CN102818913B - Detection device and detection method for hummotion information - Google Patents
Detection device and detection method for hummotion information Download PDFInfo
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- CN102818913B CN102818913B CN2012102704749A CN201210270474A CN102818913B CN 102818913 B CN102818913 B CN 102818913B CN 2012102704749 A CN2012102704749 A CN 2012102704749A CN 201210270474 A CN201210270474 A CN 201210270474A CN 102818913 B CN102818913 B CN 102818913B
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Abstract
The invention discloses a detection device and a detection method for human motion information, belonging to the field of electronic information and mode identification. The detection device and the detection method of the human motion information are based on a single triaxial accelerometer and a Zigbee module; the detection method is based on a gait recognition technology and a statistical data modeling and can achieve detection of the human motion information by the triaxial accelerometer; the detection device comprises wireless sensing comprehensive modules arranged on a pair of shoes and an upper computer receiving module connected with a PC (Personal Computer) terminal; the device uses a trigger mode to perform wireless transmission for motion data in order to perform a human-computer interaction; due to a Zigbee low-power consumption design, a system can use batteries with smaller volume and capacity to reduce weight and volume of the whole system so as to be beneficial to be put at the bottom of the shoes; due to a voltage-stabilizing power supply design, an error of a quantized acceleration magnitude of an accelerometer after a working voltage drops can be avoided when the batteries are powered.
Description
Technical field
The present invention relates to a kind of pick-up unit of body motion information based on sensor and electronic communication technology and detection method thereof, belong to electronic information and area of pattern recognition.
Background technology
Intelligent shoe is the cross products of an infotech and traditional shoe industry.The intelligent shoe occurred on the market at present has the nike+ of Nike and the micoach of Adidas.Wherein nike+ movement sequence footwear have adopted the piezoelectricity induction technology, by its patented technology, the counting of running and the estimation of mileage have been realized, and the real-time Radio Transmission Technology of passing through is transferred to the exercise data of human body on the intelligent terminal of apple, as IPOD, IPHONE etc.; The micoach intelligent shoe of Adidas, adopted the technology of VTI Science and Technology Ltd., based on built-in accelerometer, and in conjunction with its correction technique, can acceleration measurement, speed and the mileage of running.The micoach of Adidas, except real-time Transmission, can also be recorded in data in built-in flash memory, and the exercise data off-line is transferred to the intelligent terminals such as PC.
In domestic patent of applying for, application number a kind of Multifunctional intelligent shoe that has been 201020676320.6 Patent Application Publication, being based on accelerometer realizes, " described airborne sensor can comprise 3-axis acceleration sensor; the raw data of collection comprises locus, direction, acceleration, acceleration time etc.; data value is high " that it is mentioned, wherein the content statement for " raw data comprises " that gather is unscientific.Accelerometer itself can only be exported three magnitudes of voltage that represent the actual acceleration value, through the AD sample quantization, and, after doing the test of partially zero and scale factor, can, according to selected accelerometer range, be reduced into actual accekeration by calculating.So-called " raw data " also just only has acceleration information a kind of naturally.And, for utilizing the resulting information reverting of accelerometer " locus ", on engineering, be impossible realize substantially, concrete reason has three:
1, all accelerometers all are based on the local coordinate system of itself, that is to say that the acceleration gathered each time is all relative value, the information that accelerometer is exported is the acceleration of three local coordinate systems on axially, and local coordinate system itself one constantly change, its origin position and attitude are all that the movement along with the foot of human body changes at any time.Depending merely on accelerometer is to restore the true bearing of acceleration in space, certainly also just can not realize the measurement of " locus ";
2, its so-called " can be according to shoes of difference in functionality in practical application; the design riding position " be huge defects for calculating " locus ", reason is if the placement location of accelerometer is arbitrarily, such as so-called " airborne sensor " tied up on shoestring, the reference position of accelerometer is exactly indefinite (can acutely rocking in motion process, cause attitude to change so.Even so, even that ties up is very solid, each human body position of tying up is different with attitude so, three reference values of axially exporting of accelerometer are also different, that is to say that stationary state constantly, three axial output voltages of accelerometer are uncertain, tri-axial static moment acceleration outputs of XYZ are also different), generally speaking, for the accelerometer that lies in ground, if ground level is the XOY face, axis is Z axis, and it should approach through the actual output of calculating after quantizing, aX=0, aY=0, aZ=g (wherein g is acceleration of gravity).Therefore, want to measure " locus ", calibration is absolutely necessary, even device is lain in to sole, also to measure three axial outputs of accelerometer under stationary state, benchmark as proofreading and correct, just likely measure so-called " locus " by raw data such as acceleration.
