WO2018205159A1

WO2018205159A1 - Motion recognition method, portable device, and machine-readable storage medium

Info

Publication number: WO2018205159A1
Application number: PCT/CN2017/083705
Authority: WO
Inventors: 崔健; 钱杰; 朱熙文
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-05-10
Filing date: 2017-05-10
Publication date: 2018-11-15
Also published as: CN108496144A; CN108496144B

Abstract

A motion recognition method, a portable device, and a machine-readable storage medium. The method is applied to a portable device. The portable device is used for detecting the motion posture of a carrier. The portable device comprises an inertial measurement unit (IMU). The IMU is used for obtaining IMU data. The method comprises: detecting that the current orientation of the IMU is different from a preset orientation; and processing the IMU data according to the preset orientation. By means of embodiments of the present invention, the motion posture of the carrier can be accurately recognized.

Description

Motion recognition method, portable device, machine readable storage medium

Technical field

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.

Background technique

The IMU (Inertial Measurement Unit) 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.

When the carrying position of the portable device relative to the carrier is different, 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. For example, suppose the portable device is a watch, when the watch is worn on the right wrist of the human body, the right hand of the human body is doing the hand movement, and when 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.

Summary of the invention

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 :

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.

According to a second aspect of the present invention, a portable device for detecting a motion posture of a carrier is provided, the portable device comprising:

An inertial measurement unit for acquiring IMU data;

a processor for:

Processing the IMU data according to the preset orientation.

According to a third aspect of the present invention, there is provided a machine readable storage medium having stored thereon a plurality of computer instructions that, when executed, perform the following processing:

Processing the IMU data according to the preset orientation.

Based on the foregoing technical solution, in 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.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below. Obviously, the drawings in the following description It is merely some of the embodiments described in the present invention, and those skilled in the art can also obtain other drawings according to the drawings of the embodiments of the present invention.

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; FIG.

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.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention. Further, the features of the following embodiments and examples may be combined with each other without conflict.

The terminology used herein is for the purpose of describing particular embodiments, The singular forms "a", "the" and "the" It will be understood that the term "and/or" as used herein refers to any and all possible combinations of one or more of the associated listed items.

Although the terms 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. For example, the first information may also be referred to as the second information without departing from the scope of the invention. Similarly, the second information may also be referred to as the first information. Depending on the context, in addition, the 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. Of course, those skilled in the art can understand that 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. In addition, depending on the type of the portable device, The type of the carrier may also be different. For example, 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.

Referring to FIG. 1A, 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.

FIG. 1B is an example of an application scenario of a motion recognition method according to an embodiment of the present invention. In the application scenario, the wristband illustrated in FIG. 1A is worn on the right wrist of the human body. In FIG. 1B, the coordinate axis of the inertial measurement unit includes an x-axis, a y-axis, and a z-axis. Assume that 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. For the direction of the thumb when the human right thumb is extended, 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. Then, when the wristband is worn on the left wrist of the human body, 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. When the thumb is pointed, the z-axis is oriented from the palm of the human hand to the back of the palm.

According to the above description, when the wristband is respectively worn on the left wrist of the human body and the right wrist of the human body, 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. When the human right hand arm performs the hand movement, 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.

In order to solve the above problem, 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.

Referring to FIG. 2A, a flowchart of a motion recognition method, which can be applied to a portable device For example, 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.

In the present invention, 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.

In the present invention, a preset wearing portion may be set in advance for the wristband illustrated in FIG. 1A. For example, 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. For example, as shown in FIG. 1B, when 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.

In the present invention, 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:

In an optional implementation, whether the current orientation of the inertial measurement unit is different from the preset orientation may be detected according to user settings. Specifically, as shown in FIG. 2B, it is an example of a client of the wristband. In the present invention, 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. In the present invention, 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. For example, as shown in FIG. 2B, it is assumed that the user currently selects the human body. The left wrist, then, 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. Pointing, 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.

According to the above description, when the wristband is respectively worn on the right wrist of the human body and the left wrist of the human body, 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.

In another optional implementation manner, 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.

For example, if the preset wearing position is the right wrist of the human body, when 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. When the wearing part is the right wrist of the human body, the corresponding data symbol of the preset orientation is a negative number; if 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.

Assume that 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. At this time, the wristband can be on the display screen or through the display interface of the client. Sending an indication message instructing the user to perform a specified action, such as a gesture, whereby the user can perform the specified action according to the indication message. During the execution of the specified action by the user, 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.

According to the related description in 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. Then, in the present application, 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. .

