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CN103399318B - System and method for positioning fingertip - Google Patents

System and method for positioning fingertip Download PDF

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Publication number
CN103399318B
CN103399318B CN 201310314920 CN201310314920A CN103399318B CN 103399318 B CN103399318 B CN 103399318B CN 201310314920 CN201310314920 CN 201310314920 CN 201310314920 A CN201310314920 A CN 201310314920A CN 103399318 B CN103399318 B CN 103399318B
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CN 201310314920
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CN103399318A (en )
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唐琪
冯声振
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瑞声科技(南京)有限公司
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Abstract

本发明提供一种指尖定位系统和方法,所述指尖定位系统包括第一超声发射器件、第二超声发射器件、超声接收装置阵列、指尖反射峰检测模块、指尖与拳面反射路径提取模块、手指长度提取模块、拳面反射路径提取模块、指尖反射路径估计模块、手指柱面反射路径提取模块以及指尖坐标计算模块。 The present invention provides a system and method for positioning a fingertip, the fingertip positioning system comprises a first ultrasonic emission devices, a second ultrasonic emission devices, an ultrasonic receiving device array, the reflection peak detection module fingertip, the fingertip and the reflecting face of the fist path extraction module, finger length extraction module, an extraction module fist surface reflection path, reflection path estimation module fingertip, finger cylindrical reflection path and the fingertip extraction module coordinate calculation module. 本发明提供的指尖定位系统和方法可以实现非接触式操作的远距离手指指尖定位。 Fingertip fingertip remote positioning system and method of the present invention may provide a non-contact type positioning operation.

Description

指尖定位系统和方法 System and method for positioning fingertip

技术领域 FIELD

[0001] 本发明设及超声手势识别技术,特别地,设及一种指尖定位系统和方法。 [0001] The present invention is provided an ultrasonic gesture recognition technology and, in particular, is provided, and one fingertip positioning systems and methods.

背景技术 Background technique

[0002] 超声手势识别技术是一种利用超声信号来对人手的运动状态(如位置、速度、轨迹)进行识别的方案,主要应用在智能设备来实现非接触式人机交互。 [0002] Ultrasound is a gesture recognition technology using ultrasonic signals identifying program hand motion state (e.g., position, velocity, trajectory), mainly used in smart devices to achieve non-contact human interaction. 用户操作通常W 用户的手指指尖作为参照点,因此指尖的精确定位对于一个非接触式操作方案来说非常重要。 Typically the user operates the fingertip of the user as a reference point W, thus accurate positioning of the fingertip is important for a non-contact operation of the program it is. 在一种与本发明相关的超声手势识别方案中,用来发射超声信号的超声发射器阵列全部朝向同一个维度,超声接收器接收所述超声发射器发射的超声信号在手指指尖反射而形成的反射信号,所述反射信号便可W用来对所述手指指尖进行定位。 In the ultrasonic gesture recognition scheme related to the present invention, for emitting an ultrasonic signal toward full array of ultrasound transmitter same dimension, the ultrasonic receiver receives an ultrasonic signal transmitter to transmit the ultrasound is formed in the tip of the finger reflection the reflected signal, the reflected signal W can be used to locate the tip of the finger. 不过,由于手指指尖的反射面相对较小,在手指距离较远的时候反射信号可能会太弱而无法用来进行指尖定位, 因此上述超声手势识别方案难W实现远距离手指指尖定位,其应用范围受到较大的限制。 However, since the reflective surface of the relatively small tip of the finger, when the finger distant in the reflected signal may be too weak for fingertip location, so the above W ultrasound gesture recognition program difficult to achieve remote positioning finger tips , its application more restricted.

发明内容 SUMMARY

[0003] 为解决上述技术问题,本发明提供一种可实现远距离定位的指尖定位方法和系统。 [0003] To solve the above problems, the present invention provides a method and system implemented fingertip location remote location.

[0004] 一种指尖定位系统,包括第一超声发射器件、第二超声发射器件、超声接收装置阵列、指尖反射峰检测模块、指尖与拳面反射路径提取模块、手指长度提取模块、拳面反射路径提取模块、指尖反射路径估计模块、手指柱面反射路径提取模块W及指尖坐标计算模块, 其中, [0004] A fingertip location system, comprising a first ultrasonic emission devices, a second ultrasonic emission devices, an ultrasonic receiving device array, the reflection peak detection module fingertip, the fingertip extraction with fist surface reflection path module, finger length extraction module, fist surface reflection path extraction module, a fingertip reflection path estimation module, a cylindrical finger reflection path W and the fingertip extraction module coordinate calculation module, wherein,

[0005] 所述第一超声发射器件,用于发射第一超声信号; [0005] The first ultrasonic emission devices, for transmitting a first ultrasonic signal;

[0006] 所述第二超声发射器件,用于发射第二超声信号; [0006] The second ultrasonic emission devices, for transmitting a second ultrasonic signal;

[0007] 所述超声接收装置阵列,包括所述第一超声接收器件和第二超声接收器件,用于接收所述第一超声信号和第二超声信号在人手发生反射而形成的超声反射信号; [0007] The ultrasonic receiving device array, comprising the first device and the second ultrasonic receiver receiving ultrasonic device for ultrasonic reflection signal formed by the first reflected ultrasound signal and receiving a second ultrasonic signal occurring at hand;

[000引所述指尖反射峰检测模块,用于判断是否接收到第一超声信号在手指指尖发生反射而形成的指尖反射信号; [Cited the fingertip 000 reflection peak detection module, for determining whether a fingertip reflected ultrasound signal to form a first reflected signal occurring at the tip of the finger;

[0009] 所述指尖与拳面反射路径提取模块,用于在检测到所述指尖反射信号时,提取所述第一超声信号在指尖和拳面发生分别反射而形成的指尖反射信号的反射路径时延和拳面反射信号的反射路径时延,并计算所述指尖反射信号的反射路径长度; [0009] The reflective surface of the fingertip and the fist path extraction means for detection of the fingertip when the reflected signal, extracts the first ultrasonic signal reflection occurs in the fingertip and the punches are formed by surface reflection fingertip path delay of the reflected signal and the reflection face of the fist path delay of the reflected signal and calculates the reflection path length of the reflected signal fingertip;

[0010] 所述手指长度提取模块,用于根据所述指尖与拳面反射路径提取模块得出的指尖反射信号的反射路径长度和拳面反射信号的反射路径长度估算出手指的长度; [0010] The finger length extracting means for extracting the path length of the reflected signal reflected fingertip module obtained in accordance with the fingertip fist-path reflection surface of the reflection face of the fist and the path length of the reflected signal to estimate the length of the fingers;

[0011] 所述拳面反射路径提取模块,用于在未检测到所述指尖反射信号时,提取所述第一超声信号在拳面发生反射而形成的拳面反射信号的反射路径时延,并计算所述拳面反射信号的反射路径长度; Reflection path delay [0011] The reflecting face of the fist path extraction module for, when the finger is not detected reflection signal, extracts the first ultrasonic signal reflection occurs at the surface formed by the fist surface of the reflection signal boxing , and calculates the reflection face of the fist path length of the reflected signal;

[0012] 所述指尖反射路径估计模块,用于利用手指长度补偿所述拳面反射信号的反射路径长度,估算出所述指尖反射信号的反射路径长度; [0012] The fingertip reflection path estimation module for using the reflection path length of the face of the fist finger length compensation of the reflected signal to estimate the path length of the reflected signal reflected fingertip;

[0013] 所述手指柱面反射路径提取模块,用于提取第二超声信号在手指柱面发生反射而形成的手指柱面反射信号的反射路径时延,并计算出所述手指柱面反射信号的反射路径长度; [0013] The cylindrical finger reflection path extraction means for extracting the reflected signal path delay finger cylinder reflector to form a second ultrasonic signal reflection occurs at the cylindrical finger, and calculates the reflected signal cylindrical finger reflection path length;

[0014] 所述指尖坐标计算模块,用于根据所述指尖反射信号的反射路径长度、拳面反射信号的反射路径长度W及所述手指柱面反射信号的反射路径长度,计算出手指指尖的坐标。 [0014] The fingertip coordinate calculation module, according to the path length of the reflected signal reflected fingertip, the reflection path length W, and the reflection path length of the finger punch cylindrical surface of the reflection signal reflected signals, calculates the finger fingertip coordinates.

[0015] 优选的,所述第一超声信号和所述第二超声信号由分别设置在参考=维坐标系两个相互正交的轴线的第一超声发射器件和第二超声发射器件发射,且所述参考=维坐标系还设置有用来接收所述第一超声信号和所述第二超声信号在人手发生反射而形成的超声反射信号超声接收装置阵列。 [0015] Preferably, the first ultrasonic signal and said second ultrasonic signal of the first two axes and a second ultrasonic emission devices emitting the ultrasound emitted from the device are orthogonal to each other disposed in the reference = dimensional coordinate system, and = the reference-dimensional coordinate system is also provided to receive the ultrasonic signal reflected ultrasonic receiving device array is formed of the first reflected ultrasonic signal and said second signal occurring at the ultrasound manpower.

