CN103402054A - Method for controlling head to sense underground camera - Google Patents

Method for controlling head to sense underground camera Download PDF

Info

Publication number
CN103402054A
CN103402054A CN2013103212430A CN201310321243A CN103402054A CN 103402054 A CN103402054 A CN 103402054A CN 2013103212430 A CN2013103212430 A CN 2013103212430A CN 201310321243 A CN201310321243 A CN 201310321243A CN 103402054 A CN103402054 A CN 103402054A
Authority
CN
China
Prior art keywords
head
node
downhole imaging
coordinate
imaging head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2013103212430A
Other languages
Chinese (zh)
Other versions
CN103402054B (en
Inventor
徐志鹏
张魁
倪蓉
史俊青
付红
陶祥玲
国芳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Institute of Architectural Technology
Original Assignee
Jiangsu Institute of Architectural Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Institute of Architectural Technology filed Critical Jiangsu Institute of Architectural Technology
Priority to CN201310321243.0A priority Critical patent/CN103402054B/en
Publication of CN103402054A publication Critical patent/CN103402054A/en
Application granted granted Critical
Publication of CN103402054B publication Critical patent/CN103402054B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention discloses a method for controlling a head to sense an underground camera and belongs to the technical field of somatosensory control. The method comprises the following steps of acquiring nodes of a human body and establishing a human node coordinate system; saving initial coordinate data of each node into an array; acquiring each current node coordinate and saving the each current node coordinate into the array; calculating the swing angle of the head according to each current node coordinate and deciding that the underground camera is rotated leftward or rightwards according to the swing angle. According to the method disclosed by the invention, the underground camera can be conveniently rotated to see more scenes.

Description

Head induction downhole imaging head controlling method
Technical field
The present invention relates to a kind of body sense control system and method, specifically a kind of head induction downhole imaging head controlling method, belong to body sense control technology field.
Background technology
At the coalmine dispatching center, can very easily see the operating state of down-hole by LCDs, operating attitude as coal-winning machine, whether belt conveyer work is normal etc., need mouse beacon to realize when we want to rotate when the downhole imaging head is seen more scenes, brought great inconvenience to people virtually.
Summary of the invention
, for the problem of above-mentioned existence, the invention provides a kind of head induction downhole imaging head controlling method.
The present invention is achieved through the following technical solutions: at first obtain the skeleton three-dimensional information, the skeleton three-dimensional information that obtains is carried out the analytic operation coding, be packaged into a series of head poses, make the calculating function identify the various postures that the people makes, thereby realize that the downhole imaging head moves according to head pose; Concrete steps are as follows:
Step 1, collection people body node, set up the human body nodal coordinate system;
Step 2, deposit each node initial coordinate data in array;
Step 3, each current node coordinate of collection, and deposit it in array;
Step 4, according to the coordinate Calculation head pendulum angle of current each node, the downhole imaging head determines according to this to anticlockwise or to right rotation.
2. head according to claim 1 is responded to the downhole imaging head controlling method, and it is characterized in that: the head of downhole imaging described in step 4 to anticlockwise or dextrorotary control method is:
1) obtain the initial coordinate (x of facial nose node 0, y 0, z 0);
2) obtain the current coordinate (x of facial nose node 1, y 1, z 1);
3) obtain the initial coordinate (x of backbone node 2, y 2, z 2);
4) calculate end rotation angle θ and whether be in 15 °～20 ° and-20 °～-15 °;
If θ be in 15 °～20 ° the downhole imaging head, to anticlockwise, return; If θ be in-20 °～-15 ° the downhole imaging head, to right rotation, return; Otherwise the downhole imaging head does not move;
As cos θ〉0 the time, θ=arccos θ; When cos θ＜0, θ=π – arccos θ.
The advantage of this method is can not use mouse to rotate easily the downhole imaging head and see more scenes.
Description of drawings
Fig. 1 is the flow chart of head induction recognition methods of the present invention.
Fig. 2 is the flow chart of downhole imaging head rotating signal of the present invention and direction identification.
Embodiment
Below in conjunction with accompanying drawing, optimum implementation of the present invention is described in further detail
As shown in Figure 1, head induction downhole imaging head controlling method, step is:
Step 1,5 nodes of collection human body head, following 5 nodes of neck, set up the human joint points coordinate system, defines the initial coordinate of each node;
Step 2, deposit each node original coordinates data in array;
Step 3, each current node coordinate data of collection, and deposit the coordinate of each node in array;
Step 4, calculating head swaying direction and angle, the downhole imaging head determines to anticlockwise or to right rotation with this.
As shown in Figure 2, the downhole imaging head to anticlockwise or dextrorotary step is:
1) obtain the initial coordinate (x of facial nose node 0, y 0, z 0);
2) obtain the current coordinate (x of facial nose node 1, y 1, z 1);
3) obtain the initial coordinate (x of backbone node 2, y 2, z 2);
4) calculate end rotation angle θ and whether be in 15 °～20 ° and-20 °～-15 °;
If θ be in 15 °～20 ° the downhole imaging head, to anticlockwise, return; If θ be in-20 °～-15 ° the downhole imaging head, to right rotation, return; Otherwise the downhole imaging head does not move;
Figure BDA00003577993000022
As cos θ〉0 the time, θ=arccos θ; When cos θ＜0, θ=π – arccos θ.
This embodiment is the preferred embodiments of the present invention, can not limit the present invention, and concrete every rights protection scope is defined by the claims.

