WO2018205159A1 - 运动识别方法、便携式设备、机器可读存储介质 - Google Patents

运动识别方法、便携式设备、机器可读存储介质 Download PDF

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Publication number
WO2018205159A1
WO2018205159A1 PCT/CN2017/083705 CN2017083705W WO2018205159A1 WO 2018205159 A1 WO2018205159 A1 WO 2018205159A1 CN 2017083705 W CN2017083705 W CN 2017083705W WO 2018205159 A1 WO2018205159 A1 WO 2018205159A1
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Prior art keywords
orientation
axis
data
preset
measurement unit
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Ceased
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PCT/CN2017/083705
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English (en)
French (fr)
Inventor
崔健
钱杰
朱熙文
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2017/083705 priority Critical patent/WO2018205159A1/zh
Priority to CN201780005455.4A priority patent/CN108496144B/zh
Publication of WO2018205159A1 publication Critical patent/WO2018205159A1/zh
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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

Definitions

  • the present invention relates to the field of motion recognition technologies, and in particular, to a motion recognition method, a portable device, and a machine readable storage medium.
  • the IMU Inertial Measurement Unit
  • the IMU consists of three single-axis accelerometers and three single-axis angular velocity sensors (gyros) that measure IMU data, including acceleration data and angular velocity of the carrier in three dimensions. Data, based on this, the IMU can be installed in a portable device, such as a wearable portable device, a handheld portable device, and the motion posture of the carrier can be calculated based on the IMU data measured by the IMU.
  • the orientation of the three single axes in the coordinate system applied by the IMU will be different, and since the IMU data measured by the IMU cannot be used to identify the placement direction of the portable device with respect to the carrier, Thus, it will result in the IMU data measured according to the IMU not accurately recognizing the motion of the carrier.
  • the portable device is a watch
  • the right hand of the human body is doing the hand movement
  • the watch is worn on the left wrist of the human body, and the left hand of the human body is doing the drooping action
  • the IMU data measured by the IMU is The same, and the IMU data measured by the IMU cannot identify whether the carrier is the right wrist or the left wrist of the human body, so that the motion posture of the carrier cannot be accurately identified according to the IMU data measured by the IMU.
  • the present invention provides a motion recognition method, a portable device, and a machine readable storage medium.
  • a first aspect of the present invention provides a motion recognition method for a portable device for detecting a motion posture of a carrier, the portable device comprising an inertial measurement unit for acquiring IMU data, the method comprising :
  • a portable device for detecting a motion posture of a carrier comprising:
  • a processor for:
  • a machine readable storage medium having stored thereon a plurality of computer instructions that, when executed, perform the following processing:
  • the embodiment of the present invention first, whether the current orientation of the inertial measurement unit is different from the preset orientation may be detected, and when the current orientation is different from the preset orientation, the acquired IMU data is processed, due to the processing.
  • the symbol of the subsequent IMU data is the same as the data symbol corresponding to the preset orientation, so that the motion posture of the carrier that is subsequently identified according to the processed IMU data is relatively accurate, and thus, the current orientation of the inertial measurement unit cannot be detected according to the IMU data. In this case, it is still possible to accurately recognize the motion posture of the carrier.
  • 1A is an example of a portable device being a wristband
  • FIG. 1B is an application scenario example of implementing a motion recognition method according to an embodiment of the present invention.
  • 2A is a flow chart of a motion recognition method
  • 2B is an example of a client of a wristband
  • Figure 3 is an example of a portable device.
  • first, second, third, etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are used to distinguish the same type of information from each other.
  • first information may also be referred to as the second information without departing from the scope of the invention.
  • second information may also be referred to as the first information.
  • word "if” may be interpreted as "when", or "when", or "in response to determination.”
  • the embodiment of the invention provides a motion recognition method, which can be applied to a portable device, and the portable device can apply the method to detect the motion posture of the carrier.
  • the portable device may be a wristband, and the carrier may be a left wrist of a human body or a right wrist of a human body.
  • the portable device can also be of other types, such as an armband, a handheld portable device, etc., and the present application does not limit the type of the portable device.
  • the type of the carrier may also be different.
  • the carrier may be a human arm, a palm or the like, and the type of the carrier is not limited in the present application.
  • the portable device is an example of a wristband including an inertial measurement unit (not shown in FIG. 1A), which may utilize a certain technology, such as MEMS (Microelectromechanical Systems, micro Electromechanical systems) detect linear motion along three orthogonal coordinate axes and rotational motion about the three orthogonal coordinate axes, which may include the x-axis, the y-axis, the z-axis, or the pitch axis, Roller axis, yaw axis.
