CN108496144B - Motion recognition method, portable device, and machine-readable storage medium - Google Patents
Motion recognition method, portable device, and machine-readable storage medium Download PDFInfo
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- 230000033001 locomotion Effects 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000005259 measurement Methods 0.000 claims abstract description 76
- 210000000707 wrist Anatomy 0.000 claims description 36
- 230000001133 acceleration Effects 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 description 9
- 210000003813 thumb Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 230000036544 posture Effects 0.000 description 6
- 210000003811 finger Anatomy 0.000 description 4
- 239000000969 carrier Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 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
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- 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
- G06F3/0346—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 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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Abstract
A motion recognition method, a portable device, a machine-readable storage medium, the method being applied to a portable device for detecting a motion gesture 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 a preset orientation; and processing the IMU data according to the preset orientation. By applying the embodiment of the invention, the motion posture of the carrier can be accurately identified.
Description
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
An IMU (Inertial Measurement Unit) is composed of three single-axis acceleration sensors and three single-axis angular velocity sensors (gyroscopes), and can measure IMU data including acceleration data and angular velocity data of a carrier in a three-dimensional space, based on which the IMU can be installed in a portable device, such as a wearable portable device or a handheld portable device, and the motion attitude of the carrier is resolved from the IMU data measured by the IMU.
When the portable device is carried in different directions relative to the carrier, the directions of the three single axes in the coordinate system applied by the IMU are different, and the placement direction of the portable device relative to the carrier cannot be identified according to the IMU data measured by the IMU, which may result in that the movement of the carrier cannot be accurately identified according to the IMU data measured by the IMU. For example, assuming that the portable device is a watch, when the watch is worn on the right wrist of the human body and the right hand of the human body performs a hand raising operation, and when the watch is worn on the left wrist of the human body and the left hand of the human body performs a hand dropping operation, the IMU data measured by the IMU are the same, and the carrier cannot be identified as the right wrist or the left wrist of the human body according to the IMU data measured by the IMU, so that the motion posture of the carrier cannot be accurately identified according to the IMU data measured by the IMU.
Disclosure of Invention
The invention provides a motion recognition method, a portable device, and a machine-readable storage medium.
In a first aspect of the present invention, a motion recognition method is provided, which is applied to a portable device for detecting a motion posture of a carrier, the portable device including an inertial measurement unit for acquiring IMU data, the method including:
detecting that the current orientation of the inertial measurement unit is different from a preset orientation;
and processing the IMU data according to the preset orientation.
In a second aspect of the present invention, there is provided a portable device for detecting a moving posture of a carrier, the portable device comprising:
an inertial measurement unit for acquiring IMU data; and
a processor to:
detecting that the current orientation of the inertial measurement unit is different from a preset orientation;
and processing the IMU data according to the preset orientation.
In a third aspect of the present invention, a machine-readable storage medium is provided, having stored thereon computer instructions, which when executed perform the following:
detecting that the current orientation of the inertial measurement unit is different from a preset orientation;
and processing the IMU data according to the preset orientation.
Based on the technical scheme, in the embodiment of the invention, whether the current orientation of the inertia measurement unit is different from the preset orientation can be detected, when the current orientation is detected to be different from the preset orientation, the obtained IMU data is processed, and because the symbol of the processed IMU data is the same as the data symbol corresponding to the preset orientation, the motion attitude of the carrier identified according to the processed IMU data is accurate, so that the motion attitude of the carrier can be identified accurately under the condition that the current orientation of the inertia measurement unit cannot be detected according to the IMU data.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments of the present invention or the description in the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is also possible for those skilled in the art to obtain other drawings according to the drawings of the embodiments of the present invention.
FIG. 1A is an example of a portable device being a bracelet;
FIG. 1B is an example of an application scenario for implementing a motion recognition method according to an embodiment of the present invention;
FIG. 2A is a flow chart of a motion recognition method;
FIG. 2B is an example of a client of a bracelet;
fig. 3 is an example of a portable device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the features in the embodiments and the examples described below may be combined with each other without conflict.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein and in the claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be understood that the term "and/or" as used herein is meant to encompass any and all possible combinations of one or more of the associated listed items.