3, accelerometer needs to coordinate gyro (preferably also will add magnetoresistive transducer and carry out the course correction) at least, " locus " that just can survey sensor place carrier, because gyro (additional magnetoresistive transducer) can provide the directional data of motion, displacement under the relative coordinate system that degree of will speed up meter calculates, conversion by volume coordinate, be transformed under absolute coordinate system, through each computation period, constantly calculate, just can calculate locus and attitude information.Therefore in actual applications, only relying on three axis accelerometer, is may calculate so-called " locus " hardly.
In addition, in any powered battery process, voltage is all constantly descending, and for accelerometer, operating voltage directly has influence on its three axial Voltage-outputs.In the application of the engineering actual, the people is in motion faster, its foot's instantaneous acceleration absolute value can reach 5g, therefore take ± accelerometer of the range of 10g is example, 3.3V power supply, 2.5V under reference voltage, zero inclined to one side 1.65V of actual output, as operating voltage decline 0.05V, representing that the acceleration of actual output is 10g*0.05/(2.5-1.65 by deviation)=0.588g, also mean that error will reach more than half of acceleration of gravity, this will badly influence for actual acceleration and speed, and the calculating of the information such as position.Therefore the system of measuring for any dependence accelerometer, stable operating voltage is absolutely necessary, otherwise accekeration itself mistake that institute quantizes to obtain, the follow-up speed of also just not knowing where to begin and apart from etc. calculating.
For a kind of wireless senser that can implant shoes inside, must consider its power problems, otherwise can cause service time too short, or need to install jumbo battery because power consumption is too large, will bring volume and weight excessive, be unfavorable for the situation of installing and using.Therefore no matter be to select MCU or wireless telecommunications means, all will choose according to the principle of low-power consumption.For this gordian technique of wireless telecommunications, in some patent documentation, the so-called mechanics of communication that adopts WIFI and field of telecommunications, be not possess feasibility fully, and reason is that the power consumption of current WIFI and field of telecommunications mechanics of communication is excessive.At present, the low-power consumption Bluetooth technology, and ZigBee technology is more practicable scheme in communication.
Summary of the invention
The present invention is directed to some deficiency existed in aforementioned background art, designed a kind of body motion information pick-up unit and detection method thereof based on single three axis accelerometer and Zigbee wireless communication module, described detection method is based on Gait Recognition technology and statistics modeling, only rely on three axis accelerometer just can realize the detection of part body motion information, and filled up and utilized single three axis accelerometer to measure the human motion direction, used it for the blank of man-machine interaction application.Rely on the single-chip microcomputer of low-power consumption to coordinate the Zigbee mechanics of communication, realized lower Overall Power Consumption, can adopt the battery than low capacity, be conducive to dwindle the volume and weight of whole system, make system can implant very easily shoes inside.
A kind of body motion information pick-up unit based on three axis accelerometer and Zigbee wireless module of the present invention, mainly comprise the comprehensive module of the wireless sensing be arranged on a pair of shoes and be connected to the host computer receiver module of PC terminal, the comprehensive module of described wireless sensing comprises Three Degree Of Freedom sensor unit based on three axis accelerometer, CPU (central processing unit), wireless transport module A, based on the storage unit of flash memory, independently-powered discharged and recharged power supply unit and power supply control chip; Described power supply unit is Three Degree Of Freedom sensor unit, CPU (central processing unit), wireless transport module and storage unit power supply, the acceleration information of described Three Degree Of Freedom sensor unit collection enters CPU (central processing unit) after the conditioning of signal condition unit, CPU (central processing unit) obtains body motion information after data are processed, a part is stored in storage unit, another part is sent to the host computer receiver module by wireless transport module A, realizes the mutual control to PC, mobile phone, TV and other intelligent terminals.
Described body motion information mainly comprises: beginning and ending time Tstart, the Tend of acceleration a, speed v, motion, motion each time apart from d, motion initial time, human body detected and go out the direction θ (with respect to the direction of local coordinate system) of pin and the step number step moved.
The comprehensive module of wireless sensing that will gather body motion information in the present invention is placed on the arch of foot place of shoes, and reason has 2 points, and one is that the arch of foot place is stressed little, is beneficial to the protection of the comprehensive module of wireless sensing; It two is that shoes bottoms is comparatively smooth, and accelerometer under static state two axial output acceleration of surface level, near 0, is conducive to the later stage calculate.