  • MEMS Microelectromechanical Systems, micro Electromechanical systems
  • FIG. 1B is an example of an application scenario of a motion recognition method according to an embodiment of the present invention.
  • the wristband illustrated in FIG. 1A is worn on the right wrist of the human body.
  • the coordinate axis of the inertial measurement unit includes an x-axis, a y-axis, and a z-axis.
  • the x-axis of the inertial measurement unit of the wristband is oriented toward the direction of the finger when the right hand palm is straight, and the y-axis is oriented.
  • the z-axis direction is the pointing from the palm of the right hand palm to the back of the palm, as shown in FIG. 1B.
  • the x-axis orientation of the inertial measurement unit of the wristband is the opposite direction of the finger pointing when the left palm of the human body is straight, and the y-axis orientation is the left thumb side of the human body.
  • the z-axis is oriented from the palm of the human hand to the back of the palm.
  • the orientation of the inertial measurement unit of the wristband is different, thereby causing the left arm of the human body to perform the same action as the right arm of the human body.
  • the IMU data acquired by the inertial measurement unit is not the same, so that the motion posture of the carrier identified by the IMU data is different; and when the left arm of the human body and the right arm of the human body perform different actions, for example, the left hand arm of the human body performs a drooping motion.
  • the IMU data acquired by the inertial measurement unit is the same, and thus the motion posture of the carrier identified according to the IMU data is the same. From the above description, it can be found that the IMU data acquired by the inertial measurement unit during the movement of the carrier cannot accurately recognize the motion posture of the carrier.
  • the present invention provides a motion recognition method.
  • the embodiment of the present invention will be described in detail below with reference to the portable device shown in FIG. 1A and the application scenario shown in FIG. 1B.
  • FIG. 2A a flowchart of a motion recognition method, which can be applied to a portable device
  • the wristband illustrated in FIG. 1A is known from the above description, and the wristband includes an inertial measurement unit for acquiring IMU data, and the method may include the following steps:
  • Step 201 It is detected that the current orientation of the inertial measurement unit is different from the preset orientation.
  • the current orientation of the inertial measurement unit may include a coordinate axis orientation of the inertial measurement unit, wherein the coordinate axis may include at least one of an x-axis, a y-axis, and a z-axis, or a pitch axis, a roll axis, and a partial At least one of the axes.
  • a preset wearing portion may be set in advance for the wristband illustrated in FIG. 1A.
  • the preset wearing portion is a right wrist portion of the human body, and in the present invention, a preset wearing portion of the wristband is provided. That is, it may be equivalent to setting a preset orientation for the coordinate axis of the inertial measurement unit included on the wristband.
  • the preset wearing position is the right wrist of the human body
  • the x-axis preset of the inertial measurement unit is The orientation is the direction of the finger when the palm of the right hand is straight.
  • the preset orientation of the y-axis of the inertial measurement unit is the direction of the thumb when the thumb of the right hand is extended.
  • the preset orientation of the z-axis of the inertial measurement unit is The right hand palm of the human hand points to the back of the palm.
  • the inertial measurement unit included on the wristband when detecting the motion posture of the carrier by the inertial measurement unit included on the wristband, it is first possible to detect whether the current orientation of the inertial measurement unit is different from the preset orientation:
  • whether the current orientation of the inertial measurement unit is different from the preset orientation may be detected according to user settings.
  • FIG. 2B it is an example of a client of the wristband.
  • the user can set the current wearing part of the wristband through the client illustrated in FIG. 2B, and the current wearing part can be the human right. Wrist, or left wrist of the human body.
  • the current wearing position of the wristband is set, that is, the current orientation may be set corresponding to the coordinate axis of the inertial measurement unit included on the wristband.
  • FIG. 2B it is assumed that the user currently selects the human body.
  • the current orientation of the x-axis of the inertial measurement unit is the opposite direction of the finger pointing when the left palm of the human body is straight, and the current orientation of the y-axis of the inertial measurement unit is the thumb of the left thumb of the human body.
  • the current orientation of the z-axis of the inertial measurement unit is the direction from the palm of the human hand to the palm of the hand.
  • the orientation of the coordinate axes of the inertial measurement unit is different, that is, the current wearing position set by the user is different from the preset wearing position. It is detected that the current orientation of the inertial measurement unit is different from the preset orientation.
