CN104460992A - Finger movement detection device and method adopting infrared rays for irradiating intercarpal ligament - Google Patents
Finger movement detection device and method adopting infrared rays for irradiating intercarpal ligament Download PDFInfo
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- CN104460992A CN104460992A CN201410669749.5A CN201410669749A CN104460992A CN 104460992 A CN104460992 A CN 104460992A CN 201410669749 A CN201410669749 A CN 201410669749A CN 104460992 A CN104460992 A CN 104460992A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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Abstract
The invention relates to a finger movement detection device and method, in particular to a finger movement detection device and method adopting infrared rays for irradiating the intercarpal ligament. The method comprises the steps that firstly, the wrist is sleeved with a wristband type signal data acquisition instrument; secondly, infrared waves are converted into four paths of electric signals; thirdly, the four electric signals are converted into digital quantities to be stored in a processing unit; fourthly, the validity of the signals is judged; fifthly, specific finger movement corresponding to the signals is analyzed; sixthly, the probability density of each acquired signal and a corresponding finger preset signal value is judged; seventhly, hand postures are fused to obtain the movement of the whole hand. Compared with the prior art, the finger movement can be obtained through an infrared sensor worn on the wrist, an inertia posture sensing module is used in a combination mode to obtain the hand movement direction and displacement, and the complete hand movement posture can be captured. Due to the fact that the infrared sensor is composed of an infrared transmitting and receiving tube, the advantages of being large in detection signal amplitude, low in cost, high in accuracy and the like are achieved.
Description
Technical field
The present invention relates to a kind of finger motion pick-up unit and method, more particularly, relate to a kind of the finger motion pick-up unit and the method that use infrared radiation carpal ligaments.
Background technology
Very for many years, people use the operating electronic equipment such as mouse, keyboard always widely, and along with the development of human-computer interaction technology, gesture identification can substitute the control of conventional remote control device realization to smart machine, with traditional interactive mode as compared with keyboard, mouse, finger motion as control and input equipment more natural, but need to be detected the position of hand and motion state by sensor.Conventional finger motion detection mode mainly contains muscle electric signal, bend sensor and image acquisition identification.Based on the finger motion identification of muscle electric signal, Thalmic Labs company of Canada have developed a MYO gesture armlet, this armlet passes through detection forearm place muscular movement thus analyzes the motion of finger, there is the advantage be convenient for carrying, shortcoming is that muscle electric signal is very complicated, and easily by the interference of surrounding environment, air humidity, electromagnetic field, in addition the cost of equipment is high.Finger identification method based on bend sensor is the flexure operation being detected finger by the bend sensor of laminating on finger, signal simple and stable, shortcoming is that user needs to wear the gloves with bend sensor, and gloves are very thick and heavy, and user uses very inconvenient.Also have Many researchers to attempt seizure that image acquisition carries out finger motion, typical application is as the Kinect device of Microsoft, or some motion-captured cameras, the method can identify the motion of hand accurately, shortcoming is the limitation that image acquisition is subject to a lot of condition, first be that the motion of finger all can not be identified if at camera video dead angle or exceed camera range of exposures; Next affects very large, all cannot effectively identify in the stronger open air of light and the more weak place of light.
Summary of the invention
In order to overcome the deficiencies in the prior art, the object of the invention is to provide a kind of the finger motion pick-up unit and the method that use infrared radiation carpal ligaments.Because infrared sensor irradiates the impact that wrist place ligament can not be subject to surrounding environment and shelter, so infrared acquisition wrist ligament technology carries out man-machine interaction have portable, easy-to-use, that real-time is good advantage, in conjunction with inertial attitude sensor obtain wrist prescription to and positional information, the complete action of hand can be identified, complete complicated human-computer interaction function.
In order to realize foregoing invention object, solve problem existing in prior art, the technical scheme that the present invention takes is: a kind of finger motion pick-up unit using infrared radiation carpal ligaments, comprise low-pass filter circuit, and lead to amplifying circuit with the band that it is connected successively, analog-digital conversion chip, processing unit circuit, wireless transmitter module and opertaing device, it also comprises Wrist belt-type signal data acquisition instrument, outside described Wrist belt-type signal data acquisition instrument, inertial attitude sensing module is installed, inner central place is provided with an infrared transmitting tube, and around it, be provided with symmetrical first, three, two, the infrared sensor of four infrared receiving tube compositions, described inertial attitude sensing module is connected with processing unit circuit on one side, the described processing unit circuit other end is connected with infrared transmitting circuit one end, the described infrared transmitting circuit other end is connected with infrared transmitting tube, described first, two, three, four infrared receiving tubes are connected with low-pass filter circuit respectively.