Reeded footwear will be set as the carrier of depositing the comprehensive module of wireless sensing in the present invention.In design, pin every shoes arch of foot place in left and right is fluted, be convenient to the installation of the comprehensive module of wireless sensing and fix, why design in the shoes bottom, its reason is for human body, under static state, sole is substantially parallel with ground, two axial acceleration outputs are (due to existence and the quantization error of noise substantially in 0 left and right in ground level, its output is not to be definitely 0), the motion detection that is conducive to the later stage, and can adopt collimation technique to make measurement result more accurate; Shoes itself are separable with the comprehensive module of wireless sensing in addition, and purpose is to be convenient to the cleaning of shoes, and can not damage electronic equipment; In addition, be convenient to the comprehensive module charging of wireless sensing.
The present invention has designed a kind of body motion information acquisition system based on single three axis accelerometer and Zigbee wireless module, and a kind of method for testing motion of Schema-based recognition technology proposed, and, by the statistics modeling, provided a kind of improved move distance measuring method.The present invention, using the message of body motion information as triggering property, sends to host computer by wireless transmission method, carries out the man-machine interaction use, can be used for controlling the intelligent terminals such as PC, mobile phone, in order to the purposes such as to play games.Described detection method comprises the steps:
(1) under the human body stationary state, calibrate, the three axis accelerometer in slave computer measures the acceleration reference value a under stationary state
X0, a
Y0, a
Z0, host computer sends and starts the image data instruction to slave computer, points out simultaneously human body to move freely;
(2) three axis accelerometer gathers acceleration information, acceleration information enters CPU (central processing unit) behind the signal condition unit, CPU (central processing unit) was resolved the data that collect according to the default clock period, resolve and obtain body motion information, and the body motion information data are stored in data storage cell;
(3) the human motion start-stop detects constantly, is specially:
During current time T=k, by three axis accelerometer, the acceleration on three change in coordinate axis direction of acquisition shoes local coordinate system, be denoted as respectively a
x, a
y, a
zWhen human body has occurred when mobile, to make us body motion initial time Tstart=k, namely completed the human motion initial time and detected, concrete mode is as follows:
Calculate the accekeration in this moment:
This accekeration and threshold value ThresholdA are contrasted, T=k this accekeration of the moment is greater than threshold value ThresholdA and thinks that namely human body exists foot to move if find, an if ensuing m cycle, accekeration all is greater than threshold value ThresholdA, and current state is stationary state, think that namely movement has appearred in the foot of human body;
When the movable information of human body met two conditions, thinking that namely motion stops: the continuous p of a first accekeration cycle was less than threshold value ThresholdA, and it two is that current state is motion state; When meeting this two conditions, namely think the end of one-off, namely when T=k, be carved into T=k+p constantly, have following two conditions to meet:
The record time this moment, make Tend=k+p, is the finish time of moving;
The human foot has movement, proceeds to (4); If not motion of human foot detected, return to step (2) and proceed data acquisition;
(4) human foot being detected there is motion,, within n the cycle after this, utilizes an integral operation to obtain shoes local coordinate system X
bY
bZ
bThree speed Vx (n) on axially, Vy (n), Vz (n), when the n=N moment, N is natural number, i.e. the speed Vx on axially according to three of local coordinate systems, Vy, the value of Vz, obtain with respect to the trivector (Vx, Vy, Vz) under the shoes local coordinate system, this vector namely means the orientation of pin that human body goes out, and judgement obtains the direction that human body goes out pin;
(5) for the measurement of distance, by the detection to great amount of samples, based on the Gait Recognition technology, make
Wherein K is constant, and C is the benchmark constant, Axy
MaxIn motion process, the maximal value of the acceleration on XOY plane,
The exercise data of the shoes that calculate will be stored in the buffer memory of slave computer, and pass to wireless transport module A transmission;
(6) the host computer receiver module receives the information that wireless transport module A sends, and the single-chip microcomputer in host computer is transferred to human foot's mobile message the data buffer of host computer, in order to system call.
Novelty of the present invention and advantage are:
1, rely on the comprehensive module of wireless sensing that is built in shoes arch of foot place, designed a kind of body movement detection method of Schema-based recognition technology, have wide accommodation, the characteristics that accuracy rate is high;
2, propose a kind of follow-on range observation algorithm based on the Gait Recognition technology, had and calculate easyly, without carrying out integration all the time, but in conjunction with mode of motion, carried out mathematical modeling by a kind of statistical law, realized a kind of approximate estimation.Compare by quadratic integral and calculate distance, this method has the advantages that there is no cumulative errors, obtains because the speed of human motion is continuous integral and calculating, and long-term calculating will cause cumulative errors.And computing method provided by the invention are within each period of motion, rule of thumb formula is calculated by the raw data acceleration, does not relate to computing velocity and also without carrying out again integration, calculates displacement, therefore there is no cumulative errors.