  • the IMU data acquired by the inertial measurement unit when the carrier performs the specified action may be acquired, and the current orientation and the preset of the inertial measurement unit are detected by detecting whether the IMU data meets a preset condition. Whether the orientation is different, specifically, if the IMU data meets the preset condition, it may be determined that the current orientation of the inertial measurement unit is different from the preset orientation, where the preset condition may be a symbol of the acceleration data included in the IMU data. The preset orientation is different from the corresponding data symbol, or the symbol of the angular velocity data included in the IMU data is different from the data symbol corresponding to the preset orientation.
  • the preset wearing position is the right wrist of the human body
  • the specified action is a hand movement or a sag action
  • the acceleration data and the angular velocity data on the x-axis included in the IMU data are negative, that is, the pre-set can be set.
  • the wearing part is the right wrist of the human body
  • the corresponding data symbol of the preset orientation is a negative number
  • the preset wearing part is the left wrist of the human body
  • the IMU data is included when the designated action is a hand movement or a sagging action.
  • the acceleration data and the angular velocity data on the x-axis are positive numbers, that is, when the preset wearing position is the left wrist of the human body, the corresponding data symbol of the preset orientation is a positive number.
  • the preset wearing position is the right wrist of the human body, and it is impossible to determine whether the wristband is currently worn on the left wrist or the right wrist of the human body.
  • the wristband can be on the display screen or through the display interface of the client.
  • the inertial measurement unit acquires the IMU data, if the acceleration data or the angular velocity data on the x-axis included in the IMU data is a positive number, that is, the acceleration data on the x-axis included in the IMU data.
  • the symbol of the symbol or angular velocity data is different from the data symbol (negative sign) of the preset orientation. At this time, it can be detected that the current orientation of the inertial measurement unit is different from the preset orientation.
  • Step 202 Process the IMU data according to the preset orientation.
  • step 201 when the wristband is respectively worn on the left wrist of the human body and the right wrist of the human body, when the right arm of the human body and the left arm of the human body perform the same action, the symbols of the acquired IMU data are opposite, specifically
  • the acceleration data on the x-axis and the angular velocity data in the IMU data may be reversed.
  • the acceleration data and the angular velocity data on the x-axis in the IMU data acquired by the inertial measurement unit may be inversely operated. .
  • the embodiment of the present invention first, whether the current orientation of the inertial measurement unit is different from the preset orientation may be detected, and when the current orientation is different from the preset orientation, the acquired IMU data is processed, due to the processing.
  • the symbol of the subsequent IMU data is the same as the data symbol corresponding to the preset orientation, so that the motion posture of the carrier that is subsequently identified according to the processed IMU data is relatively accurate, and thus, the current orientation of the inertial measurement unit cannot be detected according to the IMU data. In this case, it is still possible to accurately recognize the motion posture of the carrier.
  • the portable device includes an inertial measurement unit and a processor.
  • the inertial measurement unit is configured to acquire IMU data;
  • the processor is configured to detect that the current orientation of the inertial measurement unit is different from the preset orientation; and process the IMU data according to the preset orientation.
  • the processor is configured to determine that a current orientation of the inertial measurement unit is different from the preset orientation if the IMU data meets a preset condition.
  • the IMU data is obtained when the carrier performs a specified action.
  • the current orientation includes an orientation of the coordinate axis of the inertial measurement unit.
  • the coordinate axis includes at least one of an x-axis, a y-axis, and a z-axis, or at least one of a pitch axis, a roll axis, and a yaw axis.
  • the IMU data includes acceleration data
  • the preset condition is that the symbol of the acceleration data is different from the data symbol corresponding to the preset orientation.
  • the IMU data includes angular velocity data
  • the preset condition is that the symbol of the angular velocity data is different from the data symbol corresponding to the preset orientation.
  • the processor is configured to perform an inverse operation on the IMU data.
  • the carrier is the left wrist of the human body, or the right wrist of the human body.
  • the embodiment of the present invention further provides a machine readable storage medium, where the machine readable storage medium may be located on a portable device, where the computer readable storage medium stores a plurality of computer instructions.
  • the computer instruction When the computer instruction is executed, the following processing is performed: detecting that the current orientation of the inertial measurement unit is different from the preset orientation; processing the IMU data according to the preset orientation.
  • the following processing is performed: if the IMU data meets a preset condition, determining the inertial measurement unit The current orientation is different from the preset orientation.
  • the IMU data is obtained when the carrier performs a specified action.
  • the current orientation includes a coordinate axis orientation of the inertial measurement unit.
  • the coordinate axis includes at least one of an x-axis, a y-axis, and a z-axis, or at least one of a pitch axis, a roll axis, and a yaw axis.
  • the IMU data includes acceleration data; the preset condition is: a symbol of the acceleration data is different from a data symbol corresponding to the preset orientation.
  • the IMU data includes angular velocity data; the preset condition is that a symbol of the angular velocity data is different from a data symbol corresponding to the preset orientation.
  • the process of processing the IMU data according to the preset orientation, the computer instruction is When performing, the following processing is performed: the opposite operation is performed on the IMU data.
  • the carrier is a left wrist of the human body or a right wrist of the human body.
  • the system, apparatus, module or unit set forth in the above embodiments may be implemented by a computer chip or an entity, or by a product having a certain function.
  • a typical implementation device is a computer, and the specific form of the computer may be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver, and a game control.
  • embodiments of the invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, embodiments of the invention may take the form of a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • these computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the instruction means implements the functions specified in one or more blocks of the flowchart or in a flow or block diagram of the flowchart.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can be embodied in the form of a computer program product embodied on one or more computer-usable storage media (which may include, but not limited to, disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer-usable storage media which may include, but not limited to, disk storage, CD-ROM, optical storage, etc.

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Abstract

一种运动识别方法、便携式设备、机器可读存储介质，所述方法应用于应用于便携式设备，所述便携式设备用于检测载体的运动姿态，所述便携式设备包括惯性测量单元，所述惯性测量单元用于获取IMU数据，所述方法包括：检测出所述惯性测量单元的当前朝向与预设朝向不同；根据所述预设朝向处理所述IMU数据。应用本发明实施例，可以实现准确地识别载体的运动姿态。

Description

运动识别方法、便携式设备、机器可读存储介质 技术领域
本发明涉及运动识别技术领域，尤其涉及运动识别方法、便携式设备、机器可读存储介质。
背景技术