Although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Depending on the context, moreover, the word "if" may be used is interpreted as "at … …," or "at … …," or "in response to a determination.
The embodiment of the invention provides a motion recognition method which can be applied to portable equipment, and the portable equipment can be used for detecting the motion posture of a carrier. Wherein, this portable equipment can be the bracelet, and the carrier can be human left wrist or human right wrist. Of course, it will be understood by those skilled in the art that the portable device may be of other types, such as an arm ring, a handheld portable device, etc., and the present application does not limit the type of the portable device, and in addition, the type of the carrier may be different according to the type of the portable device, for example, the carrier may be a human arm, a palm, etc., and the present application does not limit the type of the carrier.
Referring to fig. 1A, an example of a portable device is a bracelet, which includes an inertial measurement unit (not shown in fig. 1A) that can detect linear motion along and rotational motion about three orthogonal coordinate axes, which can include x, y, and z axes, using a technique such as MEMS (micro electro mechanical Systems); or pitch, roll, yaw axis.
Referring to fig. 1B, an example of an application scenario in which the bracelet illustrated in fig. 1A is worn on a right wrist of a human body is shown for implementing a motion recognition method according to an embodiment of the present invention. In fig. 1B, for example, the coordinate axes of the inertia measurement unit include an x axis, a y axis, and a z axis, assuming that the x axis of the inertia measurement unit of the bracelet is directed to the fingers when the palm of the right hand of the human body is straightened, the y axis is directed to the thumb when the thumb of the right hand of the human body is extended laterally, and the z axis is directed to the palm back from the palm center of the right hand of the human body, as shown in fig. 1B. Then, when the bracelet is worn on the wrist of the left hand of a human body, the x-axis orientation of the inertia measurement unit of the bracelet is the opposite direction to the orientation of the fingers when the palm of the left hand of the human body is straightened, the y-axis orientation is the orientation of the thumb when the thumb of the left hand of the human body extends laterally, and the z-axis orientation is the orientation when the palm center of the left hand of the human body is oriented to the back of the palm.
According to the above description, when the bracelet is worn on the left wrist and the right wrist of the human body, respectively, the orientations of the inertia measurement units of the bracelet are different, so that when the left arm and the right arm of the human body do the same motion, the IMU data acquired by the inertia measurement units are different, and thus, the motion postures of the carriers identified according to the IMU data are different; moreover, when the left arm and the right arm of the human body do different motions, for example, when the left arm of the human body does a droop motion and the right arm of the human body does a lift motion, the IMU data acquired by the inertia measurement unit are the same, so that the motion postures of the carriers identified according to the IMU data are the same. Through the description, it can be found that the motion attitude of the carrier cannot be accurately identified according to the IMU data acquired by the inertial measurement unit when the carrier moves.
In order to solve the above problem, the present invention provides a motion recognition method, and the following describes an embodiment of the present invention in detail with reference to the portable device shown in fig. 1A and the application scenario shown in fig. 1B.
Referring to fig. 2A, which is a flowchart of a motion recognition method, the method may be applied to a portable device, such as the bracelet illustrated in fig. 1A, and as can be seen from the above description, the bracelet includes an inertial measurement unit thereon, and the inertial measurement unit is used 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 an orientation of coordinate axes of the inertial measurement unit, wherein the coordinate axes may include 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 the present invention, a preset wearing part may be set for the bracelet illustrated in fig. 1A in advance, for example, the preset wearing part is a right wrist portion of a human body, and in the present invention, the preset wearing part of the bracelet is set, that is, a preset orientation may be set for a coordinate axis of an inertial measurement unit included in the bracelet, for example, as shown in fig. 1B, when the preset wearing part is the right wrist portion of the human body, the preset orientation of an x axis of the inertial measurement unit is a direction of a finger when a palm of the right hand of the human body is straightened, the preset orientation of a y axis of the inertial measurement unit is a direction of a thumb when the thumb of the right hand of the human body is stretched laterally, and the preset orientation of a z axis of the inertial measurement unit is a direction when a palm center of the right hand of the human body is directed to a back palm.
