当有使用者使用时，压力传感器22检测到使用者接触软垫10时的压力，并将该压力转化为数字信号，即压力传感信号，微处理器模块23检测到压力传感信号，切换至工作模式，否则，则判断无使用者坐在座椅上，保持监听模式。姿态传感器21检测到座椅姿态变化并将其转化为数字信号，如图5所示，以智能椅座中心位置为原点，建立坐标系xyz，姿态传感器21中的加速度计测量出xyz三个轴方向上的加速度值(ax,ay,az)，取正值时为沿坐标轴正向，取负值时为沿坐标轴负向，姿态传感器21中的陀螺仪测量出xyz三个轴方向上的角速度值(GYR_X,GYR_Y,GYR_Z)，取正值为顺时针方向，取负值为逆时针方向，微处理器模块23对加速度值(ax,ay,az)和角速度值(GYR_X,GYR_Y,GYR_Z)进行计算，具体计算过程如下:
对加速度值(ax,ay,az)进行分解，分别得到
前后俯仰角度：
Figure PCTCN2017090228-appb-000004
左右翻滚角度：
Figure PCTCN2017090228-appb-000005
对角速度值(GYR_X,GYR_Y,GYR_Z)中的GYR_Z进行积分，得到旋转角度λ0；
即获得姿态角度数据ω0、
Figure PCTCN2017090228-appb-000006
和λ0，且如图5所示，方向沿图5中箭头所示方向为正值，即ω0角度后仰方向为正值，
Figure PCTCN2017090228-appb-000007
角度右倾方向为正值，λ0角度顺时针方向为正值。
由于测量所在的地理区域不同，震动或者环境温度不同，姿态传感器21检测到的加速度值和角速度值与真实值存在一定偏差，因此计算得到的姿态角度数据与真实数据存在一定的偏差，输出的姿态角度数据包含了大量的噪音，因 此，需要在噪声中提取信号，即需要寻找一种有最佳线性过滤特性的滤波器，该滤波器在信号与噪声同时输入时，在输出端能将信号尽可能精确地重现出来，而噪声却受到最大抑制。
本实施例中采用卡尔曼滤波器，卡尔曼滤波器是用于时变线性系统的递归滤波器，这个系统可用包含正交状态变量的微分方程模型来描述，这种滤波器是将过去的测量估计误差合并到新的测量误差中来估计将来的误差，通过系统输入输出观测数据，对系统状态进行最优估计。卡尔曼滤波器工作原理如图6所示，具体过程如下所示：
卡尔曼滤波器可以用一个线性随机微分方程来表示：
X(k)＝A X(k-1)+B U(k)+W(k)    (3)
系统测量值用方程表示为：
Z(k)＝H X(k)+V(k)    (4)
其中，X(k)是k时刻的系统状态，U(k)是k时刻对系统的控制量，A和B是系统参数，对于多模型系统，他们为矩阵，Z(k)是k时刻的测量值，H是测量系统的参数，对于多测量系统，H为矩阵，W(k)和V(k)分别表示过程和测量的噪声，他们被假设成高斯白噪声，他们的协方差分别是Q，R，且假设他们不随系统状态变化而变化。
卡尔曼滤波器系统工作过程如下：
现在系统状态是k，根据系统的模型，可以基于系统的上一状态而预测出现在状态：
X(k|k-1)＝A X(k-1|k-1)+B U(k)    (5)
式(5)中，X(k|k-1)是利用上一状态预测的结果，X(k-1|k-1)是上一状态最优的结果，U(k)为现在状态的控制量，由于没有控制量，该值为0。
用P表示协方差：
P(k|k-1)＝A P(k-1|k-1)A’+Q    (6)
式(6)中，P(k|k-1)是X(k|k-1)对应的协方差，P(k-1|k-1)是X(k-1|k-1)对应的协方差，A’表示A的转置矩阵，Q是系统过程的协方差。式(5)、(6)即为卡尔曼滤波器中对系统的预测。
下一步，结合预测值和测量值，得到现在状态(k)的最优化估算值X(k|k)：
X(k|k)＝X(k|k-1)+Kg(k)(Z(k)-H X(k|k-1))    (7)
其中Kg为卡尔曼增益：
Kg(k)＝P(k|k-1)H’/(H P(k|k-1)H’+R)    (8)
由式(7)即得到了k状态下最优的估算值X(k|k)，下一步更新k状态下X(k|k)的协方差：
P(k|k)＝(I-Kg(k)H)P(k|k-1)    (9)
其中I为1的矩阵，由于模型为单测量，I＝1。当系统进入k+1状态时，P(k|k)就是式(6)的P(k-1|k-1)，即通过自回归运算实现系统更新过程。
