CN105955510A - Man-machine interaction system and method - Google Patents
Man-machine interaction system and method Download PDFInfo
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- CN105955510A CN105955510A CN201610281427.2A CN201610281427A CN105955510A CN 105955510 A CN105955510 A CN 105955510A CN 201610281427 A CN201610281427 A CN 201610281427A CN 105955510 A CN105955510 A CN 105955510A
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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
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
- G06K7/10376—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being adapted for being moveable
- G06K7/10396—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being adapted for being moveable the interrogation device being wearable, e.g. as a glove, bracelet, or ring
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Toxicology (AREA)
- Electromagnetism (AREA)
- General Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a man-machine interaction system and method. The man-machine interaction system comprises a positioning apparatus, a wearable RFID reader-writer, a posture identification apparatus, a processing unit and an output device, wherein the positioning apparatus is arranged independently or arranged on an attached object, and is provided with one or more RFID tags in one-to-one correspondence with spatial three-dimensional coordinates; the wearable RFID reader-writer is fixed to a target object in a wearable manner and performs reading-writing on the RFID tags; the posture identification apparatus is fixed to the target object in a wearable manner and obtains posture data of the target object; the processing unit is connected with the wearable RFID reader-writer and the posture identification apparatus; and the output device is connected with the processing unit. The invention furthermore discloses the method for performing man-machine interaction by utilizing the man-machine interaction system. According to the system and method, the positioning is realized by utilizing an RFID technology, the posture identification is realized by utilizing an inertial sensor, the man-machine interaction is realized according to the obtained position data and the posture data, the environmental influence is small, the installation is convenient and flexible, the precision is high, and the cost is low.
Description
Technical field
The present invention relates to human-computer interaction technique field, particularly relate to a kind of man-machine interactive system and method.
Background technology
Along with the development of society, network and communication technology, graph and image processing technology and computer technology
Progress, virtual reality (Virtual Reality) this can create and the computer in the experiencing virtual world
Analogue system, is more and more favored, and becomes a kind of new exchange way of the mankind.Virtual reality
Most important feature is exactly to have good interactivity and feeling of immersion, and the mutual and master of offer feeling of immersion
Technology is wanted then to depend on high-precision space orientation and gesture recognition accurately, i.e. effective man-machine interaction,
The most just can provide the user the experience of more preferable deficiency and excess seamless combination.
Summary of the invention
To achieve these goals, the present invention proposes a kind of man-machine interactive system and method, this system profit
Realize location with REID, utilize inertial sensor to realize gesture recognition, according to the position obtained
Put data and attitude data realizes man-machine interaction.The present invention affected by environment little, install convenient, flexible,
Do not limited by located space area and destination object number, precision is high and low cost.
According to an aspect of the present invention, it is provided that a kind of man-machine interactive system, described man-machine interactive system bag
Include positioner, wearable rfid interrogator, gesture recognition device, processing unit and output to set
Standby, wherein:
Described positioner is independently placed or is arranged in and depends on object, is disposed with in described positioner
One or more frequency identification electronics (RFID) label, described RFID label tag and 3 d space coordinate
One_to_one corresponding；
Described wearable rfid interrogator is wearable to be fixed on destination object, perform for
The read-write operation of RFID label tag, it is thus achieved that target object position data；
Described gesture recognition device is wearable to be fixed on destination object, obtains destination object attitude number
According to；
Described processing unit is connected with described wearable rfid interrogator and gesture recognition device, uses
In processing for described target object position data and destination object attitude data；
Described outut device is connected with described processing unit, for output through described processing unit processes
Target object position data and destination object attitude data.
Alternatively, described positioner is made up of a positioning unit, or by multiple positioning units even
Connecing composition, when described positioner is made up of the connection of multiple positioning units, described positioning unit is arranged
There is connector.
Alternatively, described RFID label tag is medium-high frequency/ultra-high frequency RFID label.
Alternatively, described wearable rfid interrogator includes: reader-writer body and fixed cell,
Wherein:
Described reader-writer body performs the read-write operation for RFID label tag；
Described fixed cell is connected with described reader-writer body, to carry out wearable to reader-writer body
Fixing.
Alternatively, described fixed cell or is made as by connector physical connection with reader-writer body
Embedded connection.
Alternatively, described reader-writer body includes: antenna element, radiofrequency signal processing unit, process
Device, communication unit and power supply unit, wherein:
Described antenna element is connected with described radiofrequency signal processing unit；
Described radiofrequency signal processing unit is connected with antenna element and processor；
Described communication unit is connected with described processor；
The power output end of said supply unit and described radiofrequency signal processing unit, processor and communication
The power input of unit connects.
Alternatively, described radiofrequency signal processing unit also includes wave filter；Described processor includes data
Process chip and encapsulation unit.
Alternatively, described gesture recognition device includes multiple inertial sensor, the plurality of inertia sensing
Device is fixed on a wearable unit.
According to a further aspect in the invention, it is also proposed that the described man-machine interactive system of a kind of use carries out man-machine
Mutual method, said method comprising the steps of:
The space of the RFID label tag being laid in the positioner in located space with located space is believed
Breath sets up one-to-one relationship；
Wearable rfid interrogator reads the RFID tag data of destination object position, root
According between identification information with three dimensional space coordinate corresponding relation obtain described RFID label tag corresponding three
Dimension space coordinate information, and then obtain the position data of destination object；
The inertia sensing data that the gesture recognition device that acquisition destination object is dressed collects, and to obtaining
The inertia sensing data obtained process, and obtain destination object attitude data；
Target object position data and destination object attitude data for obtaining process and export.
Alternatively, described wearable rfid interrogator reads the RFID of destination object position
The step of label data also includes reading many for described Wearable rfid interrogator synchronization
The step that individual RFID tag data is filtered.
The man-machine interactive system of present invention proposition and method, utilize REID to realize location, profit
Realizing gesture recognition with inertial sensor, position data and attitude data according to obtaining realize man-machine friendship
Mutually.Positioner in man-machine interactive system of the present invention can be advantageously mounted at target object place
Space in, wearable rfid interrogator and gesture recognition device can be worn on mesh easily
With mark object；Owing to positioner uses cheap RFID label tag, gesture recognition device makes
With cheap inertial sensor, therefore overall input cost is relatively low；It addition, the present invention is by environment
Affect little, do not limited by located space area and destination object number, precision high.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of man-machine interactive system according to an embodiment of the invention；
Fig. 2 is the structured flowchart of positioner according to an embodiment of the invention；
Fig. 3 is the structural representation of positioning unit according to an embodiment of the invention；
Fig. 4 is positioning unit connection diagram according to an embodiment of the invention；
Fig. 5 is the structured flowchart of the most wearable rfid interrogator；
Fig. 6 is the flow chart of man-machine interaction method according to an embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with concrete real
Execute example, and referring to the drawings, the present invention is described in more detail.Should be appreciated that described herein
Specific embodiment only in order to explain the present invention, is not intended to limit the present invention.
According to an aspect of the present invention, it is provided that a kind of man-machine interactive system, as it is shown in figure 1, described people
Machine interactive system includes positioner, wearable rfid interrogator, gesture recognition device, process
Unit and outut device, wherein:
Described positioner is independently placed or is arranged in and depends on object, is installed in described positioner
One or more RF identification (RFID) label, described RFID label tag is with 3 d space coordinate one by one
Corresponding；
Described wearable rfid interrogator is wearable to be fixed on destination object, perform for
The read-write operation of RFID label tag, obtains the position data of destination object；
Described gesture recognition device is wearable to be fixed on destination object, obtains destination object attitude number
According to；
Described processing unit is connected with described wearable rfid interrogator and gesture recognition device；
Described outut device is connected with described processing unit.
Wherein, described positioner is made up of a positioning unit, or is connected by multiple positioning units
Composition, wherein: described positioning unit is installed on one or more RF identification (RFID) label,
Described RFID label tag and 3 d space coordinate one_to_one corresponding.Described positioner can independently be placed on certain
Place, it is possible to lay/arrange/be fixed to depend on object, concrete mounting means is depending on specifically applying needs
Depending on, such as can be laid on floor, be fixed on wall or ceiling, it is possible to be placed on desk,
It is fixed on the article such as goods etc..Described positioner can form a space or cover a space,
Work as destination object, be i.e. positioned object, when moving in this space, read by rfid interrogator
Relevant FRID label information i.e. can determine that the locus of destination object, thus realizes precise positioning.