In the invention, when the motion attitude of the carrier is detected by the inertial measurement unit included on the bracelet, whether the current orientation of the inertial measurement unit is different from the preset orientation can be detected firstly:
in an alternative implementation, it may be detected whether the current orientation of the inertial measurement unit is different from a preset orientation according to a user setting. Specifically, as shown in fig. 2B, the present invention is an example of a client of a bracelet, and in the present invention, a user may set a current wearing part of the bracelet through the client illustrated in fig. 2B, where the current wearing part may be a right wrist part or a left wrist part of a human body. In the present invention, the current wearing position of the bracelet is set, that is, the current orientation may be set for the coordinate axis of the inertia measurement unit included in the bracelet, for example, as shown in fig. 2B, if the user currently selects the wrist of the left hand of the human body, the current orientation of the x-axis of the inertia measurement unit is the opposite direction to the orientation of the fingers when the palm of the left hand of the human body is straightened, the current orientation of the y-axis of the inertia measurement unit is the orientation of the thumb when the thumb extends from the side of the thumb of the left hand of the human body, and the current orientation of the z-axis of the inertia measurement unit is the orientation when the palm center of the left hand of the human body is directed to the back of the palm.
According to the description, when the bracelet is worn on the right wrist and the left wrist of the human body respectively, the orientation of the coordinate axes of the inertia measurement unit is different, namely the current wearing position set by the user is different from the preset wearing position, and the current orientation of the inertia measurement unit is detected to be different from the preset orientation.
In another optional implementation manner, when the carrier executes the designated action, the IMU data acquired by the inertial measurement unit may be acquired, and whether the current orientation of the inertial measurement unit is different from the preset orientation is detected by detecting whether the IMU data satisfies a preset condition, specifically, if the IMU data satisfies 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 that a symbol of acceleration data included in the IMU data is different from a data symbol corresponding to the preset orientation, or that a symbol of angular velocity data included in the IMU data is different from a data symbol corresponding to the preset orientation.
For example, if the preset wearing part is the right wrist part of the human body, when the designated action is a hand lifting action or a hand dropping action, the acceleration data and the angular velocity data on the x axis included in the IMU data are negative numbers, that is, when the preset wearing part is the right wrist part of the human body, the data symbol corresponding to the preset orientation is a negative sign; if the preset wearing part is the left wrist of the human body, when the designated action is a hand lifting action or a hand dropping action, the acceleration data and the angular velocity data on the x axis included in the IMU data are positive numbers, that is, when the preset wearing part is the left wrist of the human body, the data symbol corresponding to the preset orientation is a positive number.
Assuming that the preset wearing part is a right wrist part of a human body and it cannot be determined whether the bracelet is currently worn on the left wrist part or the right wrist part of the human body, at this time, the bracelet may send an indication message indicating that a user performs a specified action, such as a hand-lifting action, on a display screen of the bracelet or through a display interface of a client, so that the user may perform the specified action according to the indication message. In the process of executing a specified action by a user, the inertial measurement unit acquires IMU data, and if the acceleration data or angular velocity data on the x axis included in the IMU data is a positive number, that is, the sign of the acceleration data or the sign of the angular velocity data on the x axis included in the IMU data is different from the data sign (negative sign) of a preset orientation, at this time, it may be detected that the current orientation of the inertial measurement unit is different from the preset orientation.
Step 202: processing the IMU data according to the preset orientation.
As can be seen from the description in step 201, when the bracelet is worn on the left wrist and the right wrist of the human body, and the right arm and the left arm of the human body perform the same motion, the acquired IMU data have opposite signs, which may specifically include that the acceleration data and the angular velocity data on the x axis in the IMU data are opposite, so in this 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 subjected to an opposite operation.
In one example, suppose the IMU data is (x, y, z), the processed IMU data is (x ', y ', z ')T＝R*(x，y，z)T. Wherein,
based on the technical scheme, in the embodiment of the invention, whether the current orientation of the inertia measurement unit is different from the preset orientation can be detected, when the current orientation is detected to be different from the preset orientation, the obtained IMU data is processed, and because the symbol of the processed IMU data is the same as the data symbol corresponding to the preset orientation, the motion attitude of the carrier identified according to the processed IMU data is accurate, so that the motion attitude of the carrier can be identified accurately under the condition that the current orientation of the inertia measurement unit cannot be detected according to the IMU data.
