CN102402290A - Method and system for identifying posture of body - Google Patents

Method and system for identifying posture of body Download PDF

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Publication number
CN102402290A
CN102402290A CN2011104033689A CN201110403368A CN102402290A CN 102402290 A CN102402290 A CN 102402290A CN 2011104033689 A CN2011104033689 A CN 2011104033689A CN 201110403368 A CN201110403368 A CN 201110403368A CN 102402290 A CN102402290 A CN 102402290A
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limb
freedom
sensor
degrees
gesture recognition
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CN2011104033689A
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Chinese (zh)
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詹姆斯·刘
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北京盈胜泰科技术有限公司
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Publication of CN102402290A publication Critical patent/CN102402290A/en

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Abstract

The invention relates to a method and a system for identifying the posture of a body. The method comprises the following steps of: A, respectively acquiring motion parameters of a plurality of parts of the body and sensing parameters of hardware equipment; B, according to an angle difference value which is obtained by comparing the motion parameters of all parts of the body, acquiring the position change information of the body; C, according to the position change information of the body and the angle difference value of the sensing parameters of the hardware equipment, determining the motion information of the body relative to the hardware equipment; and D, identifying the motion information of the body relative to the hardware equipment, and outputting the motion information which serves as monitoring information. In the method for identifying the posture of the body provided by the invention, a sensor device is used for identifying the posture of the body, and simultaneously optical equipment can be externally connected for auxiliarily monitoring the position of the body relative to the hardware equipment. By adoption of the method and the system for identifying the posture of the body provided by the invention, the speed for identifying the posture of the body is improved, different parts of the body can be identified at the same time, and certain flexibility is realized.

Description

一种肢体姿势识别方法及系统 One kind of body gesture recognition method and system

技术领域 FIELD

[0001] 本发明涉及一种肢体姿态与位置的感知方法,具体涉及一种感知肢体姿势并对其进行识别的方法及系统。 [0001] The present invention relates to a method for sensing the attitude and position of the body, particularly relates to a method and system for sensing the posture of the limb and its identification.

背景技术 Background technique

[0002] 近年来,随着多媒体技术的普及与发展,人们在对新型人机交互技术进行不懈的探索。 [0002] In recent years, with the popularization and development of multimedia technology, people in the unremitting exploration of new human-computer interaction technology. 使用肢体、手势等直观的方式完成计算机的操作,已成为一个技术热点。 Intuitive way to use the limb, and other gesture complete operation of the computer, has become a hot technology. 而人的肢体又是一种复杂的执行机制,其灵活度高、表现力丰富且可以完成精细的操作,但这些特性也使其姿态的识别与跟踪成为计算机研究中的重大挑战。 The man's body is a complicated enforcement mechanism, its high flexibility, rich and expressive and delicate operation can be done, but these features also make gesture identification and tracking has become a major challenge computer research.

[0003] 因此,通过各种高科技手段实现的方便、先进、可靠的人机交互系统迎刃而生,很多畅销的电子产品也是由于出色的人机交互手段而产生巨大的经济效益。 [0003] Therefore, to facilitate the realization of a variety of high-tech means, advanced and reliable human-computer interaction systems meet edge was born, and many of the best-selling electronic products is also due to the excellent human-computer interaction means to generate huge economic benefits. 比如任天堂的WII游戏机,其人机交互手段采取了通过游戏机遥控器内部的加速度(倾角)传感器介入人和游戏的交互方式,从而战胜了其他技术,突出了任天堂技术的先进;而SONY公司的PLAYSTATION III、微软公司的X-BOX以及美国APPLE公司的IPHONE、IPAD,其成功很大程度上也是由于其产品的人机交互手段的先进,比如其接触屏幕界面的电容传感器和画面横竖切换的加速度传感器(倾角)等。 For example, Nintendo WII consoles, which means human-computer interaction has taken interactively involved in the game and the game machine by remote control inside the acceleration (tilt) sensor, so as to defeat the other technologies, highlighting the Nintendo advanced technology; and SONY Corporation the PLAYSTATION III, Microsoft X-BOX and the US company APPLE IPHONE, IPAD, its success is also largely due to the advanced, such as its touch screen interface of the capacitive sensor and the screen human-machine interaction means of their products if they had switched an acceleration sensor (inclination) and the like.

[0004] 当前,手势识别技术作为人类和计算机之间的交流手段而应用于智能机器人、 计算机、游戏机、手机、显示器、自动控制系统、生产技术等各种领域。 [0004] Currently, the gesture recognition technology as a means of communication between humans and computers used in various fields of intelligent robots, computers, game consoles, mobile phones, monitors, automatic control systems and production technology. 来自微软公司的US20100199228A1 (公开日为2010年8月5日)提供了利用深度摄像头捕获并分析用户的身体姿态,并将其解释为计算机命令的方案。 From Microsoft US20100199228A1 (publication date is August 5, 2010) provides a depth using the camera to capture and analyze the user's body posture, and interpreted as a command computer program. 来自Nintendo公司的US20080291160A1 (公开日为2008年11月27日)提供了利用红外传感器和加速度传感器捕获用户手部位置的方案。 US20080291160A1 from Nintendo's (publication date Nov. 27, 2008) provides a solution using an infrared sensor and acceleration sensor to capture the user's hand position. 此外,现有技术中还有利用数据手套来辅助对手部姿态的识别的方案。 Further, the prior art also use the data to assist in identifying the glove of hand posture scheme. 这些方案实现了对手部运动的识别,但也存在着各种不足,而且价格相当昂贵。 These programs achieve the recognition of hand movements, but there are also a variety of deficiencies, and the price is quite expensive. 来自松下电器产业株式会社的CN1276572A提供了使用摄像头对手部进行拍照,然后对图像进行归一化分析,并将归一化得到的图像进行空间投影,并将所得的投影坐标与预先存储的图像的投影坐标进行比较。 CN1276572A from Matsushita Electric Industrial Co., Ltd. provides the use of hand camera to take pictures, and image analysis were normalized, and the normalized image resulting spatial projection, and the resulting image projection coordinates stored in advance projection coordinates are compared. 该方法比较直观,但需要经过复杂的数学计算过程,且无法对手部的空间位置进行识别与跟踪。 The method is relatively straightforward, but require a complex mathematical calculation, and the spatial position of the opponent can not identify and track portions. 而近期(2011年10月20日)在英国《每日电讯报》上报导的微软公司研制的新一代体感传感器,其工作方式是把墙壁、汽车、甚至手掌作为人机交互的触摸屏幕。 The recent (October 20, 2011) a new generation of somatosensory sensor developed by Microsoft reported in the British "Daily Telegraph," The way it works is to walls, cars, and even palm as a touch screen human-computer interaction. 微软研究人员研制的新一代KINECT体感传感器,可以追踪从人的胳膊到墙壁的运动,其原理是在人的肩头使用光学投影仪器,使人手在墙壁等平面的影像当作虚拟计算机键盘。 Microsoft researchers have developed a new generation of somatosensory KINECT sensor that can track the movement of people from the arm to the wall, the principle is the use of optical projection instrument in people's shoulders, people hand as a virtual computer keyboard in the image plane of the wall or the like. 美国卡内基梅隆大学的0MNIT0UCH也使用了类似原理。 0MNIT0UCH Carnegie Mellon University uses a similar principle.

