CN105204650A - Gesture recognition method, controller, gesture recognition device and equipment - Google Patents
Gesture recognition method, controller, gesture recognition device and equipment Download PDFInfo
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Abstract
The embodiment of the invention discloses a gesture recognition method, a controller, a gesture recognition device and equipment. The gesture recognition method comprises the following steps: controlling a group of ultrasonic wave sensors to transmit ultrasonic waves in turn at preset time intervals; detecting the time points when all the ultrasonic wave sensors receive the ultrasonic waves reflected by a gesture; detecting the time values corresponding to the detected time points, that is, the time of every ultrasonic wave sensor spent in transmitting ultrasonic waves and receiving the reflected ultrasonic waves; according to the detected time values, calculating the distance between the gesture and all the ultrasonic wave sensors; according to the calculated distance and the time points when all the ultrasonic wave sensors receive the ultrasonic waves reflected by the gesture, recognizing information of the gesture. Through adoption of the gesture recognition method based on the ultrasonic wave sensors, the illumination impact can be reduced, the detection range can be enlarged, and the accuracy of gesture recognition can be improved.
Description
Technical field
The present invention relates to gestures detection technical field, more particularly, relate to a kind of gesture identification method, controller, device and equipment.
Background technology
The principle that realizes of existing gesture identification has based on infrared sensor, based on camera or based on resistance-type, capacitive mode, but based on resistance-type and capacitive, finger or pen specific gesture of painting on the touchscreen is used to realize by user, based on the gesture operation that these two kinds of principles realize, can not away from touch-screen every blank operation; Based on the gesture operation that infrared sensor realizes, three-dimensional gesture identification can be realized, but be subject to the impact of surround lighting due to infrared sensor, affect the accuracy of gesture operation identification; Detecting the mode of gesture operation based on camera, is the digital signal processor based on powerful, and the algorithm of intergration model recognition category realizes, and has equally and is subject to ambient light effects and the high shortcoming of cost.
Therefore, how to identify gesture, thus the accuracy increasing gesture identification is the problem needing now to solve.
Summary of the invention
The object of the present invention is to provide a kind of gesture identification method, controller, device and equipment, to realize identifying gesture, thus increase the accuracy of gesture identification.
For achieving the above object, following technical scheme is embodiments provided:
A kind of gesture identification method, comprising:
Controlling ultrasonic sensor group is interval with Preset Time, launches ultrasound wave in turn;
Detect the received hyperacoustic time point be reflected back by gesture of each ultrasonic sensor;
Detect each ultrasonic sensor corresponding with described time point from launching ultrasound wave to the time value receiving the ultrasound wave that is reflected back and experience;
The range information of described gesture and each ultrasonic sensor is calculated according to described time value;
The hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, identifies the gesture information of described gesture.
Preferably, the hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, identifies the gesture information of described gesture, comprising:
The sequencing of the hyperacoustic time point be reflected back by gesture is received according to each ultrasonic sensor, and the range information of described gesture and each ultrasonic sensor, identify the gesture information of described gesture.
A kind of controller, comprising:
Control module, being interval for controlling described ultrasonic sensor group with Preset Time, launching ultrasound wave in turn;
First detection module, for detecting received by each ultrasonic sensor by hyperacoustic time point that gesture is reflected back;
Second detection module, for detecting each ultrasonic sensor corresponding with described time point from launching ultrasound wave to the time value receiving the ultrasound wave that is reflected back and experience;
Computing module, for calculating the range information of described gesture and each ultrasonic sensor according to described time value;
Analysis module, for the hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, analyzes the gesture information of described gesture.
Preferably, described analysis module is used for:
The sequencing of the hyperacoustic time point be reflected back by gesture is received according to each ultrasonic sensor, and the range information of described gesture and each ultrasonic sensor, identify the gesture information of described gesture.
A kind of gesture identifying device, comprises described controller, also comprises ultrasonic sensor group.
Preferably, described ultrasonic sensor group comprises:
Be positioned at the first ultrasonic sensor on same level line and the second ultrasonic sensor.
Preferably, the first valid analysing range corresponding to described first ultrasonic sensor, and non-overlapping copies between the second valid analysing range corresponding to described second ultrasonic sensor.
A kind of equipment, comprises described gesture identifying device.
Preferably, described equipment is vehicle.