[0016] 优选的,所述第一超声发射器件设置在参考=维坐标系的Z轴正向,且其超声信号发射方向为X轴正向;所述第二超声发射器件设置在所述参考=维坐标系的X轴正向,且其超声信号发射方向为Z轴正向;所述第一超声接收器件和所述第二超声接收器件设置在所述参考=维坐标系的Y轴。 [0016] Preferably, the first ultrasonic emission devices provided on the reference axis Z = positive-dimensional coordinate system, and the ultrasound transmitting direction of X-axis signal is positive; a second ultrasonic emission devices provided on the reference X-axis = the forward-dimensional coordinate system, and the ultrasound radiation direction Z-axis signal is positive; the first ultrasonic receiving device and the second ultrasonic receiving device arranged on the Y-axis = dimensional reference coordinate system.

[0017] 优选的,所述第一超声发射器件与第二超声发射器件分别为第一扬声器与第二扬声器,所述第一超声接收器件与第二超声接收器件分别为第一麦克风与第二麦克风。 [0017] Preferably, the first and second ultrasonic emission devices ultrasonic emission devices are the first speaker and the second speaker, the first ultrasonic receiving device and the second ultrasonic receiving device respectively a first and second microphone microphone.

[001引一种指尖定位方法,包括:发出第一超声信号和第二超声信号;判断是否检测到第一超声信号在手指指尖发生反射而形成的指尖反射信号;如检测到所述指尖反射信号, 则提取所述第一超声信号在指尖和拳面发生分别反射而形成的指尖反射信号的反射路径时延和拳面反射信号的反射路径时延,计算所述指尖反射信号的反射路径长度,并由此估算出手指的长度;如未检测到所述指尖反射信号,则提取所述第一超声信号在拳面发生反射而形成的拳面反射信号的反射路径时延,计算所述拳面反射信号的反射路径长度,并利用手指补偿估算出所述指尖反射信号的反射路径长度;提取第二超声信号在手指柱面发生反射而形成的手指柱面反射信号的反射路径时延,并计算出所述手指柱面反射信号的反射路径长度;根据所述指尖反射信号的反射路径长度、 [001 cited one kind of finger positioning method, comprising: emitting a first ultrasonic signal and the second ultrasonic signal; determining whether the detected fingertip reflected ultrasound signal to form a first reflected signal occurring at the tip of the finger; as detected by the reflecting reflection path delay and skew punches fingertip surface reflection signal reflected signal is extracted to form the first ultrasonic signal reflection occurs at each surface of the punches and the fingertip fingertip reflected signal, calculating the fingertip reflected paths to the finger is not detected reflected signal, extracting the first ultrasonic signal reflection occurs at the surface formed by punches punch surface reflected signal; reflection path length of the reflected signal, and thereby estimate the length of the fingers time delay, calculating the reflection surface of the reflection signal path length of the punch, and a finger compensating an estimated path length of the reflected signal reflected fingertip; extracting cylindrical finger reflected ultrasonic signal form the reflection occurring at the second cylindrical finger path delay of the reflected signal, and calculates the reflection path length of the reflected signal cylindrical finger; the reflection path length of the reflected signal fingertip, 面反射路径长度W及所述手指柱面反射信号的反射路径长度,计算出手指指尖的坐标。 The reflective surface of the reflection path length W, and the path length of the reflected signal cylindrical finger, calculates the coordinates of the finger tips.

[0019] 优选的,所述第一超声信号和所述第二超声信号由分别设置在参考=维坐标系两个相互正交的轴线的第一超声发射器件和第二超声发射器件发射,且所述参考=维坐标系还设置有用来接收所述第一超声信号和所述第二超声信号在人手发生反射而形成的超声反射信号超声接收装置阵列。 [0019] Preferably, the first ultrasonic signal and said second ultrasonic signal of the first two axes and a second ultrasonic emission devices emitting the ultrasound emitted from the device are orthogonal to each other disposed in the reference = dimensional coordinate system, and = the reference-dimensional coordinate system is also provided to receive the ultrasonic signal reflected ultrasonic receiving device array is formed of the first reflected ultrasonic signal and said second signal occurring at the ultrasound manpower.

[0020] 优选的,所述超声接收装置阵列包括第一超声发射器件和第二超声发射器件,所述第一超声发射器件设置在参考=维坐标系的Z轴正向,且其超声信号发射方向为X轴正向;所述第二超声发射器件设置在所述参考=维坐标系的X轴正向,且其超声信号发射方向为Z轴正向;所述第一超声接收器件和所述第二超声接收器件设置在所述参考=维坐标系的Y轴。 [0020] Preferably, the ultrasonic receiving means includes a first array of ultrasound-emitting device and the second ultrasonic emission devices, said first ultrasonic emission devices provided on the reference axis Z = positive-dimensional coordinate system, and the ultrasonic signal transmission direction is the positive X axis; a second ultrasonic emission devices provided on the reference axis X = forward-dimensional coordinate system, and the ultrasound radiation direction Z-axis signal is positive; the first device and the ultrasonic receiver said second ultrasonic receiving device arranged on the Y-axis = dimensional reference coordinate system.

[0021] 优选的,所述判断是否检测到所述第一超声信号在手指指尖发生反射而形成的指尖反射信号的方法是:根据所述第一超声接收器件和第二超声接收器件接收到超声反射信号,结合所述第一超声发射器件发射的第一超声信号,运算得到所述第一超声接收器件和所述第二超声接收器件的反射曲线;检测所述第一超声接收器件和所述第二超声接收器件的反射曲线是否包括两个反射峰,如果是,判断出所述指尖反射信号和所述拳面反射信号同时被检测到,否则,判断出只检测到所述拳面反射信号。 [0021] Preferably, the finger is determined whether the detected reflection signal of the first reflected ultrasonic signal is formed at the tip of the finger occurs is a method of: receiving the first ultrasonic receiving device according to the second ultrasonic receiving device and the ultrasonic reflection signal, in combination with the first ultrasonic emission devices emitting a first ultrasonic signal, the calculation to obtain the reflection curve of the first ultrasonic receiving device and the second ultrasonic receiving device; detecting means and said first ultrasonic receiver the reflection curve of the second ultrasonic receiving device is included two reflection peaks, if it is determined that the fingertip of the punches and the reflection surface of the reflection signal being detected signal, otherwise, it is determined that detects only the fist surface reflected signal.

[0022] 本发明提供的指尖定位系统和方法,在人手距离较远而无法检测到指尖反射信号时利用手指长度来补偿拳面反射信号的反射路径信息,从而估算出指尖反射信号的反射路径信息,并结合手指柱面反射信号的反射路径信息来计算得到手指指尖的位置坐标。 [0022] fingertip positioning system and method of the present invention is provided, manpower can not be far away from the length of a finger when a fingertip is detected reflected signal to compensate for the reflection surface of the reflection path information fist signal to the reflected signal to estimate the fingertip reflection path information, and path information in conjunction with the cylindrical reflective reflected signals to calculate the position coordinates of the finger tip of the finger is. 因此, 采用本发明提供的指尖定位方法和系统可W实现远距离的手指指尖定位,可W有效扩展超声手势识别方案的应用范围。 Therefore, the fingertip and the positioning system of the present invention provides a method may be implemented W remote positioning finger tips, can effectively extend the range of application of ultrasonic W gesture recognition program.

附图说明 BRIEF DESCRIPTION

[0023] 为了更清楚地说明本发明实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可W根据该些附图获得其它的附图,其中: [0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, as briefly described in the introduction to the accompanying drawings required for use in describing the embodiments. Apparently, the drawings in the following description are only some of the present invention. embodiments, those of ordinary skill in the art is concerned, without any creative effort, W may also derive other drawings according to the plurality of drawings, in which:

[0024] 图1是一般用户通过人手来执行非接触式操作时的手势形状示意图。 [0024] FIG. 1 is a schematic view of the shape of a gesture when the general users to execute non-contact operated by hand.

[0025] 图2是本发明提供的超声手指指尖定位方案的原理示意图。 [0025] FIG. 2 is a schematic diagram of the principle of ultrasonic finger fingertip location scheme provided by the invention.

[0026]图3是本发明提供的指尖定位系统一种实施例的方框示意图。 [0026] FIG. 3 is a block schematic diagram of a positioning system according to the present invention provides a fingertip an embodiment.

[0027] 图4是为本发明提供的指尖定位方法的一种实施例的流程图。 [0027] FIG. 4 is a fingertip positioning method is a flowchart of an embodiment of the present invention.

具体实施方式 detailed description

[002引下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅是本发明的一部分实施例,而不是全部的实施例。 [002 cited below in connection with the present invention in the accompanying drawings, technical solutions in the embodiments will be apparent to the present invention, completely described, obviously, the described embodiments are merely a part of the present embodiment of the invention, rather than all of Example. 基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例,都属于本发明保护的范围。 Based on the embodiments of the present invention, all other embodiments of ordinary skill in the art without any creative effort shall fall within the scope of the present invention.

