Summary of the invention
The object of the invention is to solve at present for the multiple deficiency of throwing action identification, propose a kind of based on but the throwing action recognition methods of sensor and device, to improve accuracy and the Experience Degree of identification.
For reaching this object, the present invention by the following technical solutions:
A kind of based on the recognition methods of single-sensor throwing action, comprise the steps:
S110. reference frame establishment step:
Respectively relative under caster, front, rightly set up reference frame OXYZ, wherein, under OX axle points to, its unit direction vector in earth coordinates with under vector
represent, before OY axle points to, its unit direction vector uses front vector in earth coordinates
represent, OZ axle points to right, the right vector of its unit direction vector
represent, the Angle Position of right upper arm in reference frame OXYZ can describe the attitude of right upper arm, and make right upper arm vector be the unit vector pointing to right elbow from right shoulder, right upper arm vector is used in sensor coordinates
represent, right upper arm vector uses symbol in earth coordinates
represent, order
with
angle be θ, 0 °≤θ≤90 °,
?
with
formed plane on projection with
between angle be φ ,-180 °≤φ≤180 °;
S120. with reference to angle calculating step:
Right upper arm vector, reference vector be right, front, under, be expressed as in earth coordinates:
with
utilize above-mentioned vector by following formulae discovery θ and φ,
S130. reference zone is set up and mapping step:
According to upper arm vector
in the region that reference frame OXYZ may pass through, the attitude of right for OXYZ semispace is divided into several attitude regions, wherein,
configuration space is mapped in unit pole coordinate circle, several reference zones in the corresponding unit pole coordinate circle in several attitude regions; By the throwing of measuring the area maps of process in described reference zone;
S140. throwing action determining step:
Will at schedule time T
mAXthe reference zone sequential of measured mapping and predetermined throwing order are made comparisons, if identical, are then judged as throwing action, if transfer sequence is inconsistent or arrive T
mAXrear switching does not complete, and is judged as non-throwing action, wherein, and T
mAXfor the maximum duration of a throwing action obtained according to batch experiment or experience.
Preferably, in step S130, described by the throwing of measuring the area maps of process to described reference zone be:
Sensor is installed on right upper arm, and under making right arm naturally droop state, certain axle of sensor is parallel with vertical as far as possible, makes the coordinate of right upper arm vector in sensor coordinate system be
right upper arm vector is expressed as in earth coordinates
wherein
for being tied to the coordinate conversion matrix in earth coordinates from sensor coordinates, to be known be lower vector
front vector
with right vector
vector before before starting with throwing action
with right vector
replace, and think that, until throwing action terminates, the right vector of front vector is constant, then utilizes
with
calculate θ and φ and attitude mapping status (r, φ).
Preferably, vector before calculating throwing action starts
with right vector
be, front vector
Right vector
Preferably, in step s 130, which, division experimentally actual conditions increase or the minimizing of described reference zone, boundary value also can come to select by experiment.
Preferably, in step S140, throw predetermined order according to throw in save up strength, trunk is had an effect, right arm is had an effect and receive gesture to determine after throwing out.
The invention also discloses a kind of based on single-sensor throwing action recognition device, comprise as lower unit:
Reference frame sets up unit:
Respectively relative under caster, front, rightly set up reference frame OXYZ, wherein, under OX axle points to, its unit direction vector in earth coordinates with under vector
represent, before OY axle points to, its unit direction vector uses front vector in earth coordinates
represent, OZ axle points to right, the right vector of its unit direction vector
represent, the Angle Position of right upper arm in reference frame OXYZ can describe the attitude of right upper arm, and make right upper arm vector be the unit vector pointing to right elbow from right shoulder, right upper arm vector is used in sensor coordinates
represent, right upper arm vector uses symbol in earth coordinates
represent, order
with
angle be θ, 0 °≤θ≤90 °,
?
with
formed plane on projection with
between angle be φ ,-180 °≤φ≤180 °;
With reference to angle calculation unit:
Right upper arm vector, reference vector be right, front, under, be expressed as in earth coordinates:
with
utilize above-mentioned vector by following formulae discovery θ and φ,
Reference zone is set up and map unit:
According to upper arm vector
in the region that reference frame OXYZ may pass through, the attitude of right for OXYZ semispace is divided into several attitude regions, wherein,
configuration space is mapped in unit pole coordinate circle, several reference zones in the corresponding unit pole coordinate circle in several attitude regions; By the throwing of measuring the area maps of process in described reference zone;
Throwing action judging unit:
Will at schedule time T
mAXthe reference zone sequential of measured mapping and predetermined throwing order are made comparisons, if identical, are then judged as throwing action, if transfer sequence is inconsistent or arrive T
mAXrear switching does not complete, and is judged as non-throwing action, wherein, and T
mAXfor the maximum duration of a throwing action obtained according to batch experiment or experience.
