METHOD OF CONFIRMING MOTION PARAMETERS APPARATUS FOR THE SAME, AND MOTION ASSISTING DEVICE
First Claim
1. A method of ball game motion recognition, comprising:
- obtaining and storing motion data at each sampling time, the motion data comprising;
acceleration of a recognized object, angular velocity of the recognized object, and an angle of the recognized object corresponding to a three-dimensional geomagnetic coordinate system;
performing motion static detection utilizing the acceleration stored at each of the sampling time to confirm a motion original time to and a motion end time te of a motion;
optionally confirming an original stance matrix TmbInit corresponding to the three-dimensional geomagnetic coordinate system at the motion original time to according to the angle stored at the motion original time to; and
using each of the sampling time sequentially as a current sampling time to perform the steps of;
confirming and recording a stance change matrix TbInitbCur from the current sampling time to the motion original time to according to the angular velocity stored at the current sampling time and at a previous sampling time, and a stance change matrix TbInitbPre from the previous sampling time to the motion original time to;
confirming a stance matrix TmbCur at the current sampling time corresponding to the three-dimensional geomagnetic coordinate system as TmCur=TmbInitTbInitbCur; and
obtaining an actual acceleration amMCur at the current sampling time by adjusting the acceleration aCur at the current sampling time utilizing the stance matrix TmbCur to reduces an acceleration of gravity {right arrow over (g)} from the acceleration aCur at the current sampling time.
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Abstract
The invention provides a method of confirming motion parameters, an apparatus for the same, and a motion assisting device. The invention obtains and utilizes the motion data of a recognized object sampled at each of the sampling time, comprising the acceleration of the recognized object sampled by a tri-axial accelerometer, the angular velocity of the recognized object sampled by a tri-axial gyroscope, and the angle of the recognized object corresponding to a three-dimensional geomagnetic coordinate system sampled by a tri-axial magnetometer. Feedback calculation is utilized to obtain an actual acceleration at each sampling time from the motion original time to the motion end time, and the actual acceleration is obtained by reducing the acceleration of gravity from the acceleration sampled by a tri-axial accelerometer. The invention reduces the complexity of the system, and the accuracy is less affected by environmental factors, particularly light.
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Citations
29 Claims
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1. A method of ball game motion recognition, comprising:
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obtaining and storing motion data at each sampling time, the motion data comprising;
acceleration of a recognized object, angular velocity of the recognized object, and an angle of the recognized object corresponding to a three-dimensional geomagnetic coordinate system;performing motion static detection utilizing the acceleration stored at each of the sampling time to confirm a motion original time to and a motion end time te of a motion; optionally confirming an original stance matrix TmbInit corresponding to the three-dimensional geomagnetic coordinate system at the motion original time to according to the angle stored at the motion original time to; and using each of the sampling time sequentially as a current sampling time to perform the steps of; confirming and recording a stance change matrix TbInitbCur from the current sampling time to the motion original time to according to the angular velocity stored at the current sampling time and at a previous sampling time, and a stance change matrix TbInitbPre from the previous sampling time to the motion original time to; confirming a stance matrix TmbCur at the current sampling time corresponding to the three-dimensional geomagnetic coordinate system as TmCur=TmbInitTbInitbCur; and obtaining an actual acceleration amMCur at the current sampling time by adjusting the acceleration aCur at the current sampling time utilizing the stance matrix TmbCur to reduces an acceleration of gravity {right arrow over (g)} from the acceleration aCur at the current sampling time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 29)
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13. An apparatus for confirming motion parameters, comprising:
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a motion data obtaining unit to obtain motion data at each sampling time of a motion, the motion data comprising;
acceleration of a recognized object sampled by a tri-axial accelerometer, angular velocity of the recognized object sampled by a tri-axial gyroscope, and an angle of the recognized object corresponding to a three-dimensional geomagnetic coordinate system sampled by a tri-axial magnetometer;a data storage unit to store the motion data; a motion static detecting unit to perform motion static detection utilizing the acceleration stored in the data storage unit at each of the sampling time to confirm a motion original time to and a motion end time te of the motion; an original stance confirming unit to confirm an original stance matrix TmbInit corresponding to the three-dimensional geomagnetic coordinate system at the motion original time to according to the angle stored in the data storage unit at the motion original time to; and a motion parameter confirming unit to confirm the acceleration at each of the sampling time by using the sampling time after the motion original time to and before the motion end time te sequentially as a current sampling time; wherein the motion parameter confirming unit comprises; a stance change confirming module to confirm and record a stance change matrix TbinitbCur from the current sampling time to the motion original time to according to the angular velocity stored in the data storage unit at the current sampling time and at aprevious sampling time, and a stance change matrix TbInitbPre from the previous sampling time to the motion original time to; a real-time stance confirming module to confirm a stance matrix TmbCur at the current sampling time corresponding to the three-dimensional geomagnetic coordinate system as TmbCur=TmbInitTbInitbCur; and a degravitation module to obtain an actual acceleration amMcur at the current sampling time by adjusting the acceleration aCur at the current sampling time utilizing the stance matrix TmbCur to reduces an acceleration of gravity {right arrow over (g)} from the acceleration aCur at the current sampling time. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification