CN109724594A - The displacement gesture recognition method of device and the device for using this method - Google Patents
The displacement gesture recognition method of device and the device for using this method Download PDFInfo
- Publication number
- CN109724594A CN109724594A CN201711033013.9A CN201711033013A CN109724594A CN 109724594 A CN109724594 A CN 109724594A CN 201711033013 A CN201711033013 A CN 201711033013A CN 109724594 A CN109724594 A CN 109724594A
- Authority
- CN
- China
- Prior art keywords
- axis
- described device
- motion
- initial
- gesture recognition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 77
- 230000000386 athletic effect Effects 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- User Interface Of Digital Computer (AREA)
- Position Input By Displaying (AREA)
Abstract
This application discloses a kind of displacement gesture recognition method of device and using the device of this method, wherein, method includes the following steps: that the device for athletic posture to be identified establishes three-dimensional system of coordinate, the three-dimensional system of coordinate includes orthogonal X, Y, Z axis, and the X, Y, Z axis intersects at origin O, the origin O is arranged at the mass center of described device, and the three-dimensional system of coordinate and described device are connected；Judge the direction of motion of described device relative to the Eulerian angles Parameters variation of earth axes in the three-dimensional system of coordinate according to described device；And according to the direction of motion of described device and the forms of motion of velocity estimated described device.
Description
Technical field
This application involves the displacement gesture recognition methods and use of gesture recognition field more particularly to a kind of device should
The device of method.
Background technique
Motion tracking solution is broadly divided into following two categories:
One type includes optical solutions, sonar solution and EM (expectation-maximization
Algorithm) smartnet onsite solution SMARTNet needs to dispose different infrastructure in advance and realizes motion tracking.For example, by using optics solution
Certainly when scheme, before recording user movement, need that camera or infrared receiver are installed at the scene；Using sonar solution
When with EM smartnet onsite solution SMARTNet, then need to install transmitter or receiver array in advance to position movement.On it is readily apparent that
It is although with good performance to state scheme, but needs to be arranged architecture, cost is relatively high.In addition, once use pattern occurs
Variation, it is also necessary to which professional re-starts debugging to equipment.
Another common solution is such as to use gloves using the movement of wearable device tracking some part of body
(CyberGlove) gesture is tracked, or realizes the tracking of all postures using wearable suit (Xsens, Noitom).It needs at this time
Multiple sensors are mounted on to the physical feeling for needing to monitor, sensors are IMU (Inertial Measurement Unit).This solution
The scheme requirement not too many for environment and usage scenario, and because design scheme usually compares the characteristics of IMU sensor
Flexible and relative inexpensiveness.But the problem of being frequently encountered sensor drift currently based on the solution of IMU, so that
Obtained data and truth have biggish deviation.How the advantage of IMU is utilized, while improving the accurate of motion tracking effect
Degree is a problem to be solved.
Summary of the invention
The first purpose of the application is to provide a kind of displacement gesture recognition method of device, be able to solve existing
The problems in technology.
This application discloses a kind of displacement gesture recognition methods of device, include the following steps:
Initial three-dimensional system of coordinate, the initial three-dimensional are established according to the initial position of the device of the athletic posture to be identified
Coordinate system includes orthogonal X, Y, Z axis, and the X, Y, Z axis intersects at origin O；
Real-time three-dimensional coordinate system, the real-time three-dimensional coordinate system packet are established according to the real time position of the described device in movement
Orthogonal X ', Y ', Z ' axis are included, and the X ', Y ', Z ' axis intersect at origin O '；
Angle ginseng according to each axis in the real-time three-dimensional coordinate system relative to corresponding each axis in the initial coordinate system
Number variation judges the direction of motion of described device；And
According to the forms of motion of the direction of motion of described device and velocity estimated described device.
In feasible embodiment, described device is cuboid, according to the first of the device of the athletic posture to be identified
The method that initial three-dimensional system of coordinate is established in beginning position are as follows: in initial position, the X-axis is parallel with the length direction of described device,
The Y-axis is parallel with the short transverse of described device, and the Z axis is parallel with the width direction of described device；According in movement
The method that the real time position of described device establishes real-time three-dimensional coordinate system are as follows: in real time position, the X ' axis and described device
Length direction is parallel, and the Y ' axis is parallel with the short transverse of described device, and the width direction of the Z ' axis and described device is flat
Row.