[0029] 为解决目前超声手势识别方案无法进行远距离指尖定位的问题,本发明提供一种可实现远距离定位的指尖定位方法和系统。 [0029] In order to solve the current ultrasound gesture recognition program impossible to perform remotely positioned fingertip, the present invention provides a method and system implemented fingertip location remote location. 为便于理解,W下首先简单介绍本发明提供的方案的技术原理。 To facilitate understanding, the technical principles of the W first briefly present invention provides a scheme.

[0030] 请参阅图1,其为一般用户通过人手来执行非接触式操作时的手势形状示意图。 [0030] Please refer to FIG. 1, a schematic view of the shape of a gesture when non-contact operation performed by the staff for the general user. 通常用户在执行非接触式操作时会将其中一个手指(图1W食指为例)伸直而其他手指騰缩,并且所述伸直的手指的指尖作为定位点来对准目标操作区域。 Typically the user performs the noncontact operation will be wherein a finger (index finger as an example in FIG. 1W) and the other fingers straight Teng reduced, and the fingertip of the finger straightened as anchor points for alignment target operating region. 在本发明提供的超声手指指尖定位方案在上述人手状态上定义了=个反射区域,即指尖反射区10、手指柱面反射区20和拳面反射区30。 In the ultrasonic tip of the finger location solutions provided by the invention defined = reflecting regions on the manual state, i.e., the reflective region fingers 10, the fingers 20 and the punch cylindrical reflection surface of the reflection region 30 region. 指尖通常作为默认位置参考点,因此所述指尖反射区10是最重要的反射区;手指柱面沿指尖垂直延伸,因此所述柱面反射区20也可W部分反映所述指尖的位置信息;而拳面与指尖之间的距离相对固定(基本相当于手指长度),因此所述拳面反射区30也可W部分反映所述指尖的位置信息。 Typically the default fingertip position as a reference point, thus reflecting area 10 of the fingertip is the most important reflection region; fingertip along a vertically extending cylindrical finger, and therefore may be 20 W portion of the cylindrical reflective region reflecting the fingertip position information; and a distance between the surface of the fingertip relative to the fixed punch (substantially corresponding to the length of the finger), it may be 30 W fist surface portions of said reflective region reflecting the fingertip position information. 本发明提供的超声手指指尖定位方案可通过提取上述指尖反射区10、手指柱面反射区20和拳面反射区30的超声反射信息,对手指指尖进行精确定位。 Ultrasonic fingertip location solutions can be provided by the present invention, the cylindrical finger ultrasonic reflection information reflecting surface of the reflection region 20 and the fist region 30, accurate positioning of the fingertip by the fingertip extracting the reflecting area 10.

[0031] 请参阅图2,为本发明提供的超声手指指尖定位方案的原理示意图。 [0031] Please refer to FIG. 2, a schematic diagram of the principle of ultrasonic fingertip positioning scheme of the present invention to provide a finger. 从原理上讲, 用户在执行非接触式操作时其手指指尖可W相当于在图2所示的参考=维坐标系进行移动,而手指指尖的具体位置可W通过其在所述=维坐标系的=维坐标(x,y,z)进行确定。 In principle, the user performs the non-contact operation which corresponds to the tip of the finger can be moved in the W = dimensional reference coordinate system shown in FIG. 2, the specific location of the tip of the finger may be through which said W = = dimensional coordinate dimensional coordinate system (x, y, z) determined.

[0032] 本发明提供的方案需要在非接触式智能电子装置定义所述参考=维坐标系,并在所述参考=维坐标系配备至少两个超声发射器件1〇1、1〇2和由至少两个超声接收器件201、 202构成的超声接收装置阵列。 [0032] The present invention provides a program needs 1〇1,1〇2 and in contactless smart defining the dimensional reference coordinate system = electronic device, and equipped with at least two ultrasonic emission devices in the reference-dimensional coordinate system = receiving means for receiving the at least two ultrasonic arrays 201, 202 constituting the ultrasonic device. 其中,所述超声发射器件和所述超声接收装置阵列可W 分别为扬声器(Speaker)和麦克风(Micro地one)。 Wherein the ultrasound transmitter and the ultrasound device may be receiving device array W are speaker (Speaker) and microphone (Micro to one). 为便于描述,W下分别将所述两个超声发射器件101、102分别命名为第一扬声器101和第二扬声器102,并将所述两个超声接收器件201、202分别命名为第一麦克风201和第二麦克风202。 For ease of description, the lower W respectively two ultrasonic emission devices 101 and 102 are designated as a first speaker 101 and the second speaker 102, and the two ultrasonic receiving devices 201, 202 are designated as a first microphone 201 and the second microphone 202.

[0033] 所述第一扬声器101可W设置在垂直于所述XY平面的Z轴正向,且其超声信号发射方向为X轴正向;所述第二扬声器102可W设置在X轴正向,且其超声信号发射方向为Z 轴正向。 [0033] W the first speaker 101 may be disposed perpendicular to the Z-axis of the XY plane forward, and the ultrasonic emission direction of X-axis positive signal; the second speaker 102 may be disposed in the X-axis positive W to, and the ultrasonic emission direction of the Z axis signal is positive. 所述第一麦克风201和所述第二麦克风202可W设置在Y轴,其可接受所有方向的超声信号,具体位置不限,在本实施例中,所述第一麦克风201和所述第二麦克风202分别设置在Y轴负向和Y轴正向。 The first microphone and the second microphone 201 W 202 may be disposed in the Y-axis, which is acceptable in all directions of the ultrasound signals, the specific position is not limited, in the present embodiment, the first microphone 201 and the second two microphone 202 are disposed on the Y-axis negative direction and the positive Y axis. 并且,在图2所示的参考=维坐标系中,人手活动区域可W 定义在X坐标和Z坐标均大于0的区域(即手指指尖的=维坐标满足x〉0,z〉0),从而保证所述第一扬声器101和第二扬声器102发射的超声信号可W到达人手。 Further, reference = dimensional coordinate system shown in FIG. 2, the active region may be manually defined in the W and Z coordinates X area greater than 0 (i.e., = dimensional coordinates of the tip of the finger satisfies x> 0, z> 0) , so as to ensure the first speaker 101 and the second ultrasonic signal emitted by the speaker 102 may reach W manpower.

[0034] 由于所述人手的手指柱面反射区20对于所述第二扬声器102发射的超声信号的反射非常强烈,因此,通过所述第一麦克风201和所述第二麦克风202可W分别检测出所述第二扬声器102发射的超声信号在所述柱面反射区20的反射路径信息。 [0034] Since the reflected ultrasonic signal of the human hand finger region cylinder reflector 20 to the second speaker 102 emits very strong, and therefore, are detected by the first microphone and the second microphone 201 may be 202 W a second ultrasonic signal emitted by speaker 102 path information reflected in the reflective region 20 is cylindrical. 在手指指尖距离所述第一扬声器101较远时,由于所述指尖反射区10的反射面较小可能难W检测出所述手指指尖在X轴的坐标,因此可W通过所述第一麦克风201和所述第二麦克风202分别检测出所述第一扬声器101发射的超声信号在所述拳面反射区30的反射路径信息,再W手指长度作为补偿便可W计算出所述第一扬声器101发射的超声波在所述指尖反射区10的反射路径信息。 When far from the fingertip of the finger in a first speaker 101, since the reflecting area of ​​the reflecting surface of the fingertip 10 is small it may be difficult to detect the fingertip W in the X-axis coordinate, and thus by the W the first microphone and the second microphone 201 detects ultrasonic signal 202, respectively, the first speaker 101 transmits the path information reflecting surface of the reflector in the fist region 30, then W W finger length can be calculated as the compensation the first speaker 101 transmitted ultrasound reflected in the path information reflecting area 10 of the fingertip. 最后,基于所述反射路径信息,通过多楠圆相交定位算法便可W计算出所述手指指尖的=维坐标。 Finally, based on the path information is reflected, intersects the circular positioning algorithm can be a multi-Nan = W calculated dimensional coordinates of the finger tips.

[0035]基于上述原理,本发明提供了一种指尖定位系统,请参阅图3,其为本发明提供的指尖定位系统一种实施例的方框示意图。 [0035] Based on the above principles, the present invention provides a fingertip positioning system, see Figure 3, the positioning system of the fingertip of the present invention which provides a block diagram of an example of embodiment. 所述指尖定位系统100可W应用在非接触式智能电子装置,所述非接触式智能电子装置可W定义有如图2所示的参考=维坐标系。 The positioning system 100 may fingertip W applied contactless intelligent electronic device, said electronic device contactless smart W is defined with reference to a non-dimensional coordinate system = 2 as shown in FIG. 所述指尖定位系统100可W包括如上所述的第一扬声器101、第二扬声器102、超声接收装置阵列W及执行信息分析计算的处理器300,超声接收装置包括第一麦克风201和第二麦克风202。 The fingertip W may include a positioning system 100 as described above, a first speaker 101, a second speaker 102, the processor 300 of the receiving device array Analysis calculated W and execution information ultrasound, receiving means comprises a first and a second microphone 201 microphone 202. 其中,所述第一扬声器101、所述第二扬声器102、所述第一麦克风201和所述第二麦克风202的具体位置可参照图2所示。 Wherein the first speaker 101, the second speaker 102, the microphone 201 and the first specific position of the second microphone 202 may be illustrated with reference to FIG. 所述第一扬声器101和所述第二扬声器102发出的超声信号在人手不同反射区发生反射而形成的超声反射信号可W被所述第一麦克风201 和所述第二麦克风202接收;并且,所述第一麦克风201和所述第二麦克风202连接到所述处理器300。 Ultrasonic reflection signal 101 of the first speaker and the second ultrasonic signal emitted by speaker 102 are formed in different reflection occurs hand reflective region may be 202 W and the second microphone receives the first microphone 201; and, the first microphone 201 and second microphone 202 is connected to the processor 300.