Claims (3)

1. a head is responded to the downhole imaging head controlling method, it is characterized in that, at first obtain the skeleton three-dimensional information, the skeleton three-dimensional information that obtains is carried out the analytic operation coding, be packaged into a series of head poses, make the calculating function identify the various postures that the people makes, thereby realize that the downhole imaging head moves according to head pose; Concrete steps are as follows:
Step 1, collection people body node, set up the human body nodal coordinate system;
Step 2, deposit each node initial coordinate data in array;
Step 3, each current node coordinate of collection, and deposit it in array;
Step 4, according to the coordinate Calculation head pendulum angle of current each node, the downhole imaging head determines according to this to anticlockwise or to right rotation.
2. head according to claim 1 is responded to the downhole imaging head controlling method, and it is characterized in that: the head of downhole imaging described in step 4 to anticlockwise or dextrorotary control method is:
1) obtain the initial coordinate (x of facial nose node 0, y 0, z 0);
2) obtain the current coordinate (x of facial nose node 1, y 1, z 1);
3) obtain the initial coordinate (x of backbone node 2, y 2, z 2);
4) calculate end rotation angle θ and whether be in 15 °～20 ° and-20 °～-15 °;
If θ be in 15 °～20 ° the downhole imaging head, to anticlockwise, return; If θ be in-20 °～-15 ° the downhole imaging head, to right rotation, return; Otherwise the downhole imaging head does not move;
Figure FDA00003577992900011
As cos θ〉0 the time, θ=arccos θ; When cos θ＜0, θ=π – arccos θ.
3. head according to claim 1 is responded to the downhole imaging head controlling method, it is characterized in that: the described middle collection people body node of step 1, setting up the human body nodal coordinate system is to gather 5 nodes of human body head, following 5 nodes of neck, set up the human joint points coordinate system, define the initial coordinate of each node.
CN201310321243.0A 2013-07-26 2013-07-26 Head senses downhole imaging head controlling method Active CN103402054B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310321243.0A CN103402054B (en) 2013-07-26 2013-07-26 Head senses downhole imaging head controlling method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310321243.0A CN103402054B (en) 2013-07-26 2013-07-26 Head senses downhole imaging head controlling method

Publications (2)

Publication Number Publication Date
CN103402054A true CN103402054A (en) 2013-11-20
CN103402054B CN103402054B (en) 2016-10-05

Family

ID=49565571

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310321243.0A Active CN103402054B (en) 2013-07-26 2013-07-26 Head senses downhole imaging head controlling method

Country Status (1)

Country Link
CN (1) CN103402054B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106595570A (en) * 2016-12-16 2017-04-26 杭州奥腾电子股份有限公司 Vehicle single camera and six-axis sensor combination range finding system and range finding method thereof
CN112407198A (en) * 2020-11-02 2021-02-26 湖州师范学院 Artificial intelligence dive guarantee actuating mechanism

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101673464A (en) * 2009-09-27 2010-03-17 上海大学 Intelligent management system of fatigue driving
CN102156537A (en) * 2010-02-11 2011-08-17 三星电子株式会社 Equipment and method for detecting head posture
WO2013027091A1 (en) * 2011-07-28 2013-02-28 Arb Labs Inc. Systems and methods of detecting body movements using globally generated multi-dimensional gesture data

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101673464A (en) * 2009-09-27 2010-03-17 上海大学 Intelligent management system of fatigue driving
CN102156537A (en) * 2010-02-11 2011-08-17 三星电子株式会社 Equipment and method for detecting head posture
WO2013027091A1 (en) * 2011-07-28 2013-02-28 Arb Labs Inc. Systems and methods of detecting body movements using globally generated multi-dimensional gesture data