Described positioning unit be have certain length and width, thickness or other RFID label tag can be put
Put therein or the solid element on surface.Described positioning unit can present the shape of rule, as just
Square, rectangle or circle etc., it is also possible to present irregular shape, for the ease of described location dress
Put the abundant Appropriate application of the laying in located space and material, can the shape of regioselective unit flexibly
Shape.But no matter which kind of shape positioning unit is, when using multiple positioning units to form positioner,
Described positioning unit needs to be provided with connector, such as at the edge of positioning unit or near edge
The connectors such as draw-in groove, buckle, junction button are set, with the relative position between stationary positioned unit or
Positioning unit and the relative position depended between object.It should be strongly noted that above-mentioned positioning unit
Shape be exemplary explanation, be not limited to the present invention, any reasonably, can make
Positioning unit shape each falls within protection scope of the present invention.
Described positioning unit is made up of nonmetallic materials or is mainly made up of nonmetallic materials, the most poly-carbon
Acid esters, polrvinyl chloride etc..Certainly, the making material of positioning unit can be according to the installation position of positioning unit
Put and select, such as, when described positioning unit is used as floor, optional resistance to compression non-metallic material
Material, when described positioning unit is used as ceiling or is arranged on wall, optional lightweight non-metallic
Material etc..
Wherein, each RFID label tag has a unique identification information, and this identification information can
Guarantee that each RFID label tag has uniqueness in the space of required location, and, this identification information
And there is relation one to one between 3 d space coordinate.Such as, described identification information can include
The EPC id information of described RFID label tag, the sequence number of described RFID label tag place positioning unit, institute
One or more information in RFID label tag sequence number in described positioning unit.Certainly, described mark
Knowledge information can also be other information, as long as can mark for the multiple RFID in same located space
Label are uniquely distinguished.Described identification information can be set up by edit tool, this edit tool
Can to RFID label tag place positioning unit sequence number and RFID label tag the sequence number in described positioning unit
Edit and arrange.
Described RFID label tag can be installed on inside or the surface of described positioning unit, applies in reality
In, can according to actual needs with the installation site of the installation position selection RFID label tag of positioner,
Such as, if described positioner is laid on floor, in order to protect RFID label tag, extend it and use
Life-span, the optional inside that described RFID label tag is installed in described positioning unit；If described location
Device is arranged on wall or ceiling, owing to RFID label tag is without load-bearing, in order to increase RFID
The identification distance of label, improves its resolution, optional described RFID label tag is installed in described fixed
On the surface of bit location, in this case, in order to described RFID label tag is protected, also may be used
With sheathed on the surface of the outer surface of described RFID label tag or the positioning unit installing RFID label tag
One protective layer, described protective layer can use compression-resistant material to make.It should be strongly noted that it is above-mentioned
The installation site of RFID label tag is exemplary explanation, is not limited to the present invention, Ren Hehe
Reason ground, the installation site that can make each fall within protection scope of the present invention.
Described RFID label tag can be any applicable size or the RFID label tag of specification, described location
The identification range of one or more RFID label tag of unit can be completely covered also can partly cover described fixed
Position device.In an embodiment of the present invention, described RFID label tag is medium-high frequency/ultrahigh frequency RFID mark
Sign or medium-high frequency/ultra-high-frequency passive RFID label tag, herein it is understood that medium-high frequency RFID is marked
The operating frequency signed is 3MHz～30MHz, and the operating frequency of ultra-high frequency RFID label is
860MHz～960MHz.In a preferred embodiment, 13.54MHz high frequency passive is used
RFID label tag or 866MHz/902MHz ultra-high-frequency passive RFID label tag, these passive RFID marks
Label are affected little by environmental factors, and low cost, strong interference immunity, service life is long.Certainly, in reality
In the application of border, medium-high frequency or the ultrahigh frequency RFID mark of other operating frequencies can be used according to actual needs
Sign.It should be strongly noted that the size of above-mentioned RFID label tag and specification are exemplary explanation,
Be not limited to the present invention, any reasonably, attainable RFID label tag size and specification all fall
Enter protection scope of the present invention.