IMU(Inertial Measurement Unit，惯性测量单元)由三个单轴的加速度传感器与三个单轴的角速度传感器(陀螺仪)组成，其可以测量出IMU数据，包括载体在三维空间中的加速度数据和角速度数据，基于此，可以在便携式设备，例如可穿戴便携式设备、手持便携式设备中安装IMU，依据IMU所测量出IMU数据解算出载体的运动姿态。
当便携式设备相对于载体的携带方位不同时，IMU所应用的坐标系中三个单轴的朝向将不同，并且，由于无法依据IMU测量出的IMU数据识别出便携式设备相对于载体的放置方向，从而，将导致依据IMU所测量出的IMU数据无法准确识别出载体的运动。例如，假设便携式设备为手表，当手表佩戴在人体右手腕部，人体右手做举手动作时，和当手表佩戴在人体左手腕部，人体左手做下垂动作时，IMU所测量出的IMU数据是相同的，并且，依据IMU所测量出的IMU数据无法识别出载体为人体右手腕部还是左手腕部，从而依据IMU所测量出的IMU数据将无法准确识别出载体的运动姿态。
发明内容
本发明提供运动识别方法、便携式设备、机器可读存储介质。
本发明第一方面，提供一种运动识别方法，应用于便携式设备，该便携式设备用于检测载体的运动姿态，该便携式设备包括惯性测量单元，该惯性测量单元用于获取IMU数据，该方法包括：
检测出所述惯性测量单元的当前朝向与预设朝向不同；
根据所述预设朝向处理所述IMU数据。
本发明第二方面，提供一种便携式设备，该便携式设备用于检测载体的运动姿态，该便携式设备包括：
惯性测量单元，所述惯性测量单元用于获取IMU数据；以及
处理器，所述处理器用于：
检测出所述惯性测量单元的当前朝向与预设朝向不同；
根据所述预设朝向处理所述IMU数据。
本发明第三方面，提供一种机器可读存储介质，该机器可读存储介质上存储有若干计算机指令，该计算机指令被执行时进行如下处理：
检测出所述惯性测量单元的当前朝向与预设朝向不同；
根据所述预设朝向处理所述IMU数据。
基于上述技术方案，本发明实施例中，首先可以检测惯性测量单元的当前朝向与预设朝向是否不同，当检测出当前朝向与预设朝向不同时，对获取到的IMU数据进行处理，由于处理后的IMU数据的符号与预设朝向对应的数据符号相同，从而，后续根据处理后的IMU数据识别出的载体的运动姿态较为准确，从而，在根据IMU数据无法检测出惯性测量单元当前朝向的情况下，仍可以实现准确识别出载体的运动姿态。
附图说明
为了更加清楚地说明本发明实施例或者现有技术中的技术方案，下面将对本发明实施例或者现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据本发明实施例的这些附图获得其它的附图。
图1A是便携式设备为手环的示例；
图1B是本发明实施例实现运动识别方法的应用场景示例；
图2A为运动识别方法的流程图；
图2B是手环的客户端的一种示例；
图3是便携式设备的示例。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。另外，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明使用的术语仅仅是出于描述特定实施例的目的，而非限制本发明。本发明和权利要求书所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其它含义。应当理解，本文中使用的术语“和/或”是指包含一个或多个相关联的列出项目的任何或所有可能组合。
尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，此外，所使用的词语“如果”可以被解释成为“在……时”，或者“当……时”，或者“响应于确定”。
本发明实施例提出一种运动识别方法，该方法可以应用于便携式设备，该便携式设备可以应用该方法检测载体的运动姿态。其中，该便携式设备可以为手环，载体可以为人体左手腕或者人体右手腕。当然，本领域技术人员可以理解的是，该便携式设备还可以为其它类型，例如臂环、手持便携式设备等，本申请对便携式设备的类型不做限制，另外，随着便携式设备的类型不同，载体的类型也可以不同，例如，载体可以为人体手臂、手掌等，本申请对载体的类型也不做限制。
参见图1A所示，是便携式设备为手环的示例，该手环上包括惯性测量单元(图1A中并未示出)，该惯性测量单元可以利用某种技术，例如MEMS(Microelectromechanical Systems，微机电系统)技术检测沿三个正交坐标轴的直线运动和绕该三个正交坐标轴的旋转运动，该三个正交坐标轴可以包括x轴，y轴，z轴；或者俯仰轴，横滚轴，偏航轴。
参见图1B所示，是本发明实施例实现运动识别方法的应用场景示例，在该应用场景中，图1A所示例的手环被佩戴在人体右手腕部。在图1B中，以惯性测量单元的坐标轴包括x轴，y轴，z轴为例，假设该手环的惯性测量单元的x轴朝向为人体右手手掌伸直时手指的指向，y轴朝向为人体右手大拇指侧伸时大拇指的指向，z轴朝向为从人体右手手掌掌心指向手掌背部时的指向，具体可参见图1B所示。那么，当该手环被佩戴在人体左手腕部时，该手环的惯性测量单元的x轴朝向则为人体左手手掌伸直时手指指向的反方向，y轴朝向则为人体左手大拇指侧伸时大拇指的指向，z轴朝向则为从人体左手手掌心指向手掌背部时的指向。