本实施例中，假设测量值是均匀变化,从微观上看,在短时间内前后一致,且没有任何人为的控制,所以A＝1，因为没有控制量，所以U(k)＝0，传感器测量输出的数据受温度或者摇摆的影响,产生的噪音是个总和为0的高斯白噪声,所以H＝1，因此，卡尔曼滤波器系统工作过程方程可简化为如下形式:
X(k|k-1)＝X(k-1|k-1)    (10)
P(k|k-1)＝P(k-1|k-1)+Q    (11)
X(k|k)＝X(k|k-1)+Kg(k)(Z(k)-X(k|k-1))    (12)
Kg(k)＝P(k|k-1)/(P(k|k-1)+R)    (13)
P(k|k)＝(1-Kg(k))P(k|k-1)    (14)
当系统进入k+1状态时，P(k|k)即为式(11)中的P(k-1|k-1)，，即通过自回归运算实现系统更新过程。
本实施例中，输入卡尔曼滤波器的输入信号为姿态角度数据ω0、
Figure PCTCN2017090228-appb-000008
和λ0，输出为经过去噪处理的稳定的姿态角度数据ω、
Figure PCTCN2017090228-appb-000009
和λ。智能座椅按一定的时间间隔检测座椅姿态变化，本实施例中，选取5分钟为一个时间间隔，时间间隔前一时刻检测到的运动状态去噪后的姿态角度数据为ω0、
Figure PCTCN2017090228-appb-000010
和λ0，时间间隔后一时刻检测到的运动状态去噪后的姿态角度数据为ω1、
Figure PCTCN2017090228-appb-000011
和λ1，存储模块中预先存储或使用者通过阈值设置模块设定的角度阈值为ωth、
Figure PCTCN2017090228-appb-000012
和λth，
Figure PCTCN2017090228-appb-000013
表示存储模块中预先存储或使用者通过阈值设置模块27设定的斜前方角判断角度阈值，角度阈值均为正值，微处理器模块23将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态，进一步的，微处理器模块23将稳定的角度数据与存储模块中预设的角度阈值或使用者通过阈值设置模块设定的角度阈值进行对照，输出不同幅度的相应姿态信息，该阈值为基于统计学建立，具体判别过程如下：
(1)左倾姿态
①左倾判断
判断条件
Figure PCTCN2017090228-appb-000014
成立时，判断使用者有左倾的趋势,判断为使用者坐姿正在向左倾斜，姿态信息为左倾。
②左倾幅度判断
判断条件
Figure PCTCN2017090228-appb-000015
成立的时候,使用者坐姿为略微左倾；
判断条件
Figure PCTCN2017090228-appb-000016
成立的时候，使用者坐姿为大幅度左倾。
(2)右倾姿态
①右倾判断
判断条件
Figure PCTCN2017090228-appb-000017
成立的时候，判断使用者有右倾的趋势,判断为使用者坐姿正在向右倾斜，姿态信息为右倾。
②右倾幅度判断
判断条件
Figure PCTCN2017090228-appb-000018
成立的时候,使用者坐姿为略微右倾；
判断条件
Figure PCTCN2017090228-appb-000019
成立的时候使用者坐姿为大幅度右倾。
(3)前倾姿态
①前倾判断
判断条件ω1<0,并且成立的时候，判断使用者有前倾的趋势,判断为使用者坐姿正在向前倾斜，姿态信息为前倾。
②前倾幅度判断
判断条件0>ω1>-ωth成立的时候,使用者坐姿为略微前倾；
判断条件ω1≤-ωth成立的时候使用者坐姿为大幅度前倾。
(4)后仰姿态
①后仰判断
判断条件ω1>0成立的时候，判断使用者有后仰的趋势,判断为使用者坐姿正在向后仰卧，姿态信息为后仰。
②后仰幅度判断
判断条件0<ω1<ωth成立的时候,使用者坐姿为略微后仰；
判断条件ω1≥ωth成立的时候，使用者坐姿为大幅度后仰。
(5)左旋转姿态
①左旋转判断
判断条件λ1<λ0成立的时候，判断使用者有左旋转的趋势,判断为使用者坐姿正在向左旋转，姿态信息为左旋转。
②左旋转幅度判断
判断条件λ1<λ0且|λ1-λ0|<λth成立的时候,使用者坐姿为略微左旋转；
判断条件λ1<λ0且|λ1-λ0|≥λth成立的时候，使用者坐姿为大幅度左旋转。
(6)右旋转姿态
①右旋转判断
判断条件λ1>λ0成立的时候，判断使用者有右旋转的趋势,判断为使用者坐姿正在向右旋转，姿态信息为右旋转。