[0005] 这些貌似先进的手段,其原理都是通过摄像机等光学设备拍摄人类手部的活动而得到手部的运动图像,然后通过计算机主机进行图像处理,从而识别手部特定部分的一连串的特定活动,由计算机主机执行基于由手势识别装置识别到的手势虚拟光标而进行各种处理。 [0005] These seemingly advanced means, its principles are obtained by moving the optical image of the hand portion shooting video camera apparatus of the human hand, and then subjected to image processing by the host computer, so that a series of specific recognition of a particular portion of the hand portion activity, and performs various processing based on the gesture recognition apparatus to recognize a gesture performed by a host computer of the virtual cursor. 但是,在应用上却存在很多局限性,很多情况下他们的应用不是很方便,例如,当2只手相对光源重叠、2只手不在同一平面、或者是2只手垂直光源、没有光滑平面的时候等等大多数的现实情况下,上述“先进”技术也无法使用;另外,通过图像识别一个姿势的时间往往较长,至少需要10多秒钟,而对于动态姿势的识别则需要更长的时间,这对于高效率、快节奏的现代人来说无疑是一种折磨。 However, they have many limitations in the application, their application is not very convenient in many cases, e.g., when the two light source overlapping opposite hand, two hands are not in the same plane, or perpendicular to the light source 2 hand, there is no smooth flat surface most of the time, and so the reality of the "advanced" technology can not be used; in addition, often longer by image recognition a gesture of time, at least more than 10 seconds, and for dynamic gesture recognition will require more time, this is a kind of torture for high efficiency, fast-paced modern world.

发明内容 SUMMARY

[0006] 本发明所要解决的技术问题是提供一种肢体姿势识别方法及系统,本发明提供的系统能够感知肢体姿势并对其进行识别,从而实现人机交互。 [0006] The present invention solves the technical problem is to provide a body gesture recognition method and system, the present invention provides a system to perceive and recognize it posture the limb, thereby achieving human-computer interaction.

[0007] 本发明为了解决上述技术问题,公开了一种肢体姿势识别方法,所述方法包括如下步骤: [0007] In order to solve the above problems, there is disclosed a body gesture recognition, the method comprising the steps of:

步骤A,分别获取肢体多个部位的运动参数以及硬件设备的感应参数; Step A, obtain a plurality of respective portions of the limb motion parameters sensed parameters and hardware;

步骤B,根据比较肢体各部位的运动参数之间的角度差值而得到肢体的位置变化信 Step B, and according to the angle difference between the motion parameters of each part obtained by comparing the position change letter limb limbs

息; interest;

步骤C,根据肢体的位置变化信息与硬件设备的感应参数之间的角度差值而确定肢体相对于硬件设备的运动信息; Procedure C, the limb is determined in accordance with the angle difference between the position of the limb is sensed parameters change information with a hardware device relative to the motion information of the hardware device;

步骤D,对肢体相对于硬件设备的运动信息进行识别作为监控信息输出。 Procedure D, the phase identification limb as the monitoring information to the motion information output hardware.

[0008] 进一步,所述方法还包括在步骤A之前利用光学设备辅助监测肢体相对于硬件设备的位置。 [0008] Further, the method further comprising monitoring body with an optical auxiliary device prior to step A with respect to the hardware device.

[0009] 进一步,所述肢体的位置变化信息为肢体各部位在运动状态下的空间位置信息。 [0009] Further, the limb position change information of each part limb spatial position information in a moving state.

[0010] 进一步,所述硬件设备的感应参数为外部触发硬件设备时触发点的位置信息。 [0010] Further, when the trigger point position information sensed parameters of the hardware device as hardware device external trigger.

[0011] 进一步,所述肢体多个部位的运动参数是指肢体各部位在具有3个自由度、6个自由度或9个自由度的空间运动参数。 [0011] Further, the limb portions of the plurality of motion parameters in each part body means having three degrees of freedom, six degrees of freedom motion parameter space or 9 degrees of freedom.

[0012] 进一步,所述肢体各部位的运动参数之间的角度差值为肢体各部位运动参数的同一自由度之间的角度差值。 [0012] Further, the angle difference between the limb portions of each motion parameter is the angle difference between the various parts of the same freedom of motion parameters of the limb.

[0013] 进一步,所述肢体的位置变化信息与硬件设备的感应参数之间的角度差值为同一自由度之间的角度差值。 [0013] Further, the limb of the angle difference between the change in position of the sensing parameter information with a hardware device is an angle difference between the same degree of freedom.

[0014] 本发明还公开了一种肢体姿势识别系统,所述系统包括:微处理器、数据传输模块、处于肢体上不同部位的多个第一传感器模块以及处于硬件设备上的第二传感器模块, 其中, [0014] The present invention also discloses a body gesture recognition, the system comprising: a microprocessor, a data transfer module, in a plurality of different parts of the body and a first sensor module is a sensor module on a second hardware , among them,

所述多个第一传感器模块,用于分别获取肢体上不同部位的运动参数; 所述第二传感器模块,用于获取硬件设备的感应参数; The first plurality of sensor modules for obtaining motion parameters of the different parts of the limb; the second sensor module, a hardware device for acquiring sensed parameters;

所述微处理器,用于计算处于肢体上不同部位的各第一传感器模块获取的运动参数之间的角度差值,然后根据计算出的角度差值而得到肢体的位置变化信息,并根据肢体的位置变化信息计算与第二传感器模块获取的硬件设备的感应参数之间的角度差值,从而确定肢体相对于硬件设备的运动信息; The microprocessor, for calculating a difference in angle between the motion parameters on the different parts of the limb of each of the first sensor module obtained, then variation information obtained by the angle limb calculated difference, and in accordance with the limb the change in the angle difference between the position sensing hardware parameter information calculation module acquires the second sensor, to determine the motion information with respect to physical hardware devices;

所述数据传输模块,用于将所述微处理器计算的肢体相对于硬件设备的运动信息作为监控信息输出。 The data transfer module, to said microprocessor for calculating the motion information with respect to physical hardware device monitoring information output.

[0015] 进一步,所述系统还包括用于辅助监测肢体相对于硬件设备位置的光学设备。 [0015] Further, the monitoring system further comprises an auxiliary body with respect to the optical device hardware position.

[0016] 进一步,所述多个第一传感器模块分别置于肢体的手指处、手背或手腕处、手臂处、以及脖子或胸前处。 [0016] Further, the first plurality of sensor modules were placed at the limb finger, back of the hand or wrist, arm, and at the neck or chest. [0017] 进一步,所述多个第一传感器模块和第二传感器模块通过导线与所述微处理器相连接。 [0017] Further, the plurality of first sensor module and the second module is connected to the sensor through a wire to the microprocessor.

[0018] 进一步,所述多个第一传感器模块和第二传感器模块分别包括用于检测在空间具有3个自由度、6个自由度或9个自由度的运动参数的多自由度传感器。 [0018] Further, the plurality of first sensor and the second sensor module comprises a module for detecting each having three degrees of freedom in space, multiple degrees of freedom or six degrees of freedom motion sensor parameters nine degrees of freedom.

[0019] 进一步,所述多个第一传感器模块分别包括用于获取肢体运动参数的第一传感器、用于将第一传感器获取的运动参数传输至微处理器的无线数据传输单元以及为所述第一传感器和无线数据传输单元提供工作电压的能源单元。 [0019] Further, the plurality of sensor modules respectively comprise a first sensor for acquiring a first limb movement parameters for the transmission of motion parameters acquired by the first sensor unit to wireless data transmission and to the microprocessor a first sensor unit provides wireless data transmission and operating voltage power unit.

[0020] 进一步,所述能源单元为电池或是可充电电池。 [0020] Further, the power unit is a battery or a rechargeable battery.

[0021] 进一步,所述电池或是可充电电池采用能够获取外部环境中能量的材料制成,所述材料包括压电材料、磁致伸缩材料、光敏材料、热敏材料和热电转换材料中的一种或几种。 [0021] Further, the battery or the rechargeable battery is made of a material capable of obtaining energy of the external environment, the material includes a piezoelectric material, a magnetostrictive material, photosensitive material, heat-sensitive material and a thermoelectric conversion material one or several.