通过上述描述可知，当手环分别被佩戴在人体左手腕部和人体右手腕部时，手环的惯性测量单元的朝向不相同，从而导致，人体左手手臂与人体右手手臂做相同的动作时，该惯性测量单元所获取到的IMU数据并不相同，从而，依据IMU数据所识别出的载体的运动姿态不同；并且，人体左手手臂与人体右手手臂做不同动作时，例如人体左手手臂做下垂动作和人体右手手臂做举手动作时，该惯性测量单元所获取到的IMU数据是相同的，从而，依据IMU数据所识别出的载体的运动姿态相同。通过上述描述可以发现，根据惯性测量单元在载体运动时获取到的IMU数据并无法准确识别出载体的运动姿态。
为了解决上述问题，本发明提出一种运动识别方法，下面结合图1A示出的便携式设备，以及图1B示出的应用场景，对本发明实施例进行详细说明。
参见图2A所示，为运动识别方法的流程图，该方法可以应用于便携式设 备，例如图1A所示例的手环，由上述描述可知，该手环上包括惯性测量单元，该惯性测量单元用于获取IMU数据，该方法可以包括以下步骤：
步骤201：检测出惯性测量单元的当前朝向与预设朝向不同。
在本发明中，惯性测量单元的当前朝向可以包括该惯性测量单元的坐标轴朝向，其中，坐标轴可以包括x轴，y轴，z轴中的至少一个，或者俯仰轴、横滚轴、偏航轴中的至少一个。
在本发明中，可以预先为图1A所示例的手环设置预设佩戴部位，例如，预设佩戴部位为人体右手腕部，并且，在本发明中，设置了手环的预设佩戴部位，即可以相当于为手环上包括的惯性测量单元的坐标轴设置了预设朝向，例如，如图1B所示，预设佩戴部位为人体右手腕部时，惯性测量单元的x轴的预设朝向则为人体右手手掌伸直时手指的指向，惯性测量单元的y轴的预设朝向则为人体右手大拇指侧伸时大拇指的指向，惯性测量单元的z轴的预设朝向则为从人体右手手掌掌心指向手掌背部时的指向。
在本发明中，通过手环上包括的惯性测量单元检测载体的运动姿态时，首先可以检测该惯性测量单元的当前朝向与预设朝向是否不同：
在一个可选的实现方式中，可以根据用户设置检测惯性测量单元的当前朝向与预设朝向是否不同。具体的，如图2B所示，是手环的客户端的一种示例，在本发明中，用户可以通过图2B所示例的客户端设置手环的当前佩戴部位，该当前佩戴部位可以为人体右手腕部，或者人体左手腕部。在本发明中，设置了手环的当前佩戴部位，即可以相当于为手环上包括的惯性测量单元的坐标轴设置了当前朝向，例如，如图2B所示，假设用户当前选择的为人体左手腕部，那么，惯性测量单元的x轴的当前朝向则为人体左手手掌伸直时手指指向的反方向，惯性测量单元的y轴的当前朝向则为人体左手大拇指侧伸时大拇指的指向，惯性测量单元的z轴的当前朝向则为从人体左手手掌掌心指向手掌背部时的指向。
通过上述描述可知，当手环被分别佩戴在人体右手腕部和人体左手腕部时，惯性测量单元的坐标轴的朝向是不同的，即可以通过用户设置的当前佩戴部位与预设佩戴部位不同，检测出该惯性测量单元的当前朝向与预设朝向不同。
在另一个可选的实现方式中，可以获取载体执行指定动作时，惯性测量单元所获取到的IMU数据，通过检测该IMU数据是否满足预设条件，以检测惯性测量单元的当前朝向与预设朝向是否不同，具体的，若该IMU数据满足预设条件，则可以确定惯性测量单元的当前朝向与预设朝向不同，这里所说的预设条件可以为IMU数据所包括的加速度数据的符号与预设朝向对应的数据符号不同，或者为IMU数据所包括的角速度数据的符号与预设朝向对应的数据符号不同。
举例来说，若预设佩戴部位为人体右手腕部，那么，当指定动作为举手动作或下垂动作时，IMU数据所包括的x轴上的加速度数据和角速度数据为负数，即可以设置预设佩戴部位为人体右手腕部时，预设朝向对应的数据符号为负号；若预设佩戴部位为人体左手腕部，那么，当指定动作为举手动作或下垂动作时，IMU数据所包括的x轴上的加速度数据和角速度数据为正数，即可以设置预设佩戴部位为人体左手腕部时，预设朝向对应的数据符号为正号。
假设预设佩戴部位为人体右手腕部，并且无法确定该手环当前被佩戴在人体左手腕部还是人体右手腕部，此时，该手环可以在自身显示屏上，或者通过客户端的显示界面，发送指示用户执行指定动作，例如举手动作的指示消息，从而，用户可以根据该指示消息执行指定动作。在用户执行指定动作过程中，惯性测量单元获取到IMU数据，若该IMU数据所包括的x轴上的加速度数据或角速度数据为正数，即该IMU数据所包括的x轴上的加速度数据的符号或角速度数据的符号与预设朝向的数据符号(负号)不同，此时，则可以检测出该惯性测量单元的当前朝向与预设朝向不同。
步骤202：根据预设朝向处理IMU数据。
通过步骤201中的相关描述可知，当手环分别被佩戴在人体左手腕部和人体右手腕部时，人体右臂和人体左臂执行相同动作时，所获取到的IMU数据的符号相反，具体的可以包括IMU数据中x轴上的加速度数据和角速度数据相反，那么，在本申请中，则可以对惯性测量单元所获取到的IMU数据中x轴上的加速度数据和角速度数据取相反数操作。
在一个例子中，假设IMU数据为(x，y，z)，处理后的IMU数据为(x’，y’，z’)T＝R*(x，y，z)T。其中，
Figure PCTCN2017083705-appb-000001