[0036] 所述处理器300可W所述第一麦克风201和所述第二麦克风202接收到的超声反射信号进行信息提取及分析W计算出所述手指指尖的=维坐标。 [0036] The processor 300 may be 201 W the first microphone and the second microphone 202 receives the ultrasonic reflection signal information extraction and analysis of the calculated W = dimensional coordinates of the finger tips. 具体地,所述处理器300 可W包括手指柱面反射路径提取模块310、指尖反射峰检测模块320、指尖反射路径提取模块330、拳面反射路径提取模块340、手指长度提取模块350、指尖反射路径估计模块360和指尖坐标计算模块370等软件模块。 In particular, the processor 300 may comprise a cylindrical reflection path W finger extraction module 310, the fingertip reflection peak detection module 320, a reflection path fingertip extraction module 330, the reflective face of the fist path extraction module 340, finger length extraction module 350, fingertip reflection path estimation module 360 ​​and the fingertip coordinate calculation module 370 and other software modules.

[0037] 请参照图4,其为本发明提供的指尖定位方法的一种实施例的流程图。 [0037] Referring to FIG 4 A fingertip positioning method which the present invention provides a flow diagram of the embodiment. 所述指尖定位方法可W包括: The positioning method may fingertip W comprising:

[003引步骤SI、所述第一扬声器101发射第一超声信号,所述第一超声信号在指尖反射区10和拳面反射区30反射之后形成指尖反射信号和拳面反射信号。 [Cited step 003 the SI, the first speaker 101 transmits the first ultrasonic signal, the first ultrasonic signal and the reflection signal formed fingertip fist surface 30 reflects the reflected signal after the fingertip 10 and the reflecting area reflecting face of the fist region.

[0039] 具体地,在所述参考S维坐标系中,位于YZ平面的第一扬声器101可W在所述处理器300的控制下沿X轴正向发射第一超声信号,所述第一超声信号传播到人手的指尖反射区10和拳面反射区30分别发生反射并形成超声反射信号,W下分别将所述反射信号称为指尖反射信号和拳面反射信号。 [0039] In particular, the S-dimensional reference coordinate system, a first speaker located 101 YZ plane W along the X axis may transmit a first ultrasonic signal in a forward direction under control of the processor 300, the first ultrasonic signal propagates to the hand fingertip reflecting area 10 and reflecting region 30 punches reflective surfaces are formed and ultrasonic reflection signal occurs, the signal W, respectively, the reflected and the reflected signal is referred fingertip fist surface reflected signal.

[0040] 步骤S2、所述指尖反射峰检测模块320判断所述第一麦克风201和所述第二麦克风202是否可W检测到指尖反射信号,如果可W,执行步骤S3 ;否则,执行步骤S5。 [0040] Step S2, the reflection peaks of the fingertip detection module 320 determines 201 the first microphone and the second microphone 202 detects whether the finger reflection signal W, if W can be performed in step S3; otherwise, step S5.

[0041] 所述指尖反射峰检测模块320可W根据所述第一麦克风201和所述第二麦克风202接收到的超声反射信号,结合所述第一扬声器101发出的第一超声信号并通过互相关运算,得到所述第一麦克风201和所述第二麦克风202接收到的反射信号的反射曲线,其中所述反射曲线可W具体为超声反射路径强度曲线,其反射强度随时间变化而变化。 [0041] The fingertip reflection peak detection module 320 may be 201 W according to the first microphone and the second microphone 202 receives the ultrasonic reflection signal, in conjunction with the first speaker 101 and the first ultrasonic signal emitted by cross-correlation calculation, to obtain a reflection curve of the first reflected signal 201 and the microphone 202 receives the second microphone, wherein the reflection curve can be specifically W ultrasonic reflection intensity curve path, the reflected intensity changes over time .

[0042] 具体而言,在人手与所述第一扬声器101距离较近时,由于所述指尖反射面10和所述拳面反射面30均为强烈的近场反射,因此所述第一麦克风201和所述第二麦克风202 均将同时检测到所述指尖反射信号和所述拳面反射信号。 [0042] Specifically, when the hand closer to the speaker 101 from the first, due to the strong near field 30 are reflected to the reflective surface 10 and the fingertip side punches reflective surface, whereby said first the second microphone 201 and a microphone 202 are simultaneously punches the finger surface and the reflected signals detected by the reflected signal. 因此,所述指尖反射峰检测模块320可W在所述第一麦克风201的反射曲线和所述第二麦克风202的反射曲线均提取到两个反射峰,即指尖反射峰PA和拳面反射峰PB。 Thus, the fingertip detection module 320 may reflection peak of the first microphone 201 W in the reflection curve reflection curve and the second microphone 202 are extracted to the two reflection peaks, i.e. peak PA finger and the reflection face of the fist reflection peak PB.

[0043] 随着人手与所述第一扬声器101之间的距离增大,由于所述指尖反射区10的反射面较小,因此指尖反射逐渐减弱,此将导致所述第一麦克风201和所述第二麦克风202接收到的指尖反射信号相应减弱;当距离增大到一定程度时,所述指尖反射信号可能太弱而无法被检测出来;而由于所述拳面反射区30的反射面较大,因此所述拳面反射信号的反射强度足够可W被检测出来。 [0043] As the distance between the hand and the first speaker 101 is increased, since the reflective surface of the fingertip is small reflecting area 10, the finger reflection gradually weakened, this will cause the first microphone 201 and the second microphone 202 receives a reflection signal corresponding to the fingertip decreased; when the distance increases to a certain extent, the reflected signal may be too weak finger can not be detected; and because the surface of the reflector region 30 boxing the reflective surface is large, the reflection intensity of the reflected signal sufficiently fist surface W can be detected. 在该种情况下,所述指尖反射峰检测模块320在所述第一麦克风201的反射曲线和所述第二麦克风202的反射曲线均只能提取到单一的反射峰,即所述拳面反射峰PB。 In this case, the fingertip detection module 320 reflection peak in the reflection curve of the first microphone 201 and second microphone 202 are reflection curve to extract only a single reflection peak, i.e. the punch surface reflection peak PB.

[0044] 由此可见,所述指尖反射峰检测模块320可W根据是否可W从第一麦克风201和所述第二麦克风202的反射曲线中提取到所述指尖反射峰PA,来判断所述第一麦克风201 和所述第二麦克风202是否可W接收到所述指尖反射信号。 [0044] Thus, the fingertip reflection peak detection module 320 may extract according to whether W W 201 from the first microphone and the second microphone 202 to the reflection curve of the reflection peak fingertip PA, to determine the first microphone 201 and second microphone 202 whether the fingertip W reflected signal is received.

[0045]另外,用户执行非接触式操作时,其人手有可能是连续运动的,此时所述第一麦克风201和所述第二麦克风202的反射曲线的峰值变化也是连续的,因此所述指尖反射峰检测模块320同样可W根据指尖反射峰PA的变化曲线的连续程度,判断是否可W检测到所述指尖反射信号。 [0045] Further, when the user performs non-contacting operation, which may be the hand in a continuous movement, this time the first microphone and the second peak variation 201 of the microphone 202 of the reflection curve is continuous, the fingertip reflection peak detection module 320 may likewise W the continuous curve of the degree of reflection peak PA finger, it is determined whether the detected fingertip W reflected signal.

[0046] 步骤S3,所述指尖与拳面反射路径提取模块330提取指尖反射路径时延DAii和DAi2并计算出指尖反射路径长度S11和S12,W及提取拳面反射路径时延DBii和DB12。 [0046] Step S3, the reflecting surface of the fingertip and the fist path fingertip extraction module 330 extracts the reflection path and the delay DAii DAi2 and calculates the reflection path length fingertip S11 and S12, W and extracted reflecting face of the fist path delay DBii and DB12.