Based on the same inventive concept as the above method, an embodiment of the present invention further provides a portable device, which is an example of the portable device with reference to fig. 3, and as shown in fig. 3, the portable device includes: inertia measurement unit, treater. The inertial measurement unit is used for acquiring IMU data; the processor is used for detecting that the current orientation of the inertial measurement unit is different from a preset orientation; and processing the IMU data according to the preset orientation.
In one example, the processor is configured to: and if the IMU data meets a preset condition, determining that the current orientation of the inertial measurement unit is different from the preset orientation.
In one example, the IMU data is obtained when the carrier performs a specified action.
In one example, the current orientation includes a coordinate axis orientation of the inertial measurement unit.
In one example, the coordinate axes include 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 conditions are as follows: the sign of the acceleration data is different from the sign of the data corresponding to the preset orientation.
In one example, the IMU data includes angular velocity data;
the preset conditions are as follows: the sign of the angular velocity data is different from the sign of the data corresponding to the preset orientation.
In one example, the processor is configured to: and carrying out inverse number taking operation on the IMU data.
In one example, the carrier is the human left wrist, or the human right wrist.
Based on the same inventive concept as the method, an embodiment of the present invention further provides a machine-readable storage medium, which may be located in a portable device, and the machine-readable storage medium stores thereon several computer instructions, and when executed, the computer instructions perform the following processes: detecting that the current orientation of the inertial measurement unit is different from a preset orientation; and 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, the computer instructions are executed to perform the following processes: and if the IMU data meets a preset condition, determining that the current orientation of the inertial measurement unit is different from the preset orientation.
The IMU data is obtained when the carrier executes a specified action.
The current orientation comprises a coordinate axis orientation of the inertial measurement unit.
The coordinate axes include 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 comprises acceleration data; the preset conditions are as follows: the sign of the acceleration data is different from the sign of the data corresponding to the preset orientation.
The IMU data comprises angular velocity data; the preset conditions are as follows: the sign of the angular velocity data is different from the sign of the data corresponding to the preset orientation.
In the processing of the IMU data according to the preset orientation, the computer instructions when executed perform the following: and carrying out inverse number taking operation on the IMU data.
The carrier is the left wrist part of the human body or the right wrist part of the human body.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by an article of manufacture with certain functionality. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when implementing the invention.
As will be appreciated by one skilled in the art, embodiments of the present 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 an embodiment combining software and hardware aspects. Furthermore, embodiments of the present 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, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Furthermore, these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
As will be appreciated by one skilled in the art, embodiments of the present 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 an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (which may include, but is not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (27)
1. A motion recognition method applied to a portable device for detecting a motion attitude of a carrier, the portable device including an inertial measurement unit for acquiring IMU data, the method comprising:
in response to detecting that the current orientation of the inertial measurement unit is different from a preset orientation, processing the IMU data according to the preset orientation, so that the processed IMU data conforms to the preset orientation; the current orientation of the inertial measurement unit represents the current wearing position of the inertial measurement unit on the carrier, and the preset orientation represents the preset wearing position of the inertial measurement unit;
and detecting the motion attitude of the carrier by using the processed IMU data.
2. The method of claim 1, wherein the detecting that the current orientation of the inertial measurement unit is different from a preset orientation comprises:
and if the IMU data meets a preset condition, determining that the current orientation of the inertial measurement unit is different from a preset orientation.
3. The method of claim 2,
the IMU data is obtained when the carrier executes a specified action.
4. The method of claim 1, wherein the current orientation comprises a coordinate axis orientation of the inertial measurement unit.
5. The method of claim 4,
the coordinate axes include at least one of an x-axis, a y-axis, a z-axis, or
At least one of a pitch axis, a roll axis, and a yaw axis.
6. The method of claim 2, wherein the IMU data includes acceleration data;
the preset conditions are as follows: the sign of the acceleration data is different from the sign of the data corresponding to the preset orientation.
7. The method of claim 2, wherein the IMU data includes angular velocity data;
the preset conditions are as follows: the sign of the angular velocity data is different from the sign of the data corresponding to the preset orientation.
8. The method of claim 1, wherein said processing said IMU data according to said preset orientation comprises:
and carrying out inverse number taking operation on the IMU data.
