CN102667672A - Acceleration motion identify method and system thereof - Google Patents
Acceleration motion identify method and system thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/185—Compensation of inertial measurements, e.g. for temperature effects for gravity
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P7/00—Measuring speed by integrating acceleration
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
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Abstract
Description
Claims (1)
- Claim1. a kind of action identification method, comprises the following steps:The valid data signal of an action is gathered by 3-axis acceleration sensor;Determine the inactive state data of the starting and ending of the action;The valid data signal and the inactive state data of the starting and ending of the action gathered based on 3-axis acceleration sensor, by removing acceleration of gravity separation algorithm, separated in the data that acceleration of gravity is sampled from 3-axis acceleration sensor, the moving acceleration data acted;AndMoving acceleration data based on the action calculates speed and the track of the action.2. method according to claim 1, wherein the duplicate removal power acceleration separation algorithm includes:During solving the action from start to end, the minimum angles for the corner that the direction vector of the axle of the action and the axle are rotated around certain direction;Using the direction vector and the angle of corner of the axle solved, rotative component is separated on each sampled point;AndThe posture of every bit and acceleration of gravity are set up into corresponding mapping, influence of the acceleration of gravity to signal under different postures is removed, obtains accurate movement acceleration information.3. method according to claim 1, wherein the duplicate removal power acceleration separation algorithm includes:Valid data signal based on 3-axis acceleration sensor, before motion is started, the inactive state data after terminating are used as two groups of stationary postures that are initial and terminating;The acceleration information closed in the shorter set time is removed into acceleration of gravity using the data of two groups of static postures, acceleration of motion numerical value, movement velocity and the track in this period is obtained;Above-mentioned acceleration of motion numerical value, movement velocity and track are matched with the movement instruction of the limited quantity among pattern match data storehouse, the direction of motion of determination is drawn;AndBased on front and rear two groups of direction of motion is calculated, the change in direction is split and each spot speed and track in complete movement data is corrected, movable information is obtained.4. according to the method for Claims 2 or 3, wherein the inactive state data of the valid data signal of the action and the starting and ending of action have following form:The beginning and end of data includes the data of one group of inactive state respectively, and middle each group of data is the valid data that 3-axis acceleration sensor sampling is obtained in human motion.5. according to the method for Claims 2 or 3, wherein the step of inactive state data of the starting and ending for determining the action further comprise static-motion detection step, the pre- static and pre- motion state for detection operation.6. method according to claim 5 the, wherein static-motion detection step includes:When action is pre- inactive state, continuous N frame data are packaged into one group;Judge that the variance of this group of data is more than predetermined threshold value Θ;If this group of data, which starve variance, is more than predetermined threshold value Θ, detection state is then set to enter pre- motion state, data Cun Chudao by previous group N frame data together with the pre- motion state of this group is cached, and the data of this section of pre- motion state are directly transmitted to speed and the track to calculate the action;When action is pre- motion state, judge that data variance now is more than predetermined threshold value, or judge whether the mould of the average of data and the difference of normal acceleration of gravity is more than predetermined difference DELTA;When the data variance be less than predetermined threshold θ, and the difference of data mean value and normal acceleration of gravity mould be less than predetermined difference DELTA, then make detection state enter pre- inactive state.7. method according to claim 6, wherein described static-motion detection step further comprises-when detection state enters pre- inactive state, last judgement is carried out to data length in caching, detect whether data length is more than with the size of the frequency F data sampled in the Τ times, and judge that the mould in data with the presence or absence of one group of its average of data and the difference of normal acceleration of gravity is more than effective exercise amplitude Ω;If the two conditions are not all met, the data among caching are emptied;If meeting two conditions simultaneously, data are sent and by going acceleration of gravity separation algorithm to separate the acceleration of gravity in data.8. a kind of motion recognition system, includingData acquisition transport module, it includes 3-axis acceleration sensor, the valid data signal of an action for sending 3-axis acceleration sensor collection;Driver module, the data-signal for will be sent from the data acquisition transport module is cached, and receives the data from data processing module, the driving for showing driving and human-computer interaction device;Data processing module, it includes acceleration of gravity separation module, the data processing module is used for the inactive state data for determining the starting and ending of the action corresponding to 3-axis acceleration sensor, and the valid data signal and the inactive state data of the starting and ending of the action gathered based on 3-axis acceleration sensor, pass through acceleration of gravity separation module, separated in the data that acceleration of gravity is sampled from 3-axis acceleration sensor, the moving acceleration data acted, and the moving acceleration data based on the action calculates speed and the track of the action, and transfer data to the driver module.9. motion recognition system according to claim 8, wherein the acceleration of gravity separation module,During solving the action from start to end, the minimum angles for the corner that the direction vector of the axle of the action and action are rotated around the axle;Using the direction vector and the angle of corner of the axle solved, rotative component is separated on each sampled point;AndThe posture of every bit and acceleration of gravity are set up into corresponding