Described RFID label tag can be to be uniformly distributed in positioning unit, it is also possible to is non-uniform Distribution,
It is uniformly distributed described in it is understood that between each RFID label tag referring in positioning unit
Apart from identical, described non-uniform Distribution refer between each RFID label tag in positioning unit away from
From differing or incomplete same.The selection of described RFID label tag distribution mode and positioning precision and
Location cost requirement is relevant, so that the coverage non-blind area of RFID label tag, it is achieved comprehensive
Seamless hi-Fix, it will usually select even distribution pattern；But in actual application, it is contemplated that some
Region may be not required to the covering of RFID label tag, in the case of required precision can be met,
In order to reduce cost, even can also can answer according to the reality of user to select non-uniform Distribution mode
Distribution mode is customized by demand.Certainly, the spread length between described RFID label tag can also basis
Required locating effect and precision determine, as a rule, and the distance between described RFID label tag
Less than 1m, it is preferable that the distance between RFID label tag is more than 3 times of its size.Need especially
Illustrating, the distribution mode of above-mentioned RFID label tag is exemplary explanation, is not limited to
The present invention, any reasonably, the distribution mode of attainable RFID label tag each fall within the guarantor of the present invention
Protect scope.
Below for the location of the present invention as a example by be connected the positioner formed by multiple positioning units
Device is further detailed.
Fig. 2 is the structural representation of positioner according to an embodiment of the invention, as in figure 2 it is shown,
Described positioner 1 is connected by multiple positioning units 11 and forms, in the present embodiment, and described location
Unit 11 uses this regular shape of rectangle.
Fig. 3 is the structural representation of positioning unit 11 in the present embodiment, as it is shown on figure 3, in location
The inside of unit 11, RFID label tag 12 uses non-uniform Distribution mode to be arranged, the present embodiment
In, the RFID label tag size more than 1.5 times of the distance between each RFID label tag 12.
Utilize edit tool that the RFID label tag 12 in positioning unit 11 is carried out unique identification information volume
Volume, and by the locus of this unique identification information Yu this RFID label tag 12 place positioning unit 11
Information and this RFID label tag 12 positional information one_to_one corresponding in this positioning unit 11 get up,
Thus may determine that the unique spatial location information that this RFID label tag 12 is corresponding in positioner 1.
In the present embodiment, described positioning unit 11 is to be made by pvc material temperature-pressure
's.
With reference to shown in Fig. 4, in the present embodiment, between described positioning unit 11, use seamless spliced side
Formula composition positioner, in Fig. 4, a, b represent two adjacent positioning units respectively.
Fig. 5 is the structured flowchart of the most wearable rfid interrogator, as
Shown in Fig. 5, described wearable rfid interrogator 2 includes reader-writer body 21 and fixed cell
22, wherein:
Described reader-writer body 21 performs the read-write operation for RFID label tag；
Described fixed cell 22 is connected with described reader-writer body 21, to enter reader-writer body 21
Row is wearable fixing；
Described fixed cell 22 is connected with described reader-writer body 21, to enter reader-writer body 21
Row is wearable fixing, and described fixed cell 22 makes when by described reader-writer body 21 or described
During certain position that wearable rfid interrogator 2 wears, it is possible to effectively for RFID
Label is written and read operation, and ensures that the readwrite performance of reader-writer body is by dressing what moved in position
Impact.
Described reader-writer body 21 is the core component of described wearable rfid interrogator, its
Including: antenna element 211, radiofrequency signal processing unit 212, processor 213, communication unit 214
With power supply unit 215, wherein:
Described antenna element 211 is connected with described radiofrequency signal processing unit 212, is mainly responsible for acceptance
The control of described radiofrequency signal processing unit 212 sends the frequency signal matched with RFID label tag,
The RFID tag data received is modulated and demodulates, and will process after RFID label tag number
According to being sent to radiofrequency signal processing unit 212, based on antenna element 211, described wearable RFID
Read write line can send and need to identify the signal that the RFID label tag frequency range read matches, and then reads
Take the data content in RFID label tag.The antenna that described antenna element 211 is used can be flexible
Antenna can also be non-flexible antennas, as long as antenna will not be damaged because of wearing.In the present invention one
In embodiment, in order to more suitably dress, protect antenna, it is preferable that use flexible antennas to carry out letter
Number transmission and reception.The signal frequency range that described antenna element 211 is launched can be medium-high frequency section also
Can be hyper band, herein it is understood that the frequency range of medium-high frequency section is
3MHz～30MHz, the frequency range of hyper band is 860MHz～960MHz, it is preferable that select
The hyper band of 860MHz～960MHz.