基于上述技术方案，本发明实施例中，首先可以检测惯性测量单元的当前朝向与预设朝向是否不同，当检测出当前朝向与预设朝向不同时，对获取到的IMU数据进行处理，由于处理后的IMU数据的符号与预设朝向对应的数据符号相同，从而，后续根据处理后的IMU数据识别出的载体的运动姿态较为准确，从而，在根据IMU数据无法检测出惯性测量单元当前朝向的情况下，仍可以实现准确识别出载体的运动姿态。
基于与上述方法同样的发明构思，本发明实施例中还提供一种便携式设备，参见图3，是便携式设备的示例，如图3所示，该便携式设备包括：惯性测量单元、处理器。其中，惯性测量单元用于获取IMU数据；处理器用于检测出所述惯性测量单元的当前朝向与预设朝向不同；根据所述预设朝向处理所述IMU数据。
在一个例子中，所述处理器用于：若所述IMU数据满足预设条件，则确定所述惯性测量单元的当前朝向与所述预设朝向不同。
在一个例子中，所述IMU数据为所述载体执行指定动作时获取的。
在一个例子中，所述当前朝向包括所述惯性测量单元的坐标轴朝向。
在一个例子中，所述坐标轴包括x轴、y轴、z轴中的至少一个，或者俯仰轴、横滚轴、偏航轴中的至少一个。
在一个例子中，所述IMU数据包括加速度数据；
所述预设条件为：所述加速度数据的符号与所述预设朝向对应的数据符号不同。
在一个例子中，所述IMU数据包括角速度数据；
所述预设条件为：所述角速度数据的符号与所述预设朝向对应的数据符号不同。
在一个例子中，所述处理器用于：对所述IMU数据进行取相反数操作。
在一个例子中，所述载体为人体左手腕部，或人体右手腕部。
基于与上述方法同样的发明构思，本发明实施例中还提供一种机器可读存储介质，该机器可读存储介质可以位于便携式设备，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：检测出所述惯性测量单元的当前朝向与预设朝向不同；根据所述预设朝向处理所述IMU数据。
所述检测出所述惯性测量单元的当前朝向与预设朝向不同的过程中，所述计算机指令被执行时进行如下处理：若所述IMU数据满足预设条件，则确定所述惯性测量单元的当前朝向与所述预设朝向不同。
所述IMU数据为所述载体执行指定动作时获取的。
所述当前朝向包括所述惯性测量单元的坐标轴朝向。
所述坐标轴包括x轴、y轴、z轴中的至少一个，或者俯仰轴、横滚轴、偏航轴中的至少一个。
所述IMU数据包括加速度数据；所述预设条件为：所述加速度数据的符号与所述预设朝向对应的数据符号不同。
所述IMU数据包括角速度数据；所述预设条件为：所述角速度数据的符号与所述预设朝向对应的数据符号不同。
所述根据所述预设朝向处理所述IMU数据的过程中，所述计算机指令被 执行时进行如下处理：对所述IMU数据进行取相反数操作。
所述载体为人体左手腕部，或人体右手腕部。
上述实施例阐明的系统、装置、模块或单元，可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机，计算机的具体形式可以是个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件收发设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任意几种设备的组合。
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本发明时可以把各单元的功能在同一个或多个软件和/或硬件中实现。
本领域内的技术人员应明白，本发明实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可以由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其它可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其它可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
而且，这些计算机程序指令也可以存储在能引导计算机或其它可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或者多个流程和/或方框图一个方框或者多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其它可编程数据处理设备，使 得在计算机或者其它可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其它可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
本领域技术人员应明白，本发明的实施例可提供为方法、系统或计算机程序产品。因此，本发明可以采用完全硬件实施例、完全软件实施例、或者结合软件和硬件方面的实施例的形式。而且，本发明可以采用在一个或者多个其中包含有计算机可用程序代码的计算机可用存储介质(可以包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上所述仅为本发明实施例而已，并不用于限制本发明。对于本领域技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原理之内所作的任何修改、等同替换、改进，均应包含在本发明的权利要求范围之内。

