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WO2018205159A1 - Procédé de reconnaissance de mouvement, dispositif portable et support de stockage lisible par machine - Google Patents

Procédé de reconnaissance de mouvement, dispositif portable et support de stockage lisible par machine Download PDF

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Publication number
WO2018205159A1
WO2018205159A1 PCT/CN2017/083705 CN2017083705W WO2018205159A1 WO 2018205159 A1 WO2018205159 A1 WO 2018205159A1 CN 2017083705 W CN2017083705 W CN 2017083705W WO 2018205159 A1 WO2018205159 A1 WO 2018205159A1
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WO
WIPO (PCT)
Prior art keywords
orientation
axis
data
preset
measurement unit
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.)
Ceased
Application number
PCT/CN2017/083705
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English (en)
Chinese (zh)
Inventor
崔健
钱杰
朱熙文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780005455.4A priority Critical patent/CN108496144B/zh
Priority to PCT/CN2017/083705 priority patent/WO2018205159A1/fr
Publication of WO2018205159A1 publication Critical patent/WO2018205159A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements

Definitions

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

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un procédé de reconnaissance de mouvement, un dispositif portable, et un support d'informations lisible par machine. Le procédé s'applique à un dispositif portable. Le dispositif portable est utilisé pour détecter la posture de mouvement d'un support. Le dispositif portable comprend une unité de mesure inertielle (IMU). L'IMU est utilisée pour obtenir des données d'IMU. Le procédé consiste à : détecter que l'orientation actuelle de l'IMU est différente d'une orientation prédéfinie; et traiter les données d'IMU selon l'orientation prédéfinie. Au moyen des modes de réalisation de la présente invention, la posture de mouvement du support peut être reconnue avec précision.
PCT/CN2017/083705 2017-05-10 2017-05-10 Procédé de reconnaissance de mouvement, dispositif portable et support de stockage lisible par machine Ceased WO2018205159A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780005455.4A CN108496144B (zh) 2017-05-10 2017-05-10 运动识别方法、便携式设备、机器可读存储介质
PCT/CN2017/083705 WO2018205159A1 (fr) 2017-05-10 2017-05-10 Procédé de reconnaissance de mouvement, dispositif portable et support de stockage lisible par machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/083705 WO2018205159A1 (fr) 2017-05-10 2017-05-10 Procédé de reconnaissance de mouvement, dispositif portable et support de stockage lisible par machine

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WO2018205159A1 true WO2018205159A1 (fr) 2018-11-15

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CN114170628A (zh) * 2021-11-26 2022-03-11 珠海格力电器股份有限公司 传动控制方法、装置、电子设备及存储介质

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CN102798877A (zh) * 2011-05-25 2012-11-28 Csr科技控股公司 确定移动设备在人身上的位置的分层状况检测方法
CN103968827A (zh) * 2014-04-09 2014-08-06 北京信息科技大学 一种可穿戴式人体步态检测的自主定位方法
CN104931049A (zh) * 2015-06-05 2015-09-23 北京信息科技大学 一种基于运动分类的行人自主定位方法

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CN103793075B (zh) * 2014-02-14 2017-02-15 北京君正集成电路股份有限公司 一种应用在智能手表上的识别方法
CN104020846A (zh) * 2014-04-29 2014-09-03 诺力科技有限公司 一种主机运动感测方法、组件及运动感测系统
KR101542947B1 (ko) * 2014-06-27 2015-08-11 장혁 이동체의 자세 인식 장치 및 위치기반 부가 서비스 제공 시스템
KR102311051B1 (ko) * 2014-08-27 2021-10-13 삼성전자주식회사 웨어러블 워치 및 그것의 디스플레이 방법
CN104461013B (zh) * 2014-12-25 2017-09-22 中国科学院合肥物质科学研究院 一种基于惯性传感单元的人体动作重构与分析系统及方法
WO2017064972A1 (fr) * 2015-10-14 2017-04-20 アルプス電気株式会社 Dispositif portable, procédé pour mesurer son orientation, et programme

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CN102798877A (zh) * 2011-05-25 2012-11-28 Csr科技控股公司 确定移动设备在人身上的位置的分层状况检测方法
CN103968827A (zh) * 2014-04-09 2014-08-06 北京信息科技大学 一种可穿戴式人体步态检测的自主定位方法
CN104931049A (zh) * 2015-06-05 2015-09-23 北京信息科技大学 一种基于运动分类的行人自主定位方法

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CN108496144B (zh) 2022-05-17

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