Described radiofrequency signal processing unit 212 is connected with antenna element 211 and processor 213, described
Radiofrequency signal processing unit 212 is for the frequency band signals launched for antenna element 213 and passes through
The RFID tag data that antenna element 211 receives processes, such as by antenna element 213
Activate the information of storage in RFID label tag, acquisition RFID label tag, in RFID label tag, write information
And the multiple RFID label tag once read read write line carry out multi signal process, such as group and read to prevent
Hit and (when can survey scope when there being multiple RFID label tag to be in, how multiple RFID label tag are divided
It is not read out and processes, to avoid interference) etc..In an embodiment of the present invention, described radio frequency letter
Number processing unit 212 also includes wave filter, for once reading multiple RFID label tag at read write line
During data, multiple RFID tag data are filtered processing, to obtain high accuracy and high precision
The RFID tag data of degree.
Preferably, described radiofrequency signal processing unit 212 uses the chip that can process hyper band signal
Processor.
Those skilled in the art it will be seen that, RFID label tag is passive, needs card reader to supply it
Electricity, energy can be sent to RFID label tag by antenna by described radiofrequency signal processing unit 212,
At this moment RFID label tag can be activated, and starts to pass through antenna communication with card reader.The basic mesh of this communication
Mark obtains the information of storage in RFID label tag exactly, or writes information to RFID label tag.But tool
The acquisition process of body depends on different standards, such as the UHF standard of EPCglobal 2, or
Other standards.
Described processor 213 is mainly responsible for by radiofrequency signal processing unit 212 and antenna element
211 RFID tag data received process, to RFID tag data according to communication unit
214 data format requirement supported are packaged, and send transmission data to communication unit 214
Order, thus by communication unit 214, the RFID tag data obtained from antenna element 211 is sent out
Deliver on other communication equipment.
Described processor 213 has data input pin, data output end, communication input and communicates defeated
Going out end, wherein, data input pin is connected with radiofrequency signal processing unit 212, to pass through radiofrequency signal
Processing unit 212 and antenna element 213 receive RFID tag data；Data output end and communication unit
Unit 214 connects, with the RFID that will obtain from radiofrequency signal processing unit 212 and antenna element 213
Label data carries out RFID signal process, and the data form supported according to communication unit 214 is carried out
Encapsulation, then assigns the order sending data to communication unit 214, thus by communication unit 214
The RFID tag data obtained from radiofrequency signal processing unit 212 and antenna element 213 is sent out
Go；Communication input is connected with communication unit 214, with receive external equipment send reading data or
The communication information of write data；Communication output is connected with radiofrequency signal processing unit 212, to pass through
Radiofrequency signal processing unit 212 makes antenna element 211 launch certain frequency according to the communication information received
Signal, thus activate need read RFID label tag.
Wherein, described processor 213 at least includes data processing chip and encapsulation unit, described data
Process chip for being received by radiofrequency signal processing unit 212 and antenna element 211
RFID tag data processes；Described encapsulation unit is after processing data processing chip
The data form that RFID tag data is supported according to communication unit 214 is packaged.Described communication
Unit 214 is connected with described processor 213, main be responsible for described wearable rfid interrogator with
External equipment such as PC end or mobile device etc. carry out real-time Communication for Power, thus by described processor 213
The RFID tag data managed, is sent to external equipment and is further analyzed processing or application.
Described communication unit 214 at least includes that communication chip, described communication chip can be wire communications
Chip can also be wireless communication chips, and described wireless communication chips can be remote radio communication chip
Can also be near field communication chip, described remote radio communication chip can be with mobile communication skill
Art be support communication chip, such as GPRS communication chip, 2G communication chip, 3G communication chip,
4G communication chip etc., or the combination of multiple wireless communication chips；Described near field communications chip is permissible
For Bluetooth communication chip, infrared communication chip, WIFI communication chip, sensor communication chip, letter
Mark communication chip etc., or the combination of multiple near field communications chip.It should be strongly noted that it is above-mentioned
Communication chip is exemplary explanation, is not limited to the present invention, any realize long-range, near
The assembly of field communication each falls within protection scope of the present invention.In an embodiment of the present invention, WIFI is used
Communication chip and external equipment carry out real-time Communication for Power and data transmission, set so that later data processes
Standby, such as computer, the RFID tag data that can obtain for wearable rfid interrogator
Content is further processed and analyzes.