Known by above scheme, a kind of gesture identification method, controller, device and equipment that the embodiment of the present invention provides, comprising: controlling ultrasonic sensor group is interval with Preset Time, launches ultrasound wave in turn; Detect the received hyperacoustic time point be reflected back by gesture of each ultrasonic sensor; Detect each ultrasonic sensor corresponding with described time point from launching ultrasound wave to the time value receiving the ultrasound wave that is reflected back and experience; The range information of described gesture and each ultrasonic sensor is calculated according to described time value; The hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, identify the gesture information of described gesture, thisly carry out gesture identification mode by ultrasonic sensor, illumination effect can be reduced, increase sensing range, improve the accuracy of gesture identification.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of gesture identification method schematic flow sheet disclosed in the embodiment of the present invention;
Fig. 2 is ultrasonic sensor schematic diagram disclosed in the embodiment of the present invention;
Fig. 3 is a kind of gesture identifying device structural representation disclosed in the embodiment of the present invention;
Fig. 4 is a kind of controller architecture schematic diagram disclosed in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the invention discloses a kind of gesture identification method, controller, device and equipment, to realize identifying gesture, thus increase the accuracy of gesture identification.
See Fig. 1, a kind of gesture identification method that the embodiment of the present invention provides, comprising:
S101, control ultrasonic sensor group are interval with Preset Time, launch ultrasound wave in turn;
Concrete, in the present embodiment, the number of the ultrasonic sensor in ultrasonic sensor group can according to circumstances set, and in the present embodiment, discusses with 2, is specifically as follows the first ultrasonic sensor 101 and the second ultrasonic sensor 102.
S102, detect the received hyperacoustic time point be reflected back by gesture of each ultrasonic sensor;
Concrete, record the received hyperacoustic time point be reflected back by gesture of each ultrasonic sensor, be in order in subsequent processes, know the direction of gesture, according to the difference of gestures detection to direction, different gesture informations can be represented.
S103, detect each ultrasonic sensor corresponding with described time point from launching ultrasound wave to the time value receiving the ultrasound wave that is reflected back and experience;
S104, calculate the range information of described gesture and each ultrasonic sensor according to described time value;
Concrete, gesture identifying device 108 in the present embodiment is launched ultrasound wave in order in turn by control first ultrasonic sensor 101 and the second ultrasonic sensor 102 and is also monitored the ultrasound wave be reflected back by barrier, and real-time judge can go out gesture information, and control function corresponding to carrier 109 real-time response, realize man-machine interaction.
S105, the hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, identify the gesture information of described gesture.
See Fig. 2, be the ultrasonic sensor schematic diagram that the present embodiment provides, wherein 101 is the first ultrasonic sensor, and 103 dotted lines are denoted as the efficient working range of the first ultrasonic sensor 101; 105 is the spherical wave that the first ultrasonic sensor 101 is launched; Indicate in figure ± α angle is the effective spread scope of spherical wave of the first ultrasonic sensor 101.
See Fig. 3, be a kind of gesture identifying device structural representation that the present embodiment provides, 102 is the second ultrasonic sensor, and 104 dotted lines are denoted as the efficient working range of the second ultrasonic sensor 102; 106 is the spherical wave that the second ultrasonic sensor 102 is launched; The 107 maximum distance boundaries measured for ultrasonic sensor; 108 is the controller in native system; 109 is the installation carrier of this device, and the first described ultrasonic sensor 101 is parallel with the second ultrasonic sensor 102 is installed on carrier 109.Concrete, if settled in the car by this gesture identifying device, then installing carrier 109 can be automobile central control system usually, entertainment device or other any devices needing human-computer exchange.In addition, the size H indicated in figure is the ultimate range that this device can be measured, and size h is the work blind area of this device, and namely the minimum finding range of this device is at least h.
The quadrilateral ABCD indicated in figure is the scope of effective detection palm of the first ultrasonic sensor 101; The quadrilateral MNOP indicated in figure is the scope of effective detection palm of the second ultrasonic sensor 102; And the top defining figure is north, below is south, left is west, right is east, is convenient to follow-up explanation convenient.
Concrete, the first ultrasonic sensor 101 and the second ultrasonic sensor 102 have the sensor of identical centre frequency, profile and performance.That the centre frequency of ultrasonic sensor that wherein the present embodiment provides is 40Khz, transmitting-receiving integrated cylinder shape sensor; It is launched the hyperacoustic angular range of shape of receiving and is ± α angle; Its check frequency is 4cm; Maximum detecting distance is 300cm.I.e. H=300cm, h=4cm in Fig. 3.