It in feasible embodiment, include: root according to the direction of motion of described device and velocity estimated its forms of motion
Its forms of motion is judged according to average movement velocity of the described device in initial three-dimensional system of coordinate at least one axis.
In feasible embodiment, the forms of motion includes linear movement and rotary motion.
In feasible embodiment, the direction of at least one axis of the described device in initial three-dimensional system of coordinate is averaged
The positive and negative situation of locomotion speed value judges its forms of motion.
The application also discloses a kind of control unit, comprising:
Processor；And
Memory is stored with executable instruction, when the executable instruction is performed, so that the processor executes
The displacement gesture recognition method of device above-mentioned.
The application further discloses a kind of machine readable media, is stored with executable instruction, when the executable finger
Order is performed, so that machine executes the displacement gesture recognition method of device above-mentioned.
In order to be further understood that the feature and technology contents of the application, please refer to below in connection with the detailed of the application
Illustrate and attached drawing, however, the drawings only provide reference and explanation, is not used to limit the application.
Detailed description of the invention
The aforementioned and other aspects of the application will more completely be managed and that is done with reference to the accompanying drawings is discussed in detail
Solution and understanding, in the accompanying drawings:
Fig. 1 shows the flow chart of the displacement gesture recognition method of the application device；
Fig. 2 shows the schematic illustration of one embodiment of the application；
Fig. 3 shows the flow chart of one embodiment of the application；
Fig. 4 shows the schematic diagram that initial three-dimensional system of coordinate is established in one embodiment of the application；
Fig. 5 shows the vertical view movement schematic diagram of hand-held device in one embodiment of the application；
Fig. 6 shows the vertical view movement schematic diagram of hand-held device in second embodiment of the application；
Fig. 7 shows the schematic diagram of the control unit of one embodiment of the application.
Specific embodiment
For help those skilled in the art definitely understand this application claims theme, with reference to the accompanying drawing in detail
The specific embodiment of the application is described.
As shown in Figure 1, including the following steps: this application discloses a kind of displacement gesture recognition method of device
Step S110 establishes initial three-dimensional system of coordinate, institute according to the initial position of the device of the athletic posture to be identified
Stating initial three-dimensional system of coordinate includes orthogonal X, Y, Z axis, and the X, Y, Z axis intersects at origin O.
Step S120 establishes real-time three-dimensional coordinate system according to the real time position of the described device in movement, and described real-time three
Tieing up coordinate system includes orthogonal X ', Y ', Z ' axis, and the X ', Y ', Z ' axis intersect at origin O '.
Step S130, according to each axis in the real-time three-dimensional coordinate system relative to corresponding each axis in the initial coordinate system
Angle Parameters variation judge the direction of motion of described device.It is understood that when the movement of described device is described
When, the positional relationship between real-time three-dimensional coordinate system and initial coordinate system where device can be using between corresponding each axis
The Parameters variation of angle describes, these reacting conditions described device on the move becomes relative to the posture of itself initial position
Change situation.
Step S140, according to the forms of motion of the direction of motion of described device and velocity estimated described device.In some realities
It applies in mode, includes: to be sat according to described device in three-dimensional according to the direction of motion of described device and velocity estimated its forms of motion
Average movement velocity in mark system at least one axis judges its forms of motion.Wherein, the forms of motion includes linear movement
And rotary motion, the average movement velocity value in the direction of at least one axis of the described device in initial three-dimensional system of coordinate it is positive and negative
It can be used for judging its forms of motion.For example, at least one axis when confirmation described device substantially in initial three-dimensional system of coordinate
Positive direction movement when, if described device the direction average movement velocity be positive value, judge its carry out be linear movement,
Its progress is then judged for negative value is rotary motion.
As shown in Fig. 2, the application also discloses a kind of device that displacement posture is identified using preceding method, it should
Device is for example used to rehabilitation patient and performs physical exercise hand-held device used in body, is able to record and judges rehabilitation patient's
In place whether athletic posture.
The hand-held device 100 includes central processing unit 10 and Inertial Measurement Unit (IMU module) 20, wherein the inertia
Measuring unit 20 includes a gyroscope 21 and an acceleration transducer 22.Hand-held device 100 further includes a gripping unit 30, described
The medium height position that unit 30 is held close to the hand-held device 100 is arranged, and holds for rehabilitation patient.In this specific embodiment party
In formula, the shape of the hand-held device 100 is cuboid, and the Inertial Measurement Unit 20 is close to the side of the hand-held device 100
Edge setting, such as the upper left corner of the hand-held device is set.When hand-held device 100 is cuboid and gripping unit 30 is located at hand
When holding 100 medium height position of device, upper left position, which is arranged in, in Inertial Measurement Unit 20 can obtain relatively good measurement
Effect.It is understood that in other embodiments, the position of Inertial Measurement Unit 20 can be according to the concrete shape of device
It is determined with purposes；The direction for three axis chosen can also be adjusted according to the shape of tested device itself, three axis phases
It is mutually vertical.
In conjunction with shown in Fig. 3~Fig. 6, in this embodiment, when rehabilitation patient is moved using hand-held device 100
When, which judges the direction of motion and motion mode of itself according to following step:
In step S210, initial three-dimensional system of coordinate, the initial three-dimensional are established according to the initial position of hand-held device 100
Coordinate system includes orthogonal X, Y, Z axis, and the X, Y, Z axis intersects at origin O, in order to reach higher precision, at this
In specific embodiment, origin O is arranged at the mass center of Inertial Measurement Unit 20.The X-axis and the initial length of hand-held device 100
Spend that direction is parallel, and the Y-axis is parallel with the initial short transverse of hand-held device 100, the Z axis and hand-held device 100 are initially
Width direction is parallel；
In step S220, real-time three-dimensional coordinate system, the reality are established according to the real time position of the described device in movement
When three-dimensional system of coordinate include orthogonal X ', Y ', Z ' axis, and the X ', Y ', Z ' axis intersect at origin O ', in order to reach compared with
High precision, in this embodiment, origin O ' are arranged at the mass center of Inertial Measurement Unit 20.X ' the axis and hand-held
The current length direction of device 100 is parallel, and the Y ' axis is parallel with the current short transverse of hand-held device 100, the Z ' axis with
The current width direction of hand-held device 100 is parallel.
In step S230, according to each axis in the real-time three-dimensional coordinate system relative to corresponding in the initial coordinate system
The angle Parameters variation of each axis judges the direction of motion of described device.Shown in Figure 5, hand-held device 100 is moved to from position A
During the B of position, the angle ψ between X ' axis and X-axis is changed, and the angle Φ between Z ' axis and Z axis is also become
Change, in this embodiment, the angle ψ (not shown) between Y ' axis and Y-axis does not change always, and Gu Tuzhong is omitted pair
The description of Y ' axis and Y-axis.It is understood that the motion mode different according to hand-held device 100, the angle of each axis are likely to
It changes.
In step S240, according to the forms of motion of the direction of motion of described device and velocity estimated described device.Referring to
Fig. 5 and Fig. 6 includes: in this embodiment root according to the direction of motion of described device and velocity estimated its forms of motion
Its forms of motion is judged according to average movement velocity of the described device in three-dimensional system of coordinate at least one axis.Wherein, the fortune
Dynamic form includes linear movement and rotary motion.As shown in Figure 5, it can be seen that hand-held device 100 is moved to position B from position A
During it is substantially mobile towards the forward direction of X-axis and Z axis, when selecting using X-axis as reference frame, hand-held device 100 exists
Average movement velocity on the direction of X-axis in initial three-dimensional system of coordinate is positive value, therefore judge its progress is linearly to transport
It is dynamic；As shown in fig. 6, the average movement velocity of the X-axis in initial three-dimensional system of coordinate of hand-held device 100 is negative value, therefore judge it
What is carried out is rotary motion.It is understood that then holding dress if it find that the negative sense of hand-held device 100 towards X-axis moves
100 are set when the average movement velocity on the direction of the X-axis in initial three-dimensional system of coordinate is positive value, judge its progress is rotation
Movement, when the average movement velocity of X-axis is negative value in initial three-dimensional system of coordinate, then what is carried out is linear movement.Similarly, at this
In specific embodiment, it is also contemplated that choosing Z axis as reference coordinate, details are not described herein again.
As shown in fig. 7, disclosed herein as well is a kind of control unit 10, including processor 11 and memory 12, wherein
Memory 12 is stored with executable instruction, when the executable instruction is performed, so that the processor executes shown in Fig. 1
Method.
The application also discloses a kind of machine readable media, is stored with executable instruction, when the executable instruction
It is performed, so that machine executes method shown in Fig. 1.
Although having been shown and described the application based on specific embodiment, the application is not restricted to shown thin
Section.On the contrary, the various details of the application can be modified in the range of claim and its equivalent replacement.