[0022] 进一步,所述第二传感器模块包括用于获取外部触发硬件设备时触发点位置信息的第二传感器。 [0022] Further, the second sensor module comprises a second sensor for acquiring the position information of the trigger point of the external hardware trigger.

[0023] 进一步,所述第一传感器和第二传感器分别为用于检测在空间具有3个自由度、6 个自由度或9个自由度的运动参数的多自由度传感器。 [0023] Further, the first and second sensors are used to detect three degrees of freedom in space, multiple degrees of freedom or six degrees of freedom motion sensor parameters nine degrees of freedom.

[0024] 进一步,所述检测在空间具有3个自由度运动参数的传感器为3个自由度的磁场传感器或3个自由度的加速度传感器。 Sensors [0024] Further, the detector having three degrees of freedom of motion parameters in three spatial degrees of freedom of the magnetic field sensor or an acceleration sensor 3 degrees of freedom.

[0025] 进一步,所述检测在空间具有6个自由度运动参数的传感器为3个自由度的磁场传感器以及3个自由度的加速度传感器的组合。 Sensors [0025] Further, the detector having six degrees of freedom of motion parameters for the combination of three spatial degrees of freedom of the magnetic field sensor and an acceleration sensor in three degrees of freedom.

[0026] 进一步,所述检测在空间具有9个自由度运动参数的传感器为3个自由度的磁场传感器、3个自由度的加速度传感器以及3个自由度的旋转传感器的组合。 Sensors [0026] Further, the detecting parameters having nine degrees of freedom in three spatial degrees of freedom of the magnetic field sensor, an acceleration sensor combination of three degrees of freedom and three rotational degrees of freedom sensor.

[0027] 采用上述本发明技术方案的有益效果是:本发明提供的肢体姿势识别系统,采用传感器器件进行肢体姿势的识别,同时也可以外接光学设备辅助监测肢体相对于硬件设备的位置,通过传感器感知肢体姿势并对其进行识别,从而实现人机交互功能;通过本发明提供的肢体姿势识别方法及系统实现的肢体姿势识别技术增强了识别速度,使得识别时间缩短至毫秒级,且能够同时对肢体的不同部位进行识别,具有一定的灵活性。 [0027] With the above aspect of the invention beneficial effects: body gesture recognition system of the present invention provides, using a sensor device identification limb gesture, but can also add an optical device for assisting monitoring limb with respect to the hardware device, the sensor sensing the posture of the limb and its recognition, in order to achieve interactive features; limb gesture recognition method and system provided by the present invention achieves limb gesture recognition technology enhances recognition speed, recognition time is reduced to such a millisecond, and is capable of simultaneously identifying different parts of the limb, with some flexibility.

附图说明 BRIEF DESCRIPTION

[0028] 图1为本发明实施例中肢体姿势识别系统的逻辑结构图; [0028] FIG logical structure of FIG. 1 embodiment limb gesture recognition system according to the present invention;

图2为本发明实施例中肢体姿势识别系统的第二种实施方式中第一传感器模块的内部逻辑结构图; Internal logic structure of FIG 2 FIG embodiment limb second embodiment of the gesture recognition system in a first embodiment of a sensor module of the present invention;

图3为本发明实施例中肢体姿势识别方法流程图; 图4为本发明肢体姿势识别系统的一个具体应用原理图。 3 a flowchart of FIG limb gesture recognition method in the embodiment of the present invention; FIG. 4 is a schematic diagram of a specific application of the present invention limb gesture recognition system.

具体实施方式 Detailed ways

[0029] 以下结合附图对本发明的原理和特征进行描述,所举实例只用于解释本发明,并非用于限定本发明的范围。 [0029] The following drawings in conjunction with the principles and features of this invention will be described, The examples are only for explaining the present invention and are not intended to limit the scope of the invention.

[0030] 图1为本发明实施例中肢体姿势识别系统的逻辑结构图,如图1所示,所述肢体姿势识别系统包括:微处理器101、数据传输模块102、处于肢体上不同部位的多个第一传感器模块(包括第一传感器模块A 103A、第一传感器模块B 103B、……第一传感器模块N 103N)以及处于硬件设备上的第二传感器模块104。 [0030] FIG logical structure of FIG. 1 embodiment limb gesture recognition system according to the present invention, shown in Figure 1, the limb gesture recognition system comprising: a microprocessor 101, a data transmission module 102, at different sites on the limb a first plurality of sensor modules (modules including a first sensor a 103A, the first sensor module B 103B, ...... a first sensor module N 103N) and a second sensor module 104 is a hardware device. 在本发明实施例中,所述多个第一传感器模块,可以分别置于肢体的手指处、手背或手腕处、手臂处(如肱二头肌的位置)、以及脖子或胸前处,分别用于获取肢体上各部位的运动参数;所述第二传感器模块104,用于获取硬件设备的感应参数,本实施例中,所述硬件设备的感应参数为外部触发硬件设备时触发点的坐标位置信息;所述微处理器101,用于计算处于肢体上不同部位的各第一传感器模块获取的运动参数之间的角度差值,然后根据计算出的角度差值而得到肢体的位置变化信息,并根据肢体的位置变化信息计算与第二传感器模块104获取的硬件设备的感应参数之间的角度差值,从而确定肢体相对于硬件设备的运动信息,将肢体相对于硬件设备的运动信息识别为监控信息;所述数据传输模块102,用于将所述微处理器101计算的肢体相对于硬件设备的运 In an embodiment of the present invention, the first plurality of sensor modules, each finger can be placed at the limb (e.g., biceps position), as well as the neck or chest or the back of the hand at the wrist, arm, respectively obtaining motion parameters for each part of the limb; the second sensor module 104, configured to obtain hardware sensed parameters, in the present embodiment, the parameter sensing device is a hardware trigger point coordinates external hardware trigger position information; the microprocessor 101, is used to calculate an angle difference between the motion parameters on the different parts of the limb of each of the first sensor obtaining module, and then change the position of the limb to give the angle information calculated from the difference , and the angle difference between the sensed parameters hardware limb position change information calculation module 104 acquires the second sensor, thereby determining the motion information with respect to the physical hardware, the movement of the limb with respect to the hardware device identification information to monitor information; the data transmission module 102, the microprocessor 101 for calculation of limb operation with respect to the hardware device 信息作为监控信息输出。 Information output as the monitoring information.

[0031] 在本发明实施例中,所述的硬件设备包括但不限于大型显示器、电子沙盘、钢琴等设备。 [0031] In an embodiment of the present invention, the hardware devices including but not limited to large-sized displays, electronic sand table, piano and other equipment. 该实施方式中,各第一传感器模块和第二传感器模块分别包括用于检测在空间具有3个自由度、6个自由度或9个自由度的运动参数的多自由度传感器。 This embodiment, each of the first sensor and the second sensor module comprises a module for detecting each having three degrees of freedom in space, multiple degrees of freedom or six degrees of freedom motion sensor parameters nine degrees of freedom. 其中,所述检测在空间具有3个自由度运动参数的传感器为3个自由度的磁场传感器或3个自由度的加速度传感器;所述检测在空间具有6个自由度运动参数的传感器为3个自由度的磁场传感器以及3个自由度的加速度传感器的组合;所述检测在空间具有9个自由度运动参数的传感器为3 个自由度的磁场传感器、3个自由度的加速度传感器以及3个自由度的旋转传感器的组合。 Wherein said detecting sensor having three degrees of freedom of motion parameters in three spatial degrees of freedom of the magnetic field sensor or an acceleration sensor 3 degrees of freedom; a sensor having six degrees of freedom of motion parameters is detected in the space 3 the magnetic field sensor and a degree of freedom of a combination of an acceleration sensor 3 degrees of freedom; a sensor detecting the motion parameters having nine degrees of freedom in the space of three degrees of freedom of the magnetic field sensor, the acceleration sensor 3 and three free degrees of freedom the combination of the rotation sensor.

[0032] 在本发明的肢体姿势识别系统的第一种实施方式中,所述多个第一传感器模块(包括第一传感器模块A 103A、第一传感器模块B 103B、……第一传感器模块N 103N)和第二传感器模块通过导线与所述微处理器相连接。 [0032] In a first embodiment, the gesture recognition system of the body of the present invention, the plurality of first sensor module (module comprises a first sensor A 103A, the first sensor module B 103B, ...... a first sensor module N 103N) and the second sensor module is connected to the microprocessor through a wire. 在该实施方式中,所述第一传感器模块获取的肢体各部位的运动参数和所述第二传感器模块获取的硬件设备的感应参数分别通过导线传输至微处理器中进行处理。 In this embodiment, the motion parameters of the first part of the body of the sensor module and the second sensor acquiring module acquires sensed parameters of the hardware device are processed separately transmitted to the microprocessor through the wire.

[0033] 在本发明的肢体姿势识别系统的第二种实施方式中,所述各第一传感器模块采用无线方式传输数据至微处理器,该实施方式中,所述第一传感器模块的内部逻辑结构图如图2所示:在本实施例中,所述各第一传感器模块分别包括用于获取肢体各部位运动参数的第一传感器201、用于将第一传感器201获取的运动参数传输至微处理器的无线数据传输单元202以及为所述第一传感器201和无线数据传输单元202提供工作电压的能源单元203。 [0033] In a second embodiment limb gesture recognition system according to the invention, each of the first sensor module wirelessly transmit data to a microprocessor, in this embodiment, the internal logic of the first sensor module configuration shown in Figure 2: in the present embodiment, each of the first sensor module include a first sensor for acquiring the respective parts of body motion parameters 201, motion parameters for the first transmission sensor 201 to obtain the microprocessor unit 202, and wireless data transmission to the first sensor 201 and the wireless data transmitting unit 202 provides the operating voltage power unit 203. 在该实施方式中,所述能源单元203可以是电池或者是可充电电池,其中,所述电池或是可充电电池可以采用能够获取外部环境中能量的材料制成,所述材料可以是压电材料、 磁致伸缩材料、光敏材料、热敏材料和热电转换材料中的一种或几种,或者是由RLC振荡器以及天线组成。 In this embodiment, the energy unit 203 may be a battery or a rechargeable battery, wherein the battery or rechargeable battery may be a material able to acquire energy in the external environment is made, the material may be a piezoelectric material, one or more magnetostrictive material, photosensitive material, heat-sensitive material and a thermoelectric conversion material, or consists of RLC oscillator and an antenna. 通过上述材料或者是结构可以从周围空间而获得势能、机械能、光能、热能、 温差能、无线辐射的能量等。 Potential can be obtained from the ambient space via the material or structure, mechanical energy, light, heat, thermal energy, radiation energy and the like wireless. 比如可以从肢体的运动得到能量、从肢体的温度和环境的温度差得到能量、从外部环境得到光学能量等,或者是通过无线数据传输单元202收发信息而从微处理器那里得到能量,或者是通过天线吸收无线电波能量,从而引起RLC电路的振荡而产生电流,还可以从内置电池得到能量,而内置电池也可以通过上述方式得到充电。 Can be obtained for example from the movement of the limb energy, energy obtained from the temperature difference between the environmental temperature and the body, the optical energy is obtained from the external environment and the like, or energy obtained from the microprocessor, where the transmission unit 202 transmits and receives information by wireless data, or energy absorbing radio waves through the antenna, thereby causing the oscillating RLC circuit current is generated, the energy can also be obtained from the built-in battery, and the built-in battery charging can be obtained by the above-described manner.

[0034] 在本发明的肢体姿势识别系统的优选实施方式中,所述系统还可以包括用于辅助监测肢体相对于硬件设备位置的光学设备。 [0034] In the present invention limb gesture recognition system in a preferred embodiment, the system may also include a secondary monitor physical hardware device location relative to the optical device. 在本实施例中,通过光学设备辅助确定肢体相对于游戏机的显示屏或电子沙盘等硬件设备的大概位置,然后由处于肢体上各部位的第一传感器模块和设置于硬件设备上的第二传感器模块检测相应的运动或位置参数,由微处理器进行计算并确定肢体相对于硬件设备的运动信息,最后由数据传输模块将该信息作为监控信息输出,从而实现人机交互。 In the present embodiment, with respect to determining the approximate location of the gaming machine body monitor or electronic hardware, such as sand table by an auxiliary optical apparatus, and then by the first sensor module is provided at each of the sites on the limb on a second hardware device the sensor module detects the motion or position of the corresponding parameters is calculated by the microprocessor and determines the motion information with respect to physical hardware, and finally by the data transmission module outputs the information as the monitoring information, thereby achieving human-computer interaction. 在该实施方式中,所述的光学设备包括但不限于照相机、 摄像机、扫描仪等设备。 In this embodiment, the optical device include, but are not limited to, cameras, video cameras, scanners and other equipment.

[0035] 图3为本发明实施例中肢体姿势识别方法流程图,如图3所示,所述肢体姿势识别方法包括如下步骤: [0035] Fig. 3 is an embodiment of limb gesture recognition method flow diagram, shown in Figure 3, the limb gesture recognition method comprises the following steps:

步骤301,分别获取肢体多个部位的运动参数以及硬件设备的感应参数; 在本实施例中,所述肢体多个部位包括但不限于肢体的手指处、手背或手腕处、手臂处(如肱二头肌的位置)、以及脖子或胸前处,或者是肢体的脚部、小腿部、大腿部以及胸部或背部等部位。 Step 301, respectively, obtaining a plurality of portions of the limb motion parameters sensed parameters and hardware device; in the present embodiment, a plurality of body sites including, but not limited to the limb finger, back of the hand or wrist, arm, (e.g. brachial biceps position), and at the neck or chest, limb or foot, the calf, thigh or chest and back parts and the like. 在该实施方式中,所述肢体多个部位的运动参数是指肢体的上述各部位在具有3个自由度、6个自由度或9个自由度的空间运动参数。 In this embodiment, the limb portions of the plurality of motion parameter is the respective portions of the limb has three degrees of freedom, six degrees of freedom motion parameter space or 9 degrees of freedom. 所述硬件设备的感应参数为外部触发硬件设备时触发点的坐标位置信息。 The sensing device parameters for the hardware trigger point coordinate position information of the external hardware trigger.

[0036] 步骤302,根据比较肢体各部位的运动参数之间的角度差值而得到肢体的位置变化信息; [0036] Step 302, according to the angle difference between the motion parameters of each part obtained by comparing the limb of limb position change information;

本实施例中,所述肢体各部位的运动参数为肢体各部位在运动状态下的空间位置信息,所述肢体各部位的运动参数之间的角度差值为肢体各部位运动参数的同一自由度之间的角度差值。 In this embodiment, each of the limb portions each limb portion motion parameters spatial position information in a moving state, the angle difference between the various parts of the body motion parameters for the same degrees of freedom of motion parameters of each part limb the difference between the angle. 例如,通过比较手指与手背处运动参数的同一自由度之间的角度差值,而得到手指相对于手背的位置变化信息,通过进一步比较手背与手臂处运动参数的同一自由度之间的角度差值,而得到手背相对于手臂的位置变化信息,再通过比较手臂处与脖子或胸部的运动参数的同一自由度之间的角度差值,从而得到手臂相对于脖子或胸部的位置变化信肩、ο For example, the angle difference between the same finger and compare the degree of freedom of motion parameters at the back, with respect to the position of the finger to obtain change information back through the same degree of freedom in the angle between the back and the further comparison of the difference between the motion parameters arm value, and get back relative to arm position change information, and then by comparing the arm, neck or chest with the same degree of freedom of motion parameters between the angle difference, resulting in the arm relative to the neck, chest or shoulder position change letter, ο