Therefore, the range hole 4cm of the ultrasonic sensor of native system, so the coverage of palm that the ultrasonic sensor of this device records must be greater than 4cm; Because the maximum range of ultrasonic ranging is determined by combined factors such as signal intensity and barrier shapes, so be difficult to set maximum range of finding range accurately, so the actual measurement range of this device is greater than H, but when the distance that ultrasonic measurement goes out palm is greater than H, be then judged to be invalid operation.
Preferably, the hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, identifies the gesture information of described gesture, comprising:
The sequencing of the hyperacoustic time point be reflected back by gesture is received according to each ultrasonic sensor, and the range information of described gesture and each ultrasonic sensor, identify the gesture information of described gesture.
Concrete, in the present embodiment, specifically can according to following recognition detection gesture information:
Step one, controller 108 control the first ultrasonic sensor 101 and launch spherical ultrasonic, initial actual t1 launched in record, and monitor the ultrasound wave be reflected back, the time that note receives echo is t2, if all echo do not detected in 50ms, then judge that the induction region ABCD of current first ultrasonic sensor 101 is interior without palm.On the contrary, then there is palm in the induction region ABCD judging current first ultrasonic sensor 101, and calculate current palm distance H1 according to the following formula.
H＝c*t/2(1)
Wherein c identifies the light velocity, and the distance of the gesture calculated in the first ultrasonic sensor institute sensing range and first sensor is H1=c* (t2-t1)/2.
Step 2: controller 108 controls the second ultrasonic sensor 102 and launches spherical ultrasonic, initial actual t3 launched in record, and monitor the ultrasound wave be reflected back, the time that note receives echo is t4, if all echo do not detected in 50ms, then judge that the induction region ABCD of current ultrasonic wave sensor 1 is interior without palm.On the contrary, then there is palm in the induction region MNOP judging current ultrasonic wave sensor 2 102, and calculate current palm distance H2=c* (t4-t3)/2 according to above formula (1).
Step 3: controller 108 is loop cycle according to step one and step 2 with 100ms, wheel current control first ultrasonic sensor 101 and the second ultrasonic sensor 102 are launched, received ultrasound wave, and calculate the Distance geometry sequence of positions of palm in real time, and the position arrived according to sequence detection and range information, according to following gesture principle, judge corresponding operating gesture.
Gesture one: if first controller 108 detects that staff is positioned at region ABCD, then detect that staff is positioned at region MNOP, and the absolute value of H1-H2 is less than 50mm, then judges that this gesture brandishes gesture as by the parallel of east;
Gesture two: if first controller 108 detects that staff is positioned at region MNOP, then detect that staff is positioned at region ABCD, and the absolute value of H1-H2 is less than 50mm, then judges that this gesture brandishes gesture as by the east of the parallel of west;
Gesture three: if first controller 108 detects that staff is positioned at region ABCD, then detect that staff is positioned at region MNOP, and H1-H2 is greater than 50mm, then judge this gesture as by east oblique under brandish gesture;
Gesture four: if first controller 108 detects that staff is positioned at region ABCD, then detect that staff is positioned at region MNOP, and H2-H1 is greater than 50mm, then judge that this gesture is as being started gesture by the oblique Back stroke to east;
Gesture five: if first controller 108 detects that staff is positioned at region MNOP, then detect that staff is positioned at region ABCD, and H2-H1 is greater than 50mm, then judge this gesture as by the east of west oblique under brandish gesture;
Gesture six: if first controller 108 detects that staff is positioned at region MNOP, then detect that staff is positioned at region ABCD, and H1-H2 is greater than 50mm, then judge that this gesture is as being started gesture by the oblique Back stroke to the east of west;
Gesture seven: if first controller 108 detects that staff is positioned at region ABCD, and all detect that within continuous 1 second palm remains in ABCD region, then judge this gesture as in the ABCD of region close to gesture;
Gesture eight: if first controller 108 detects that staff is positioned at region MNOP, and all detect that within continuous 1 second palm remains in MNOP region, then judge this gesture as in the MNOP of region close to gesture.
Step 4: the gesture information detected in above-mentioned steps is passed to carrier 109, the operation that real-time response is corresponding by controller 108 in real time, realizes man-machine interaction.
