厨师手握锅具运动信息获取方法

Movement information acquisition method of the wok in cooking

本文主要解决两个问题,即锅具运动识别以及针对每种运动的锅具姿态和位置变化信息获取。为此,基于固定于锅具上的三轴加速度计和陀螺仪信息提出了所谓的以曲线相似度为特征的滑动时间窗搜索算法用于运动识别;利用REQUEST算法融合上述传感器和三轴地磁传感器信息得到锅具姿态信息;利用"三点定位"原理融合三个相对于世界坐标系固定的超声接收传感器与固定于锅具上超声发射传感器之间的距离信息并结合已知的锅具姿态信息得到锅具位置信息。仿真结果验证了本文所提出的方法的有效性,并且给出了实际应用时的一些建议。

In this paper, two problems are solved, which are the wok movement recognition and information acquisition about the changes of attitude and location of the wok for every kind of movement. With these aims, the paper, based on the outputs of 3-axis accelerometer and gyro fixed on the wok, presents a so-called slipping window searching algorithm for movement recognition, which adopts ＂curve similarity＂ as its feature; uses the RE- QUEST algorithm to fuse the outputs of the above-mentioned sensors and a 3-axis magnetic sensor for the attitude measurement of the wok; and employs the ＂three-point fix＂ principle to fuse the information of the distances between three ultrasonic receivers fixed on the world frame and one ultrasonic transmitter fixed on the wok, and the already-known attitude of the wok for location measurement of the wok. Simulation results validate the system explained in the paper, and some suggestions on practical applications are given at the end of this paper.