CN108459723A - A kind of infrared gesture identifying device and recognition methods - Google Patents
A kind of infrared gesture identifying device and recognition methods Download PDFInfo
- Publication number
- CN108459723A CN108459723A CN201810603314.9A CN201810603314A CN108459723A CN 108459723 A CN108459723 A CN 108459723A CN 201810603314 A CN201810603314 A CN 201810603314A CN 108459723 A CN108459723 A CN 108459723A
- Authority
- CN
- China
- Prior art keywords
- infrared
- gesture
- pcb board
- compensation
- transmitting tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 13
- 238000001914 filtration Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 28
- 230000008569 process Effects 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/12—Classification; Matching
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- User Interface Of Digital Computer (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention relates to a kind of infrared gesture identifying device and recognition methods, including infrared receiving tube, infrared compensation pipe, drive module, control module and the multiple infrared transmitting tubes being integrated on a pcb board, infrared receiving tube, infrared transmitting tube, infrared compensation pipe are respectively arranged on the pcb board back side, and pcb board is equipped with corresponding trepanning at infrared receiving tube and infrared transmitting tube, for from pcb board front side emitter and receiving infrared-ray, infrared compensation pipe is to pcb board internal emission infrared ray.Compared with prior art, the infrared emission unit of the present apparatus is all made of the ratio circuit based on mirror current source with infrared compensating unit, so that present apparatus internal current has certain capacity of self-regulation, there is good constant-current characteristics so that the present invention has good temperature stability, simultaneously, compared with prior art, the present invention can exclude the interference of background ambient light, solve the drawbacks of infrared gesture module is influenced by ambient light at present, improve reliability and stability.
Description
Technical field
The present invention relates to a kind of technical field of hand gesture recognition, more particularly, to a kind of infrared gesture identifying device and identification side
Method.
Background technology
Under Internet of Things+mobile phone terminal+ripe environment of computer terminal application, increasingly to intelligent equipment application demand
More, the interactive mode of user and intelligent equipment is more and more diversified, is interacted from original mechanical button interaction, touch screen,
Further develop to the more simple and convenient interactive mode such as gesture interaction, interactive voice.Wherein gesture interaction is more in line with people
Daily operating habit, as long as soon as sliding skating or wave with a flouriss, can the technology of control device receive people and favor and intelligence
The mainstream technology in interactive system market can be changed.Under such a active force, Gesture Recognition emerges various
Scheme.
1. camera image processing scheme, image algorithm handle resolution it is high, it is low to application environmental requirement but to hardware and
Software algorithm requires height, and very high requirement, factors above are proposed to image-capable, the recognition capability of electronic equipment
Cause the program of high cost.
2. capacitive induction scheme, at low cost.But the function of realizing is simple, and high to product surface structural requirement, body
The shortcomings of product is big, distance of reaction is short, basic need user's finger, which touches display screen, can just incude, it is difficult to meet gesture induction
Demand.
3. infrared external reflection receives identifying processing scheme, infrared Gesture Recognition is used by related field, wherein
Household appliances industry is using more, but user generally feeds back the deficiencies of failure rate is higher, identification distance is close, identification gesture is less.
Infrared control product is mainly received with 1 hair 1 to form of tubes on the market, and 1 infrared transmitting tube corresponds to 1 infrared receiving tube
It realizes control, to realize that function needs to install multipair transmitting-receiving to pipe, leads to have larger-size disadvantage, and in environmental light intensity
Degree it is strong a little in the environment of reception pipe be easily saturated, lead to the phenomenon that false triggering or failure occur.Program anti-interference ability is weak,
It is highly prone to other factors, such as the influence of temperature.
With the raising that consumer recognizes products application, have more to infrared gesture control diversity, stability, discrimination
High requirement.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of infrared gesture identifications
Device and recognition methods, in the interference of environment resistant light, resisting temperature interference, identification distance, recognition success rate, the side such as identification reaction speed
Face is all significantly improved and is promoted, and has actual meaning in field of human-computer interaction.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of infrared gesture identifying device, including be integrated on a pcb board infrared receiving tube, infrared compensation pipe, driving
Module, control module and multiple infrared transmitting tubes, the control module are separately connected drive module and infrared receiving tube, the drive
Dynamic model block is separately connected infrared compensation pipe and multiple infrared transmitting tubes, the infrared receiving tube, infrared transmitting tube, infrared compensation pipe
It is respectively arranged on the pcb board back side, the pcb board is equipped with corresponding trepanning at infrared receiving tube and infrared transmitting tube, is used for from PCB
Plate front side emitter and receiving infrared-ray, the infrared compensation pipe is to pcb board internal emission infrared ray.
Further, the control module includes microcontroller and LDO power circuits, and the microcontroller is separately connected driving mould
Block, LDO power circuits and infrared receiving tube, microcontroller control infrared transmitting tube send out the pwm pulse signal of positive half period, together
When, within a pwm pulse signal period, infrared compensation pipe sends out the pwm pulse signal of negative half-cycle, forms closed loop feedback and returns
Road.
Further, the drive module includes infrared emission unit and infrared compensating unit, and the microcontroller is equipped with
It connects the emission port of the infrared emission unit and connects the compensation port of the infrared compensating unit, the infrared emission list
Member connection infrared transmitting tube, the infrared compensating unit connect infrared compensation pipe.
Further, the infrared emission unit includes ratio circuit, a switch control electricity based on mirror current source
Road and a resistance, the compensation port of the resistance connection microcontroller.
Further, the infrared compensating unit includes a ratio circuit and a switch control based on mirror current source
Circuit processed.