Preferably, to set up and in map unit at described reference zone, described by the throwing of measuring the area maps of process to described reference zone be:
Sensor is installed on right upper arm, and under making right arm naturally droop state, certain axle of sensor is parallel with vertical as far as possible, makes the coordinate of right upper arm vector in sensor coordinate system be
right upper arm vector is expressed as in earth coordinates
wherein
for being tied to the coordinate conversion matrix in earth coordinates from sensor coordinates, to be known be lower vector
front vector
with right vector
vector before before starting with throwing action
with right vector
replace, and think that, until throwing action terminates, the right vector of front vector is constant, then utilizes
with
calculate θ and φ and attitude mapping status (r, φ).
Preferably, vector before calculating throwing action starts
with right vector
be, front vector
Right vector
Preferably, in reference zone foundation and map unit, division experimentally actual conditions increase or the minimizing of described reference zone, boundary value also can come to select by experiment.
Preferably, in throwing action judging unit, throw predetermined order according to throw in save up strength, trunk is had an effect, right arm is had an effect and receive gesture to determine after throwing out.
Therefore, single-sensor throwing action of the present invention recognition methods and device, by configuration single-sensor, Real-time Collection attitude information discriminance analysis, the throwing attitude that just can realize individual soldier under virtual training scene distinguishes.The present invention can provide the training environment of high Experience Degree, the differentiation accuracy rate of throwing action more than 98%, method and apparatus of the present invention be easy to all kinds of based on the immersion virtual training system of individual soldier in apply.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, illustrate only part related to the present invention in accompanying drawing but not entire infrastructure.
Throwing action can be regarded as within one period of short period, the combination of series of actions.By by right upper arm all possible attitude in certain coordinate system, be divided into several region with reference to the right semispace of coordinate system, a kind of basic status of each Regional Representative.In whole throwing process, the state of right upper arm, by from a kind of state in several possibility original state, is in turn switched to end-state continuously.
Therefore, first the present invention sets up reference frame, the mathematical description of each basic status is obtained by reference to angle corresponding in coordinate system, then the right semispace with reference to coordinate system is divided into several regions, by each process in throwing process, such as possible original state, possible final state, and one or several order of switching of state and associated time parameter (the minimax duration as whole action or certain state) are mapped in regional; Finally the regional change of measurement and throwing action regional change rule are compared, to have judged whether throwing action.
Generally speaking, throwing action simply can be divided into following four actions:
save up strength: trunk dextrorotation, may incline with right back; Right upper arm is put behind below.
trunk is had an effect: trunk is left-handed rapidly, may incline with left front; Right upper arm is servo-actuated.
right arm is had an effect: trunk is still in left-handed; Right upper arm is waved before top.
gesture is received: the right convolution of trunk after throwing out; Right upper arm is regained through below.
See Fig. 1, can comprise the steps: based on the recognition methods of single-sensor throwing action
S110. reference frame establishment step:
Describe throwing action, first will set up corresponding reference frame.
See Fig. 2, respectively relative under caster, front, rightly set up reference frame OXYZ, wherein, under OX axle points to, its unit direction vector in earth coordinates with under vector
represent, before OY axle points to, its unit direction vector uses front vector in earth coordinates
represent, OZ axle points to right, the right vector of its unit direction vector
represent, the Angle Position of right upper arm in reference frame OXYZ can describe the attitude of right upper arm, and make right upper arm vector be the unit vector pointing to right elbow from right shoulder, right upper arm vector is used in sensor coordinates
represent, right upper arm vector uses symbol in earth coordinates
represent.
Order
with
angle be θ, 0 °≤θ≤90 °,
?
with
formed plane on projection with
between angle be φ ,-180 °≤φ≤180 °, visible φ is
around
the angle of rotating, the forward of rotation adopts left hand or the right-hand rule, thus differentiates that φ's is positive and negative, (adopting the right-hand rule below).