[0037] 步骤303,根据肢体的位置变化信息与硬件设备的感应参数之间的角度差值而确定肢体相对于硬件设备的运动信息; [0037] Step 303, according to the angle difference between the position of the limb is sensed parameters change information with a hardware device is determined with respect to the motion information of physical hardware device;

在本实施例中,所述肢体的位置变化信息与硬件设备的感应参数之间的角度差值同样为同一自由度之间的角度差值,通过计算肢体的位置变化信息与外部触发硬件设备时触发点的坐标位置信息之间的角度差值,从而确定肢体相对于硬件设备的运动信息,比如人手从电子沙盘上空抓的动作等。 In the present embodiment, the angle difference between the position of the limb is sensed parameters change information is the same as the hardware the angle difference between the same degree of freedom, by calculating the position change information with external hardware trigger limb an angle difference between the coordinate position information of the trigger point, thereby determining the motion information with respect to physical hardware devices, such as the hand grasping operation and the like from above the electronic sand table.

[0038] 步骤304,对肢体相对于硬件设备的运动信息进行识别作为监控信息输出。 [0038] Step 304, limb phase identification as the monitoring information output to the movement information of hardware devices.

[0039] 在本发明的一个优选实施方式中,所述方法还包括在步骤301之前利用光学设备辅助监测肢体相对于硬件设备位置的步骤。 [0039] In a preferred embodiment of the invention, the method further comprising monitoring body with an optical device for assisting a step prior to step 301 with respect to the position of the hardware device.

[0040] 显然,本领域的技术人员应该明白,上述的本发明的各模块或各步骤可以通过通用的计算装置来实现,它们可以集成在单个的计算装置上,或者分布在多个计算装置所组成的网络上,可选地,它们可以用计算装置可执行的程序代码来实现,从而,可以将它们存储在存储装置中由计算装置来执行,或者将它们分别制作成各个集成电路模块,或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。 [0040] Obviously, those skilled in the art should understand that the modules or steps described above according to the present invention may be implemented by a general purpose computing device, which may be integrated on a single computing device or distributed across multiple computing devices available on the Internet, optionally, they may be implemented by program code computing device may perform, so to be executed by a computing device stored in a storage device, or they are made into integrated circuit modules, or they plurality of modules or steps are manufactured into a single integrated circuit module. 因此,本发明不限制于任何特定的硬件和软件的结合。 Accordingly, the present invention is not limited to any specific combination of hardware and software.

[0041] 以下通过具体的应用实施例并结合上述的系统结构以及方法步骤详细描述本发明的原理,本发明的第一个具体应用实施例中,所述的肢体姿势识别是通过设置于肢体不同部位的第一传感器模块检测肢体相应部位在X、Y、Z空间三个自由度(即空间坐标)的运动参数,当然,为了获取更精准的肢体运动参数,还可以检测围绕X、Y、Z三个轴旋转自由度(即肢体各部位的俯仰角、横摆角与扭转角)的运动参数以及根据地理磁场方向所确定的A、 B、C三个方向(如A指向正北方、B指正东方、C指向正上方)自由度的运动参数,所述第一传感器模块将获取的运动参数通过导线或是无线数据传输单元传输至微处理器中,由微处理器对各传感器模块获取的运动参数进行比较,通过比较各运动参数在同一自由度之间的角度差值,而得到肢体的位置变化信息。 [0041] The following examples by way of specific embodiments and applications of the system in conjunction with the above-described configuration and method steps of the principles of the present invention is described in detail, a specific application of the first embodiment of the present invention, the gesture recognition limb a limb is provided by a different parts of the first sensor module detects the corresponding parts of the limb in the X, Y, Z space three degrees of freedom (i.e., the spatial coordinates) of the motion parameters, of course, in order to obtain a more accurate body motion parameters, can detect about the X, Y, Z axis three rotational degrees of freedom (i.e., each part of the body pitch angle, yaw angle and twist angle) of the motion parameters and the determined geographic direction of the magnetic field a, B, C in three directions (e.g., a pointing due north, B correction Eastern, C freedom of motion parameters of the point directly above), the first sensor module acquires the motion parameters wire or by wireless data transmission unit transmits to the microprocessor, the microprocessor for each acquired by the motion sensor module parameters are compared, the angle difference between the same degree of freedom of movement by comparing the parameter obtained limb position change information. 在该实施方式中,通过一个具体的实施例来说明本系统中第一传感器模块获取运动参数的原理,如图4所示,当在人体手部的手背及各手指处分别设置一个本发明实施例所述的第一传感器模块时,那么任何一个手指的三维运动都会被位于手指处的第一传感器模块(第一传感器模块103B、第一传感器模块103C、第一传感器模块103D、第一传感器模块103E、第一传感器模块103F)实时监测到,并通过导线404 或以无线方式传输至微处理器101中,由微处理器101将其和置于手背的第一传感器模块103A监测到的数据进行计算。 In this embodiment, by a specific embodiment of the principles of the present system will be described first sensor motion parameter obtaining module, shown in Figure 4, when the fingers are provided at the back of the human hand and each embodiment of the present invention, when described in the first sensor module, then any finger of three-dimensional motion will be located at a first sensor module at a finger (a first sensor module 103B, a first sensor module 103C, a first sensor module 103D, a first sensor module 103E, a first sensor module 103F) to the real-time monitoring, and transmitted to the microprocessor 101 through a wireless manner, by a microprocessor 101 which is disposed back of the hand and a first sensor module 103A monitors the data wire 404 or calculation. 需要说明的是,图4中所述微处理器101的位置只是为了方便说明本发明的原理,在具体应用时,所述微处理器101可以设置在任何地方,比如可以集成在设有第二传感器模块的硬件设备中,或者是通过设置单独的处理器模块等来实现本发明的功能。 Incidentally, the position of the microprocessor 101 in FIG. 4 for convenience only illustrative of the principles of the present invention, when a particular application, the microprocessor 101 may be provided at any place, such may be integrated with the second hardware of the sensor module, or by providing a separate module processor to implement the functions of the present invention.