In one example, assuming the IMU data is (x, y, z), the processed IMU data is (x', y', z') ^T = R * (x, y, z) ^T . among them,

Based on the same inventive concept as the above method, a portable device is also provided in the embodiment of the present invention. Referring to FIG. 3, it is an example of a portable device. As shown in FIG. 3, 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.

In one example, 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.

In one example, the IMU data is obtained when the carrier performs a specified action.

In one example, the current orientation includes an orientation of the coordinate axis of the inertial measurement unit.

In one example, 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.

In one example, 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.

In one example, 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.

In one example, the processor is configured to perform an inverse operation on the IMU data.

In one example, the carrier is the left wrist of the human body, or the right wrist of the human body.

Based on the same inventive concept as the above method, 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. 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.

In the process of detecting that the current orientation of the inertial measurement unit is different from the preset orientation, when the computer instruction is executed, 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. A combination of a tablet, a tablet, a wearable device, or any of these devices.

For the convenience of description, the above devices are described separately by function into various units. Of course, the functions of the various units may be implemented in one or more software and/or hardware in the practice of the invention.

Those skilled in the art will appreciate that 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.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

Moreover, 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.

These computer program instructions can also be loaded into a computer or other programmable data processing device such that A series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing such that instructions executed on a computer or other programmable device are provided for implementing one or more processes and/or block diagrams in the flowchart. The steps of a function specified in a box or multiple boxes.

Those skilled in the art will appreciate that 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.

The above is only the embodiments of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and changes can be made in the present invention. Any modifications, equivalents, and improvements made within the spirit and scope of the invention are intended to be included within the scope of the appended claims.

Claims

A motion recognition method, characterized in that it is applied to a portable device for detecting a motion posture of a carrier, the portable device includes an inertial measurement unit, and the inertial measurement unit is configured to acquire IMU data, the method include:

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 method according to claim 1, wherein the detecting that the current orientation of the inertial measurement unit is different from the preset orientation comprises:

If the IMU data meets the preset condition, it is determined that the current orientation of the inertial measurement unit is different from the preset orientation.
The method of claim 2 wherein:

The IMU data is obtained when the carrier performs a specified action.
The method of claim 1 wherein said current orientation comprises a coordinate axis orientation of said inertial measurement unit.
The method of claim 4 wherein:

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 method of claim 2 wherein said IMU data comprises 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 method of claim 2 wherein said IMU data comprises 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 method according to claim 1, wherein the processing the IMU data according to the preset orientation comprises:

The opposite operation is performed on the IMU data.
The method according to claim 1, wherein the carrier is a left wrist of a human body or a right wrist of a human body.
A portable device, wherein the portable device is configured to detect a posture of a carrier, the portable device comprising:

An inertial measurement unit for acquiring IMU data;

a processor for:

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 portable device of claim 10 wherein said processor is operative to:

If the IMU data meets the preset condition, it is determined that the current orientation of the inertial measurement unit is different from the preset orientation.
A portable device according to claim 11, wherein

The IMU data is obtained when the carrier performs a specified action.
The portable device of claim 10, wherein the current orientation comprises a coordinate axis orientation of the inertial measurement unit.
A portable device according to claim 13 wherein:

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 portable device of claim 11, wherein the IMU data comprises 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 portable device of claim 11 wherein said IMU data comprises 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 portable device of claim 10 wherein said processor is operative to:

The opposite operation is performed on the IMU data.
The portable device according to claim 10, wherein the carrier is a left wrist of a human body or a right wrist of a human body.
A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:

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 machine-readable storage medium according to claim 19, wherein in the process of detecting that the current orientation of the inertial measurement unit is different from the preset orientation, the computer instruction is executed as follows:

If the IMU data meets the preset condition, it is determined that the current orientation of the inertial measurement unit is different from the preset orientation.
The machine readable storage medium of claim 20, wherein the IMU data is obtained when the carrier performs a specified action.
The machine readable storage medium of claim 19, wherein the current orientation comprises an orientation of an axis of the inertial measurement unit.
A machine readable storage medium according to claim 22, wherein

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 machine readable storage medium of claim 20, wherein the IMU data comprises 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 machine readable storage medium of claim 20, wherein the IMU data comprises angular velocity data;

The preset condition is: a symbol of the angular velocity data corresponding to the preset orientation The number is different.
The machine-readable storage medium according to claim 19, wherein in the process of processing the IMU data according to the preset orientation, when the computer instruction is executed, the following processing is performed:

The opposite operation is performed on the IMU data.
The machine readable storage medium of claim 19, wherein the carrier is a left wrist of a human body or a right wrist of a human body.