Claims (27)

  1. 一种运动识别方法，其特征在于，应用于便携式设备，所述便携式设备用于检测载体的运动姿态，所述便携式设备包括惯性测量单元，所述惯性测量单元用于获取IMU数据，所述方法包括：
    检测出所述惯性测量单元的当前朝向与预设朝向不同；
    根据所述预设朝向处理所述IMU数据。
  2. 根据权利要求1所述的方法，其特征在于，所述检测出所述惯性测量单元的当前朝向与预设朝向不同包括：
    若所述IMU数据满足预设条件，则确定所述惯性测量单元的当前朝向与预设朝向不同。
  3. 根据权利要求2所述的方法，其特征在于，
    所述IMU数据为所述载体执行指定动作时获取的。
  4. 根据权利要求1所述的方法，其特征在于，所述当前朝向包括所述惯性测量单元的坐标轴朝向。
  5. 根据权利要求4所述的方法，其特征在于，
    所述坐标轴包括x轴、y轴、z轴中的至少一个，或者
    俯仰轴、横滚轴、偏航轴中的至少一个。
  6. 根据权利要求2所述的方法，其特征在于，所述IMU数据包括加速度数据；
    所述预设条件为：所述加速度数据的符号与所述预设朝向对应的数据符号不同。
  7. 根据权利要求2所述的方法，其特征在于，所述IMU数据包括角速度数据；
    所述预设条件为：所述角速度数据的符号与所述预设朝向对应的数据符号不同。
  8. 根据权利要求1所述的方法，其特征在于，所述根据所述预设朝向处理所述IMU数据包括：
    对所述IMU数据进行取相反数操作。
  9. 根据权利要求1所述的方法，其特征在于，所述载体为人体左手腕部，或人体右手腕部。
  10. 一种便携式设备，其特征在于，所述便携式设备用于检测载体的姿态，所述便携式设备包括：
    惯性测量单元，所述惯性测量单元用于获取IMU数据；以及
    处理器，所述处理器用于：
    检测出所述惯性测量单元的当前朝向与预设朝向不同；
    根据所述预设朝向处理所述IMU数据。
  11. 根据权利要求10所述的便携式设备，其特征在于，所述处理器用于：
    若所述IMU数据满足预设条件，则确定所述惯性测量单元的当前朝向与所述预设朝向不同。
  12. 根据权利要求11所述的便携式设备，其特征在于，
    所述IMU数据为所述载体执行指定动作时获取的。
  13. 根据权利要求10所述的便携式设备，其特征在于，所述当前朝向包括所述惯性测量单元的坐标轴朝向。
  14. 根据权利要求13所述的便携式设备，其特征在于，
    所述坐标轴包括x轴、y轴、z轴中的至少一个，或者
    俯仰轴、横滚轴、偏航轴中的至少一个。
  15. 根据权利要求11所述的便携式设备，其特征在于，所述IMU数据包括加速度数据；
    所述预设条件为：所述加速度数据的符号与所述预设朝向对应的数据符号不同。
  16. 根据权利要求11所述的便携式设备，其特征在于，所述IMU数据包括角速度数据；
    所述预设条件为：所述角速度数据的符号与所述预设朝向对应的数据符号不同。
  17. 根据权利要求10所述的便携式设备，其特征在于，所述处理器用于：
    对所述IMU数据进行取相反数操作。
  18. 根据权利要求10所述的便携式设备，其特征在于，所述载体为人体左手腕部，或人体右手腕部。
  19. 一种机器可读存储介质，其特征在于，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：
    检测出所述惯性测量单元的当前朝向与预设朝向不同；
    根据所述预设朝向处理所述IMU数据。
  20. 根据权利要求19所述的机器可读存储介质，其特征在于，所述检测出所述惯性测量单元的当前朝向与预设朝向不同的过程中，所述计算机指令被执行时进行如下处理：
    若所述IMU数据满足预设条件，则确定所述惯性测量单元的当前朝向与所述预设朝向不同。
  21. 根据权利要求20所述的机器可读存储介质，其特征在于，所述IMU数据为所述载体执行指定动作时获取的。
  22. 根据权利要求19所述的机器可读存储介质，其特征在于，所述当前朝向包括所述惯性测量单元的坐标轴朝向。
  23. 根据权利要求22所述的机器可读存储介质，其特征在于，
    所述坐标轴包括x轴、y轴、z轴中的至少一个，或者
    俯仰轴、横滚轴、偏航轴中的至少一个。
  24. 根据权利要求20所述的机器可读存储介质，其特征在于，所述IMU数据包括加速度数据；
    所述预设条件为：所述加速度数据的符号与所述预设朝向对应的数据符号不同。
  25. 根据权利要求20所述的机器可读存储介质，其特征在于，所述IMU数据包括角速度数据；
    所述预设条件为：所述角速度数据的符号与所述预设朝向对应的数据符 号不同。
  26. 根据权利要求19所述的机器可读存储介质，其特征在于，所述根据所述预设朝向处理所述IMU数据的过程中，所述计算机指令被执行时进行如下处理：
    对所述IMU数据进行取相反数操作。
  27. 根据权利要求19所述的机器可读存储介质，其特征在于，所述载体为人体左手腕部，或人体右手腕部。
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