[0042] 在该实施方式中,通过微处理器101计算位于手指的各第一传感器模块(如第一传感器模块103B、第一传感器模块103C、第一传感器模块103D、第一传感器模块103E、第一传感器模块103F)获取的运动参数和位于手背的第一传感器模块103A获取的运动参数之间的同一自由度(或者同轴)的角度差值,从而得到体现各个手指位置的变化和姿势。 [0042] In this embodiment, each of the first sensor module of the finger by 101 calculates a microprocessor (e.g., a first sensor module 103B, a first sensor module 103C, a first sensor module 103D, a first sensor module 103E, the first 103F) of the same degrees of freedom (or coaxial) between the motion parameters and the motion parameters of the acquisition sensor module located on the back of a first angle difference 103A acquires a sensor module, whereby each reflect changes in finger position and orientation. 例如, 当用手指姿势表示中国人的“1”时,只有位于食指的第一传感器模块103C获取的X、Y、Z 和A、B、C六个参数和位置与位于手背或者手腕的第一传感器模块103A获取的上述六个参数基本相同,而中指和中指后面2个手指(共3个指头)的X、Y、Z和A、B、C基本相同,但是X、Y、Z和A、B、C中会有一个参数和手背上的相应参数存在150度到270度的角度差。 For example, when the finger gesture is represented by "1", only the index finger positioned in the first sensor module 103C acquires the X, Y, Z and A, B, C and six parameters and the position of the Chinese first positioned in back of the hand or wrist the sensor module 103A above six parameters acquired substantially the same, while the middle and rear middle two fingers (a total of three fingers) of the X, Y, Z and a, B, C is substantially the same, but the X, Y, Z and a, B, there is a there is an angle of 270 degrees to 150 degrees corresponding to the difference between the parameter and the backhand parameter in C. 同理,当用手指姿势表示美国人骂人的意思时,即伸出一个中指,此时只有位于中指的第一传感器模块103D获取的X、Y、Z和A、B、C六个参数和位置与位于手背或者手腕的第一传感器模块103A获取的上述六个参数基本相同,而大姆指、食指以及中指后面的2个手指的X、Y、 Z和Α、B、C基本相同,但是X、Y、Z和Α、B、C中会有一个参数和手背上的相应参数存在150 度到270度的角度差。 Similarly, when expressed Americans curse finger gesture meaning, i.e., a protruding middle finger, the middle finger is located in this case only the first sensor module 103D acquires the X, Y, Z and A, B, C and six position parameters located at back of the hand or wrist of the first sensor module 103A acquires the six parameters substantially the same, and X 2 fingers of thumb, the index finger and the back of the middle finger, Y, Z and Α, B, C is substantially the same, but X , Y, Z and Α, B, there is a there is an angle of 150 degrees to 270 degrees C, and the corresponding parameter in the parameter difference back. 由于数据的比较是手指相对于手背,所以本发明专利不需要任何固定和虚拟平面,只需要本发明实施例中所述的多个第一传感器模块就能够实时记录2个手的10个手指在任意空间的运动和变化。 Since the comparison of the data with respect to the back of the fingers, the present invention does not require any fixed patents and virtual plane, only the first plurality of sensor modules described in the embodiment of the present invention, it is possible to require real time recording two fingers of the hand 10 movement and change any space. 如果所述第一传感器模块中采用的是具有9个自由度的传感器,则能够记录手和手指姿势变动的速度、加速度、角加速度等参数。 If the first sensor module is used in a sensor having nine degrees of freedom, it is possible to record the speed of hand and finger posture change, acceleration, angular acceleration and other parameters.

[0043] 基于上述原理,当在电子沙盘的硬件设备上设置一个本发明实施例中的第二传感器模块时,且第二传感器模块也通过有线或无线等方式与微处理器相连接,此时,人体手部相对于电子沙盘的任何手势变换都可以被本发明实施例所述的肢体姿势识别系统实时监测到。 [0043] Based on the above principle, when setting the present invention the second sensor module embodiment on the electronic sand table hardware, and the second sensor module is also connected via wired or wireless means with a microprocessor in this case limb gesture recognition system, human hand gesture with respect to any electronic sand table of conversion can be described in the embodiment of the present invention is monitored in real time. 例如,当需要识别人体手部从电子沙盘上空抓的动作时,则该系统通过上述原理,比较位于手指的第一传感器模块监测到的运动参数和位于手背的第一传感器模块监测到的运动参数的角度差值而得到手指的运动变化信息,此时,位于手背的第一传感器模块监测到的运动参数是位于手指上的第一传感器模块监测到的运动参数的参照数据;然后通过电子沙盘上第二传感器模块感应并获取的外部触发电子沙盘时触发点的坐标位置信息,通过比较位于手背的第一传感器模块监测到的运动参数与电子沙盘上第二传感器模块所感应到的触发点的坐标位置信息的角度差值而得到人体手部在电子沙盘上的运动信息,如人体手部对电子沙盘的操控或从电子沙盘上空抓的动作等都会被微处理器计算并识别出,从而实现对电子沙盘的控制。 For example, when it is necessary to identify human hand grasping from above electronic sand table operation, then the system by the principle described above, the comparison of the finger first sensor module monitors the motion parameters and positioned back to the first sensor module monitors the motion parameters the angle difference obtained by finger motion change information at this time, is located in the back of the first sensor module monitors the motion parameters are located finger on the first sensor module monitors the motion parameters of reference data; then by electronic sand table on the coordinates of the trigger points of the coordinate position information of the point of triggering the second sensor module senses and acquires the external trigger electronic sand table, on monitored by the first sensor module compares located in the back of the motion parameters to the electronic sandbox second sensor module sensed angular position difference information obtained by the motion information on a human hand in an electronic sand table, such as human hand or the manipulation of electronic sand table caught from above and other electronic sand table operation will be calculated and identified microprocessor to achieve control electronic sand table.

[0044] 在上述实施例中,还可以加设光学设备如照相机、扫描仪等辅助监测人体手部相对于电子沙盘的位置,在系统运行时,先通过光学设备确定人体手部相对于电子沙盘的大概位置,再通过本发明的原理而得到人体手部在电子沙盘上的运动信息,而实现对电子沙盘的控制。 [0044] In the above embodiments, may also be added provided the optical devices such as cameras, scanners and other auxiliary monitoring human hand with respect to the position of the electronic sand table, the system is running, determine human hand with respect to the electronic sand table by the optical device approximate location, and then to obtain the motion information human hand on the electronic sand table by the principles of the invention, to achieve the control of the electronic sand table.

[0045] 在本发明的第二个具体应用实施例中,当在电子游戏机的显示屏上设置一个本发明系统的第二传感器模块,在人体的手指、手背或手腕以及手臂、脖子或胸前等部位也各设置一个第一传感器模块时,那么包括手部、手臂以及身体的各种三维或者三维以上的各种姿势变化形态都会被实时记录并传输至电子游戏机的处理系统。 [0045] Example In a second application of the present invention, when setting the present system present on the electronic gaming machine display a second sensor module, the human fingers, back of the hand or wrist and the arm, neck or chest before other parts also when each setting a first sensor module, comprises a hands, arms and body of various three-dimensional or three-dimensional as various posture changing pattern will be recorded in real time and transmitted to the video game processing system. 如上述实施例所述的原理,类似比较位于手指和手背的第一传感器模块获取的运动参数的同一自由度的角度差值而得到手指的位置变化和姿势信息,整个手背或手腕的运动变化也可以通过比较手背或手腕和位于手臂的第一传感器模块获取的运动参数的同一自由度的角度差值而体现,从而得到手背或手腕相对于手臂的运动方向、速度、姿势以及旋转方向等参数;同理,整个手臂的运动变化还可以通过比较位于手臂和位于脖子或者胸前的第一传感器模块获取的运动参数的同一自由度的角度差值而体现,从而得到手臂相对于躯干的运动方向、速度、姿势以及旋转方向等参数。 Angle difference value of the same degree of motion parameters as the above example the principles of the embodiments, similar to the comparison of the finger and back to the first sensor module acquires the position change is obtained and the position information of the finger, motion of the entire back of the hand or wrist may also and it can reflect the obtained degree of freedom in the same angle difference value by comparing the motion parameter and the back of the hand or wrist sensor module located on a first arm, back of the hand or wrist to obtain parameters relative to the direction of movement of the arms, the speed, posture, and direction of rotation; Similarly, motion of the entire arm can also compare positioned arm and at an angle difference between the same degree of motion parameters of neck or chest of the first sensor obtaining module and reflected, whereby the arm with respect to the direction of movement of the trunk, parameters speed, posture, and the rotation direction and the like. 然后通过微处理器对手指、手背或手腕以及手臂的运动方向、速度、姿势以及旋转方向等参数与电子游戏机显示屏上的第二传感器模块感应到的外部触发显示屏的坐标位置信息进行同一自由度的比较,并进行综合分析计算,从而得到人体与电子游戏机显示屏上所显示游戏的各种运动交互信息,通过电子游戏机的处理系统控制游戏的继续运行。 Then a second finger on the sensor module, the direction of movement of the wrist, and back of the hand or arm, speed, and posture of the rotational direction of the electronic gaming machine display parameters sensed by the microprocessor external trigger display coordinate position information of the same comparison of degrees of freedom, and comprehensive analysis and calculation, resulting in a variety of sports interactive information displayed on the human body and the electronic game screen of the game, control the game continues to run through the video game processing system.