Claims (10)
1. a kind of displacement gesture recognition method of device, which comprises the steps of:
Initial three-dimensional system of coordinate, the initial three-dimensional coordinate are established according to the initial position of the device of the athletic posture to be identified
System includes orthogonal X, Y, Z axis, and the X, Y, Z axis intersects at origin O；
Real-time three-dimensional coordinate system is established according to the real time position of the described device in movement, the real-time three-dimensional coordinate system includes phase
Mutually vertical X ', Y ', Z ' axis, and the X ', Y ', Z ' axis intersect at origin O '；
Angle parameter according to each axis in the real-time three-dimensional coordinate system relative to corresponding each axis in the initial coordinate system becomes
Change the direction of motion for judging described device；And
According to the forms of motion of the direction of motion of described device and velocity estimated described device.
2. the displacement gesture recognition method of the apparatus according to claim 1, which is characterized in that described device is rectangular
Body, the method that initial three-dimensional system of coordinate is established according to the initial position of the device of the athletic posture to be identified are as follows: in initial bit
Set, the X-axis is parallel with the length direction of described device, and the Y-axis is parallel with the short transverse of described device, the Z axis with
The width direction of described device is parallel；The method for establishing real-time three-dimensional coordinate system according to the real time position of the described device in movement
Are as follows: in real time position, the X ' axis is parallel with the length direction of described device, and the short transverse of the Y ' axis and described device is flat
Row, the Z ' axis are parallel with the width direction of described device.
3. the displacement gesture recognition method of the apparatus according to claim 1, which is characterized in that according to described device
The direction of motion and velocity estimated its forms of motion include: according to described device in initial three-dimensional system of coordinate at least one axis
Average movement velocity judges its forms of motion.
4. the displacement gesture recognition method of device according to claim 3, spy is just, the forms of motion packet
Include linear movement and rotary motion.
5. the displacement gesture recognition method of device according to claim 3, which is characterized in that described device is along initial
The positive and negative situation of the average movement velocity value in the direction of at least one axis in three-dimensional system of coordinate judges its forms of motion.
6. a kind of using the device for identifying displacement posture such as Claims 1 to 5 any one the method, feature exists
In the mass center of the Inertial Measurement Unit is arranged in including central processing unit and Inertial Measurement Unit, the origin O and origin O '
Place, wherein the Inertial Measurement Unit includes a gyroscope and an acceleration transducer, and described device is wearable device or hand
Hold device.
7. device according to claim 6, which is characterized in that further include a gripping list when the device is hand-held device
Member, the unit that holds are arranged close to the medium height position of the hand-held device, and the Inertial Measurement Unit is close to the hand
Hold the edge setting of device.
8. device according to claim 7, which is characterized in that the hand-held device is arranged in the Inertial Measurement Unit
One jiao.
9. a kind of control unit, comprising:
Processor；And
Memory is stored with executable instruction, when the executable instruction is performed, so that the processor perform claim
It is required that the displacement gesture recognition method of any one of device in 1-5.
10. a kind of machine readable media, is stored with executable instruction, when the executable instruction is performed, so that machine
Perform claim requires the displacement gesture recognition method of any one of device in 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711033013.9A CN109724594A (en) | 2017-10-30 | 2017-10-30 | The displacement gesture recognition method of device and the device for using this method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711033013.9A CN109724594A (en) | 2017-10-30 | 2017-10-30 | The displacement gesture recognition method of device and the device for using this method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109724594A true CN109724594A (en) | 2019-05-07 |
Family
ID=66291889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711033013.9A Withdrawn CN109724594A (en) | 2017-10-30 | 2017-10-30 | The displacement gesture recognition method of device and the device for using this method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109724594A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102262437A (en) * | 2010-05-24 | 2011-11-30 | 英属维京群岛商速位互动股份有限公司 | motion sensing system |