②右旋转幅度判断
判断条件λ1>λ0且|λ1-λ0|<λth成立的时候,使用者坐姿为略微右旋转；
判断条件λ1>λ0且|λ1-λ0|≥λth成立的时候，使用者坐姿为大幅度右旋转。
(7)斜向倾斜姿态
当
Figure PCTCN2017090228-appb-000020
或者
Figure PCTCN2017090228-appb-000021
时候,做出如下二次判断：
判断条件ω1<0,并且
Figure PCTCN2017090228-appb-000022
成立的时候，判断使用者有左前倾的趋势,判断为使用者坐姿正在向左前斜方向倾斜，姿态信息为左前倾；
判断条件ω1<0,并且
Figure PCTCN2017090228-appb-000023
成立的时候，判断使用者有右前倾的趋势,判断为使用者坐姿正在向右前斜方向倾斜，姿态信息为右前倾；
判断条件ω1>0,并且
Figure PCTCN2017090228-appb-000024
成立的时候，判断使用者有左前倾的趋势,判断为使用者坐姿正在向左后斜方向倾斜，姿态信息为左后倾；
判断条件ω1>0,并且
Figure PCTCN2017090228-appb-000025
成立的时候，判断使用者有右前倾的趋势,判断为使用者坐姿正在向右后斜方向倾斜，姿态信息为右后倾。
(8)就坐姿态
智能座椅处于监听模式，当有使用者使用时，压力传感器22检测到使用者接触软垫10时的压力，并将该压力转化为数字信号，即压力传感信号，微处理 器模块23检测到压力传感信号，切换至工作模式,判定为就坐。
上游游戏软件可以将不同的姿态转换为游戏中所需要的第二游戏控制信号，第二游戏控制信号包括常速左转、常速右转、快速左转、快速右转、左闪躲回中、右闪躲回中、起跳、蹲下、常速前进、常速后退、快速前进、快速后退等。
一种基于姿态识别的智能交互系统，本实施例包括上述智能座椅以及与其无线通信且运行有上游游戏软件的智能设备，其中，可通信的智能设备为智能手机、平板电脑、PC或VR设备中的任意一种。
具体工作流程如图7所示，智能座椅处于监听模式，当有使用者使用时，压力传感器22检测到使用者接触软垫10时的压力，并将该压力转化为数字信号，即压力传感信号，微处理器模块23检测到压力传感信号，切换至工作模式，否则，则判断无使用者坐在座椅上，保持监听模式。
姿态传感器21检测座椅姿态并将其转化为数字信号，即加速度值(ax,ay,az)和角速度值(GYR_X,GYR_Y,GYR_Z)，微处理器模块23对加速度值(ax,ay,az)和角速度值(GYR_X,GYR_Y,GYR_Z)进行计算，获得姿态角度数据ω0、
Figure PCTCN2017090228-appb-000026
和λ0，使用卡尔曼滤波器对姿态角度数据ω0、
Figure PCTCN2017090228-appb-000027
和λ0进行去噪，得到的稳定的姿态角度数据ω、
Figure PCTCN2017090228-appb-000028
和λ。微处理器模块将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态，进一步的，微处理器模块23将稳定的角度数据与存储模块中预设的角度阈值或使用者通过阈值设置模块设定的角度阈值进行对照，输出不同幅度的相应姿态信息，该阈值为基于统计学建立，具体判别过程与上述过程中相同。
无线通信模块28将加速度值(ax,ay,az)和角速度值(GYR_X,GYR_Y,GYR_Z)发送到智能设备，智能设备对加速度值(ax,ay,az)和角速度值 (GYR_X,GYR_Y,GYR_Z)进行计算，获得姿态角度数据ω0、
Figure PCTCN2017090228-appb-000029
和λ0，使用卡尔曼滤波器对姿态角度数据ω0、
Figure PCTCN2017090228-appb-000030
和λ0进行去噪，得到的稳定的姿态角度数据ω、
Figure PCTCN2017090228-appb-000031
和λ。智能设备将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态，进一步的，智能设备将稳定的角度数据与存储模块中预设的角度阈值或使用者通过阈值设置模块设定的角度阈值进行对照，输出不同幅度的相应姿态信息，该阈值为基于统计学建立，具体判别过程与上述过程中相同，上游游戏软件根据预设的游戏控制方式,结合不同幅度的相应姿态信息和时间长短,将姿态转换为控制游戏角色或者道具运动的第二游戏控制信号,第一、第二游戏控制信号相结合控制上游游戏软件的执行与进程。