[0046] 在上述实施例中,同样可以加设光学设备如照相机、扫描仪等辅助装置监测人体相对于电子游戏机显示屏的位置,在系统运行时,先通过光学设备确定人体相对于电子游戏机显示屏的大概位置,再通过本发明的原理而得到人体与游戏中的运动交互信息,使得电子游戏更加生动、接近实际。 [0046] In the above embodiment, the same may be added provided the optical devices such as cameras, scanners and other auxiliary means for monitoring the body with respect to the video game display screen, the system is running, first determine the body with respect to the video game by the optical device the approximate location of the handset display, and then obtain motion interactive information the human body and in the game by the principles of the invention, making video games more vivid and realistic.

[0047] 在本发明的第三个具体应用实施例中,所述肢体姿势识别的原理与第一个具体应用实施例和第二个具体应用实施例基本相同,不同之处在于应用的领域以及目的和达到的效果不同。 [0047] In a third specific application of the present embodiment of the invention, the gesture recognition limb with the principles of a particular embodiment and application of the second embodiment of the specific application embodiment is substantially the same, except that the field of application and to achieve the purpose and effect of different. 在该实施例中,所述肢体姿势识别系统可以应用于教育领域,比如用于学习弹钢琴、拉琴时监测学习者手指的动作、位置、以及手指的运动速度、按键力度、角度等信息,以便于学习者能够更加直观的掌握自己的学习情况,针对自身问题进行调整改善,从而加快了学习速度及质量。 In this embodiment, the limb gesture recognition system may be applied to the field of education, such as for learning to play the piano, the operation when the lyre monitor learner finger position, and a moving speed of the finger, the key strength, angle information, so that learners can be more intuitive control of their own learning, adjusted for improving their own problems, thereby speeding up the learning speed and quality.

[0048] 在上述实施方式中,通过在学习者的手指与手背处设置本系统的第一传感器模块,在钢琴上设置本系统的第二传感器模块,由微处理器比较位于手指的第一传感器模块监测到的运动参数和位于手背的第一传感器模块监测到的运动参数的角度差值而得到手指的运动变化信息,此时,位于手背的第一传感器模块监测到的运动参数是位于手指上的第一传感器模块监测到的运动参数的参照数据;然后通过比较位于手背的第一传感器模块监测到的运动参数与位于钢琴上的第二传感器模块监测到的手部对钢琴按键按压时的坐标位置信息,从而计算出学习者手指的动作、位置、以及手指的运动速度、按键力度、角度等信息,以供学习者自行参考改善。 [0048] In the above embodiment, by providing the first sensor module of the system in the finger with the back of the learner, provided the system is on the piano second sensor module, the microprocessor comparing at the first sensor finger module monitors the motion parameters and the first sensor module located in the back of the monitored angular differential motion parameters obtained by movement of the finger change information, this time, a first sensor module located in the back of the monitored motion parameters is located on the finger a first sensor module reference data of the monitored motion parameters; and coordinates of monitored by the first sensor module compares located in the back motion parameters monitored located piano second sensor module hand piano key presses position information, to calculate the information of the operation of the learner finger position, and a moving speed of the finger, the key strength, angle, etc., for the learner own reference improved.

[0049] 通过上述各种实施方式可知,本发明的肢体姿势识别系统可以代替各种人机交互的输入设备:如计算机键盘、鼠标、触摸屏幕等,以及代替游戏控制装置(JOYSTICK)、遥控器、声音识别系统等;通过本发明实施例提供的肢体姿势识别系统输出的肢体姿势信息可以控制诸如计算机、智能电话机、电视、IPADS、游戏设备、机器控制设备、运动裁判设备、车辆、飞行器显示设备、办公设备、打印设备、显示设备、三维作战沙盘等机器的运行。 [0049] By the above-described various embodiments can be seen, limb gesture recognition system of the present invention can replace an input device of various man-machine interaction: as a computer keyboard, mouse, touch screen or the like, and instead of the game control means (JOYSTICK), remote control , voice recognition system, etc.; body posture information limb gesture recognition system provided by the embodiment of the present invention can control output such as a computer, a smart phone, television, IPADS, gaming device, a machine control device, referees equipment, vehicles, aircraft display equipment, office equipment, printing equipment, display equipment operation, three-dimensional combat sand table of the machine.

[0050] 以上所述仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。 [0050] The foregoing is only preferred embodiments of the present invention, not intended to limit the present invention within the spirit and principle of the present invention, any modification, equivalent replacement, or improvement, it should be included in the present within the scope of the invention.

Claims (23)