3, adopt triggering mode to carry out the wireless transmission of exercise data and in order to man-machine interaction, namely detect when human body has motion to occur and just send data, make system power dissipation greatly reduce, during such as control game and other man-machine interactive application, only have when human body is made action, just movable information is sent to host computer, rather than transmission all the time, such Design Mode will reduce power consumption greatly.Standby ability and the service time of further raising system.
4, system adopts low power dissipation design, and selected MCU is the single-chip microcomputer of low-power consumption, has adopted the closely wireless solution Zigbee of low-power consumption for the wireless transport module of wireless receiving and transmission.The design of low-power consumption also makes system can use volume and the less battery of capacity, to reduce the whole system weight and volume, more is conducive to be placed on the bottom of shoes.
5, adopted voltage stabilizing power supply design, avoided accelerometer in using the powered battery process, due to the descend error of the accekeration after the quantification brought of operating voltage.
The accompanying drawing explanation
Fig. 1 is the footwear construction schematic diagram that is provided with the comprehensive module of wireless sensing;
Fig. 2 is local coordinate system schematic diagram on shoes;
Fig. 3 is the structural representation of the comprehensive module of the wireless sensing in the present invention and host computer receiver module;
Fig. 4 is the workflow diagram that the comprehensive module of wireless sensing gathers movable information;
The hardware of Fig. 5 host computer receiver module forms structural representation.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
The present invention proposes a kind of body motion information pick-up unit and its implementation based on three axis accelerometer and Zigbee wireless module.As shown in Figure 1, described shoes 1 are provided with the comprehensive module 2 of wireless sensing in bottom, preferably the comprehensive module 2 of wireless sensing are arranged on to the arch of foot place of shoes; Between the comprehensive module 2 of described wireless sensing and host computer receiver module 3, be connected based on wireless telecommunications, host computer receiver module 3 directly is connected with the terminal device such as PC.
Body motion information pick-up unit provided by the invention comprises the comprehensive module 2 of wireless sensing and host computer receiver module 3, the comprehensive module 2 of described wireless sensing is carried out radio communication with host computer receiver module 3, host computer receiver module 3 is be used to receiving the movable information of shoes 1, and resulting movable information can be applied to data analysis, simulation virtual training or man-machine interaction.On the comprehensive module 2 of wireless sensing, adopt the processor of low-power scm as CPU (central processing unit), the process of resolving of human foot's exercise data all completes in the comprehensive module of wireless sensing 2 inside, has realized higher integrated level.The comprehensive module 2 of described wireless sensing is placed in the shoes bottom, and the barycenter of the comprehensive module 2 of wireless sensing is as the initial point of shoes local coordinate system, the foundation of shoes local coordinate system is as shown in Figure 2: initial point O is the barycenter of the comprehensive module 2 of the wireless sensing on shoes of the present invention, x
b, y
b, z
bThe longitudinal axis, transverse axis and vertical pivot that axle points to respectively shoes make progress.
As shown in Figure 3, the two realizes communicating by letter by wireless transport module A and wireless transport module B in communication realization between the comprehensive module 2 of described wireless sensing and host computer receiver module 3.The comprehensive module 2 of wireless sensing wherein contains Three Degree Of Freedom sensor unit, signal condition unit, CPU (central processing unit), wireless transport module A, data storage cell, the power supply unit based on three axis accelerometer and is arranged on the power supply control chip of power supply unit output terminal, and described power supply unit is used to three axis accelerometer, signal condition unit, CPU (central processing unit), wireless transport module A and the data storage cell power supply in the Three Degree Of Freedom sensor unit; Described power supply control chip is for arriving other module required voltages by the power supply unit output voltage stabilization; Described three axis accelerometer gathers the acceleration movement information on three axles of shoes and nurses one's health as after available signal through the signal condition unit, send to CPU (central processing unit) MCU, process is based on the motion detection of collimation technique, and correlation computations, obtains the movable information of human body.Described body motion information mainly comprise the beginning and ending time Tstart of acceleration a, speed v, motion and Tend, motion each time apart from d and the direction θ (with respect to the direction of local coordinate system) that motion initial time, human body go out pin detected, and the step number step of motion.A body motion information part is stored in data storage cell, and a part sends to the host computer receiver module through the transmitting terminal of wireless transport module A.