[0047] 具体地,如果在步骤S2中所述指尖反射峰检测模块320可W在所述第一麦克风201和所述第二麦克风202的反射曲线同时提取到所述指尖反射峰PA和所述拳面反射峰PB,则所述指尖与拳面反射路径提取模块330可W根据所述第一扬声器101发出的第一超声信号W及所述第一麦克风201和所述第二麦克风202接收到的指尖反射信号,通过时延估计算法,提取到所述指尖反射信号在所述第一麦克风201的反射路径时延DAii和其在所述第二麦克风202的反射路径时延DA。 [0047] Specifically, if in step S2 the fingertip reflection peak detection module 320 may extract the W simultaneously to the fingertip reflection peak PA in the first microphone and the second microphone 201 and 202 of the reflection curve the fist face reflection peak PB, then the fingertip and the reflecting face of the fist path extraction module 330 may first ultrasonic signal in accordance with W W 101 emitted from the first speaker and the first microphone and the second microphone 201 fingertip 202 receives the reflected signal, through delay estimation algorithm to extract the fingertip reflected signal the first microphone 201 and the reflection path delay DAii which the second microphone 202 is reflected path delay DA. .

[0048] 并且,根据所述指尖反射信号的反射路径时延DA。 [0048] Further, the fingertip based on the reflected signal reflected path delay DA. 和DA12,所述指尖反射路径提取模块330可W进一步通过W下公式(1)和(2)计算出所述指尖反射信号的在所述第一麦克风201的反射路径长度Sii和其在所述第二麦克风202的反射路径长度S12; And DA12, the reflection path fingertip extraction module 330 may further W (2) W is calculated by the equation (1) and the fingertip of the reflected signal in the first microphone 201 and the reflected path length which Sii reflecting the second microphone path 202 length S12;

[0049] Sii=DAii*c(l) [0049] Sii = DAii * c (l)

[0050]Si2=DAi2*c(2) [0050] Si2 = DAi2 * c (2)

[0051] 其中,c代表当前环境的声速。 [0051] wherein, c represents a sound velocity in the current environment. 所述指尖反射路径时延DA。 The fingertip reflection path delay DA. 和DA。 And DA. 分别是指从所述第一扬声器101发出所述第一超声信号至所述第一麦克风201和所述第二麦克风202接收到所述指尖反射信号的时延;所述指尖反射路径长度Sii是手指指尖与所述第一扬声器101和所述第一麦克风201的距离之和,所述反射路径长度Si2是手指指尖与所述第一扬声器101和所述第二麦克风202的距离之和。 Respectively refer to emit the first ultrasonic signal to the first microphone and the second microphone 201 to the fingertip 202 receives the delay signal reflected from the first speaker 101; reflection path length of the fingertip Sii is the tip of the finger 101 with the first speaker and the first microphone 201 and the distance, the reflection path length is the distance from the fingertip Si2 with the first speaker and the second microphone 101 202 Sum.

[0化2] 与此同时,所述指尖与拳面反射路径提取模块330可W根据所述第一扬声器101 发出的第一超声信号W及所述第一麦克风201和所述第二麦克风202接收到的拳面反射信号,通过时延估计算法,提取到当前所述拳面反射信号在所述第一麦克风201的反射路径时延DBii和其在所述第二麦克风202的反射路径时延DB12。 [0 of 2] Meanwhile, the reflective surface of the fingertip and the fist path of the first ultrasonic signal extraction module 330 may W W emitted from the first speaker 101 and the first microphone and the second microphone 201 202 receives the fist surface reflection signal by time delay estimation algorithm, the current extracted fist surface reflected signal when the first microphone 201 and the reflection path delay DBii which the second microphone path 202 of reflection extension DB12. 所述拳面反射路径时延DBii和DBi2分别是指从所述第一扬声器101发出所述第一超声信号至所述第一麦克风201和所述第二麦克风202接收到所述拳面反射信号的时延。 The reflecting face of the fist and skew DBii DBi2 refer respectively to said first emitted signal reflected ultrasound signal 201 to the first microphone and the second microphone 202 receives from the fist surface of said first speaker 101 delay.

[0化3] 步骤S4,所述手指长度提取模块350估算出手指长度Fii和F 12。 [0 of 3] step S4, the finger length extraction module 350 estimates Fii finger length and F 12.

[0054] 由于人手指尖与拳面的位置关系相对固定且紧凑,二者之间的距离即可W相当于手指长度,因此,所述手指长度提取模块350可W将所述指尖反射信号的反射路径长度与所述拳面反射信号的反射路径长度的差值的一半估算为所述手指长度。 [0054] Since the positional relationship between the fingertips and the relatively fixed surface of punches and compact, the distance between the two fingers corresponds to the length W, and therefore, the length of the finger module 350 may extract the fingertip reflected signal W half of the difference of the path length of the reflected and the reflection path length of the reflected signal to estimate the fist surface of the finger length. 由于所述反射路径长度可W通过反射路径时延计算得到,因此在具体实施例中,所述手指长度提取模块350 也可W直接由所述指尖反射信号和拳面反射信号的反射路径时延DA。 Since the reflection path length W obtained by calculating the reflection path delay, so in the specific embodiment, the finger length W extracting module 350 may also be directly reflected by the finger and the signal path reflection surface of the reflection signal boxing extension of DA. 、DB。 , DB. 、DAi2和DB12计算出所述手指长度。 , DAi2 DB12 and calculating the length of the finger.

[0化5] 由于所述指尖定位系统100同时配置了所述第一麦克风201和所述第二麦克风202,因此,根据所述指尖反射信号和所述拳面反射信号在所述第一麦克风201的反射路径时延DA。 [0 of 5] Since the positioning system of the fingertip 100 while the first microphone 201 is configured with the second microphone 202 and, therefore, based on the reflected signal and said fingertip fist surface of said first reflection signal a microphone path delay DA 201 is reflected. 和DB。 And DB. ,W及二者在所述第二麦克风的反射路径时延DAi2和DB12,可W分别估算出得到两个手指长度值Fii和F12,具体如W下公式(5)和(6)所示: , W, and the second microphone both in reflection and skew DAi2 DB12, W may be estimated, respectively, to give the two values ​​Fii finger length and F12, as indicated at W specific formula (5) and (6):

[0056] Fii=值Bii-DAii)*c/2巧) [0056] Fii = value Bii-DAii) * c / 2 Qiao)

[0057]Fi2=值Bi2-DAi2)*c/2化) [0057] Fi2 = value Bi2-DAi2) * c / 2 of)

[005引在步骤S4中,所述手指长度F。 [005 incorporated in step S4, the length of the finger F. 和F12估算得到之后,可W先进行保存,在后续无法检测到所述指尖反射信号时,所述手指长度Fii和F12可W用来对拳面反射信号的反射路径长度进行补偿W估算出所述指尖反射路径长度Sii和S12。 And estimates obtained after F12, W can first be stored, when not subsequent to the finger reflection signal detector, and the finger length Fii F12 W may be used for the reflective surface of the reflection path length of the fist signal is compensated estimate W the reflecting path length Sii fingertip and S12.

[0化9] 步骤S5,所述拳面反射路径提取模块340提取拳面反射路径时延DB。 [0 of 9] step S5, the reflecting face of the fist path extraction module 340 extracts the reflection face of the fist path delay DB. 和DB12并计算出拳面反射路径长度SBii和SB12。 And DB12 and punches SBii plane reflection path length and SB12.

[0060] 具体地,如果在步骤S2中所述指尖反射峰检测模块320可W在所述第一麦克风201和所述第二麦克风202的反射曲线仅可W提取到所述拳面反射峰PB,所述拳面反射路径提取模块340可W根据所述第一扬声器101发出的第一超声信号W及所述第一麦克风201和所述第二麦克风202接收到的拳面反射信号,通过时延估计算法,提取到所述拳面反射信号在所述第一麦克风201的反射路径时延DBii和其在所述第二麦克风202的反射路径时延DBi2。 [0060] Specifically, if in step S2 the fingertip reflection peak detection module 320 may be 201 W at the first microphone and the second microphone 202 is only reflection curve W to extract the punch surface reflectivity peaks PB, the reflecting face of the fist path 202 W module 340 may extract the received ultrasonic signal in accordance with a first of said first speaker 101 W and emitted the first microphone and the second microphone 201 punch surface reflection signal by time delay estimation algorithm to extract the punch face 201 of the reflected signal and its reflected path delay DBii DBi2 delay in reflecting the second microphone path 202 in the first microphone.

[0061] 并且,根据所述拳面反射信号的反射路径时延DB。 [0061] Also, according to the path of the reflection surface of the reflector fist delay signal DB. 和DB12,所述拳面反射路径提取模块340可W进一步通过W下公式(3)和(4)计算出所述拳面反射信号在所述第一麦克风201的反射路径长度SB。 And DB12, the reflecting face of the fist path extraction module 340 may further W (4) W is calculated by the equation (3) and the lower surface of the punch 201 reflected signal of the first microphone in the reflected path length SB. 和其在所述第二麦克风202的反射路径长度SB12; Its 202 reflection path length of the second microphone and SB12;

[0062] SB"=DBii*c (3) [0062] SB "= DBii * c (3)

[0063] SBi2=DBi2*c (4) [0063] SBi2 = DBi2 * c (4)

[0064] 其中,所述反射路径长度SBii是拳面与所述第一扬声器101和所述第一麦克风201 的距离之和,所述反射路径长度SBi2是拳面与所述第一扬声器101和所述第二麦克风202 的距离之和。 [0064] wherein, the reflection path length is SBii fist surface of the first speaker 101 and the microphone 201 of the first distance and the reflection path length is SBi2 fist surface of the first speaker 101 and and the second microphone 202 distance.