1. 一种肢体姿势识别方法,其特征在于,所述方法包括如下步骤:步骤A,分别获取肢体多个部位的运动参数以及硬件设备的感应参数;步骤B,根据比较肢体各部位的运动参数之间的角度差值而得到肢体的位置变化信息;步骤C,根据肢体的位置变化信息与硬件设备的感应参数之间的角度差值而确定肢体相对于硬件设备的运动信息;步骤D,对肢体相对于硬件设备的运动信息进行识别作为监控信息输出。 A gesture recognition method of the limb, characterized in that the method comprises the following steps: Step A, obtain sensed parameters are hardware parameters and motion portions of a plurality of limbs; procedure B, the motion parameters of each part of the limb in accordance with the comparison an angle difference between the obtained position change limbs information; step C, and according to the angle difference between the sensed parameters a position limbs change information with a hardware device is determined limb with respect to the motion information of the hardware device; Procedure D, for limb with respect to the motion information of the hardware device identified as the monitoring information output.
2.根据权利要求1所述的肢体姿势识别方法,其特征在于,所述方法还包括在步骤A之前利用光学设备辅助监测肢体相对于硬件设备的位置。 2. limb gesture recognition method according to claim 1, characterized in that, said method further comprising an optical device for assisting monitoring limb prior to step A with respect to the hardware device.
3.根据权利要求1所述的肢体姿势识别方法,其特征在于,所述肢体的位置变化信息为肢体各部位在运动状态下的空间位置信息。 The physical gesture recognition method according to claim 1, characterized in that the limb of limb position information of each part changes the spatial position information in a moving state.
4.根据权利要求1所述的肢体姿势识别方法,其特征在于,所述硬件设备的感应参数为外部触发硬件设备时触发点的位置信息。 The physical gesture recognition method according to claim 1, wherein the position of the information point trigger sensed parameters of the hardware device as an external trigger hardware.
5.根据权利要求1所述的肢体姿势识别方法,其特征在于,所述肢体多个部位的运动参数是指肢体各部位在具有3个自由度、6个自由度或9个自由度的空间运动参数。 The physical gesture recognition method according to claim 1, characterized in that the limb plurality of portions of the motion parameter is limbs each part having three degrees of freedom, space 6 degrees of freedom or 9 degrees of freedom motion parameters.
6.根据权利要求5所述的肢体姿势识别方法,其特征在于,所述肢体各部位的运动参数之间的角度差值为肢体各部位运动参数的同一自由度之间的角度差值。 The physical gesture recognition method as claimed in claim, wherein the angle difference between the limbs of each part of the motion parameter is an angle difference between the same degree of freedom of a limb of each part of motion parameters.
7.根据权利要求5所述的肢体姿势识别方法,其特征在于,所述肢体的位置变化信息与硬件设备的感应参数之间的角度差值为同一自由度之间的角度差值。 The physical gesture recognition method according to claim 5, characterized in that the angle difference between the position of the limb sensed parameters change information with a hardware device is an angle difference between the same degree of freedom.
8. 一种肢体姿势识别系统,其特征在于,所述系统包括:微处理器、数据传输模块、处于肢体上不同部位的多个第一传感器模块以及处于硬件设备上的第二传感器模块,其中,所述多个第一传感器模块,用于分别获取肢体上不同部位的运动参数;所述第二传感器模块,用于获取硬件设备的感应参数;所述微处理器,用于计算处于肢体上不同部位的各第一传感器模块获取的运动参数之间的角度差值,然后根据计算出的角度差值而得到肢体的位置变化信息,并根据肢体的位置变化信息计算与第二传感器模块获取的硬件设备的感应参数之间的角度差值,从而确定肢体相对于硬件设备的运动信息;所述数据传输模块,用于将所述微处理器计算的肢体相对于硬件设备的运动信息作为监控信息输出。 A body gesture recognition system, characterized in that, the system comprising: a microprocessor, a data transfer module, in a plurality of different parts of the body of the first sensor module and in the second sensor module on the hardware device, wherein the first plurality of sensor modules for obtaining limbs on different parts of the motion parameters; the second sensor module for acquiring hardware device sensed parameters; a microprocessor for computing in the limbs different parts of each of the first sensor module acquires motion parameters between the angle difference, then according to the calculated angle difference obtained by limb position change information, and based on a limb variation information is calculated and the second sensor module obtained an angle difference between the sensed parameters of the hardware, thereby determining the motion information with respect to physical hardware device; the data transmission module, for calculating the microprocessor limb motion information with respect to the hardware device as the monitoring information output.
9.根据权利要求8所述的肢体姿势识别系统,其特征在于,所述系统还包括用于辅助监测肢体相对于硬件设备位置的光学设备。 9. The body gesture recognition system of claim 8, characterized in that the system further comprises an auxiliary monitoring limb with respect to the optical device hardware position.
10.根据权利要求8或9所述的肢体姿势识别系统,其特征在于,所述多个第一传感器模块分别置于肢体的手指处、手背或手腕处、手臂处、以及脖子或胸前处。 10. limb gesture recognition system 8 or claim 9, wherein said plurality of first sensor modules are disposed limb finger, the back of the hand or wrist, arm, and the neck or chest of the .
11.根据权利要求10所述的肢体姿势识别系统,其特征在于,所述多个第一传感器模块和第二传感器模块通过导线与所述微处理器相连接。 11. The limb gesture recognition system of claim 10, wherein said plurality of first sensor module and a second sensor module via a line and the microprocessor is connected.
12.根据权利要求11所述的肢体姿势识别系统,其特征在于,所述多个第一传感器模块和第二传感器模块分别包括用于检测在空间具有3个自由度、6个自由度或9个自由度的运动参数的多自由度传感器。 12. limb gesture recognition system as claimed in claim 11, wherein said plurality of first sensor and the second sensor module comprises a module for detecting each having three degrees of freedom in space, or six degrees of freedom 9 multi-DOF sensor motion parameters of degrees of freedom.
13.根据权利要求12所述的肢体姿势识别系统,其特征在于,所述检测在空间具有3个自由度运动参数的传感器为3个自由度的磁场传感器或3个自由度的加速度传感器。 13. limb gesture recognition system 12 as claimed in claim, wherein said detecting sensor having three degrees of freedom of motion parameters in space of three degrees of freedom of the magnetic field sensor or an acceleration sensor 3 degrees of freedom.
14.根据权利要求12所述的肢体姿势识别系统,其特征在于,所述检测在空间具有6个自由度运动参数的传感器为3个自由度的磁场传感器以及3个自由度的加速度传感器的组I=I ο Group 14. limb gesture recognition system 12 as claimed in claim, wherein said detecting sensor having six degrees of freedom motion parameters in a spatial three degrees of freedom of the magnetic field sensor and an acceleration sensor 3 degrees of freedom I = I ο
15.根据权利要求12所述的肢体姿势识别系统,其特征在于,所述检测在空间具有9个自由度运动参数的传感器为3个自由度的磁场传感器、3个自由度的加速度传感器以及3个自由度的旋转传感器的组合。 15. limb gesture recognition system as claimed in claim 12, wherein said detecting sensor has nine degrees of freedom of motion parameters in three spatial degrees of freedom of the magnetic field sensor, an acceleration sensor 3 and three degrees of freedom combination of rotational degrees of freedom sensors.
16.根据权利要求8或9所述的肢体姿势识别系统,其特征在于,所述多个第一传感器模块分别包括用于获取肢体运动参数的第一传感器、用于将第一传感器获取的运动参数传输至微处理器的无线数据传输单元以及为所述第一传感器和无线数据传输单元提供工作电压的能源单元。 16. limb gesture recognition system of claim 8 or claim 9, wherein said plurality of sensor modules respectively comprise a first sensor for acquiring a first limb motion parameters for the first motion sensor acquired wireless data transmission unit parameter is transmitted to a microprocessor and a power unit providing operating voltage to the first sensor and the wireless data transmission unit.
17.根据权利要求8或9所述的肢体姿势识别系统,其特征在于,所述第二传感器模块包括用于获取外部触发硬件设备时触发点位置信息的第二传感器。 17. limb gesture recognition system 8 or claim 9, wherein the second sensor module comprises means for obtaining a second sensor trigger point position information of the external trigger hardware.
18.根据权利要求16所述的肢体姿势识别系统,其特征在于,所述能源单元为电池或是可充电电池。 18. limb gesture recognition system as recited in claim 16, wherein said power unit is a battery or a rechargeable battery.
19.根据权利要求18所述的肢体姿势识别系统,其特征在于,所述电池或是可充电电池采用能够获取外部环境中能量的材料制成,所述材料包括压电材料、磁致伸缩材料、光敏材料、热敏材料和热电转换材料中的一种或几种。 19. The claim 18 of the limb gesture recognition system, wherein the battery or rechargeable battery uses can get the external environment energy material, the material includes a piezoelectric material, magnetostrictive material , photosensitive material, heat-sensitive material and a thermoelectric conversion material is one or more.
20.根据权利要求16或17任一项所述的肢体姿势识别系统,其特征在于,所述第一传感器和第二传感器分别为用于检测在空间具有3个自由度、6个自由度或9个自由度的运动参数的多自由度传感器。 20. The limb gesture recognition system 16 or of any of claim 17, wherein said first and second sensors are used to detect three degrees of freedom in space, six degrees of freedom or multi-DOF sensor motion parameters 9 degrees of freedom.
21.根据权利要求20所述的肢体姿势识别系统,其特征在于,所述检测在空间具有3个自由度运动参数的传感器为3个自由度的磁场传感器或3个自由度的加速度传感器。 21. limb gesture recognition system as recited in claim 20, wherein said detecting sensor having three degrees of freedom of motion parameters in space of three degrees of freedom of the magnetic field sensor or an acceleration sensor 3 degrees of freedom.
22.根据权利要求20所述的肢体姿势识别系统,其特征在于,所述检测在空间具有6个自由度运动参数的传感器为3个自由度的磁场传感器以及3个自由度的加速度传感器的组I=I ο 22. The limb gesture recognition system according to claim 20, wherein said detecting sensor having six degrees of freedom of motion parameters in the space group of three degrees of freedom of the magnetic field sensor and an acceleration sensor in three degrees of freedom I = I ο
23.根据权利要求20所述的肢体姿势识别系统,其特征在于,所述检测在空间具有9个自由度运动参数的传感器为3个自由度的磁场传感器、3个自由度的加速度传感器以及3个自由度的旋转传感器的组合。 23. limb gesture recognition system as recited in claim 20, wherein said detecting sensor has nine degrees of freedom parameters in a spatial three degrees of freedom of the magnetic field sensor, an acceleration sensor 3 degrees of freedom and three combination of the rotation sensor of degrees of freedom.
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