A kind of gesture identification method, controller, device and equipment that the embodiment of the present invention provides, comprising: controlling ultrasonic sensor group is interval with Preset Time, launches ultrasound wave in turn; Detect the received hyperacoustic time point be reflected back by gesture of each ultrasonic sensor; Detect each ultrasonic sensor corresponding with described time point from launching ultrasound wave to the time value receiving the ultrasound wave that is reflected back and experience; The range information of described gesture and each ultrasonic sensor is calculated according to described time value; The hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, identify the gesture information of described gesture, thisly carry out gesture identification mode by ultrasonic sensor, illumination effect can be reduced, increase sensing range, improve the accuracy of gesture identification.
Be introduced a kind of controller provided by the invention below, controller described below and above-described gesture identification method can be cross-referenced.
See Fig. 4, a kind of controller that the embodiment of the present invention provides, comprising:
Control module 100, being interval for controlling described ultrasonic sensor group with Preset Time, launching ultrasound wave in turn;
First detection module 200, for detecting received by each ultrasonic sensor by hyperacoustic time point that gesture is reflected back;
Second detection module 300, for detecting each ultrasonic sensor corresponding with described time point from launching ultrasound wave to the time value receiving the ultrasound wave that is reflected back and experience;
Computing module 400, for calculating the range information of described gesture and each ultrasonic sensor according to described time value;
Analysis module 500, for the hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, analyzes the gesture information of described gesture.
Preferably, in another embodiment provided by the invention, described analysis module is used for:
The sequencing of the hyperacoustic time point be reflected back by gesture is received according to each ultrasonic sensor, and the range information of described gesture and each ultrasonic sensor, identify the gesture information of described gesture.
A kind of gesture identifying device, comprises the controller described arbitrarily in above-described embodiment, also comprises ultrasonic sensor group.
Preferably, in another embodiment provided by the invention, described ultrasonic sensor group comprises:
Be positioned at the first ultrasonic sensor on same level line and the second ultrasonic sensor.
Preferably, in another embodiment provided by the invention, the first valid analysing range corresponding to described first ultrasonic sensor, and non-overlapping copies between the second valid analysing range corresponding to described second ultrasonic sensor.
A kind of equipment, comprises the gesture identifying device in above-described embodiment described in any one.
Preferably, in another embodiment provided by the invention, described equipment is vehicle.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. a gesture identification method, is characterized in that, comprising:
Controlling ultrasonic sensor group is interval with Preset Time, launches ultrasound wave in turn;
Detect the received hyperacoustic time point be reflected back by gesture of each ultrasonic sensor;
Detect each ultrasonic sensor corresponding with described time point from launching ultrasound wave to the time value receiving the ultrasound wave that is reflected back and experience;
The range information of described gesture and each ultrasonic sensor is calculated according to described time value;
The hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, identifies the gesture information of described gesture.
2. gesture identification method according to claim 1, is characterized in that, the hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, identifies the gesture information of described gesture, comprising:
The sequencing of the hyperacoustic time point be reflected back by gesture is received according to each ultrasonic sensor, and the range information of described gesture and each ultrasonic sensor, identify the gesture information of described gesture.
3. a controller, is characterized in that, comprising:
Control module, being interval for controlling described ultrasonic sensor group with Preset Time, launching ultrasound wave in turn;
First detection module, for detecting received by each ultrasonic sensor by hyperacoustic time point that gesture is reflected back;
Second detection module, for detecting each ultrasonic sensor corresponding with described time point from launching ultrasound wave to the time value receiving the ultrasound wave that is reflected back and experience;
Computing module, for calculating the range information of described gesture and each ultrasonic sensor according to described time value;
Analysis module, for the hyperacoustic time point be reflected back received by described range information and described each ultrasonic sensor, analyzes the gesture information of described gesture.
4. controller according to claim 3, is characterized in that, described analysis module is used for:
The sequencing of the hyperacoustic time point be reflected back by gesture is received according to each ultrasonic sensor, and the range information of described gesture and each ultrasonic sensor, identify the gesture information of described gesture.
5. a gesture identifying device, is characterized in that, comprises the controller as described in claim 3 or 4, also comprises ultrasonic sensor group.
6. gesture identifying device according to claim 5, is characterized in that, described ultrasonic sensor group comprises:
Be positioned at the first ultrasonic sensor on same level line and the second ultrasonic sensor.
7. gesture identifying device according to claim 6, is characterized in that, the first valid analysing range corresponding to described first ultrasonic sensor, and non-overlapping copies between the second valid analysing range corresponding to described second ultrasonic sensor.
8. an equipment, is characterized in that, comprises gesture identifying device as claimed in claims 6 or 7.
9. equipment according to claim 8, is characterized in that, described equipment is vehicle.
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