Detect the finger motion method using infrared radiation carpal ligaments, comprise the following steps:
Step one, Wrist belt-type signal data acquisition instrument is inserted in wrist: infrared transmitting tube is controlled by infrared transmitting circuit, sends 940nm infrared waves, shines directly in wrist;
Step 2, infrared waves is converted to 4 road electric signal: the light wave launched by step one infrared transmitting tube is received by first, second, third and fourth infrared receiving tube laying respectively at surrounding, and is converted to 4 road electric signal after reflecting via the ligament in wrist;
Step 3,4 road electric signal are converted to digital quantity are stored in processing unit: the electric signal that step 2 receives, the integration of signal is carried out by low-pass filter, bandpass filtering amplifying circuit, obtain effective electric signal, and convert electrical signals to a digital quantity by analog-digital conversion chip and be stored in processing unit;
Step 4, judge the validity of signal: the signal collected and preset value are contrasted, if the signal amplitude collected is greater than preset value, then thinks and detect finger motion;
The specific finger motion that step 5, analytic signal are corresponding: the digital quantity on each road is processed by Kalman filtering algorithm, obtain stable signal, 4 road signals are stored into respectively A [n] in 4 arrays, B [n], C [n], D [n], wherein n=100, preset different finger motion standard signal is also stored in 16 arrays, and wherein every 4 groups of signals are the respective signal a of a finger
1[n], b
1[n], c
1[n], d
1[n];
Step 6, judge each road collection signal and the corresponding probability density pointing preset signal value: judge each road collection signal and the corresponding probability density pointing preset signal value, in formula by formula (1):
P is probability density, and b is predetermined constant, is set to the collection signal that 2, X is each road in this algorithm, and x is the finger preset signal on each road, if p
i<0.2 is then referred to corresponding motion finger, if p
ibe greater than 0.2, then think invalid signals;
Step 7, merge the action that hand gestures obtains whole hand: processing unit receives the Eulerian angle of the wrist location that inertial attitude sensing module provides, obtain wrist position and towards, the finger motion calculated by step 5 again carries out data fusion, obtain the motion of whole hand, and be transmitted into control end by wireless transmitter module, control end is according to hand and the state pointing real time kinematics, hand exercise is divided into and clicks, mobile, turning operation, realize replacing mouse and lantern slide browse operation, thus the signal finishing man-machine interaction function of change according to detection wrist place ligament.
Beneficial effect of the present invention is: a kind of finger motion pick-up unit using infrared radiation carpal ligaments, comprise low-pass filter circuit, and lead to amplifying circuit with the band that it is connected successively, analog-digital conversion chip, processing unit circuit, wireless transmitter module and opertaing device, it also comprises Wrist belt-type signal data acquisition instrument, outside described Wrist belt-type signal data acquisition instrument, inertial attitude sensing module is installed, inner central place is provided with an infrared transmitting tube, and around it, be provided with symmetrical first, three, two, the infrared sensor of four infrared receiving tube compositions, described inertial attitude sensing module is connected with processing unit circuit on one side, the described processing unit circuit other end is connected with infrared transmitting circuit one end, the described infrared transmitting circuit other end is connected with infrared transmitting tube, described first, two, three, four infrared receiving tubes are connected with low-pass filter circuit respectively.A kind of finger motion method detecting use infrared radiation carpal ligaments, comprise the following steps: step one, Wrist belt-type signal data acquisition instrument is inserted in wrist: step 2, infrared waves is converted to 4 road electric signal: step 3, 4 road electric signal are converted to digital quantity to be stored in processing unit: step 4: the validity judging signal: step 5: the specific finger motion that analytic signal is corresponding: step 6: judge each road collection signal and the corresponding probability density pointing preset signal value: step 7: merge the action that hand gestures obtains whole hand: compared with the prior art, a kind of finger motion detection method using infrared radiation carpal ligaments of the present invention, finger motion can be obtained by the infrared sensor being worn on wrist place, be combined hand exercise direction and displacement that inertial attitude sensing module gets, complete hand exercise attitude can be captured, because infrared sensor itself is made up of infrared emission and receiving tube, have that detection signal amplitude is large, cost is low, accuracy advantages of higher.
Accompanying drawing explanation
Fig. 1 is the inventive method flow chart of steps.