The power output end of said supply unit 215 and described radiofrequency signal processing unit 212, process
The power input of device 213 and communication unit 214 connects, think described radiofrequency signal processing unit 212,
Processor 213 and communication unit 214 provide power supply.
Said supply unit 215 can be lithium battery, polymer battery, accumulator, solaode or
The combination of above-mentioned battery, in an embodiment of the present invention, said supply unit 215 is polymer battery,
To alleviate the weight of described wearable rfid interrogator.
Described fixed cell 22 uses or mainly uses nonmetallic materials to make, such as plastics, rubber
Glue, textile material or the combination etc. of above material, if it is true that the consolidating of fixed antenna unit 211
Cell 22 part or neighbouring to there is not metal material the most permissible.Further, described fixing list
Unit 22 can be made can also be made by inflexibility nonmetallic materials, specifically by flexible nonmetal material
Material select to depend on the wearing position of described wearable rfid interrogator, the most described fixing
Unit 22 can be made as rubber footmuff, can be made as cloth bracelet armlet, flexible collar, knitting hands
Set, even can also be made as could be sandwiched in the portable equipment on certain position of human body or medicated clothing, user
The detailed description of the invention of ergonomics can also be met according to the customization that needs of reality application.
Described fixed cell 22 can be connected in several ways with reader-writer body 21, such as by even
Fitting carries out physical connection or is directly made as embedded connection, the most described reader-writer body 21
Surface or the side of described fixed cell 22 can be fixed on, it is also possible to by fixing list by connector
Unit 22 is fabricated to ring-type, reader-writer body 21 is embedded or disperses to be embedded into described fixed cell 22
In, disperseing the meaning embedded here is to be separately embedded by the unit in reader-writer body 21 admittedly
In cell 22, such as flexible antennas unit is embedded in the position that damaged risk is bigger, by non-
Flexible processor, power supply unit and communication unit are embedded in the position that damaged risk is less, the most right
It is protected, and certainly, even if flexible antennas unit is not easy damaged, but its deformation can be to transmitting-receiving
Performance has adverse effect on, and the most also can be placed on damaged in the lump with other unit by antenna element
On the position that risk is less.It should be strongly noted that fixed cell 22 and reader-writer body 21
Connected mode is exemplary explanation, is not limited to the present invention, any ground, rationally of realizing
Connected mode and connect assembly each fall within protection scope of the present invention.
Described gesture recognition device is wearable, and it includes multiple inertial sensor, the plurality of
Inertial sensor is placed on destination object, and each joint of such as human body, to obtain at corresponding joint
Inertia sensing data, and then obtain the attitude data of a certain moment human body
Wherein, described inertial sensor is multi-axial sensor, such as includes gyroscope XYZ axle, adds
Velometer XYZ axle and nine axle sensors of magnetometer XYZ axle, be so obtained in that the used of various dimensions
Property sensing data such that it is able to determine human body attitude more accurately.
For the ease of laying multiple inertial sensor, in an embodiment of the present invention, by the plurality of used
Property sensor be fixed on a wearable unit, described wearable unit can cover or part cover
Needing to gather the joint of inertia sensing data, multiple inertial sensors are separately fixed at corresponding joint
On wearable unit, such destination object directly puts on the wearable list being fixed with multiple inertial sensor
Unit can realize the collection for multi-joint inertia transmission data.
Described wearable unit uses or main use nonferromagnetic material makes, because ferrum nickel etc. are ferromagnetic
Material to magnetic fields, and then can affect the measurement of magnetometer, but except aluminum.More preferably, institute
Stating wearable unit uses flexible nonferromagnetic material to make, such as plastics, rubber, textile material or with
The combination etc. of upper material.Certainly, user can also meet human body work according to the needs customization of reality application
The detailed description of the invention learned.
Multiple with described wearable rfid interrogator and gesture recognition device of described processing unit
Inertial sensor connects, the main target pair being responsible for obtaining for described wearable rfid interrogator
The destination object attitude data obtained as position data and described gesture recognition device is modified and misses
Difference Processing for removing, and it is calculated destination object in locus sometime according to these two classes data
With the attitude of destination object at this locus, and the information obtained is sent to outut device.