Described host computer receiver module 3, towards the equipment with USB interface such as PC, it comprises single-chip microcomputer, wireless transport module B, USB/UART interface conversion chip, power supply chip and USB interface, as shown in Figure 5, the receiving end of described wireless transport module B receives the body motion information data of the transmitting terminal of wireless transport module A, and the signal type conversion chip is FT232R, FT232R is the USB/UART conversion chip, and its major function is under the internal hardware logical action, to realize the conversion of USB and a step Serial Data Transport Interface.Chip internal has been inherited EEPROM and the multi-frequency clock generator (6MHz, 12MHz, 24MHz, 48MHz) of 1024.Power supply chip adopts AMS1117-3.3 mentioned above, provides 3.3V to be output as FT232R and Zigbee module for power supply.USB interface, for terminal device such as PC, being connected, completes data transmission and Power supply function.The body motion information data that wireless transport module B receives are by after interface conversion, are converted to the formatted output that can transmit to device ends such as PC.Single-chip microcomputer in host computer is for human foot's mobile message being transferred to the data buffer of host computer, in order to system call.
CPU (central processing unit) is selected the MCU that carries high accurate A/D collection and house dog.AD gathers for obtaining the Voltage-output through the Three Degree Of Freedom sensor unit of signal condition unit conditioning, and be reduced to acceleration information, through an integration, obtain velocity information, by the mathematical modeling based on statistics, for the acceleration in whole motion state, analyze, calculate mobile each time distance.House dog is for when the processor program race flies or is in the deadlock state, and house dog will, from hardware, processor being carried out to forced resetting, make processor reenter normal mode of operation.Especially, power supply control chip will be responsible for three axis accelerometer in the Three Degree Of Freedom sensor unit and the single-chip microcomputer in CPU (central processing unit) etc. stable voltage will be provided, mainly for solving this type of inertia device of accelerometer, tender subject to operating voltage, if supply voltage constantly descends, cause very large error will for the accekeration of the output of follow-up accelerometer.
The host computer receiver module is as the module that receives and process wireless sensing information that comprehensive module sends in shoes, its core is to pass through home control network communication protocol, with the comprehensive module of wireless sensing, connect and receive related data, and initialization mode of operation and running parameter constantly is set.
For selected accelerometer, the demarcation before need to using, by the position experiment of national standard, demarcate zero inclined to one side V0 of selected accelerometer, and scale factor scale.Basis as subsequent calculations.The magnitude of voltage of calibrated three axial accelerations can be converted to actual acceleration by following formula, and computing formula is that the X axis of take is example:
(this magnitude of voltage can be the integer after the AD sampling to magnitude of voltage by can degree of the will speed up original output of this formula, it can be also the real voltage after reduction, corresponding scale factor scale dimension is also different) be converted to actual accekeration, wherein Vx is the Voltage-output of the accelerometer of X axis, Vx0 is that X axis zero is inclined to one side, R refers to that the range of accelerometer is [R ,+R], scale
xRefer to scale factor.
Three axis accelerometer in described Three Degree Of Freedom sensor unit, adopt the KXD94 accelerometer chip, and KXD94 is the three axis accelerometer that Kionix company produces.This device measurement range is maximum ± 13g, and sensitivity coefficient is the 200mV/g(5V power supply), operating voltage is 2.5～5.25V; This accelerometer power consumption is very low, and the about 0.9-1.5mA of electric current can meet the low-power consumption requirement of global design.KXD94 tri-tunnel outputs represent respectively X-axis output, Y-axis output, Z axis output, offer the follow-up signal conditioning unit and finally by the Chip Microcomputer A/D of CPU (central processing unit), are gathered afterwards.
Described CPU (central processing unit) adopts the MSP430F247 single-chip microcomputer of TI company, can meet the Real-time Collection of information and calculate online the requirement of displacement information.MSP430 series is the single-chip microcomputer kind of super low-power consumption, is well suited for the battery powered occasion that works long hours.MSP430 chip activity mode current 225uA, holding state is 0.8uA only, power-down mode 0.1uA.Adopt numerically-controlled oscillator, be no more than 6us from standby to the awakening mode response time.The RAM capacity of 4K, 8 12, tunnel AD gather, I2C/SPI interface, UART/USART etc.MSP430 can effectively realize the high and low power consumption of integrated level of requirement of the present invention, Embedded Application cheaply.
Wireless transport module A and wireless transport module B adopt the ZigBee module.The ZigBee wireless communication technology is a kind of low rate, low-power consumption, low complex degree, two-way wireless communication network technology cheaply, can be widely used in the fields such as industrial monitoring, security system, sensor network, Smart Home.The advantage of ZigBee is low-power consumption, compares bluetooth or WiFi stand-by time and can improve tens times; Low cost, reduced the requirement to communication controller, and the agreement patent is free; High power capacity, a host node can be managed a plurality of child nodes, can reach at most 254 child nodes; Have in short-term and prolong in addition, high safety, the advantages such as unlicensed band.The Zigbee module can meet the requirement of design application.Wireless transport module A or wireless transport module B include sending and receiving two parts, are arranged on respectively in the comprehensive module 2 of wireless sensing and host computer receiver module 3, for data radio communication.
