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 existingThe 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 identifiedCoordinate 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 movementOrthogonal 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 systemNumber 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 identifiedThe 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 movementThe 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 deviceLength 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 flatRow.
It in feasible embodiment, include: root according to the direction of motion of described device and velocity estimated its forms of motionIts 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 averagedThe 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 executesThe 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 fingerOrder 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 applicationIllustrate and attached drawing, however, the drawings only provide reference and explanation, is not used to limit the application.
Specific embodiment
For help those skilled in the art definitely understand this application claims theme, with reference to the accompanying drawing in detailThe 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 identifiedStating 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 threeTieing 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 systemAngle Parameters variation judge the direction of motion of described device.It is understood that when the movement of described device is describedWhen, the positional relationship between real-time three-dimensional coordinate system and initial coordinate system where device can be using between corresponding each axisThe Parameters variation of angle describes, these reacting conditions described device on the move becomes relative to the posture of itself initial positionChange situation.
Step S140, according to the forms of motion of the direction of motion of described device and velocity estimated described device.In some realitiesIt 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 motionAverage movement velocity in mark system at least one axis judges its forms of motion.Wherein, the forms of motion includes linear movementAnd 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 negativeIt 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 coordinatePositive 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 shouldDevice 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'sIn place whether athletic posture.
The hand-held device 100 includes central processing unit 10 and Inertial Measurement Unit (IMU module) 20, wherein the inertiaMeasuring unit 20 includes a gyroscope 21 and an acceleration transducer 22.Hand-held device 100 further includes a gripping unit 30, describedThe 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 partyIn 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 100Edge 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 handWhen holding 100 medium height position of device, upper left position, which is arranged in, in Inertial Measurement Unit 20 can obtain relatively good measurementEffect.It is understood that in other embodiments, the position of Inertial Measurement Unit 20 can be according to the concrete shape of deviceIt is determined with purposes；The direction for three axis chosen can also be adjusted according to the shape of tested device itself, three axis phasesIt is mutually vertical.
In conjunction with shown in Fig. 3~Fig. 6, in this embodiment, when rehabilitation patient is moved using hand-held device 100When, 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 100Coordinate system includes orthogonal X, Y, Z axis, and the X, Y, Z axis intersects at origin O, in order to reach higher precision, at thisIn 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 100Spend 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 initiallyWidth 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 movementWhen 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 withHigh precision, in this embodiment, origin O ' are arranged at the mass center of Inertial Measurement Unit 20.X ' the axis and hand-heldThe 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 withThe 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 systemThe 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 ADuring 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 becomeChange, in this embodiment, the angle ψ (not shown) between Y ' axis and Y-axis does not change always, and Gu Tuzhong is omitted pairThe 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 toIt changes.
In step S240, according to the forms of motion of the direction of motion of described device and velocity estimated described device.Referring toFig. 5 and Fig. 6 includes: in this embodiment root according to the direction of motion of described device and velocity estimated its forms of motionIts 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 fortuneDynamic 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 ADuring 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 existsAverage 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 transportIt 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 itWhat 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 moves100 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 rotationMovement, 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 thisIn 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, whereinMemory 12 is stored with executable instruction, when the executable instruction is performed, so that the processor executes shown in Fig. 1Method.
The application also discloses a kind of machine readable media, is stored with executable instruction, when the executable instructionIt 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 thinSection.On the contrary, the various details of the application can be modified in the range of claim and its equivalent replacement.