mapping, influence of the acceleration of gravity to signal under different postures is removed, obtains accurate movement acceleration information.10. according to the motion recognition system of claim 8, wherein the acceleration of gravity separation module,Valid data signal based on 3-axis acceleration sensor, before motion is started, the inactive state data after terminating are used as two groups of stationary postures that are initial and terminating;The acceleration information closed in the shorter set time is removed into acceleration of gravity using the data of two groups of static postures, acceleration of motion numerical value in this period, movement velocity is obtained And track;Above-mentioned acceleration of motion numerical value, movement velocity and track are matched with the movement instruction of the limited quantity among pattern match data storehouse, the direction of motion of determination is drawn;AndBased on front and rear two groups of direction of motion is calculated, the change in direction is split and each spot speed and track in complete movement data is corrected, movable information is obtained.1 1. motion recognition system according to claim 9 or 10, wherein the inactive state data of the valid data signal of the action and the starting and ending of action have following form:The Jian of data begins and terminated to include the data of one group of inactive state respectively, and middle each group of data is the valid data that 3-axis acceleration sensor sampling is obtained in human motion.12. the motion recognition system according to claim 9 or 10, wherein the data processing module further comprises static-motion detection block, the pre- static and pre- motion state for detection operation.13. according to the motion recognition system of claim 11, wherein the static-motion detection block,When action is pre- inactive state, continuous N frame data are packaged into one group;Judge that the variance of this group of data is more than predetermined wealthy value Θ;If this group of data, which starve variance, is more than predetermined threshold θ, detection state is then set to enter pre- motion state, data Cun Chudao by previous group Ν frame data together with the pre- motion state of this group is cached, and the data of this section of pre- motion state are directly transmitted to speed and the track to calculate the action;When action is pre- motion state, judge that data variance now is more than predetermined threshold value, or judge whether the mould of the average of data and the difference of normal acceleration of gravity is more than predetermined difference DELTA;When the data variance be less than predetermined threshold θ, and the difference of data mean value and normal acceleration of gravity mould be less than predetermined difference DELTA, then make detection state enter pre- inactive state.14. motion recognition system according to claim 13, wherein the static-motion detection block further comprises, When the state of detection enters pre- inactive state, last judgement is carried out to data length in caching, detect whether data length is more than with the size of the frequency F data sampled in T time, and judge that the mould in data with the presence or absence of one group of its average of data and the difference of normal acceleration of gravity is more than effective exercise amplitude Ω;If the two conditions are not all met, the data among caching are emptied;If meeting two conditions simultaneously, data are sent and by going acceleration of gravity separation algorithm to separate the acceleration of gravity in data.15. according to the motion recognition system of claim 8, wherein the data acquisition transport module further comprises:Microprocessor, it goes to read the data storage cell of 3-axis acceleration sensor with fixed frequency F, every group of data are encrypted according to public keys and AES simultaneously, and the data storage cell by encrypted data in microcontroller is cached, encrypted data are then sent to data transmission module;Data transmission module, it receives the data from microprocessor, data is sent using wirelessly or non-wirelessly mode.16. according to the motion recognition system of claim 8, wherein the motion recognition system further comprises:Data reception module, for receiving the data from data transmission module, and sends it to driver module.17. according to the motion recognition system of claim 8, wherein described driver module further comprises encryption/decryption filtering drive module, received data is decrypted based on the AES and public keys in microprocessor, and the data after decryption are verified, when data volume reaches the thresholding inch that triggering is sent, static-motion detection block is sent data to.18. according to the motion recognition system of claim 8, wherein the motion recognition system further comprises:Pattern matching module, adds for receiving the motion from acceleration of gravity separation module Speed data, calculate the speed and space tracking of action, matching degree calculating Check is carried out in operational order database and movement velocity track database to ask and set up mapping, obtains corresponding motion action mode data in operational order database, and send it to driver module.19. motion recognition system according to claim 18, wherein the motion recognition system further comprises:Act display module, it includes two parallel data processing modules, pre- action display module and completely action display module in real time, the pre- exercise data from static-motion detection block is received respectively, and entire motion speed, the track data of acceleration of gravity separation module, the direction of motion and speed for display action.20. motion recognition system according to claim 19, wherein the driver module further comprises:Human-computer interaction device's drive module, for receiving the motion action mode data from pattern matching module, it then follows there is provided the general controls interface of application program-oriented method for the input equipment driving model requirement of operating system Plays;Driver module, the direction of motion and rate signal for receiving the action from the action display module, for driving the display acted on a display screen.
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CN104898831A (en) * | 2015-05-08 | 2015-09-09 | 中国科学院自动化研究所北仑科学艺术实验中心 | Human action collection and action identification system and control method therefor |
CN105630195A (en) * | 2014-10-28 | 2016-06-01 | 欧姆龙健康医疗事业株式会社 | Motion recognition device, portable motion detection device and motion recognition method thereof |
CN106371587A (en) * | 2016-08-28 | 2017-02-01 | 深圳市爱华兴模具有限公司 | Simple and effective gesture identification method |
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