Further, there are four the infrared transmitting tubes, it is distributed in the quadrangle of pcb board, the infrared receiving tube is set to PCB
The centre of plate.
A kind of recognition methods based on the infrared gesture identifying device, including step in detail below：
A. infrared transmitting tube sends out pwm pulse signal, and microcontroller is received by infrared receiving tube and obtains initial data；
B. whether judgment object moves, if so, thening follow the steps d；If it is not, thening follow the steps c；
C. device executes self calibration, executes step a；
D. the identification of gesture is carried out；
E. it waits for and reaches the measurement period time, execute step a.
Further, the method for the judgment object movement is：Real time data that infrared receiver is in control with it is previous when
It carves data and does difference processing, low-pass filtering treatment is carried out to difference result, by comparing filtered difference result and mobile thresholding
Size obtains the result of mobile detection.
Further, the self calibration includes powering on self calibration, background Forward self calibration and background far from self calibration, is passed through
Adjustment compensation bias voltage ensures that the measured value of offset voltage is constant.
Further, the identification for carrying out gesture is specially：The reception data of different moments form wave in being moved based on gesture
Shape figure judges specific gesture-type according to the specific location point of oscillogram, the gesture-type include upper and lower, left and right, it is preceding,
Afterwards, it clicks, double-click, anticlockwise and right rotation.
Compared with prior art, the present invention has the following advantages：
1, the infrared emission unit of apparatus of the present invention and infrared compensating unit are all made of the electricity of the ratio based on mirror current source
The resistance value on road, the circuit is larger, and in the case where voltage supplied is constant, electric current has certain self-control energy in device
Power has good constant-current characteristics, will not mutate because of temperature change, i.e., device is influenced by temperature smaller so that the present invention
With good temperature stability；
2, have the effect of amplifying electric current simultaneously using ratio circuit in device, be exaggerated the emission current of infrared tube, from
And so that the transmission power of infrared tube becomes larger, low-angle infrared transmitting tube is used in conjunction with the present invention, makes gesture identification distance much
Increase, can reach 40cm or more, the recognition speed and recognition accuracy for gesture also provide reliable guarantee；
3, the ON-OFF control circuit of apparatus of the present invention selects PNP triode, and difference is formed by choosing different resistance ratios
Amplification factor, with Small current control high current, the far distance controlled of realization device；
4, apparatus of the present invention use the infrared compensation pipe to pcb board internal emission infrared ray, infrared compensation pipe and infrared
Transmitting tube quickly works alternatively in a PWM cycle, so as to exclude the interference of background ambient light, solves infrared at present
The drawbacks of gesture module is influenced by ambient light improves reliability and stability；
5, recognition methods of the present invention is by making the difference the gesture in method identification all directions, and excludes to do plus threshold parameter
It disturbs, this algorithm logic is simple and effective, execute speed height, gesture identification speed is fast and success rate is high, and gesture identification success rate can
Up to 98% or more；
6, the quantity of recognition methods of the present invention identification gesture is more, recognizable gesture-type include up, down, left, right, before and after,
It clicks, double-click, anticlockwise and right rotation, be capable of maximum magnitude meets the needs of present people are to application product；
7, the integrated degree of apparatus of the present invention System on Chip/SoC is high, and peripheral circuit is simple, and module size is small, using four transmitting tubes,
The layout of one reception pipe can meet small size application demand, meanwhile, a variety of periphery communication interfaces are supported in device, it can be flexible
Configuration uses, these all make the economic value of the present invention applied in real life be promoted, and have the extensive market space.
Description of the drawings
Fig. 1 is the positive structural schematic diagram of infrared gesture identifying device；
Fig. 2 is the structural schematic diagram at the infrared gesture identifying device back side；
Fig. 3 is the structural schematic diagram of image current source circuit；
Fig. 4 is the structural schematic diagram of the ratio circuit based on image current source circuit；
Fig. 5 is the structural schematic diagram of the infrared emission unit of first passage；
Fig. 6 is the structural schematic diagram of the infrared emission unit of second channel；
Fig. 7 is the structural schematic diagram of the infrared emission unit of third channel；
Fig. 8 is the structural schematic diagram of the infrared emission unit of fourth lane；
Fig. 9 is the structural schematic diagram of infrared compensating unit；
Figure 10 is the structural schematic diagram of LDO power supplys；
Figure 11 is microcontroller and the structural schematic diagram of its peripheral circuit；
Figure 12 is the flow diagram of recognition methods；
Figure 13 is the schematic diagram of low-pass filter effect；
Figure 14 is the schematic diagram that filter threshold value corresponds to filter effect；
Figure 15 is the process schematic of mobile detection；
Figure 16 is the schematic diagram of self calibration hardware principle；
Figure 17 is background Forward self calibration schematic diagram；
Figure 18 is background far from self calibration schematic diagram；
Figure 19 is the gesture schematic diagram of left and right gesture sliding；
Figure 20 is two lane measurement waveform diagram of right skating gesture；
Figure 21 is two channel measurement difference waveform diagram of right skating gesture；
Figure 22 is click gesture identification process schematic diagram；
Figure 23 is to double-click gesture waveform diagram；
Figure 24 is to double-click gesture waveform high-pass filtering schematic diagram；
Figure 25 is the schematic diagram that infrared compensation pipe emits infrared ray.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
As depicted in figs. 1 and 2, a kind of infrared gesture identifying device, including an infrared receiving tube are present embodiments provided
D1, four infrared transmitting tube LED1A~D, compensation pipe LEDC one infrared, drive module and control module, are integrated in PCB
On plate.Wherein, the control module is separately connected drive module and infrared receiving tube, and drive module is separately connected infrared compensation pipe
With four infrared transmitting tubes, infrared receiving tube D1, infrared transmitting tube, infrared compensation pipe LEDC are respectively arranged on the pcb board back side, infrared
Reception pipe D1 is set to center, and infrared transmitting tube is distributed in the quadrangle of rectangle pcb board.Pcb board is in infrared receiving tube D1 and infrared
Corresponding trepanning is equipped at transmitting tube, therefore, infrared transmitting tube and infrared receiving tube D1 can be red from pcb board front side emitter and reception
Outside line.Pcb board is going out no corresponding trepanning in infrared compensation pipe LEDC, infrared compensation pipe to pcb board internal emission infrared ray,
As shown in figure 25.