Described outut device is connected with described processing unit, for the position of the destination object that output receives
Put data and attitude data.Described outut device is possible not only to as display, head-mounted display, projection
The electronic data outut device such as instrument, TV, it is also possible to be that cinematographic film, paper, media medium etc. are non-
Electronic data outut device.In an embodiment of the present invention, in order to preferably realize man-machine real-time, interactive,
Described outut device is chosen as display, with by defeated to position data and the attitude data of described destination object
Enter in simulated three-dimensional space and carry out real-time display.
According to a further aspect in the invention, it is also proposed that it is man-machine that one utilizes described man-machine interactive system to carry out
Mutual method, as shown in Figure 6, said method comprising the steps of:
Step S1: by the RFID label tag being laid in the positioner in located space and located space
Spatial information set up one-to-one relationship；
Each RFID label tag has a unique identification information, and this identification information is able to ensure that often
Individual RFID label tag has uniqueness in the space of required location, and, this identification information is with three-dimensional
Relation one to one is there is between space coordinates.
In an embodiment of the present invention, can be by being arranged on the edit tool of PC end in positioning unit
RFID label tag carry out the editor of unique identification information, and by this unique identification information and this RFID
The spatial positional information of label place positioning unit and this RFID label tag position in this positioning unit
Confidence breath one_to_one corresponding gets up, and thus may determine that this RFID label tag correspondence in positioner
Unique spatial location information.
Step S2: wearable rfid interrogator reads the RFID label tag of destination object position
Data, according to the corresponding relation between identification information and three dimensional space coordinate, it is thus achieved that described RFID marks
Sign corresponding three dimensional space coordinate information, and then obtain the position data of destination object；
In this step, the RFID tag data obtained is sent to PC by wearable rfid interrogator
The external equipments such as end, the identification information arranged according to the external equipment such as PC end and three dimensional space coordinate it
Between corresponding relation obtain three dimensional space coordinate information corresponding to described RFID label tag.
Described step S2 also includes reading many for described Wearable rfid interrogator synchronization
The step that individual RFID tag data is filtered, to obtain the RFID mark of high accuracy and high accuracy
Sign data, and then obtain the exact space position data of destination object.
Wherein, the signal frequency range that described wearable rfid interrogator is launched can be medium-high frequency section
It can also be hyper band.
Step S3: the inertia sensing data that the gesture recognition device that acquisition destination object is dressed collects,
And the inertia sensing data obtained are processed, obtain destination object attitude data；
In this step, the process that the described inertia sensing data to obtaining are carried out at least includes noise remove
Process, to eliminate the environmental factors impact on data.
Step S4: the target object position data that described step S2 is obtained and described step S3
The destination object attitude data obtained processes and exports.
In this step, the target object position data that described step S2 is obtained and described step S3
The destination object attitude data obtained is modified processing with error concealment, and according to this two classes data meter
Calculation obtains high-precision human space position data and attitude data.
In this step, the attitude data of destination object and position can be moved data export to display,
The electronic data outut devices such as head-mounted display, projector, TV, it is also possible to export to cinematographic film,
The non-electronic data output apparatus such as paper, media medium.In an embodiment of the present invention, in order to more preferably
Realize man-machine real-time, interactive, the attitude data of described destination object and position are moved data export to
Display, to carry out virtual display in simulated three-dimensional space.
In an embodiment of the present invention, also include after described step S2 can in a preset time period
The RFID tag data that Wearable rfid interrogator reads is added up, it was predicted that subsequent time mesh
The step of the spatial positional information of mark object, so goes forward side by side in the position data receiving new destination object
Only need to be finely adjusted during row display, greatly strengthen the real-time of man-machine interactive system.
Wherein, described preset time period can be according to reality application it needs to be determined that current time it
Some front time period.
Wherein, multiple method can be used to add up for described FRID label information, it is possible to use
Multiple forecast model is predicted for the spatial positional information of subsequent time destination object, this area skill
Art personnel can select according to reality application needs, and therefore not to repeat here and limits especially.
To sum up, the present invention utilizes REID to realize location, utilizes inertial sensor to realize attitude
Identifying, position data and attitude data according to obtaining realize man-machine interaction.When destination object is in location
When the space that device is formed or coated with moves, according to the rfid interrogator worn
The content of the RFID label tag read judges the locus of destination object, simultaneously according to being worn on
Gesture recognition device with it judges destination object attitude now, by spatial position data accurately
It is incorporated in simulated three-dimensional space with attitude data and shows, man-machine real-time friendship can be realized
Mutually, certain those skilled in the art are it is understood that present invention may also apply to the feelings of non real-time man-machine interaction
Condition.
Particular embodiments described above, is carried out the purpose of the present invention, technical scheme and beneficial effect
Further describe, be it should be understood that the foregoing is only the present invention specific embodiment and
, be not limited to the present invention, all within the spirit and principles in the present invention, that is done any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a man-machine interactive system, it is characterised in that described man-machine interactive system includes location dress
Put, wearable rfid interrogator, gesture recognition device, processing unit and outut device, wherein:
Described positioner is independently placed or is arranged in and depends on object, is disposed with in described positioner
One or more frequency identification electronics (RFID) label, described RFID label tag and 3 d space coordinate
One_to_one corresponding；
Described wearable rfid interrogator is wearable to be fixed on destination object, perform for
The read-write operation of RFID label tag, it is thus achieved that target object position data；
Described gesture recognition device is wearable to be fixed on destination object, obtains destination object attitude number
According to；
Described processing unit is connected with described wearable rfid interrogator and gesture recognition device, uses
In processing for described target object position data and destination object attitude data；
Described outut device is connected with described processing unit, for output through described processing unit processes
Target object position data and destination object attitude data.
Man-machine interactive system the most according to claim 1, it is characterised in that described location fills
Put and be made up of a positioning unit, or be made up of, when described positioner the connection of multiple positioning units
When being made up of the connection of multiple positioning units, described positioning unit is provided with connector.
Man-machine interactive system the most according to claim 1, it is characterised in that described RFID marks
Sign as medium-high frequency/ultra-high frequency RFID label.
Man-machine interactive system the most according to claim 1, it is characterised in that described wearable
Formula rfid interrogator includes: reader-writer body and fixed cell, wherein:
Described reader-writer body performs the read-write operation for RFID label tag；
Described fixed cell is connected with described reader-writer body, to carry out wearable to reader-writer body
Fixing.
Man-machine interactive system the most according to claim 1, it is characterised in that described fixing list
Unit by connector physical connection or is made as embedded connection with reader-writer body.
Man-machine interactive system the most according to claim 1, it is characterised in that described read write line
Body includes: antenna element, radiofrequency signal processing unit, processor, communication unit and power supply unit,
Wherein:
Described antenna element is connected with described radiofrequency signal processing unit；
Described radiofrequency signal processing unit is connected with antenna element and processor；
Described communication unit is connected with described processor；
The power output end of said supply unit and described radiofrequency signal processing unit, processor and communication
The power input of unit connects.
Man-machine interactive system the most according to claim 5, it is characterised in that described radio frequency is believed
Number processing unit also includes wave filter；Described processor includes data processing chip and encapsulation unit.
Man-machine interactive system the most according to claim 5, it is characterised in that described attitude is known
Other device includes that multiple inertial sensor, the plurality of inertial sensor are fixed on a wearable unit.
9. use the method that man-machine interactive system described in claim 1 carries out man-machine interaction, its
It is characterised by, said method comprising the steps of:
The space of the RFID label tag being laid in the positioner in located space with located space is believed
Breath sets up one-to-one relationship；
Wearable rfid interrogator reads the RFID tag data of destination object position, root
According between identification information with three dimensional space coordinate corresponding relation obtain described RFID label tag corresponding three
Dimension space coordinate information, and then obtain the position data of destination object；
The inertia sensing data that the gesture recognition device that acquisition destination object is dressed collects, and to obtaining
The inertia sensing data obtained process, and obtain destination object attitude data；
Target object position data and destination object attitude data for obtaining process and export.
Method the most according to claim 9, it is characterised in that described wearable RFID
The step of the RFID tag data that read write line reads destination object position also includes wearing for described
Wear the step that multiple RFID tag data that formula rfid interrogator synchronization reads are filtered.
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| CN201610281427.2A CN105955510A (en) | 2016-04-28 | 2016-04-28 | Man-machine interaction system and method |
| PCT/CN2016/098840 WO2017185585A1 (en) | 2016-04-28 | 2016-09-13 | Human-machine interaction system and method |
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| WO2017185585A1 (en) | 2017-11-02 |
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