Power supply unit adopts lithium battery power supply, and battery adopts chargeable ultra-thin lithium cell, capacity 300-500mAh, and operating voltage 6V, discharge and recharge number of times and can reach 500 times, very frequently also can guarantee the service time of at least one year even use.
Power supply control chip can be used AMS1117-3.3 as power supply voltage stabilizing chip, and making the power supply unit stable output is 3.3V, can be ARM, three axis accelerometer, and wireless transport module A stable power-supplying.AMS1117-3.3 chip input voltage scope 4.75～12V, output voltage 3.267～3.333V, output current 1A, working temperature-40～125 ℃.
As shown in Figure 4, the workflow that adopts the above-mentioned comprehensive module of wireless sensing and host computer receiver module to gather the body motion information data can be described as:
(1) (the comprehensive module of wireless sensing is parallel to the ground) calibrates under the human body stationary state, and the three axis accelerometer in slave computer measures the acceleration reference value a under stationary state
X0, a
Y0, a
Z0, also can measure in advance, obtain one can be for reference the universal reference value, or place in comparatively horizontal situation in the comprehensive module of wireless sensing, approximately think a
X0=0, a
Y0=0, a
Z0=g, depending on different occasions and accuracy requirement.Host computer sends start command of acquisition to slave computer, and the software application prompting human body by host computer can move freely simultaneously.
(2) acceleration information of three axis accelerometer enters CPU (central processing unit) behind the signal condition unit, CPU (central processing unit) was resolved the data that collect according to the default clock period, resolve and obtain body motion information, and the body motion information data are stored in flash memory (data storage cell).
By three axis accelerometer, the acceleration on three change in coordinate axis direction of acquisition shoes local coordinate system, be denoted as respectively a
x, a
y, a
z, whether human body moves, and adopting and setting in advance acceleration rate threshold is ThresholdA, when
The time, thinking that namely the human foot has movement, threshold value ThresholdA can adjust according to different occasions.If human body detected, motion is arranged, proceed to (5); If not motion of human body detected, proceed data acquisition.
(3) human foot detected motion is arranged, (n typical case value, can set according to the sample frequency of three axis accelerometer, as the sample frequency of 100HZ within n the cycle after this, the typical value of n can be the natural number as 10), utilize an integral operation to obtain shoes local coordinate system X
bY
bZ
bThree speed Vx (n) on axially, Vy (n), Vz (n), note, the acceleration of the integration now be used for is to consider reference value under static, that is to say through overcorrect.When n=N constantly, can be according to three of local coordinate systems the speed Vx on axially, Vy, the value of Vz, judgement obtains the direction (with respect to local coordinate system) that human body goes out pin.
(4) for the measurement of distance, the present invention proposes a kind of method based on the statistics modeling, by the detection to great amount of samples, based on the Gait Recognition technology, improved a kind of experimental formula, order
Wherein K is constant, can measure by a large amount of samples.C is the benchmark constant, is an amendable value, relevant with concrete motion state, and initial value can directly be set to 0, can approach actual value by a large amount of data tests.Axy
Max(pin is within the time period of stopping over from single motion) in motion process, the maximal value of the acceleration on XOY plane,
K that can be different according to actual Demand Design in concrete application, the value of C, to improve the accuracy of measuring.The body motion information data that calculate will be stored in the buffer memory of slave computer, and pass to wireless transport module A transmission.
(5) the host computer receiver module receives the information that the wireless transport module A in shoes sends.Single-chip microcomputer in host computer is transferred to human foot's mobile message the data buffer of host computer, in order to system call.
After detecting end of message (EOM), if host computer sends END instruction by directly controlling, gather with the communication workflow and stop, and quit a program; Perhaps directly quit a program and close the shoes power supply.
In above-mentioned human body operation information testing process, MANET work can be carried out before detecting, that is:
(a) open the shoes power supply.The slave computer initialization, and power on for the comprehensive module of wireless sensing.
(b) open the host computer receiver module, carry out wireless search, the comprehensive module of wireless sensing existed around coupling, start MANET work.If search the equipment of protocol compliant, automatically connect; If surpass threshold time T second (can establish), still do not search the relevant device that can mate, automatically proceed to the connection failure handling procedure; The comprehensive module of slave computer wireless sensing that can mate if search, connect automatically, realizes the automatic networking of child node, and set up the communication connection.