Control module includes microcontroller and LDO power circuits, and drive module includes infrared emission unit, infrared compensation list
Member, microcontroller by infrared emission unit connect infrared transmitting tube, infrared transmitting tube LED1A, LED1B, LED1C and LED1D according to
Secondary corresponding first passage infrared emission unit, second channel infrared emission unit, third channel infrared emission unit and four-way
Road infrared emission unit, the microcontroller are directly connected to drive module, LDO power circuits, infrared receiving tube D1, and by red
External compensation unit connects infrared compensation pipe LEDC, and microcontroller is equipped with emission port and compensation port.
Infrared emission unit includes a ratio circuit and an ON-OFF control circuit based on mirror current source.
As shown in figure 3, mirror current source is common generally in integrated circuit, mainly by 2 PNP triode VT1 and VT2 structures
At characteristic, technique, structure, parameter are roughly the same, i.e. β 1=β 2, IC1=IC2, IB1=IB2.VCC voltages pass through VT2 and resistance
R generates a reference current IR, from circuit theory：
By IC1=IC2, it is known that：
Then
It can release, work as β>>When 2,
Assuming that temperature rise, IC1Electric current become larger, the electric current of Ic2 becomes larger, IRElectric current also become larger therewith.Resistance R is constant
Constant and UR=RIR, U can be obtainedRVoltage becomes larger, due to voltage supplied VCC it is invariable in the case of, UEB1=UEB2=VCC-UR, can
Obtain UEB1、UEB2Reduce, IB1And IB2Reduce, so that IC1、IC2Reduce；It is on the contrary, it is assumed that temperature reduces, IC1Electric current become smaller,
Then IC2Electric current become smaller, IRElectric current also become smaller therewith.Resistance R is invariable and UR=RIR, U can be obtainedRVoltage becomes smaller, due to supplying
In the case that voltage VCC constant is constant, U can be obtainedEB1、UEB2Become larger, IB1And IB2Reduction becomes larger, so that IC1、IC2Become larger.By
This is it is found that VT2 there is certain temperature compensating action, image current source circuit can realize the compensation of certain temperature, provide VT1
The preferable temperature stability of Ic1, Ic2.In addition, the amplification factor when PNP triode chooses 100 or more, IC1≈IR, i.e. IRIt can be with
Control IC1Electric current and current value is equal, can provide the electric current of mA ranks.
As shown in figure 4, mirror current source VT1 and VT2 emitters connect respectively resistance R1 and R2 can with composition ratio electricity
Road.Ratio circuit changes IC1≈IRRelationship so that IC1With IRIn proportionate relationship, to change mirror current source by 1:1 output
Infrared emission electric current I can be significantly increased in electric currentC1, principle is：
R2 is not equal to by circuit theory and R1, following equation is set up：
UEB1+IR1R1=UEB2+IR2R2
It is roughly the same from TV1 and TV2 its characteristic, technique, structure, parameter：
UEB1=UEB2
Then
From mirror current source characteristic：The electric current of the IB1 and IB2 of TV1 and TV2 can be ignored
IR=IB1+IB2+IC2
It can obtain
That is the resistance value ratio of R2 and R1 is IC1And IRCurrent ratio, low current I can be passed throughRControl high current IC1,
The current control of larger mA ranks, the remote control of realization device are provided.In addition, the resistance value of ratio circuit is big,
So that it is with better constant-current characteristics, temperature stability is more preferable than simple mirror current source.
As shown in Fig. 5~Fig. 8, it respectively is first passage infrared emission unit, second channel infrared emission unit,
The circuit diagram of triple channel infrared emission unit and fourth lane infrared emission unit, by taking first passage infrared emission unit as an example,
As described in principle above, this transmitter unit is mainly made of 2 PNP triodes VT1 and VT2, their characteristic, technique, structure,
Parameter is roughly the same, and the ground level of triode VT1 and VT2 interconnect and the collector of connecting triode VT2 and switch control electricity
Road, the infrared transmitting tube LED1A of the collector connection ground connection of triode VT1, emitter connect resistance R1, the hair of triode VT2
Emitter-base bandgap grading connects resistance R2, and resistance R1 connects LDO power circuits with R2, and LDO power circuits are also connected with the capacitance C1 of ground connection.
ON-OFF control circuit includes a NPN triode VT3 and resistance R4, and the ground level of triode VT3 connects resistance R4, electricity
The other end for hindering R4 connects internal simulation voltage, and the emitter of triode VT3 connects the ports microcontroller LED1A, triode VT3's
The collector of the ground level and triode VT2 of collector connecting triode VT1 and VT2, according to dynatron performance IB>=1mA, and VBE
Voltage about arrives 0.7V, it is believed that and triode is fully on, so, it is assumed that LED1A control mouths are connected in power ground, R4=(2.5-
The wavelength of resistance value needs≤1.8K of 0.7V)/0.001A=1.8K, R4, infrared transmitting tube LED1A are 850 or 940nm.In addition,
When being emitted due to infrared transmitting tube, the extra infrared signal of baffle bounce back to receiving terminal causes reception signal can be bigger than normal, is
This error is neutralized at emission control end and compensation control terminal and a upper resistance R3, the one end resistance R3 connects microcontroller compensation hair
The ports pipe LEDC are penetrated, the other end connects the emitter of the microcontroller ports infrared transmitting tube LEDA and triode VT3.