| US20120255188A1 (en) * | 2009-11-20 | 2012-10-11 | Sany Automobile Manufacture Co., Ltd. | Hook pose detecting equipment and crane |
| CN102997932A (en) * | 2011-09-15 | 2013-03-27 | 北京自动化控制设备研究所 | Method for eliminating shaking impact of rotation table during high precision inertial navigation system calibration |
| CN103116411A (en) * | 2013-02-05 | 2013-05-22 | 上海飞智电子科技有限公司 | Positioning pointer position method and system |
| CN103499707A (en) * | 2013-09-29 | 2014-01-08 | 北京邮电大学 | Method and device for acquiring motion direction of terminal |
| CN105488371A (en) * | 2014-09-19 | 2016-04-13 | 中兴通讯股份有限公司 | Face recognition method and device |
| CN105867400A (en) * | 2016-04-20 | 2016-08-17 | 北京博瑞爱飞科技发展有限公司 | Flying control method and device for unmanned aerial vehicle |
| CN106510719A (en) * | 2016-09-30 | 2017-03-22 | 歌尔股份有限公司 | User posture monitoring method and wearable equipment |
| CN107229055A (en) * | 2017-05-04 | 2017-10-03 | 青岛海信电器股份有限公司 | Positioning of mobile equipment method and positioning device for mobile equipment |
-
2017
- 2017-10-30 CN CN201711033013.9A patent/CN109724594A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120255188A1 (en) * | 2009-11-20 | 2012-10-11 | Sany Automobile Manufacture Co., Ltd. | Hook pose detecting equipment and crane |
| CN102262437A (en) * | 2010-05-24 | 2011-11-30 | 英属维京群岛商速位互动股份有限公司 | motion sensing system |
| CN102997932A (en) * | 2011-09-15 | 2013-03-27 | 北京自动化控制设备研究所 | Method for eliminating shaking impact of rotation table during high precision inertial navigation system calibration |
| CN103116411A (en) * | 2013-02-05 | 2013-05-22 | 上海飞智电子科技有限公司 | Positioning pointer position method and system |
| CN103499707A (en) * | 2013-09-29 | 2014-01-08 | 北京邮电大学 | Method and device for acquiring motion direction of terminal |
| CN105488371A (en) * | 2014-09-19 | 2016-04-13 | 中兴通讯股份有限公司 | Face recognition method and device |
| CN105867400A (en) * | 2016-04-20 | 2016-08-17 | 北京博瑞爱飞科技发展有限公司 | Flying control method and device for unmanned aerial vehicle |
| CN106510719A (en) * | 2016-09-30 | 2017-03-22 | 歌尔股份有限公司 | User posture monitoring method and wearable equipment |
| CN107229055A (en) * | 2017-05-04 | 2017-10-03 | 青岛海信电器股份有限公司 | Positioning of mobile equipment method and positioning device for mobile equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11016116B2 (en) | Correction of accumulated errors in inertial measurement units attached to a user | |
| CN112672860B (en) | Robot calibration for AR and digital twinning | |
| US10521011B2 (en) | Calibration of inertial measurement units attached to arms of a user and to a head mounted device | |
| US10379613B2 (en) | Tracking arm movements to generate inputs for computer systems | |
| US10705113B2 (en) | Calibration of inertial measurement units attached to arms of a user to generate inputs for computer systems | |
| CN107787497B (en) | Method and apparatus for detecting gestures in a user-based spatial coordinate system | |
| US10540006B2 (en) | Tracking torso orientation to generate inputs for computer systems | |
| CN101089556B (en) | Moving apparatus, method for compensating position of the moving apparatus | |
| US20210183100A1 (en) | Data processing method and apparatus | |
| JP6374984B2 (en) | How to localize the robot in the localization plane | |
| JP6222096B2 (en) | Electronic device and program | |
| US20150258684A1 (en) | Robot, robot system, and control device | |
| CN108318027B (en) | Method and device for determining attitude data of carrier | |
| JP2006228226A (en) | Spatial writing recognition method, device and program | |
| JP2019078560A (en) | Gyro sensor offset correcting device, offset correction program, and pedestrian autonomous navigation device | |
| CN110345936A (en) | The track data processing method and its processing system of telecontrol equipment | |
| CN111624547A (en) | Tracking objects in an electromagnetic field | |
| CN107263469B (en) | Mechanical arm attitude compensation method and device, storage medium and mechanical arm | |
| CN109311155B (en) | Method and device for calibrating tool coordinate system origin of industrial robot | |
| TWI476733B (en) | Three-dimensional space motion reconstruction method and apparatus constructed thereby | |
| CN110293557A (en) | Posture angle computing device, mobile device, posture angle calculation method and program | |
| CN109724594A (en) | The displacement gesture recognition method of device and the device for using this method | |
| JP6455869B2 (en) | Robot, robot system, control device, and control method | |
| US11620846B2 (en) | Data processing method for multi-sensor fusion, positioning apparatus and virtual reality device | |
| WO2021250923A1 (en) | Robot system, control device, and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190507 |
|
| WW01 | Invention patent application withdrawn after publication |