Fig. 2 is apparatus of the present invention the general frame.
Fig. 3 is the Wrist belt-type signal data acquisition instrument structural representation in the present invention.
In figure: 1, inertial attitude sensing module, 2, infrared sensor, 2a, infrared transmitting tube, 2b, the first infrared receiving tube, 2c, the second infrared receiving tube, 2d, the 3rd infrared receiving tube, 2e, the 4th infrared receiving tube.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, a kind of finger motion method detecting use infrared radiation carpal ligaments, comprises the following steps:
Step one, Wrist belt-type signal data acquisition instrument is inserted in wrist: infrared transmitting tube is controlled by infrared transmitting circuit, sends 940nm infrared waves, shines directly in wrist;
Step 2, infrared waves is converted to 4 road electric signal: the light wave launched by step one infrared transmitting tube is received by first, second, third and fourth infrared receiving tube laying respectively at surrounding, and is converted to 4 road electric signal after reflecting via the ligament in wrist;
Step 3,4 road electric signal are converted to digital quantity are stored in processing unit: the electric signal that step 2 receives, the integration of signal is carried out by low-pass filter, bandpass filtering amplifying circuit, obtain effective electric signal, and convert electrical signals to a digital quantity by analog-digital conversion chip and be stored in processing unit;
Step 4, judge the validity of signal: the signal collected and preset value are contrasted, if the signal amplitude collected is greater than preset value, then thinks and detect finger motion;
The specific finger motion that step 5, analytic signal are corresponding: the digital quantity on each road is processed by Kalman filtering algorithm, obtain stable signal, 4 road signals are stored into respectively A [n] in 4 arrays, B [n], C [n], D [n], wherein n=100, preset different finger motion standard signal is also stored in 16 arrays, and wherein every 4 groups of signals are the respective signal a of a finger
1[n], b
1[n], c
1[n], d
1[n];
Step 6, judge each road collection signal and the corresponding probability density pointing preset signal value: judge each road collection signal and the corresponding probability density pointing preset signal value, in formula by formula (1):
P is probability density, and b is predetermined constant, is set to the collection signal that 2, X is each road in this algorithm, and x is the finger preset signal on each road, if p
i<0.2 is then referred to corresponding motion finger, if p
ibe greater than 0.2, then think invalid signals;
Step 7, merge the action that hand gestures obtains whole hand: processing unit receives the Eulerian angle of the wrist location that inertial attitude sensing module provides, obtain wrist position and towards, the finger motion calculated by step 5 again carries out data fusion, obtain the motion of whole hand, and be transmitted into control end by wireless transmitter module, control end is according to hand and the state pointing real time kinematics, hand exercise is divided into and clicks, mobile, turning operation, realize replacing mouse and lantern slide browse operation, thus the signal finishing man-machine interaction function of change according to detection wrist place ligament.
As Fig. 2, shown in 3, a kind of finger motion pick-up unit using infrared radiation carpal ligaments, comprise low-pass filter circuit, and lead to amplifying circuit with the band that it is connected successively, analog-digital conversion chip, processing unit circuit, wireless transmitter module and opertaing device, it also comprises Wrist belt-type signal data acquisition instrument, outside described Wrist belt-type signal data acquisition instrument, inertial attitude sensing module 1 is installed, inner central place is provided with an infrared transmitting tube 2a, and around it, be provided with symmetrical first, three, two, four infrared receiving tube 2b, 2d, 2c, the infrared sensor 2 of 2e composition, described inertial attitude sensing module 1 is connected with processing unit circuit on one side, the described processing unit circuit other end is connected with infrared transmitting circuit one end, the described infrared transmitting circuit other end is connected with infrared transmitting tube 2a, described first, two, three, four infrared receiving tube 2b, 2c, 2d, 2e is connected with low-pass filter circuit respectively.
The invention has the advantages that: because infrared sensor irradiates the impact that wrist place ligament can not be subject to surrounding environment and shelter, so infrared acquisition wrist ligament technology carries out man-machine interaction have the advantages such as portable, easy-to-use, real-time is good, in conjunction with inertial attitude sensing module obtain wrist prescription to and positional information, the complete action of hand can be identified, complete complicated human-computer interaction function.