如姿态信息为略微左倾或略微右倾，则控制游戏道具左移或右移，若姿态信息为大幅度左倾或大幅度右倾，则控制人物左移或右移，若姿态信息为前倾，则控制游戏人物下蹲，若姿态信息为后仰，则控制游戏人物起跳；按钮控制可以输出为游戏的射击信号。
以上借助优选实施例对本发明的技术方案进行的说明是示意性的而非限制性的。本领域的普通技术人员在上述实施例的基础上可以对各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，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该以权利要求的保护范围为准。

Claims (22)

  1. 一种基于姿态识别控制游戏的智能座椅，其特征在于，包括智能硬件单元，所述的智能硬件单元包括：
    至少一个姿态传感器，用于感应椅座姿态变化，并根据相应的姿态变化输出相应的加速度值、角速度值；
    至少包含两个按钮的控制板，用于向外发出第一游戏控制指令；
    无线通信模块，用于与外界无线通信；
    微处理器模块，用于接收姿态传感器、控制板输出的相应数值或信号，经处理后得出椅座姿态、第一游戏控制信号并通过无线通信模块对外输出；
    供电模块，用于对各模块进行电源供应。
  2. 根据权利要求1所述的智能座椅，其特征在于，所述的智能硬件单元还包括：至少一个压力传感器，与微处理器模块相连，用于检测椅座承受的压力并输出相应的压力传感信号。
  3. 根据权利要求1所述的智能座椅，其特征在于，所述的智能座椅包括椅座底板，在椅座底板上设有用于提高姿态传感器灵敏度的支撑板，姿态传感器设置在支撑板上。
  4. 根据权利要求3所述的智能座椅，其特征在于，所述的支撑板包括中心支点及沿中心支点周向倾斜向上延伸的侧板，所述的侧板与椅座底板之间留有间隙，姿态传感器设置在支撑板上表面中部预设的安装槽内。
  5. 根据权利要求4所述的智能座椅，其特征在于，在安装槽底部设有走线孔，所述的走线孔将安装槽与所述的间隙保持相通。
  6. 根据权利要求3所述的智能座椅，其特征在于，所述的支撑板通过螺丝与椅座底板安装固定。
  7. 根据权利要求1所述的智能座椅，其特征在于：
    所述微处理器模块根据加速度值和角速度值计算出包含有前后俯仰角度、左右翻滚角度以及旋转角度的角度数据，经过去噪后获取稳定的角度数据，并将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态。
  8. 根据权利要求7所述的智能座椅，其特征在于：
    所述的智能硬件单元还包括用于存储预先设定信息的存储模块；再进一步微处理器模块又将稳定的角度数据与存储模块中预设的角度阈值进行对照，输出不同幅度的相应姿态信息。
  9. 根据权利要求7所述的智能座椅，其特征在于，所述智能硬件单元还包括用于根据姿态状态设置对应角度阈值或时间阈值的阈值设置模块，阈值设置模块设置的信息存储在所述的存储模块内。
  10. 根据权利要求1所述的智能座椅，其特征在于，所述无线通信模块为蓝牙模块或WI-FI模块。
  11. 根据权利要求1所述的智能座椅，其特征在于，所述控制板以及按钮设置在智能座椅的扶手位置。
  12. 根据权利要求1所述的智能座椅，所述压力传感器设置在智能座椅的椅座上。
  13. 根据权利要求1所述的智能座椅，其特征在于，所述姿态传感器为加速度计和陀螺仪的组合；
    加速度计用于将检测到的姿态变化转化为加速度值；
    陀螺仪用于将检测到的姿态变化转化为角速度值。
  14. 一种基于姿态识别控制游戏的智能交互系统，其特征在于，所述智能交互系统包括权利要求1-7中任一项所述的智能座椅以及与其无线通信且运行 有上游游戏软件的智能设备。
  15. 根据权利要求14所述的智能交互系统，其特征在于，所述的智能设备为智能手机、平板电脑、PC或VR设备中的任意一种。
  16. 根据权利要求14所述的智能交互系统，其特征在于：
    所述微处理器模块根据加速度值和角速度值计算出包含有前后俯仰角度、左右翻滚角度以及旋转角度的角度数据，经过去噪后获取稳定的角度数据，并将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态；
    智能硬件单元还包括用于存储预先设定信息的存储模块；再进一步微处理器模块又将稳定的角度数据与存储模块中预设的角度阈值进行对照，输出不同幅度的相应姿态信息；上游游戏软件根据预设的游戏控制方式,结合不同幅度的相应姿态信息和时间长短,将姿态转换为控制游戏角色或者道具运动的第二游戏控制信号,第一、第二游戏控制信号相结合控制上游游戏软件的执行与进程。
  17. 根据权利要求14所述的智能交互系统，其特征在于：
    上游游戏软件包括有用于存储预先设定信息的存储模块，上游游戏软件根据接收到的加速度值和角速度值计算出包含有前后俯仰角度、左右翻滚角度以及旋转角度的角度数据，经过去噪后获取稳定的角度数据，并将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态；
    再进一步微处理器模块又将稳定的角度数据与存储模块中预设的角度阈值进行对照，输出不同幅度的相应姿态信息；上游游戏软件根据预设的游戏控制方式,结合不同幅度的相应姿态信息和时间长短,将姿态转换为控制游戏角色 或者道具运动的第二游戏控制信号,第一、第二游戏控制信号相辅控制上游游戏软件的执行与进程。
  18. 根据权利要求16或17所述的智能交互系统，其特征在于，所述的第一游戏控制信号包括游戏菜单选项之确定、取消或射击游戏目标、道具选取；第二游戏控制信号控制游戏人物、车辆道具这些游戏主体的整体动作，第二游戏控制信号包括常速左转、常速右转、快速左转、快速右转、左闪躲回中、右闪躲回中、起跳、蹲下、常速前进、常速后退、快速前进、快速后退。
  19. 一种基于姿态识别控制游戏的智能交互方法，包括以下步骤：
    S100：智能座椅处于监听模式，判断有无用户坐在椅座上，如果是，则进入工作模式，姿态传感器检测椅座姿态变化，执行第二步；否则，保持监听模式；
    S200：智能座椅处于工作模式，姿态传感器检测椅座姿态变化，并将检测到的姿态变化转换为加速度值(ax,ay,az)和角速度值(GYR_X,GYR_Y,GYR_Z)，并反馈给微处理器；
    S300：微处理器对加速度值(ax,ay,az)和角速度值(GYR_X,GYR_Y,GYR_Z)进行计算，得到包含有前后俯仰角度、左右翻滚角度以及旋转角度的角度数据；
    S400：微处理器对上述角度数据进行去噪处理，获得稳定的角度数据；
    S500：微处理器将上述稳定的角度数据，并将稳定的角度数据与表示前后水平状态、左右水平状态的数值0以及上一次获取的旋转角度值做比较得出当前姿态；并发送给智能终端；
    S600：对照基于统计学建立的角度阈值或者通过用户自行设定的角度阈值，输出不同幅度的相应姿态信息；最后将不同幅度的相应姿态信息以及原始的传感器数据通过无线通信模块发送给智能终端；
    S700：智能终端上的上游游戏软件根据预设的游戏控制方式,结合不同幅度的相应姿态信息和时间长短,将姿态转换为控制游戏角色或者道具运动的第二游戏控制信号,第二游戏控制信号与座椅上预设的按钮触发输出的第一游戏控制信号相结合共同控制上游游戏软件的执行与进程。
  20. 根据权利要求19所述的智能交互方法，其特征在于，步骤S100中采用压力传感器不断检测椅座承受的压力，若检测到压力，则进入工作模式，执行第二步；否则，保持监听模式。
  21. 根据权利要求19所述的智能交互方法，其特征在于，所述步骤S300具体为：
    S301：对加速度值(ax,ay,az)进行分解，分别得到：
    前后俯仰角度：
    Figure PCTCN2017090228-appb-100001
    左右翻滚角度：
    Figure PCTCN2017090228-appb-100002
    S302：对角速度值(GYR_X,GYR_Y,GYR_Z)中的GYR_Z进行积分，得到旋转角度λ0；
    S303：获得姿态角度数据ω0、
    Figure PCTCN2017090228-appb-100003
    和λ0。
  22. 根据权利要求19所述的智能交互方法，其特征在于，步骤S400中所述去噪是采用卡尔曼滤波器去噪。
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