The circuit of second channel infrared emission unit, third channel infrared emission unit and fourth lane infrared emission unit
It is identical with the circuit of first passage infrared emission unit.
As shown in figure 9, the corresponding infrared compensating unit of infrared compensation pipe LEDC, which equally includes one, is based on mirror current source
The ratio circuit of circuit and an ON-OFF control circuit, circuit hardware is essentially identical with infrared emission unit, and difference lies in three
The emitter of pole pipe VT3 is only directly connected to the ports microcontroller LEDC.LEDC is infrared transmitting tube, and wavelength is 850 or 940nm,
It should be with transmitting tube consistent wavelength in actual circuit.
As shown in Figure 10, the present embodiment LDO power circuits flexible arrangement on pcb board, external supply voltage are DC 5V,
7 GPIO mouthfuls of microcontroller need the DC 3.3V that power, internal analogue circuit to need DC 2.5V supply voltages.Its principle is：It is defeated
Entering DC 5V after capacitance C7, C8 filtering, is sent into the 1st ports foot Vin LDO, the 3rd foot connects the 1st foot, and the 2nd foot connects power ground,
5th foot is voltage output DC 3.3V, after capacitance C3, C4 filtering, diode D anodes is input to, because diode drop is about
0.7V exports to obtain about 2.5V voltages from diode D cathodes, the most afterwards output DC 2.5V after capacitance C5, C6 filtering.
As shown in figure 11, microcontroller is 16 microcontrollers, integrated 4 tunnel infrared emission interface LED1A, infrared emission interface
LED1B, infrared emission interface LED1C and infrared emission interface LED1D, integrate the infrared compensation interface LEDC in 1 tunnel, 7 GPIO mouthfuls
Output, infrared receiving tube D1 are photodiode, are directly connected to microcontroller, the signal for receiving specific infrared wavelength emissions.
The operation principle of the present embodiment is：Microcontroller sends out 25 pwm pulses from code control instruction to infrared transmitting tube
Signal, within 1 pwm pulse signal period, positive half period infrared transmitting tube launches infrared light, when these infrared lights encounter object
It after body, reflects and is received by infrared receiving tube D1, and be converted into electric signal input microcontroller；The compensation of negative half-cycle is sent out
It penetrates pipe LEDC and sends out the infrared light that phase differs 180 °, in the letter for ensuring that positive half period is received with negative half-cycle infrared receiving tube D1
In the case of number equal, the continuous infrared intensity of adjustment compensation transmitting tube LEDC in 25 PWM returns to form closed loop feedback
Road, this mode can make device that extremely strong external environmental light be resisted to interfere, and performance is not influenced by temperature and light variation.
Infrared transmitting tube transmitting detailed process be：Microcontroller sends out 25 pwm pulse signals to infrared transmitting tube LED1A
Afterwards, 25 pwm pulse signals are sent out through being switched fast to infrared transmitting tube LED1B, is switched fast to infrared transmitting tube LED1C and sends out
Go out 25 pwm pulse signals, is switched fast to infrared transmitting tube LED1D and sends out 25 pwm pulse signals, 4 infrared transmitting tubes
Infrared light is emitted successively, has been exactly a cycle.Every time after cycle, 4 road raw values are obtained successively.
As shown in figure 12, the recognition methods of the present embodiment identification device respectively includes initial data measurement, movement detects,
Self calibration, 4 parts of gesture identification, including step in detail below：
A. infrared transmitting tube sends out pwm pulse signal, and microcontroller is received by infrared receiving tube and obtains initial data；
B. whether judgment object moves, if so, thening follow the steps d；If it is not, thening follow the steps c；
C. device executes self calibration, executes step a；
D. the identification of gesture is carried out；
E. it waits for and reaches the measurement period time, execute step a.
Measurement period is set as 4ms, measures primary after often crossing 4ms and obtains the original number of each infrared emission tube passage
According to, judge whether that there are objects moving in next step, and corresponding self calibration is done according to mobile testing result and is handled, it finally will be after processing
Data corresponding gesture result is obtained after gesture identification calculates.
As shown in figure 13, mobile detecting step first has to carry out digital low-pass filtering to the raw measurement data in each channel
Processing, it is therefore an objective to reduce the High-frequency Interference in measurement data, ensure the reliability and stability of measurement data, while be subsequent
Processing Algorithm provides effective input data, the characteristic of wave digital lowpass filter and two relating to parameters, is filter depth respectively
Degree and filter threshold value, filter depth is parameter related with the cutoff frequency of wave digital lowpass filter, and waveform 1 represents original
Data waveform, waveform 2 represent filtered data waveform, it can be deduced that, waveform 2 is more more stable than waveform 1 smooth.
As shown in figure 14, when the interference of initial data medium-high frequency is more, by the way that lower wave digital lowpass filter is arranged
Cutoff frequency overcomes High-frequency Interference, but that filtered waveform can be caused to lag in time simultaneously is more.It is above-mentioned in order to overcome
The drawbacks of conventional numerical low-pass filter, obtains quick filter response.Filter is added for wave digital lowpass filter in the present embodiment
Wave device threshold parameter.If the difference between original value and filter output value is higher than filter threshold value, filtered reality
Border output valve is original value, selects suitable filter threshold value, you can obtains preferable filter output result.