[00化]步骤S6,所述指尖反射路径估计模块360利用所述手指长度Fii和F12来对所述拳面反射路径长度SBii和SB12进行补偿,并估算出所述指尖反射路径长度SU和S12。 [Of 00] Step S6, the reflected path of the fingertip of the finger estimation module 360 ​​using the fingertip length Fii and the reflection path length SU F12 to the surface of the reflector fist path length compensating SBii and SB12, and estimate and S12.

[0066] 比如,所述指尖反射路径估计模块360可W用所述拳面反射路径长度SBii和SB 12 减去所述手指长度Fii和F12的两倍,来估算出所述指尖反射路径长度S11和S12。 [0066] For example, the fingertip path estimation module 360 ​​may be reflected by the face of the fist W reflected path lengths SBii SB and the finger 12 by subtracting the twice the length and F12 of Fii, to estimate the path of the reflected fingertip S11 length and S12. 具体而言, 一方面,所述指尖反射路径估计模块360可W根据所述拳面反射路径提取模块340计算出的所述拳面反射信号在所述第一麦克风201的反射路径长度SBii,W及所述手指长度提取模块350从所述第一麦克风201的反射路径时延计算出的手指长度。 Specifically, in one aspect, the finger reflection path estimation module 360 ​​may extract the punch surface W module 340 reflected signal calculated based on the fist surface of the reflector reflecting the first microphone path 201 SBII path length, W, and the length of the finger extraction module calculates the first microphone 201 from the reflected path length delay of the fingers 350. 1,估算出所述指尖反射信号在所述第一麦克风201的反射路径长度Sii;另一方面,所述指尖反射路径估计模块360还可W根据所述拳面反射路径提取模块340计算出的所述拳面反射信号在所述第二麦克风202的反射路径长度SBi2, W及所述手指长度提取模块350从所述第二麦克风202的反射路径时延计算出的手指长度估算出所述指尖反射信号在所述第二麦克风202的反射路径长度Si2,具体如W下公式(7)和(8)所示: 1, the reflected signal to estimate the fingertip of the first microphone 201 in the reflection path length Sii; on the other hand, the fingertip reflection path estimation module 360 ​​may also extract the W module 340 according to the fist surface reflection path calculation punches out the finger surface reflected signal length calculated from the second microphone 202 reflection path delay of the second microphone 202 is reflected path lengths SBi2, W, and the length of the finger module 350 extracts the estimated said fingertip reflected signal at the second microphone 202 is reflected path lengths Si2, particularly as the formula W (7) and (8):

[0067] Sii=SB。 [0067] Sii = SB. -Fii*2(7) -Fii * 2 (7)

[0068] Si2=SB。 [0068] Si2 = SB. -Fl2*2 巧) -Fl2 * 2 Qiao)

[0069] 由此,在步骤SI~S6中,不管是否由于人手距离太远而无法检测到所述指尖反射信号,采用上述方案都可W得到所述指尖反射路径长度Sii和S12。 [0069] Accordingly, in step SI ~ S6, the hand is too far away, whether due to the finger can not be detected reflected signal, the above-described embodiment can be obtained the W reflected path lengths Sii fingertip and S12.

[0070] 步骤S7,所述第二扬声器102发射第二超声信号,所述第二超声信号在手指柱面反射区20反射之后形成手指柱面反射信号。 [0070] step S7, the second speaker 102 emits the second ultrasonic signal, the second ultrasonic signal reflected signal is formed cylindrical finger after the finger 20 reflected cylinder reflector region.

[007U 具体地,在所述参考S维坐标系中,位于XY平面的第二扬声器102可W向Z轴方向发射第二超声信号,所述第二超声信号传播到人手的手指柱面反射区20发生反射并形成超声反射信号,在此称为手指柱面反射信号。 [007U In particular, the S-dimensional reference coordinate system, the second speaker 102 may be located in the XY plane W transmitting a second ultrasonic signal in the Z-axis direction, the second ultrasonic signal propagation cylindrical reflective region to the finger of a human hand 20 is reflected to form the reflected ultrasound signals, referred to herein as a cylindrical finger reflected signal. 所述手指柱面反射信号可W被所述第一麦克风201和所述第二麦克风202接收。 The cylindrical finger reflection signal W may be the first microphone 201 and 202 receiving the second microphone.

[0072]步骤S8,所述手指柱面反射路径提取模块310提取手指柱面反射路径时延化1和化2并计算出手指柱面反射路径长度S21和S22。 [0072] step S8, the cylindrical finger reflection path extraction module 310 extracts a finger of a cylinder reflector and a skew of 2 and calculate the path length cylinder reflector fingers S21 and S22.

[0073] 具体地,所述手指柱面反射路径提取模块310可W根据所述第二扬声器102发出的第二超声信号W及所述第一麦克风201和所述第二麦克风202接收到的手指柱面反射信号,通过时延估计算法,提取到所述手指柱面反射信号在所述第一麦克风201的反射路径时延〇21和其在所述第二麦克风202的反射路径时延D22。 [0073] In particular, the cylindrical finger reflection path extraction module 310 may W 202 according to the second received ultrasonic signal emitted W 102 the second speaker and the first microphone and the second microphone 201 finger cylindrical reflection signal by time delay estimation algorithm to extract the reflected signal cylindrical finger 201 and its reflected path delay 〇21 D22 delay in reflecting the second microphone path 202 in the first microphone.

[0074]并且,根据所述手指柱面反射信号的反射路径时延化1和DA22,所述手指柱面反射路径提取模块310可W进一步通过W下公式(9)和(10)计算出所述手指柱面反射信号的在所述第一麦克风201的反射路径长度S21和其在所述第二麦克风202的反射路径长度S221 [0074] Then, based on the reflected path delay of the finger 1 and the reflection signal cylindrical DA22, the cylindrical finger reflection path extraction module 310 may further calculate a W W Equation (9) and lower (10) out of the said cylindrical finger reflected in the first microphone signal 201 and the reflected path lengths S21 in which the second microphone 202 is reflected path lengths S221

[007引S2i=02i*C巧) [007 cited Qiao S2i = 02i * C)

[0076] S22=D22*c(10) [0076] S22 = D22 * c (10)

[0077] 其中,当人手在指定的区域内移动时,手指柱面反射W邻近指尖区域的部分为主。 [0077] wherein, when the hand is moved in the designated areas, the finger adjacent the cylindrical reflecting portion W fingertip area mainly. 所述手指柱面反射路径时延〇21和DA22分别是指从所述第二扬声器102发出所述第二超声信号至所述第一麦克风201和所述第二麦克风202接收到所述手指柱面反射信号的时延; 所述反射路径长度S21是手指柱面与所述第二扬声器102和所述第一麦克风201的距离之和,所述反射路径长度S22是手指柱面与所述第二扬声器102和所述第二麦克风202的距离之和。 The finger path delay 〇21 cylinder reflector means and DA22 are emitted from the second speaker 102 of the second ultrasonic signal to the first microphone and the second microphone 201 to the finger 202 receives column surface reflected signal delay; S21 path length of the reflector is a cylindrical finger 102 and the second speaker and the first microphone 201 and a distance, the length of the path S22 is the reflection of the second cylindrical finger two second speaker 102 and the microphone 202 and distance.

[007引步骤S9,所述指尖坐标计算模块370根据所述指尖反射路径长度Sii和S12^及所述手指柱面反射路径长度S,i和S22,计算出所述手指指尖的S维坐标(X,y,Z)。 [007 cited step S9, the fingertip coordinate calculation module 370 based on the reflected path lengths Sii fingertip and the finger and cylindrical S12 ^ reflection path length S, i, and S22, calculate the finger tips of S dimensional coordinate (X, y, Z).

[0079] 其中,所述指尖反射信号的反射路径长度Sii和S12可W从所述指尖反射路径提取模块330或所述指尖反射路径估计模块360得到。 [0079] wherein the reflection path length of the reflected signal Sii fingertip and S12 may be W fingertip extraction module 330 or the reflection path estimation module 360 ​​obtained from the fingertip reflection path. 由于所述指尖反射信号的反射路径长度Sii为所述手指指尖与所述第一扬声器101和所述第一麦克风201的距离之和,所述指尖反射信号的反射路径长度Si2为所述手指指尖与所述第二扬声器102和所述第二麦克风202 的距离之和,而所述手指柱面反射信号的反射路径长度S21可W被视为所述手指指尖与所述第二扬声器102和所述第一麦克风201的距离之和,所述手指柱面反射信号的反射路径长度S22可W被视为所述手指指尖与所述第二扬声器102和所述第二麦克风202的距离之和,因此,根据空间中S个楠圆相交于一点的几何原理,基于Sii、Si2、S2i和S22便可W计算出所述手指指尖的=维坐标(X,y,Z)。 Sii since the reflection path length of the reflected signal to the finger tip of the finger 101 and the first speaker and the first microphone 201 and a distance, the path length of the reflected signal Si2 is reflected by a fingertip said tip of the finger 102 and the second speaker and the second microphone 202 and a distance, and the reflection path length of the reflected signal S21 cylindrical finger can be regarded as the tip of the finger W and the first two first speaker 102 and the microphone 201 and the distance, the reflection path length of the reflected signal S22 cylindrical finger can be regarded as the tip of the finger W and the second speaker and the second microphone 102 the distance 202 and, therefore, the space S in accordance with a geometric principles Nan circle at the point, is calculated based Sii, Si2, S2i and S22 that the finger can be W = fingertip-dimensional coordinate (X, y, Z ).

[0080]具体地,所述指尖坐标计算模块370可W首先从Sii、Si2、S2i和S22中任取S个值分另IJ作为s,b、Scd、S。 [0080] In particular, the coordinate calculation module 370 may fingertip W from the first division Sii, Si2, S2i and S22 take any values ​​other IJ S as s, b, Scd, S. ,,比如可W选取s,b=s。 W may be selected for example ,, s, b = s. ,Scd=S。 , Scd = S. ,Scf=S2i,代入^下立维楠圆方程组,求解得到S个楠圆的相交点坐标(Xi,yi,Zi); , Scf = S2i, substituting ^ clopidogrel Nan circle equations, the solved for the coordinates of the point of intersection of the S Nan circle (Xi, yi, Zi);

Figure CN103399318BD00111

[0084] 其中,(m,n,p)表示所述楠圆的焦点,也是就是所述第一扬声器101、第二扬声器102、第一麦克风201、第二麦克风202中某个单元的空间坐标。 [0084] where, (m, n, p) denotes a focus of the circle Nan, it is also the first speaker 101, a second speaker 102, a first microphone 201, microphone 202, the second spatial coordinates of a cell .

[0085] 考虑到手指指尖是一个物体,而不是一个理想点,因此,为进一步提高手指指尖的坐标的精确性,所述指尖坐标计算模块370在计算得到所述坐标(xi,yi,zi)之后,可W进一步选取S。 [0085] Considering the tip of the finger is an object, rather than a point over, therefore, to further improve the accuracy of the coordinates of the fingertip, the fingertip in the coordinate calculation module 370 calculate the coordinate (xi, yi , zi and later), may be further selected S. W 、Si2、S21和S22进行其他组合方式来作为S*、S。 , Si2, S21, and S22 for other combinations as S *, S. . 、Sw并代入上述S维楠圆方程组, 总共四种组合可W计算得到四个相交点坐标Oq,y。 , Sw and S substituted into the above equations dimensional Nan circle, a total of four combinations of W may be calculated from the coordinates of four points of intersection Oq, y. Zi)、(X2, 72,Z2)、咕,73,Z3)、(X4, 74,Z4)。 Zi), (X2, 72, Z2), cushions, 73, Z3), (X4, 74, Z4). 最后,对所述四个相交点坐标求算术平均值来作为所述手指指尖的=维坐标(X,y,Z),即 Finally, for arithmetically averaging the coordinates of four points of intersection of the finger as the fingertip = dimensional coordinate (X, y, Z), i.e.,

[0086] x= (X1+X2+X3+X4) /4 [0086] x = (X1 + X2 + X3 + X4) / 4

[0087] y= (71+72+73+74) /4 [0087] y = (71 + 72 + 73 + 74) / 4

[008引Z=(Zi+Z2+Z3+Z4)/4 [008 primer Z = (Zi + Z2 + Z3 + Z4) / 4

[0089] 应当理解,在具体实施例,上述指尖定位方法的各个步骤并没有严格的顺序关系, 比如,步骤S7和S8可W在步骤S1~S6之前执行或者与步骤S1~S6同步执行。 [0089] It should be understood that in particular embodiments, each of the steps of the above method of positioning the fingertip and there is no strict sequential relationship, for example, steps S7 and S8 may be executed at step W or prior to the step S1 ~ S6 S1 ~ S6 synchronously. 另一方面,虽然在上述实施例中,所述手指柱面反射路径提取模块310、指尖反射峰检测模块320、 指尖反射路径提取模块330、拳面反射路径提取模块340、手指长度提取模块350、指尖反射路径估计模块360和指尖坐标计算模块370等是作为所述处理器300的软件模块,在其他替代实施例中,上述模块310-370的部分或全部也可W为硬件模块。 On the other hand, in the above embodiment, the cylindrical finger reflection path extraction module 310, the fingertip reflection peak detection module 320, a reflection path fingertip extraction module 330, the reflective face of the fist path extraction module 340, the finger length extraction module 350, finger reflection path estimation module 360 ​​and the fingertip coordinate calculation module 370 and the like are used as the processor software module 300, in other alternative embodiments, part or all of the above modules 310-370 may be hardware modules as W .

[0090] 本发明提供的指尖定位方法和系统,在人手距离较远而无法检测到指尖反射信号时可W利用手指长度来补偿拳面反射信号的反射路径信息,从而估算出指尖反射信号的反射路径信息,并结合手指柱面反射信号的反射路径信息来计算得到手指指尖的位置坐标。 [0090] fingertip positioning method and system of the invention is provided, manpower can be far away from the length W a finger can not be detected fingertip reflected path information signal to compensate for the reflection surface of the reflection signal of the fist to estimate reflection fingertip signal reflection path information and path information in conjunction with the reflected signal reflected cylindrical finger to calculate position coordinates of the finger tips. 因此,采用本发明提供的指尖定位方法和系统可W实现远距离的手指指尖定位,可W有效扩展超声手势识别方案的应用范围。 Therefore, the fingertip and the positioning system of the present invention provides a method may be implemented W remote positioning finger tips, can effectively extend the range of application of ultrasonic W gesture recognition program.

[0091] W上所述仅为本发明的实施例,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其它相关的技术领域,均同理包括在本发明的专利保护范围内。 [0091] W on the embodiments of the invention only, and not intended to limit the scope of the present invention, all utilize the present specification and drawings taken equivalent structures or equivalent process, directly or indirectly used in other relevant technical field shall fall within the scope of protection of the present invention.

Claims (8)

  1. 1. 一种指尖定位系统,其特征在于,包括第一超声发射器件、第二超声发射器件、超声接收装置阵列、指尖反射峰检测模块、指尖与拳面反射路径提取模块、手指长度提取模块、 拳面反射路径提取模块、指尖反射路径估计模块、手指柱面反射路径提取模块以及指尖坐标计算模块,其中, 所述第一超声发射器件,用于发射第一超声信号; 所述第二超声发射器件,用于发射第二超声信号; 所述超声接收装置阵列,包括所述第一超声接收器件和第二超声接收器件,用于接收所述第一超声信号和第二超声信号在人手发生反射而形成的超声反射信号; 所述指尖反射峰检测模块,用于判断是否接收到第一超声信号在手指指尖发生反射而形成的指尖反射信号; 所述指尖与拳面反射路径提取模块,用于在检测到所述指尖反射信号时,提取所述第一超声信号在指 A fingertip positioning system, characterized by comprising a first ultrasonic emission devices, a second ultrasonic emission devices, an ultrasonic receiving device array, the reflection peak detection module fingertip, the fingertip extraction with fist surface reflection path module, the finger length extraction module, an extraction module fist surface reflection path, reflection path estimation module fingertip, finger cylindrical reflection path and the fingertip extraction module coordinate calculation module, wherein said first ultrasonic transmitter means for transmitting a first ultrasonic signal; the said second ultrasonic transmitter means for transmitting a second ultrasonic signal; said ultrasonic receiving device array, comprising the first ultrasonic receiving device and the second ultrasonic receiving means for receiving the first ultrasonic signal and the second ultrasonic ultrasonic reflection signal formed by the reflected signal occurring at hand; reflection peak of the fingertip detection module configured to determine whether a fingertip reflected ultrasound signal to form a first reflected signal occurring at the tip of the finger; with the fingertip fist surface reflection path extraction means for detection of the fingertip when the reflected signal, said first ultrasonic signal extracting means 和拳面发生分别反射而形成的指尖反射信号的反射路径时延和拳面反射信号的反射路径时延,并计算所述指尖反射信号的反射路径长度; 所述手指长度提取模块,用于根据所述指尖与拳面反射路径提取模块得出的指尖反射信号的反射路径长度和拳面反射信号的反射路径长度估算出手指的长度; 所述拳面反射路径提取模块,用于在未检测到所述指尖反射信号时,提取所述第一超声信号在拳面发生反射而形成的拳面反射信号的反射路径时延,并计算所述拳面反射信号的反射路径长度; 所述指尖反射路径估计模块,用于利用手指长度补偿所述拳面反射信号的反射路径长度,估算出所述指尖反射信号的反射路径长度; 所述手指柱面反射路径提取模块,用于提取第二超声信号在手指柱面发生反射而形成的手指柱面反射信号的反射路径时延,并计算出所述 Reflecting reflection path delay and skew punches fingertip surface of the reflection signal and the reflection signal formed by the punch surface reflection occurred respectively, and calculates the reflection path length of the reflected signal fingertip; extraction module the length of the finger, with according to the fingertip extraction punch-path reflection surface of the reflection path length of the reflective surface of the punches and the path length of the reflected signal reflected signal module fingertip derived estimated finger length; the fist surface reflection path extraction means for reflection path delay is not detected in the reflected signal fingertip extracting the first ultrasonic signal reflection occurs at the surface formed by boxing boxing surface of the reflection signal and calculates the reflection face of the fist path length of the reflected signal; the fingertip reflection path estimation module for using the reflection path length of the face of the fist finger length compensation of the reflected signal to estimate the path length of the reflected signal reflected fingertip; said cylindrical finger reflection path extraction module, with cylindrical finger reflection path delay to the extracted signal reflected ultrasonic signal reflection occurs in a second cylinder formed by the finger, and calculates the 指柱面反射信号的反射路径长度; 所述指尖坐标计算模块,用于根据所述指尖反射信号的反射路径长度以及所述手指柱面反射信号的反射路径长度,计算出手指指尖的坐标。 Refers to the cylindrical reflection path length of the reflected signal; said fingertip coordinate calculation module, for reflecting the reflected path lengths of the path length of the reflected signal and the fingertip of the finger cylindrical reflected signal, the calculated fingertip coordinate.
  2. 2. 如权利要求1所述的指尖定位系统,其特征在于,所述第一超声信号和所述第二超声信号由分别设置在参考三维坐标系两个相互正交的轴线的第一超声发射器件和第二超声发射器件发射,且所述参考三维坐标系还设置有用来接收所述第一超声信号和所述第二超声信号在人手发生反射而形成的超声反射信号超声接收装置阵列。 2. The positioning system of the fingertip of claim 1, wherein said first ultrasonic signal and the second ultrasonic signal by the first ultrasonic mutually orthogonal reference axes of the two dimensional coordinate system are provided a second emitting device and emitting ultrasonic emission devices, and the reference three-dimensional coordinate system is also provided to receive the ultrasonic signal reflected ultrasonic receiving device array form a first reflected ultrasonic signal and said second signal occurring at the ultrasound manpower.
  3. 3. 如权利要求2所述的指尖定位系统,其特征在于,所述第一超声发射器件设置在参考三维坐标系的Z轴正向,且其超声信号发射方向为X轴正向;所述第二超声发射器件设置在所述参考三维坐标系的X轴正向,且其超声信号发射方向为Z轴正向;所述第一超声接收器件和所述第二超声接收器件设置在所述参考三维坐标系的Y轴。 3. The positioning system of the fingertip as claimed in claim 2, wherein said first ultrasound emission device disposed in the Z axis positive reference three-dimensional coordinates, and the ultrasound transmitting direction of X-axis signal is positive; the said second ultrasonic emission devices arranged in the reference three-dimensional coordinate system X-axis positive direction, and the ultrasonic emission direction of the Z-axis signal is positive; the first device and the second ultrasonic receiving device is arranged in the ultrasonic receiver said reference three-dimensional coordinate system Y-axis.
  4. 4. 如权利要求3所述的指尖定位系统,其特征在于,所述第一超声发射器件与第二超声发射器件分别为第一扬声器与第二扬声器,所述第一超声接收器件与第二超声接收器件分别为第一麦克风与第二麦克风。 The system as claimed in claim 3 fingertip positioning the first and the second ultrasonic receiving means, characterized in that said first and second ultrasonic emission devices ultrasonic emission devices are the first speaker and the second speaker, two ultrasonic receiving devices are the first microphone and the second microphone.
  5. 5. -种指尖定位方法,其特征在于,包括: 发出第一超声信号和第二超声信号; 判断是否检测到第一超声信号在手指指尖发生反射而形成的指尖反射信号; 如检测到所述指尖反射信号,则提取所述第一超声信号在指尖和拳面发生分别反射而形成的指尖反射信号的反射路径时延和拳面反射信号的反射路径时延,计算所述指尖反射信号的反射路径长度,并由此估算出手指的长度; 如未检测到所述指尖反射信号,则提取所述第一超声信号在拳面发生反射而形成的拳面反射信号的反射路径时延,计算所述拳面反射信号的反射路径长度,并利用手指补偿估算出所述指尖反射信号的反射路径长度; 提取第二超声信号在手指柱面发生反射而形成的手指柱面反射信号的反射路径时延, 并计算出所述手指柱面反射信号的反射路径长度; 根据所述指尖反射信号的反 5. - Species fingertip positioning method, characterized by comprising: emitting a first ultrasonic signal and the second ultrasonic signal; determining whether the detected fingertip reflected ultrasound signal to form a first reflected signal occurring at the tip of the finger; as detected reflecting reflection path delay and path delay fist surface of the reflection signal reflected signal to the fingertip, the ultrasonic signal is extracted to form the first reflection occurs at each surface of the punches and the fingertip fingertip reflected signals, calculates said fingertip reflection path length of the reflected signal, and thereby estimate the length of the finger; the finger is not detected the reflected signal, extracting the first reflected ultrasound signal generating plane is in the boxing boxing surface of the reflection signal reflection path delay, calculating the reflection surface of the reflection signal path length of the punch, and a finger compensating an estimated path length of the reflected signal reflected fingertip; extracting a second finger to form a reflected ultrasonic signal is generated in the cylindrical finger cylindrical reflection path delay of the reflected signal and calculates the path length of the reflected signal reflected cylindrical finger; the reflected signal is the inverse of said fingertip 路径长度以及所述手指柱面反射信号的反射路径长度, 计算出手指指尖的坐标。 Reflection path length of the path length of the reflected signal cylindrical finger, calculates the coordinates of the finger tips.
  6. 6. 如权利要求5所述的指尖定位方法,其特征在于,所述第一超声信号和所述第二超声信号由分别设置在参考三维坐标系两个相互正交的轴线的第一超声发射器件和第二超声发射器件发射,且所述参考三维坐标系还设置有用来接收所述第一超声信号和所述第二超声信号在人手发生反射而形成的超声反射信号超声接收装置阵列。 6. The method of locating a fingertip of claim 5, wherein said first ultrasonic signal and the second ultrasonic signal by the first ultrasonic mutually orthogonal reference axes of the two dimensional coordinate system are provided a second emitting device and emitting ultrasonic emission devices, and the reference three-dimensional coordinate system is also provided to receive the ultrasonic signal reflected ultrasonic receiving device array form a first reflected ultrasonic signal and said second signal occurring at the ultrasound manpower.
  7. 7. 如权利要求6所述的指尖定位方法,其特征在于,所述超声接收装置阵列包括第一超声发射器件和第二超声发射器件,所述第一超声发射器件设置在参考三维坐标系的Z轴正向,且其超声信号发射方向为X轴正向;所述第二超声发射器件设置在所述参考三维坐标系的X轴正向,且其超声信号发射方向为Z轴正向;所述第一超声接收器件和所述第二超声接收器件设置在所述参考三维坐标系的Y轴。 7. The method of claim 6 positioned fingertip claim, wherein said ultrasonic receiving means includes a first array of ultrasound-emitting device and the second ultrasonic emission devices, said first ultrasonic emission devices arranged in the reference three-dimensional coordinate system positive Z-axis, and the emission direction of the ultrasound signal is positive X axis; a second ultrasonic emission devices arranged in the reference three-dimensional coordinate system X-axis positive direction, and the ultrasonic emission direction of the Z-axis positive signal ; the first ultrasonic receiving device and the second ultrasonic receiving device is provided in the reference three-dimensional coordinate system Y-axis.
  8. 8. 如权利要求5所述的指尖定位方法,其特征在于,所述判断是否检测到所述第一超声信号在手指指尖发生反射而形成的指尖反射信号的方法是: 根据所述第一超声接收器件和第二超声接收器件接收到超声反射信号,结合所述第一超声发射器件发射的第一超声信号,运算得到所述第一超声接收器件和所述第二超声接收器件的反射曲线; 检测所述第一超声接收器件和所述第二超声接收器件的反射曲线是否包括两个反射峰,如果是,判断出所述指尖反射信号和所述拳面反射信号同时被检测到,否则,判断出只检测到所述拳面反射信号。 8. The method of locating a fingertip of claim 5, wherein said judging method whether or not a fingertip is detected reflected signal reflected ultrasonic signal is generated by said first tip of the finger is formed: in accordance with the the first device and the second ultrasonic receiver receiving ultrasonic device receives ultrasonic reflection signal, in combination with the first ultrasonic emission devices emitting a first ultrasonic signal receiving operation to obtain the first device and the second ultrasonic receiving ultrasound device reflection curve; reflection curve of the first detecting means and said second ultrasonic receiver receiving ultrasonic device is included two reflection peaks, if it is determined that the fingertip of the punches and the reflection surface of the reflection signal are simultaneously detected signal to, otherwise, it is determined that the face of the fist detects only reflected signals.
CN 201310314920 2013-07-25 2013-07-25 System and method for positioning fingertip CN103399318B (en)

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