S120. with reference to angle calculating step:
Right upper arm vector, reference vector be right, front, under, be expressed as in earth coordinates:
with
utilize above-mentioned vector by following formulae discovery θ and φ,
S130. reference zone is set up and mapping step:
According to upper arm vector
in the region that reference frame OXYZ may pass through, the attitude of right for OXYZ semispace is divided into several attitude regions, wherein,
configuration space is mapped in unit pole coordinate circle, several reference zones in the corresponding unit pole coordinate circle in several attitude regions.By the throwing of measuring the area maps of process in described reference zone.
See Fig. 3, in one preferably embodiment, several regions described are 17 regions, 17 regions in 17 corresponding unit pole coordinate circles in attitude region.Comprise the central area being positioned at center, and have other two-layer 16 regions outside central area, every layer has 8 regions accordingly, inside and outside toward each other two-layer, has corresponding dispersion angle, is only that radius is different.
At schematic diagram illustrated in fig. 3, for from the schematic diagram of caster's right flank to caster, make the multiple regions of the hand of caster respectively in this reference zone of approach.
Visible according to above Region dividing, when right upper arm is sagging, should be in No. 10 regions, be in No. 14 regions during upper act, be in No. 1 region during right flat act, be in No. 12 regions during front raise, the rest may be inferred.As long as sample frequency is enough high, be switched to region B from region A, then the region that B is necessarily adjacent with A.
Give an example, naturally droop 45 degree of grenades of throwing out obliquely from initial state arm and reset to hang to arm again, the order that state region switches may be: 10-> 17-> 16-> 15-> 14-> 13-> 5-> 4-> 3-> 11-> 10.
Certainly, 16 regions in outside are only examples, also can be more or less regions.That is, the division of reference zone can experimentally actual conditions increase or reduce, and boundary value also preferably needs to come by experiment to select.
S140: throwing action determining step
Will at schedule time T
mAXthe reference zone sequential of measured mapping and predetermined throwing order are made comparisons, if identical, are then judged as throwing action, if transfer sequence is inconsistent or arrive T
mAXrear switching does not complete, and is judged as non-throwing action.
Such as, a status switch variable can be defined in a program, once there is No. 10, possible throwing original state, then be saved in sequence start position by No. 10, if at time T
mAXin the follow-up state transfer sequence that measures and predetermined sequence consensus, be then judged as throwing action, if transfer sequence is inconsistent or arrival T
mAXrear switching does not complete, and is judged as non-throwing action, sequence clear 0, wherein, and T
mAXfor the maximum duration of a throwing action obtained according to batch experiment or experience, preferably, T
mAXit is 2.5 seconds.
In step S140, throw predetermined order according to throw in save up strength, trunk is had an effect, right arm is had an effect and receive gesture to determine after throwing out.
Wherein, in step S130, described by the throwing of measuring the area maps of process to described reference zone be:
Sensor is installed on right upper arm, and under making right arm naturally droop state, certain axle of sensor is parallel with vertical as far as possible.After supposing to install, right arm naturally droops, the OZ axle of sensor point to vertical on, the horizontal dextrad of OX, OY horizontal forward (right-handed system), then make the coordinate of right upper arm vector in sensor coordinate system be always
In right upper arm motion process, the coordinate conversion matrix be tied to earth coordinates from sensor coordinates that sensor obtains in real time is
then right upper arm vector can be expressed as in earth coordinates
In earth coordinates, to be known be lower vector
namely vertically downward, vector before but in experimentation
with right vector
be change, need Binding experiment experience to calculate.Experimentally can obtain, the continuous slowly change of the right vector of vector before in experimentation.Therefore, in an experiment any one exists in the short time interval of throwing action, vector before before throwing action identification can start with throwing action
with right vector
replace, and think that, until throwing action terminates, the right vector of front vector is constant.Now, according to
with
calculate θ and φ and attitude mapping status (r, φ).
In experimentation, the calculating of the right vector of front vector divides swing arm and static two kinds of situations.Swing arm refers to reciprocal swing arm when advancing.Right upper arm vector is in the projection of vertical vector dot product
represent, work as u
aDat time period T
wwhen inside there is maximal value, right upper arm swings and just arrives right side of body.Take out the right upper arm vector in existing maximal projection value moment
then front vector equals the multiplication cross of right upper arm vector and lower vector
right vector equals the multiplication cross of lower vector and front vector
and when static, can obtain by experiment, under normal circumstances, when right upper arm is static, be always in right side of body, in like manner, front vector
right vector
swing arm state can according to u
aDperiod of change and amplitude identify.Stationary state can according at period T
sinner sensor reading variation range is no more than threshold value and identifies.In experimentation, system constantly identifies swing arm or static, and the right vector of vector before calculating.