As shown in figure 15, mobile detecting step is that this input value and last time input value are done difference to handle to obtain difference knot
Then fruit is cooked filtered difference that low-pass filtering treatment obtains as a result, finally by filtered difference result is compared to difference result again
Size with mobile thresholding is to obtain the output of mobile detection as a result, there is movement or without movement.
As shown in figure 16, the purpose of self calibration step is to eliminate background interference, and reason is measured value under different backgrounds
Base value is different, then the measured value of a different backgrounds similarly hereinafter gesture can be caused different, to can influence gesture identification difficulty and
Success rate.The size of offset voltage Vc is measured value.Self-alignment centrales are to eliminate background interference, in different backgrounds
Under obtain identical measured value (this value is defined as desired value), reach above-mentioned mesh by adjusting voltage compensation bias voltage Vco
, setting offset voltage Vc is that desired value is constant during self-alignment, and continuous adjustment compensation bias voltage Vco's is big
It is small, until the result of transmitting and compensation reaches balance.
Self calibration step, which is divided into, powers on self calibration, background Forward self calibration, background far from three step of self calibration.
Power on self calibration：When device just starts power up work, self calibration is primary, eliminates background value when powering on.
Background Forward self calibration：When mobile testing result persistently export as without moving and after reach certain prover time, then
Judge whether current measurement value (is limited by an amplitude of oscillation parameter near desired value) near desired value.If attached in desired value
It is close then update quiescent value again, if not near desired value and more than self calibration flow is started if desired value, as shown in figure 17,
The alignment purpose is to prevent background from increasing, for example front panel has spot to block.
Background is far from self calibration：When measured value is less than the amplitude of oscillation under desired value, and certain time then starts self calibration stream
Journey is as shown in figure 18, the alignment purpose be prevent background from reducing, such as front panel have object after move.
Gesture identification step can recognize that up, down, left, right, before and after, click, double-click, anticlockwise, ten kinds of gestures of right rotation.
Gesture up and down：The present embodiment is described by taking the gesture identification process of left and right as an example, and upper and lower gesture is realized
Principle is consistent with left and right gesture.Infrared transmitting tube LED1A is considered as transmitting tube 1, infrared transmitting tube LED1B is considered as transmitting tube 2,
The gesture schematic diagram of left and right gesture sliding is as shown in figure 19.
As shown in figure 20,1 corresponding measured value waveform of transmitting tube is channel 1, and 2 corresponding measured value waveform of transmitting tube is logical
Road 2.During the right cunning of hand, since T1, the infrared signal of the transmitting of transmitting tube 1 is received pipe after receiving and distributing reflection and receives,
Due to hand with a distance from transmitting tube 2 farther out, not within the infrared coverage area of transmitting tube 2, thus transmitting tube 2 emit it is infrared
Signal cannot be received pipe and receive.With set about it is continuous slide to the right during, hand and emission lamp 1, emission lamp 2 it is opposite
Distance is gradually reduced, then corresponding infrared emittance gradually increases, i.e., channel 1, channel 2 waveform be gradually increasing, work as hand
When by 1 top of transmitting tube, 1 measured value of channel reaches maximum, and 1 measured value of subsequent channel is gradually reduced.When hand is moved to
It it is the T2 moment when equal with the relative distance of transmitting tube 1, transmitting tube 2, two paths value at this time is equal.Work as hand channel
When crossing 2 top of transmitting tube, 2 measured value of channel reaches maximum, and 2 measured value of subsequent channel is gradually reduced until to be 0, i.e. when T3
It carves, it is above to complete primary right sliding gesture motion.
As shown in figure 21, the value in channel 1 and the value in channel 2 are made the difference, obtains oscillogram.T1, T2 in figure,
The T3 moment distinguishes T1, T2, T3 moment in corresponding diagram 20.Difference is gradually increased to positive maximum value from the T1 moment, then gradually
It is reduced to 0, i.e. T2 moment.Then difference becomes negative value, inversely increases maximum value, then gradually decreases to 0 again, i.e. when T3
It carves.Algorithm constantly judges the difference in two channels, when the absolute value of difference is more than threshold value, into left and right gestures detection shape
State 1, while the change direction of the positive negative judgement subsequent differences according to difference.When difference is positive, then difference is waited for become
It is negative, and when reversed difference is more than threshold value, then enter left and right gesture detecting state 2, then when difference revert to 0, then into
Enter left and right gesture detecting state 3, that is, identifies it is right skating gesture.Left skating gesture identification process is consistent with right sliding identification process, only
Be difference direction it is opposite.In the gesture identification process of left and right, be added the time T limitation, when gesture identification time T time with
It is interior, then it is assumed that be effective gesture；When the gesture identification time is other than T time, then it is assumed that be invalid gesture.
Click gesture：The identification process of click gesture is as follows, takes the value in a maximum channel in each channel measurement data
As identification data, when measured value be more than a threshold value (clicking thresholding), and fluctuation tolerance within (click wave
It is dynamic), then it is identified as click gesture after maintaining certain time (clicking the time).Specifically click identification process as shown in Figure 22.