9. The method of claim 1, wherein the carrier is a human left wrist or a human right wrist.
10. A portable device for detecting a posture of a carrier, the portable device comprising:
an inertial measurement unit for acquiring IMU data; and
a processor to:
in response to detecting that the current orientation of the inertial measurement unit is different from a preset orientation, processing the IMU data according to the preset orientation, so that the processed IMU data conforms to the preset orientation; the current orientation of the inertial measurement unit represents the current wearing position of the inertial measurement unit on the carrier, and the preset orientation represents the preset wearing position of the inertial measurement unit;
and detecting the motion attitude of the carrier by using the processed IMU data.
11. The portable device of claim 10, wherein the processor is configured to:
and if the IMU data meets a preset condition, determining that the current orientation of the inertial measurement unit is different from the preset orientation.
12. The portable device of claim 11,
the IMU data is obtained when the carrier executes a specified action.
13. The portable device of claim 10, wherein the current orientation comprises a coordinate axis orientation of the inertial measurement unit.
14. The portable device of claim 13,
the coordinate axes include at least one of an x-axis, a y-axis, a z-axis, or
At least one of a pitch axis, a roll axis, and a yaw axis.
15. The portable device of claim 11, wherein the IMU data includes acceleration data;
the preset conditions are as follows: the sign of the acceleration data is different from the sign of the data corresponding to the preset orientation.
16. The portable device of claim 11, wherein the IMU data includes angular velocity data;
the preset conditions are as follows: the sign of the angular velocity data is different from the sign of the data corresponding to the preset orientation.
17. The portable device of claim 10, wherein the processor is configured to:
and carrying out inverse number taking operation on the IMU data.
18. A portable device according to claim 10, wherein the carrier is a human left wrist or a human right wrist.
19. A machine-readable storage medium having stored thereon computer instructions that, when executed, perform the following:
in response to the fact that the current orientation of the inertial measurement unit is different from the preset orientation, processing IMU data acquired by the inertial measurement unit according to the preset orientation, and enabling the processed IMU data to be consistent with the preset orientation; the current orientation of the inertial measurement unit represents the current wearing position of the inertial measurement unit on the carrier, and the preset orientation represents the preset wearing position of the inertial measurement unit;
and detecting the motion attitude of the carrier by using the processed IMU data.
20. The machine-readable storage medium of claim 19, wherein in detecting that the current orientation of the inertial measurement unit is different from a preset orientation, the computer instructions when executed perform the following:
and if the IMU data meets a preset condition, determining that the current orientation of the inertial measurement unit is different from the preset orientation.
21. The machine-readable storage medium of claim 20, wherein the IMU data is obtained when the carrier performs a specified action.
22. The machine-readable storage medium of claim 19, wherein the current orientation comprises a coordinate axis orientation of the inertial measurement unit.
23. The machine-readable storage medium of claim 22,
the coordinate axes include at least one of an x-axis, a y-axis, a z-axis, or
At least one of a pitch axis, a roll axis, and a yaw axis.
24. The machine-readable storage medium of claim 20, wherein the IMU data includes acceleration data;
the preset conditions are as follows: the sign of the acceleration data is different from the sign of the data corresponding to the preset orientation.
25. The machine-readable storage medium of claim 20, wherein the IMU data includes angular velocity data;
the preset conditions are as follows: the sign of the angular velocity data is different from the sign of the data corresponding to the preset orientation.
26. The machine-readable storage medium of claim 19, wherein said computer instructions, when executed, perform the process of processing said IMU data according to said preset orientation:
and carrying out inverse number taking operation on the IMU data.
27. The machine-readable storage medium of claim 19, wherein the carrier is a human left wrist or a human right wrist.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/083705 WO2018205159A1 (en) | 2017-05-10 | 2017-05-10 | Motion recognition method, portable device, and machine-readable storage medium |
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| CN108496144A CN108496144A (en) | 2018-09-04 |
| CN108496144B true CN108496144B (en) | 2022-05-17 |
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| CN (1) | CN108496144B (en) |
| WO (1) | WO2018205159A1 (en) |
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| Publication number | Publication date |
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| CN108496144A (en) | 2018-09-04 |
| WO2018205159A1 (en) | 2018-11-15 |
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