Therefore, calculate throwing action and start front vector
with right vector
time, front vector
Right vector
Therefore, in an experiment any one exists in the short time interval of throwing action, and this period has calculated front vector
with right vector
and think that, until throwing action terminates, the right vector of front vector is constant.Now, according to
calculate θ and φ and attitude mapping status (r, φ), when state enters 10 region, start to enter throwing action testing process, if the change order of state region and the length of time used and throwing action match, then think and recognize a throwing action, if exceed the throwing action that maximum detection time does not detect coupling yet detection time, then think and throwing action do not detected.
The invention also discloses a kind of single-sensor throwing action recognition device, comprise as lower unit:
Reference frame sets up unit 210:
Respectively relative under caster, front, rightly set up reference frame OXYZ, wherein, under OX axle points to, its unit direction vector in earth coordinates with under vector
represent, before OY axle points to, its unit direction vector uses front vector in earth coordinates
represent, OZ axle points to right, the right vector of its unit direction vector
represent, the Angle Position of right upper arm in reference frame OXYZ can describe the attitude of right upper arm, and make right upper arm vector be the unit vector pointing to right elbow from right shoulder, right upper arm vector is used in sensor coordinates
represent, right upper arm vector uses symbol in earth coordinates
represent, order
with
angle be θ, 0 °≤θ≤90 °,
?
with
formed plane on projection with
between angle be φ ,-180 °≤φ≤180 °;
With reference to angle calculation unit 220:
Right upper arm vector, reference vector be right, front, under, be expressed as in earth coordinates:
with
utilize above-mentioned vector by following formulae discovery θ and φ,
Reference zone is set up and map unit 230:
According to upper arm vector
in the region that reference frame OXYZ may pass through, the attitude of right for OXYZ semispace is divided into several attitude regions, wherein,
configuration space is mapped in unit pole coordinate circle, several reference zones in the corresponding unit pole coordinate circle in several attitude regions; By the throwing of measuring the area maps of process in described reference zone;
Throwing action judging unit 240:
Will at schedule time T
mAXthe reference zone sequential of measured mapping and predetermined throwing order are made comparisons, if identical, are then judged as throwing action, if transfer sequence is inconsistent or arrive T
mAXrear switching does not complete, and is judged as non-throwing action, wherein, and T
mAXfor the maximum duration of a throwing action obtained according to batch experiment or experience.
Preferably, in described reference zone foundation and map unit, described by the throwing of measuring the area maps of process to described reference zone be: sensor is installed on right upper arm, under making right arm naturally droop state as far as possible, certain axle of sensor is parallel with vertical, makes the coordinate of right upper arm vector in sensor coordinate system be
right upper arm vector is expressed as in earth coordinates
wherein
for being tied to the coordinate conversion matrix in earth coordinates from sensor coordinates, to be known be lower vector
front vector
with right vector
vector before before starting with throwing action
with right vector
replace, and think that, until throwing action terminates, the right vector of front vector is constant, then utilizes
with
calculate θ and φ and attitude mapping status (r, φ).
Preferably, vector before calculating throwing action starts
with right vector
be, front vector
Right vector
Preferably, in reference zone foundation and map unit 230, division experimentally actual conditions increase or the minimizing of described reference zone, boundary value also can come to select by experiment.
Further preferably, in throwing action judging unit 240, throw predetermined order according to throw in save up strength, trunk is had an effect, right arm is had an effect and receive gesture to determine after throwing out.
Therefore, single-sensor throwing action of the present invention recognition methods and device, by configuration single-sensor, Real-time Collection attitude information discriminance analysis, the throwing attitude that just can realize individual soldier under virtual training scene distinguishes.The present invention can provide the training environment of high Experience Degree, the differentiation accuracy rate of throwing action more than 98%, method and apparatus of the present invention be easy to all kinds of based on the immersion virtual training system of individual soldier in apply.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each unit or each step can realize with general calculation element, they can concentrate on single calculation element, alternatively, they can realize with the executable program code of computer installation, thus they storages can be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to the combination of any specific hardware and software.
Above content is in conjunction with concrete preferred implementation further description made for the present invention; can not assert that the specific embodiment of the present invention is only limitted to this; for general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; some simple deduction or replace can also be made, all should be considered as belonging to the present invention by submitted to claims determination protection domain.