Double-click gesture：The identification process for double-clicking gesture is as follows, and the measured waveform for double-clicking gesture will appear two wave crests, such as schemes
It is the oscillogram for double-clicking gesture three times shown in 23.It is that measured value is carried out high-pass filtering to double-click identification process, and obtained waveform is such as
Shown in Figure 24, D1, D2 and D3 distinguish D1, D2 and D3 in corresponding diagram 23, it can be seen that after the waveform high-pass filtering for double-clicking gesture
4 peak points are had, are P1, P2, P3 and P4 respectively, four peak values are alternately present.By peak detection algorithm, peak point is obtained
And the peak point corresponding time.Operation is done by the time difference between the sequence and peak point that occur to peak point, to
Judge the validity of double-click gesture.During double-clicking gesture identification, and add minimum threshold limitation (double-clicking thresholding), mesh
Be to exclude longer-distance false triggering, i.e., it is entire double-click during, measured value has to be larger than double-click thresholding, otherwise once examining
It measures measured value and is less than and double-click thresholding, then double-click testing process and return to original state and restart to detect.
Forward and backward gesture：Using the value in a maximum channel in each channel measurement data as distance information.When hand from
When movement from the distant to the near or from the near to the distant, the displacement distance of the infrared signal intensity and hand that receive is inversely proportional.Hand is closer
Then signal is stronger, and the data measured are bigger.The more remote then signal of hand is weaker, and the data measured are smaller.
Rotate gesture：Middle anticlockwise in embodiment, being identified by for right rotation gesture are detected the peak value in each channel and are gone out
Existing sequence is identified.It such as detects that the peak value in the channel is less than threshold rotating value in peak detection process, then rotates detection
Flow returns to original state and restarts rotation detection.The sequence that the peak value of anticlockwise occurs is [1,2,3,4], the peak of right rotation
The sequence that value occurs is [1,4,3,2].Two matching arrays of configuration, the matching array of anticlockwise is [1,2,3,4,1,2,3], right
The matching array of rotation is [1,4,3,2,1,4,3].When detecting three effective peaks, if the sequence that peak value occurs is
[A, B, C], then the sequence setting peak detection array [A, B, C, A, B] occurred according to peak value.With in peak detection array
Three values of arbitrary continuation are gone and are matched array and matched, and if there is successful match, then rotate gesture identification success, if with
Anticlockwise matching array successful match then represents anticlockwise, and right rotation is represented if matching array successful match with right rotation.
For example the sequence that peak value occurs is [4,1,3], then peak detection array is [4,1,3,4,1].It can be found that peak detection array
In [3,4,1] [3,4,1] successful match in array is matched with anticlockwise, then [4,1,3] represent anticlockwise.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of infrared gesture identifying device, which is characterized in that including be integrated on a pcb board infrared receiving tube, infrared benefit
Pipe, drive module, control module and multiple infrared transmitting tubes are repaid, the control module is separately connected drive module and infrared receiver
Pipe, the drive module are separately connected infrared compensation pipe and multiple infrared transmitting tubes, the infrared receiving tube, infrared transmitting tube,
Infrared compensation pipe is respectively arranged on the pcb board back side, and the pcb board is equipped with corresponding open at infrared receiving tube and infrared transmitting tube
Hole, for from pcb board front side emitter and receiving infrared-ray, the infrared compensation pipe is to pcb board internal emission infrared ray.
2. infrared gesture identifying device according to claim 1, which is characterized in that the control module include microcontroller and
LDO power circuits, the microcontroller are separately connected drive module, LDO power circuits and infrared receiving tube, and microcontroller control is red
Outer transmitting tube sends out the pwm pulse signal of positive half period, meanwhile, within a pwm pulse signal period, infrared compensation pipe is sent out
The pwm pulse signal of negative half-cycle forms closed feedback loop.
3. infrared gesture identifying device according to claim 2, which is characterized in that the drive module includes infrared emission
Unit and infrared compensating unit, the microcontroller are equipped with the emission port for connecting the infrared emission unit and connect described red
The compensation port of external compensation unit, the infrared emission unit connect infrared transmitting tube, and the infrared compensating unit connection is infrared
Compensation pipe.
4. infrared gesture identifying device according to claim 3, which is characterized in that the infrared emission unit includes a base
In the ratio circuit, an ON-OFF control circuit and a resistance of mirror current source, the compensation port of the resistance connection microcontroller.
5. infrared gesture identifying device according to claim 3, which is characterized in that the infrared compensating unit includes one
Ratio circuit based on mirror current source and an ON-OFF control circuit.
6. infrared gesture identifying device according to claim 1, which is characterized in that there are four the infrared transmitting tube is set,
It is distributed in the quadrangle of pcb board, the infrared receiving tube is set to the centre of pcb board.
7. a kind of recognition methods based on infrared gesture identifying device as claimed in claim 2, which is characterized in that including following
Specific steps：
A. infrared transmitting tube sends out pwm pulse signal, and microcontroller is received by infrared receiving tube and obtains initial data；
B. whether judgment object moves, if so, thening follow the steps d；If it is not, thening follow the steps c；
C. device executes self calibration, executes step a；
D. the identification of gesture is carried out；
E. it waits for and reaches the measurement period time, execute step a.
8. the recognition methods of infrared gesture identification method device according to claim 7, which is characterized in that the judgement object
Body movement method be：The real time data that infrared receiver is in control is done into difference processing with previous moment data, to difference result
Low-pass filtering treatment is carried out, the result of mobile detection is obtained by comparing the size of filtered difference result and mobile thresholding.
9. the recognition methods of infrared gesture identification method device according to claim 8, which is characterized in that the self calibration
Including powering on self calibration, background Forward self calibration and background far from self calibration, ensure compensation electricity by adjusting compensation bias voltage
The measured value of pressure is constant.