Claims (2)
1. one kind uses the finger motion pick-up unit of infrared radiation carpal ligaments, comprise low-pass filter circuit, and lead to amplifying circuit with the band that it is connected successively, analog-digital conversion chip, processing unit circuit, wireless transmitter module and opertaing device, it is characterized in that: it also comprises Wrist belt-type signal data acquisition instrument, outside described Wrist belt-type signal data acquisition instrument, inertial attitude sensing module is installed, inner central place is provided with an infrared transmitting tube, and around it, be provided with symmetrical first, three, two, the infrared sensor of four infrared receiving tube compositions, described inertial attitude sensing module is connected with processing unit circuit on one side, the described processing unit circuit other end is connected with infrared transmitting circuit one end, the described infrared transmitting circuit other end and infrared, penetrate pipe to be connected, described first, two, three, four infrared receiving tubes are connected with low-pass filter circuit respectively.
2. test right requires the finger motion method using infrared radiation carpal ligaments described in 1, it is characterized in that comprising the following steps:
Step one, Wrist belt-type signal data acquisition instrument is inserted in wrist: infrared transmitting tube is controlled by infrared transmitting circuit, sends 940nm infrared waves, shines directly in wrist;
Step 2, infrared waves is converted to 4 road electric signal: the light wave launched by step one infrared transmitting tube is received by first, second, third and fourth infrared receiving tube laying respectively at surrounding, and is converted to 4 road electric signal after reflecting via the ligament in wrist;
Step 3,4 road electric signal are converted to digital quantity are stored in processing unit: the electric signal that step 2 receives, the integration of signal is carried out by low-pass filter, bandpass filtering amplifying circuit, obtain effective electric signal, and convert electrical signals to a digital quantity by analog-digital conversion chip and be stored in processing unit;
Step 4, judge the validity of signal: the signal collected and preset value are contrasted, if the signal amplitude collected is greater than preset value, then thinks and detect finger motion;
The specific finger motion that step 5, analytic signal are corresponding: the digital quantity on each road is processed by Kalman filtering algorithm, obtain stable signal, 4 road signals are stored into respectively A [n] in 4 arrays, B [n], C [n], D [n], wherein n=100, preset different finger motion standard signal is also stored in 16 arrays, and wherein every 4 groups of signals are the respective signal a of a finger
1[n], b
1[n], c
1[n], d
1[n];
Step 6, judge each road collection signal and the corresponding probability density pointing preset signal value: judge each road collection signal and the corresponding probability density pointing preset signal value, in formula by formula (1):
P is probability density, and b is predetermined constant, is set to the collection signal that 2, X is each road in this algorithm, and x is the finger preset signal on each road, if p
i<0.2 is then referred to corresponding motion finger, if p
ibe greater than 0.2, then think invalid signals;
Step 7, merge the action that hand gestures obtains whole hand: processing unit receives the Eulerian angle of the wrist location that inertial attitude sensing module provides, obtain wrist position and towards, the finger motion calculated by step 5 again carries out data fusion, obtain the motion of whole hand, and be transmitted into control end by wireless transmitter module, control end is according to hand and the state pointing real time kinematics, hand exercise is divided into and clicks, mobile, turning operation, realize replacing mouse and lantern slide browse operation, thus the signal finishing man-machine interaction function of change according to detection wrist place ligament.
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| US10345594B2 (en) | 2015-12-18 | 2019-07-09 | Ostendo Technologies, Inc. | Systems and methods for augmented near-eye wearable displays |
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| US10453431B2 (en) | 2016-04-28 | 2019-10-22 | Ostendo Technologies, Inc. | Integrated near-far light field display systems |
| US10522106B2 (en) | 2016-05-05 | 2019-12-31 | Ostendo Technologies, Inc. | Methods and apparatus for active transparency modulation |
| US10578882B2 (en) | 2015-12-28 | 2020-03-03 | Ostendo Technologies, Inc. | Non-telecentric emissive micro-pixel array light modulators and methods of fabrication thereof |
| US11106273B2 (en) | 2015-10-30 | 2021-08-31 | Ostendo Technologies, Inc. | System and methods for on-body gestural interfaces and projection displays |
| CN115016635A (en) * | 2022-04-18 | 2022-09-06 | 深圳原宇科技有限公司 | Target control method and system based on motion recognition |
| US11609427B2 (en) | 2015-10-16 | 2023-03-21 | Ostendo Technologies, Inc. | Dual-mode augmented/virtual reality (AR/VR) near-eye wearable displays |
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| CN115016635A (en) * | 2022-04-18 | 2022-09-06 | 深圳原宇科技有限公司 | Target control method and system based on motion recognition |
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