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
G. BARON, ET AL.: "Remote Control of the Artificial Arm Model Using 3D Hand Tracking", 《PROC. 2013 INTERNATIONAL SYMPOSIUM ON ELECTRODYNAMIC AND MECHATRONIC SYSTEM》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106595570A (en) * 2016-12-16 2017-04-26 杭州奥腾电子股份有限公司 Vehicle single camera and six-axis sensor combination range finding system and range finding method thereof
CN112407198A (en) * 2020-11-02 2021-02-26 湖州师范学院 Artificial intelligence dive guarantee actuating mechanism

Also Published As

Publication number Publication date
CN103402054B (en) 2016-10-05

Similar Documents

Publication Publication Date Title
WO2019085568A1 (en) Video monitoring method for mobile robot
CN103135756B (en) Generate the method and system of control instruction
CN102567703A (en) Hand motion identification information processing method based on classification characteristic
CN103398702A (en) Mobile-robot remote control apparatus and control technology
CN107214700A (en) A kind of robot autonomous patrol method
CN104408445A (en) Automatic real-time human body detecting method
CN106445138A (en) Human body posture feature extracting method based on 3D joint point coordinates
CN103455792A (en) Guest flow statistics method and system
CN103345357A (en) Method for realizing automatic street view display based on mobile equipment sensor
CN103729647A (en) Method of extracting human skeleton based on range image
CN103402054A (en) Method for controlling head to sense underground camera
CN103197761B (en) Gesture identification method and device
CN103927024B (en) A kind of command sets extension method based on nib Yu a body track in pen based user interface
Zhong et al. Stairway detection using Gabor filter and FFPG
CN102724440A (en) Method for realizing object rotation operation in three dimensional scene
CN109145905A (en) A kind of transmission line of electricity accessory detection method of view-based access control model conspicuousness
CN108307158A (en) People's air defense method for automatically regulating, apparatus and system
CN106249902A (en) Multimedium virtual display platform
Du et al. Smart phone based phubbing walking detection and safety warning
CN208043063U (en) A kind of underground utilities detection device based on AR technologies
Trigueiros et al. Vision-based hand segmentation techniques for human-robot interaction for real-time applications
CN207409006U (en) A kind of night watching equipment based on augmented reality
CN110275610B (en) Cooperative gesture control coal mining simulation control method based on LeapMotion somatosensory controller
CN103729628B (en) Single step gesture recognition method
CN103593529B (en) A kind of bridge complex object automatic Symbolic method based on mathematical morphology

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C41 Transfer of patent application or patent right or utility model
CB03 Change of inventor or designer information

Inventor after: Xu Zhipeng

Inventor after: Liang Bin

Inventor after: Tong Junling

Inventor after: Zhang Kui

Inventor after: Ni Rong

Inventor after: Shi Junqing

Inventor after: Fu Hong

Inventor after: Tao Xiangling

Inventor after: Guo Fang

Inventor before: Xu Zhipeng

Inventor before: Zhang Kui

Inventor before: Ni Rong

Inventor before: Shi Junqing

Inventor before: Fu Hong

Inventor before: Tao Xiangling

Inventor before: Guo Fang

COR Change of bibliographic data
TA01 Transfer of patent application right

Effective date of registration: 20160902

Address after: 221116 Jiangsu city of Xuzhou Province Academy of Quanshan District Road No. 26

Applicant after: Jiangsu Institute of Architectural Technology

Applicant after: Xu Hai institute of China Mining University

Address before: 221116 Jiangsu city of Xuzhou Province Academy of Quanshan District Road No. 26

Applicant before: Jiangsu Institute of Architectural Technology

C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20171110

Address after: 221116 Jiangsu city of Xuzhou Province Academy of Quanshan District Road No. 26

Patentee after: Jiangsu Institute of Architectural Technology

Address before: 221116 Jiangsu city of Xuzhou Province Academy of Quanshan District Road No. 26

Co-patentee before: Xu Hai institute of China Mining University

Patentee before: Jiangsu Institute of Architectural Technology

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20181207

Address after: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province

Patentee after: Bengbu Dingrong Science and Technology Information Consulting Co., Ltd.

Address before: No. 26, Xue Yuan Road, Quanshan District, Xuzhou, Jiangsu

Patentee before: Jiangsu Institute of Architectural Technology

TR01 Transfer of patent right
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20190114

Address after: No. 26, Xue Yuan Road, Quanshan District, Xuzhou, Jiangsu

Patentee after: Jiangsu Institute of Architectural Technology

Address before: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province

Patentee before: Bengbu Dingrong Science and Technology Information Consulting Co., Ltd.