10. the recognition methods of infrared gesture identification method device according to claim 8, which is characterized in that carry out gesture
Identification be specially：The reception data of different moments form oscillogram in being moved based on gesture, according to the specific position of oscillogram
Point judges specific gesture-type, and the gesture-type includes up, down, left, right, before and after, click, double-click, anticlockwise and the right side
Rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810603314.9A CN108459723B (en) | 2018-06-12 | 2018-06-12 | Infrared gesture recognition device and recognition method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810603314.9A CN108459723B (en) | 2018-06-12 | 2018-06-12 | Infrared gesture recognition device and recognition method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108459723A true CN108459723A (en) | 2018-08-28 |
| CN108459723B CN108459723B (en) | 2024-03-15 |
Family
ID=63216322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810603314.9A Active CN108459723B (en) | 2018-06-12 | 2018-06-12 | Infrared gesture recognition device and recognition method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108459723B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109373379A (en) * | 2018-09-30 | 2019-02-22 | 上海永亚智能科技有限公司 | A kind of method of kitchen ventilator sense cigarette automatic adjustment gear |
| CN109635735A (en) * | 2018-12-12 | 2019-04-16 | 深圳市路畅科技股份有限公司 | A kind of gesture identifying device |
| CN109782639A (en) * | 2018-12-29 | 2019-05-21 | 深圳市中孚能电气设备有限公司 | The control method and control device of a kind of electronic equipment operating mode |
| CN109799911A (en) * | 2019-02-01 | 2019-05-24 | 奥佳华智能健康科技集团股份有限公司 | A kind of massage armchair gesture control device and control method |
| CN110598624A (en) * | 2019-09-10 | 2019-12-20 | 武汉洁琅环保科技有限公司 | Infrared sensing gesture recognition method |
| CN114356140A (en) * | 2021-12-31 | 2022-04-15 | 上海永亚智能科技有限公司 | Key action identification method of infrared induction suspension key |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4736097A (en) * | 1987-02-02 | 1988-04-05 | Harald Philipp | Optical motion sensor |
| US5784151A (en) * | 1996-12-03 | 1998-07-21 | Datrend Systems Inc. | Apparatus for testing a pulsed light oximeter |
| CA2562143A1 (en) * | 1997-02-04 | 1998-08-06 | Hubbell Incorporated | Occupancy sensor and method of operating same |
| US20030169213A1 (en) * | 2002-03-07 | 2003-09-11 | Spero Yechezkal Evan | Enhanced vision for driving |
| US20100299642A1 (en) * | 2009-05-22 | 2010-11-25 | Thomas Merrell | Electronic Device with Sensing Assembly and Method for Detecting Basic Gestures |
| CN201708989U (en) * | 2010-05-07 | 2011-01-12 | 李俊 | LED floodlight driver |
| CN102439538A (en) * | 2009-12-29 | 2012-05-02 | 摩托罗拉移动公司 | Electronic device with sensing assembly and method for interpreting offset gestures |
| JP2012151661A (en) * | 2011-01-19 | 2012-08-09 | Fujitsu Ltd | Infrared imaging apparatus |
| CN102724793A (en) * | 2012-05-21 | 2012-10-10 | 四川新力光源有限公司 | Gesture-controlled LED lighting device |
| WO2012163725A1 (en) * | 2011-05-31 | 2012-12-06 | Mechaless Systems Gmbh | Display having an integrated optical transmitter |
| US20130015780A1 (en) * | 2011-07-15 | 2013-01-17 | Shenzhen China Star Optoelectronics Technology Co., Ltd. | Pwm dimming circuit |
| CN104737110A (en) * | 2012-10-26 | 2015-06-24 | 高通股份有限公司 | System and method for providing infrared gesture interaction on a display |
| US20150220138A1 (en) * | 2014-02-06 | 2015-08-06 | Paul Jones | Smart power management apparatus and method leveraging monitoring status of manual switch |
| CN105301342A (en) * | 2014-06-26 | 2016-02-03 | Dialog半导体（英国）有限公司 | LED mains voltage measurement using a current mirror |
| CN106200883A (en) * | 2014-12-04 | 2016-12-07 | 现代摩比斯株式会社 | Utilize the devices and methods therefor of infrared ray identification gesture |
| CN106211470A (en) * | 2016-08-24 | 2016-12-07 | 横店集团得邦照明股份有限公司 | A kind of LED dimming control system controlled based on 3D gesture and its implementation |
| CN106449617A (en) * | 2015-08-05 | 2017-02-22 | 杭州海康威视数字技术股份有限公司 | Light source device used for generating light, light supplement method thereof, and light supplement device thereof |
| CN106557199A (en) * | 2015-09-30 | 2017-04-05 | 乐金显示有限公司 | Display device and its driving method |
| CN107750078A (en) * | 2017-12-01 | 2018-03-02 | 河南孚点电子科技有限公司 | It is a kind of can feedback regulation LED drive circuit |
| CN208353658U (en) * | 2018-06-11 | 2019-01-08 | 北京经纬恒润科技有限公司 | Automobile atmosphere lamp control device, system and mobile unit |
| CN208506698U (en) * | 2018-06-12 | 2019-02-15 | 上海永亚智能科技有限公司 | A kind of infrared gesture identifying device |
-
2018
- 2018-06-12 CN CN201810603314.9A patent/CN108459723B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4736097A (en) * | 1987-02-02 | 1988-04-05 | Harald Philipp | Optical motion sensor |
| US5784151A (en) * | 1996-12-03 | 1998-07-21 | Datrend Systems Inc. | Apparatus for testing a pulsed light oximeter |
| CA2562143A1 (en) * | 1997-02-04 | 1998-08-06 | Hubbell Incorporated | Occupancy sensor and method of operating same |
| US20030169213A1 (en) * | 2002-03-07 | 2003-09-11 | Spero Yechezkal Evan | Enhanced vision for driving |