The body motion information detection method of Schema-based recognition technology of the present invention and statistics modeling comprises that human motion start-stop detection, human body constantly goes out the detection of pin direction, the measurement of speed, the measurement of move distance and the measurement of step number, specific as follows:
1, human body motion start-stop is constantly:
During current time T=k, (k is natural number, is representing the clock period, can be 5ms, 10ms etc., can select different clocks and cycle according to different application), pass through three axis accelerometer, acceleration on three change in coordinate axis direction of acquisition shoes local coordinate system, be denoted as respectively a
x, a
y, a
z.When human body has occurred when mobile, to make us body motion initial time Tstart=k, namely completed the human motion initial time and detected.Concrete mode is as follows:
Calculate the accekeration in this moment
This accekeration and threshold value ThresholdA are contrasted, T=k this accekeration of the moment is greater than threshold value ThresholdA and thinks that namely human body may exist foot to move if find, further investigate an ensuing m cycle, if in the present invention, got m=3, can all be greater than threshold value ThresholdA by (m=0 also calculates one-period) accekeration of continuous 4 cycles, and current state is stationary state, think that namely movement has appearred in the foot of human body.
Similarly, when the movable information of human body met two conditions, thinking that namely motion stops: the continuous p of a first accekeration cycle was less than threshold value ThresholdA, and p=7 is set in the present embodiment, and it two is that current state is motion state.When meeting this two conditions, namely think the end of one-off.Namely when T=k, be carved into T=k+p constantly, have following two conditions to meet:
The record time this moment, make Tend=k+p, is the finish time of moving.
The advantage of the method is, utilizes the information in continuous several cycles, has strengthened the effect of removing noise, has strengthened the robustness of system, has also effectively avoided error detection.
2, human body goes out pin direction detection (with respect to the shoes local coordinate system):
After human body being detected and moving, within n the cycle after this, in the present embodiment, sample frequency is 100HZ, and namely the clock cycle is 10ms, chooses natural number N=10, within n=N cycle, utilizes integral operation to obtain shoes local coordinate system X
bY
bZ
bThree speed Vx (n) on axially, Vy (n), Vz (n) notices that now the acceleration of the integration that is used for is what to calibrate.When the n=N moment, can be according to Vx, Vy, the value of Vz, can obtain with respect to a trivector (Vx under the shoes local coordinate system, Vy, Vz), this vector can roughly mean the orientation θ of pin that human body goes out, the trivector be comprised of speed in whole process is in the interval variation of 360 degree, but for general man-machine interaction application, only need to know that general orientation is just passable, such as, we can utilize human foot's the pin direction that goes out probably to be divided into four direction all around, it is mapped as to the key of four direction up and down on keyboard, as long as probably know the orientation that pin of human body, can complete the control of this man-machine interaction.This computing method belong to prediction type, and advantage is that followability is good, and human body has just been made action, can dope its direction, for controlling game and the high occasion of other requirement of real-times, are very favorable.If after adopting motion to finish, again according to mobile displacement judgement direction, will bring very large delay and hysteresis quality, cause experience sense to be had a greatly reduced quality.
3, the measurement of speed:
The measurement of speed V, be by human body at the pin Tstart zero hour that moved until the constantly Tend that stops over, along three axially, carrying out integrated acceleration calculates, what particularly point out is, for three axial acceleration of integration, be a that has considered three the axial benchmark outputs in reference position (the static moment)
X0, a
Y0, a
Z0, rather than directly utilize the output valve of three axis accelerometer.Obtain three axial velocity information Vx (n), Vy (n), Vz (n), n constantly,
4, the measurement of move distance:
For the measurement of distance, the present invention proposes a kind of method based on the statistics modeling, by the detection to great amount of samples, based on the Gait Recognition technology, improved a kind of experimental formula, order
Wherein K is constant, can measure by a large amount of samples.C is the benchmark constant, is an amendable value, relevant with concrete motion state, specifically choose process, can shilling C=0, then by actual Gait measurement, by experimental formula calculated value and true step value, must contrast, constantly revise C, can approach end value.Axy
MaxIn motion process, the maximal value of the acceleration on XOY plane,
K that can be different according to actual Demand Design in concrete application, the value of C, to improve the accuracy of measuring.This measuring technique does not need at every moment to carry out rate integrating, and then quadratic integral calculates each displacement constantly, the cumulative distance that obtains once moving; And be based on the Gait Recognition technology, and improve, utilize the maximal value Axy of acceleration in plane
MaxAnd the relation between the benchmark constant C, add the constant K of a correction.Can directly calculate the move distance on plane X OY, in practical application, effect is better than integral operation.Reason is, the constant K of this method, C obtain according to a large amount of sample statistics, and can adopt that adaptive technique is online to be revised, and there is no cumulative errors.The quadratic integral computing is ceaselessly to add up, and the time has been grown cumulative errors can be very large.
5, the measurement of step number:
According to the start-stop moment of aforementioned measurement human motion, each start-stop cycles, can add 1 by step number step, namely completed the function of passometer.
The body motion information that the present invention calculates, can send to host computer to carry out the uses such as man-machine interaction.If passed through, gather human body movement data, can realization and the intelligent terminals such as mobile phone, PC, panel computer and TV mutual, realize the demonstration of obtaining and being correlated with of the distance of exercise data information such as acceleration, speed and motion, and be used for playing games and carrying out man-machine interaction application of virtual reality etc.
The present invention in actual engineering test, 100HZ computation period, the about 6ma of Overall Power Consumption; For the detection of human motion direction, the rate of accuracy reached of normal gait identification is to 100%, and the rate of accuracy reached of random maneuver Gait Recognition is to 97.4%; For displacement, measure: regular displacement measuring accuracy can reach 98%, random motion accumulative total precision approximately 95%; Minimum distinguishable displacement is the 4cm left and right.In actual test, for human-computer interactive control, have experience sense preferably, control the PC game accurately fast, without postponing sense.
Above-described embodiment is only be used to illustrating the present invention, and wherein the structure of each parts, connected mode etc. all can change, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.
Claims (3)
1. body motion information detection method is characterized in that:
(1) under the human body stationary state, calibrate, the three axis accelerometer in slave computer measures the acceleration reference value a under stationary state
X0, a
Y0, a
Z0, host computer sends and starts the image data instruction to slave computer, points out simultaneously human body to move freely;
(2) three axis accelerometer gathers acceleration information, acceleration information enters CPU (central processing unit) behind the signal condition unit, CPU (central processing unit) was resolved the data that collect according to the default clock period, resolve and obtain body motion information, and the body motion information data are stored in data storage cell;
(3) the human motion start-stop detects constantly, is specially:
During current time T=k, by three axis accelerometer, the acceleration on three change in coordinate axis direction of acquisition shoes local coordinate system, be denoted as respectively a
x, a
y, a
zWhen human body has occurred when mobile, to make us body motion initial time Tstart=k, namely completed the human motion initial time and detected, concrete mode is as follows:
Calculate the accekeration in this moment:
This accekeration and threshold value ThresholdA are contrasted, T=k this accekeration of the moment is greater than threshold value ThresholdA and thinks that namely human body exists foot to move if find, an if ensuing m cycle, accekeration all is greater than threshold value ThresholdA, and current state is stationary state, think that namely movement has appearred in the foot of human body;
When the movable information of human body met two conditions, thinking that namely motion stops: the continuous p of a first accekeration cycle was less than threshold value ThresholdA, and it two is that current state is motion state; When meeting this two conditions, namely think the end of one-off, namely when T=k, be carved into T=k+p constantly, have following two conditions to meet:
The record time this moment, make Tend=k+p, is the finish time of moving;
The human foot has movement, proceeds to (4); If not motion of human foot detected, return to step (2) and proceed data acquisition;
(4) human foot being detected there is motion,, within n the cycle after this, utilizes an integral operation to obtain shoes local coordinate system X
bY
bZ
bThree speed Vx (n) on axially, Vy (n), Vz (n), when the n=N moment, N is natural number, i.e. the speed Vx on axially according to three of local coordinate systems, Vy, the value of Vz, obtain with respect to the trivector (Vx, Vy, Vz) under the shoes local coordinate system, this vector namely means the orientation of pin that human body goes out, and judgement obtains the direction that human body goes out pin;
(5) for the measurement of distance, by the detection to great amount of samples, based on the Gait Recognition technology, make
Wherein K is constant, and C is the benchmark constant, Axy
MaxIn motion process, the maximal value of the acceleration on XOY plane,
The exercise data of the shoes that calculate will be stored in the buffer memory of slave computer, and pass to wireless transport module A transmission;
(6) the host computer receiver module receives the information that the wireless transport module A in shoes sends, and the single-chip microcomputer in host computer is transferred to human foot's mobile message the data buffer of host computer, in order to system call.
2. a kind of body motion information detection method according to claim 1, it is characterized in that: described detection method also comprises the measurement of human foot's movement velocity, the measurement of speed V, be by human body at the pin Tstart zero hour that moved until the constantly Tend that stops over axially carries out integrated acceleration along three and calculates, obtain three axial velocity information Vx (n), Vy (n), Vz (n), n constantly
3. a kind of body motion information detection method according to claim 1, it is characterized in that: described detection method also comprises the measurement of step number, according to the start-stop of measuring human motion constantly, and each start-stop cycles, step number step is added to 1, namely completed the function of passometer.
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