| US20100299642A1 (en) * | 2009-05-22 | 2010-11-25 | Thomas Merrell | Electronic Device with Sensing Assembly and Method for Detecting Basic Gestures |
| CN102439538A (en) * | 2009-12-29 | 2012-05-02 | 摩托罗拉移动公司 | Electronic device with sensing assembly and method for interpreting offset gestures |
| CN201708989U (en) * | 2010-05-07 | 2011-01-12 | 李俊 | LED floodlight driver |
| JP2012151661A (en) * | 2011-01-19 | 2012-08-09 | Fujitsu Ltd | Infrared imaging apparatus |
| WO2012163725A1 (en) * | 2011-05-31 | 2012-12-06 | Mechaless Systems Gmbh | Display having an integrated optical transmitter |
| US20130015780A1 (en) * | 2011-07-15 | 2013-01-17 | Shenzhen China Star Optoelectronics Technology Co., Ltd. | Pwm dimming circuit |
| CN102724793A (en) * | 2012-05-21 | 2012-10-10 | 四川新力光源有限公司 | Gesture-controlled LED lighting device |
| CN104737110A (en) * | 2012-10-26 | 2015-06-24 | 高通股份有限公司 | System and method for providing infrared gesture interaction on a display |
| US20150220138A1 (en) * | 2014-02-06 | 2015-08-06 | Paul Jones | Smart power management apparatus and method leveraging monitoring status of manual switch |
| CN105301342A (en) * | 2014-06-26 | 2016-02-03 | Dialog半导体（英国）有限公司 | LED mains voltage measurement using a current mirror |
| CN106200883A (en) * | 2014-12-04 | 2016-12-07 | 现代摩比斯株式会社 | Utilize the devices and methods therefor of infrared ray identification gesture |
| CN106449617A (en) * | 2015-08-05 | 2017-02-22 | 杭州海康威视数字技术股份有限公司 | Light source device used for generating light, light supplement method thereof, and light supplement device thereof |
| CN106557199A (en) * | 2015-09-30 | 2017-04-05 | 乐金显示有限公司 | Display device and its driving method |
| CN106211470A (en) * | 2016-08-24 | 2016-12-07 | 横店集团得邦照明股份有限公司 | A kind of LED dimming control system controlled based on 3D gesture and its implementation |
| CN107750078A (en) * | 2017-12-01 | 2018-03-02 | 河南孚点电子科技有限公司 | It is a kind of can feedback regulation LED drive circuit |
| CN208353658U (en) * | 2018-06-11 | 2019-01-08 | 北京经纬恒润科技有限公司 | Automobile atmosphere lamp control device, system and mobile unit |
| CN208506698U (en) * | 2018-06-12 | 2019-02-15 | 上海永亚智能科技有限公司 | A kind of infrared gesture identifying device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109373379A (en) * | 2018-09-30 | 2019-02-22 | 上海永亚智能科技有限公司 | A kind of method of kitchen ventilator sense cigarette automatic adjustment gear |
| CN109635735A (en) * | 2018-12-12 | 2019-04-16 | 深圳市路畅科技股份有限公司 | A kind of gesture identifying device |
| CN109782639A (en) * | 2018-12-29 | 2019-05-21 | 深圳市中孚能电气设备有限公司 | The control method and control device of a kind of electronic equipment operating mode |
| CN109799911A (en) * | 2019-02-01 | 2019-05-24 | 奥佳华智能健康科技集团股份有限公司 | A kind of massage armchair gesture control device and control method |
| CN110598624A (en) * | 2019-09-10 | 2019-12-20 | 武汉洁琅环保科技有限公司 | Infrared sensing gesture recognition method |
| CN114356140A (en) * | 2021-12-31 | 2022-04-15 | 上海永亚智能科技有限公司 | Key action identification method of infrared induction suspension key |
| CN114356140B (en) * | 2021-12-31 | 2024-02-13 | 上海永亚智能科技有限公司 | Key action recognition method of infrared induction suspension key |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108459723B (en) | 2024-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108459723A (en) | A kind of infrared gesture identifying device and recognition methods | |
| CN208506698U (en) | A kind of infrared gesture identifying device | |
| CN102299990A (en) | Gesture control cellphone | |
| CN102289981A (en) | Programmable learning type robot | |
| CN105677065B (en) | Remote control touch device and method for display screen | |
| CN110476482A (en) | Double LED drive circuits | |
| CN102663885A (en) | A method, a system, and related equipment for operating display equipment | |
| CN108614651A (en) | A kind of mobile terminal and infrared detection method | |
| CN101727246A (en) | Electronic device with infrared touch function and control method thereof | |
| CN207939804U (en) | A kind of lamps and lanterns of gesture induction control | |
| CN208522725U (en) | Touch sensible control system | |
| CN109108947A (en) | Robot with intelligent interaction function | |
| CN104678848A (en) | System for setting configuration parameters of photoelectric sensor | |
| CN110297569B (en) | Detection method and device | |
| CN102314260A (en) | Optical input device and display system with same | |
| CN209419966U (en) | Light switch sensing device | |
| CN202795743U (en) | Touch remote control transmitted through infrared | |
| CN202533911U (en) | Signal feedback device for interactive projection system | |
| CN213935181U (en) | Gesture control circuit | |
| CN110322879A (en) | Acoustic control color lamp and its control method | |
| CN109732612A (en) | Intelligent interactive toy robot control system based on STM32 microcontroller | |
| CN219876206U (en) | Gesture sensing lamp with touch control function | |
| CN211786664U (en) | Refrigerator control system using knob controller | |
| CN209312218U (en) | Remote control equipment based on acceleration transducer | |
| CN100590555C (en) | Terminal intelligent control device of domestic background musical system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |