CN104573653A - Recognition device and method for object motion state - Google Patents
Recognition device and method for object motion state Download PDFInfo
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- CN104573653A CN104573653A CN201510005701.9A CN201510005701A CN104573653A CN 104573653 A CN104573653 A CN 104573653A CN 201510005701 A CN201510005701 A CN 201510005701A CN 104573653 A CN104573653 A CN 104573653A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
Abstract
The invention discloses a recognition device and method for an object motion state. The device comprises a sensor module, an analog-digital conversion module and a singlechip microcomputer main control module. The sensor module comprises two or more distance measuring sensors, existence signals of a to-be-detected object within a preset range are detected by the sensors, and the signals are transmitted to the analog-digital conversion module. The analog-digital conversion module is connected with the sensor module and the singlechip microcomputer main control module, and the existence signals of the to-be-detected object are obtained through analog-digital conversion, and then transmitted to the singlechip microcomputer main control module. The singlechip microcomputer main control module obtains direction parameters of motion of the to-be-detected object by distinguishing the order of the detected existence signals of the to-be-detected object, obtains speed parameters of the motion of the to-be-detected object by estimating the remain time of the to-be-detected object, obtains frequency parameters of the motion of the to-be-detected object by estimating the interval time between two times of motion of the to-be-detected object, and transmits a recognition result of the to-be-detected object motion state to an external device. The recognition device is simple, the stability is high, the execution efficiency is high, low-power dissipation sleep-work switch can be achieved, and the cost is low.
Description
Technical field
The present invention relates to human-computer interaction technique field, particularly relate to a kind of recognition device and method of object moving state.
Background technology
Along with the development of modern science and technology, people are when processing the information relevant with computer, microprocessor, and the external input device of employing is diversified gradually: keyboard, mouse, handwriting pad, touch-screen etc.But, because the intuition of above-mentioned input equipment and people exists certain difference, they and non-natural, intuitively with smart machine interactive mode.In view of this, people look on the bright side of things and send new equipment or device, so as more intuitively, naturally more mutual with smart machine.Such as kinect (being the XBOX360 body sense periphery peripheral hardware that Microsoft formally announces), leap motion (body sense controller, a kind of novel interactive device) etc. control the operation of smart machine using human body attitude and gesture as input media.But the usual price of these equipment is high, is not suitable for domestic consumer and uses.
Existing Gesture Recognition mainly contain based on image procossing, based on acceleration transducer and based on touch-screen.Such as, Chinese patent application 201210397255.7 discloses one " the sensor synergism gesture identification method merged based on isomeric data and system ", and it is that the Heterogeneous Data Processing gathered by camera and sensor realizes identifying multiple hand exercise; Chinese patent 200910154018.6 discloses " a kind of method of the gesture identification based on acceleration transducer ", and it processes three-dimensional acceleration data sequence data based on the gesture identification of acceleration transducer; Chinese patent 201220228376.4 discloses one " LED light device that gesture controls ", utilize gesture acquisition module, described gesture acquisition module is connected with described control module, gesture motion in pickup area is identified, generate corresponding control signal to modulate the pwm signal that described control module exports, and then drive lighting device; Chinese patent 200410050967.7 discloses one " audio and video control device and method ", and this patent is by the control of gesture realization to media play.Chinese patent application 201210038356.5 discloses one " picture display system and method based on touch-screen ", and it is the gesture identification based on touch-screen, is judged the gesture operation of response, and then feed back in graphics system by the multiple spot movement locus of hand.But generally speaking, existing image Gesture Recognition Algorithm is comparatively complicated and rapid movement for hand is difficult to seizure; And must adhere to or be worn on hand based on the gesture identification of acceleration transducer, contactless operation cannot be realized; Picture display system based on touch-screen also has the defect on contact form.
Summary of the invention
For overcoming the deficiency that above-mentioned prior art exists, the object of the present invention is the recognition device and the method that provide a kind of object moving state, by adopting direction of motion, speed, the frequency test of two-way or multichannel distance measuring sensor inspected object, carry out the identification of object moving state, and control sound or light information according to the information identified, achieve contactless control, be particularly useful for gesture identification control field.
For reaching above-mentioned and other object, the present invention proposes a kind of object moving state recognition device, at least comprises:
Sensor assembly, at least comprises two-way distance measuring sensor, and what utilize the object under test in described distance measuring sensor detection preset range exists signal, and sends analog-to-digital conversion module to;
Analog-to-digital conversion module, be connected with described sensor assembly and single-chip microcomputer main control module respectively, described analog-to-digital conversion module adopt at least two-way analog to digital conversion passage obtain respectively two-way distance measuring sensor obtain object under test there is signal, after analog to digital conversion, be sent to single-chip microcomputer main control module;
Single-chip microcomputer main control module, the direction parameter of object under test motion is obtained by the order that there is signal differentiating the object under test that two-way distance measuring sensor detects, the time stopped by estimation object under test obtains the speed parameter that object under test moves, by estimating the frequency parameter obtaining object under test motion interval time between twice object under test motion, and the recognition result of object under test motion state is transferred to external unit.
Further, two-way distance measuring sensor spacing is chosen and need be met 2 requirements: the width that can not be greater than described object under test; Can not be overlapping.
Further, described object under test is staff, and the spacing of described two-way distance measuring sensor is between 4 to 7 centimetres.
Further, described recognition device enters duty after receiving the work order of described external unit, and enters park mode after the halt instruction receiving described external unit.
Further, described recognition device also comprises acousto-optic display device, described acousto-optic display device connects described single-chip microcomputer main control module to obtain recognition result, using as to implementing the information feed back of actor, described acousto-optic display device can be one or one group of loudspeaker, one or one group of LED, or other sounding or light-emitting device.
For achieving the above object, the present invention also provides a kind of recognition methods of object moving state, comprises the steps:
Step one, utilize at least two-way distance measuring sensor to detect and export the object under test in preset range there is signal;
Step 2, the direction parameter of described object under test motion is obtained by the order that there is signal differentiating the object under test that two-way distance measuring sensor detects, by estimating that time that described object under test stops obtains the speed parameter of described object under test motion, by estimating the frequency parameter obtaining the motion of described object under test interval time described in twice between object under test motion, identify and calculate the kinematic parameter of those objects under test, obtain the recognition result of object under test motion state.
Further, step one also comprises the steps:
Suppose that described two-way distance measuring sensor is left and right sensor, judged whether that sensor instrument distance is less than predetermined threshold value;
If right sensor instrument distance is less than described predetermined threshold value, then continue to judge whether left sensor instrument distance is less than maximum preset threshold value, if so, then after the left sensor instrument distance of judgement is greater than minimum predetermined threshold value, export right; If left sensor is less than described predetermined threshold value, then continue to judge whether right sensor instrument distance is less than maximum preset threshold value, if so, then after the right sensor instrument distance of judgement is greater than minimum predetermined threshold value, export left.
Further, after step 2, also comprise the step recognition result of described object under test motion state being delivered to acousto-optic display device.
Further, before step, also comprise the step that the work order receiving described external unit enters duty, after the recognition result of described object under test motion state is delivered to external unit, after also comprising the halt instruction receiving described external unit, enter the step of park mode.
Further, described distance measuring sensor ranging process is as follows, and the digital signal i of the object under test position detected by distance measuring sensor utilizes following formula conversion:
d＝(676200/(i*613-900))+4，
Wherein, d is distance value.
Compared with prior art, the recognition device of a kind of object moving state of the present invention and method are by adopting direction of motion, speed, the frequency test of two-way or multichannel distance measuring sensor inspected object, carry out the identification of object moving state, and control sound or light information according to the information identified, achieve touchless control, be particularly useful for gesture identification control field, apparatus of the present invention are simple, stability is high, execution efficiency is high, achieve Low-power-consumptiodormancy dormancy work switching simultaneously, cost is low.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of the recognition device of a kind of object moving state of the present invention;
Fig. 2 be in present pre-ferred embodiments two-way distance measuring sensor schematic diagram is set;
Fig. 3 A is that hand of the present invention moves right schematic diagram;
Fig. 3 B is that hand of the present invention is to left movement schematic diagram;
Fig. 4 is the flow chart of steps of the recognition methods of a kind of object moving state of the present invention;
Fig. 5 is that in present pre-ferred embodiments, two-way distance measuring sensor detects and export the process flow diagram that hand exists signal.
Embodiment
Below by way of specific instantiation and accompanying drawings embodiments of the present invention, those skilled in the art can understand other advantage of the present invention and effect easily by content disclosed in the present specification.The present invention is also implemented by other different instantiation or is applied, and the every details in this instructions also can based on different viewpoints and application, carries out various modification and change not deviating under spirit of the present invention.
Fig. 1 is the system architecture diagram of the recognition device of a kind of object moving state of the present invention.As shown in Figure 1, the recognition device of a kind of object moving state of the present invention, be mainly used in the non-contact detection of movement direction of object, the various parameters of object of which movement can be real-time monitored, comprise direction, speed and frequency, especially be applicable to the identification of gesture motion, it at least comprises: sensor assembly 11, analog-to-digital conversion module 12 and single-chip microcomputer main control module 13.
Described sensor assembly 11 at least comprises two-way distance measuring sensor, there is signal, and send described analog-to-digital conversion module 12 to for what detect object under test (such as hand) in preset range.As preferred embodiment, described sensor assembly 11 can adopt ultrasonic range finder sensor, infrared distance sensor, or other distance measuring sensors, in order to measure the actual range of object under test to sensor, the object of which movement parameters to be measured such as the time of stop to be measured.Suppose that object under test is hand, then once detect that hand exists in the preset range above distance measuring sensor, is namely judged to be that hand channel is crossed above distance measuring sensor, namely distance measuring sensor starts to sense hand and there is signal to the distance acquisition hand of sensor.Be all that hand is described below with object under test.
Wherein, there is signal and refer to that sensor detects the range information with hand in hand, this information table understands the surveyed area having hand channel to cross this sensor.The range set that described preset range can effectively detect according to sensor, be the relatively reasonable distance artificially preset by experiment between hand to distance measuring sensor, this scope determines the sensing range of this device.Be judged as when distance value is within the scope of this detect in one's hands, be judged as when distance value exceeds this scope do not detect in one's hands.Choose rational scope and have following criterion, but be not limited to this: preset range should within the scope of sensor instrument distance, need the concrete examine repair of reference sensor and set, and suitable sensing range is set, to be detected by sensor when there being object but distance exceeds this scope time, be judged to pass through without object; In preset range, only have that hand channel is out-of-date just can be regarded as effective detection.
Fig. 2 be in present pre-ferred embodiments two-way distance measuring sensor schematic diagram is set.With reference to figure 2, described sensor assembly 11 have employed two-way distance measuring sensor and combines and carry out detection signal, can adopt the mode such as infrared distance measurement or supersonic sounding.Two-way distance measuring sensor level arranges, and is connected to analog-to-digital conversion module 12 respectively by power lead, ground wire and signal wire.Particularly, two-way distance measuring sensor spacing is chosen and need be met 2 requirements: can not be greater than a palm wide, and slaps in normal population and be widely all greater than 8 centimetres; Can not be overlapping.Therefore, can set the spacing of two-way distance measuring sensor between 4 to 7 centimetres, present embodiment setting two-way distance measuring sensor spacing L is about 5cm.
Described analog-to-digital conversion module 12 is connected with described sensor assembly 11 and described single-chip microcomputer main control module 13 respectively, described analog-to-digital conversion module 12 adopts at least two-way analog to digital conversion passage to obtain hand respectively to there is signal, be sent to described single-chip microcomputer main control module 13 after analog to digital conversion.Particularly, described analog-to-digital conversion module 12 is by analog to digital conversion channel reception distance measuring sensor data, it is voltage analog signal (simulating signal shows as the change of voltage) that the hand obtained exists signal, complete the transfer process (conversion accuracy be the modulus conversion chip of 8bit by digital signal generation 0 to 255 scope in) of simulating signal to digital signal by modulus conversion chip, and digital signal is outputted to single-chip microcomputer main control module 13.Certainly, analog-digital conversion function also can be included in single-chip microcomputer main control module 13, is realized by single-chip microcomputer main control module 13, and the present invention is not as limit.
Described single-chip microcomputer main control module 13 detects by differentiating two-way distance measuring sensor the direction of motion parameter that the order that there is signal in one's hands determines gesture, the speed parameter of the time acquisition gesture motion stopped by estimation gesture, by estimating that the interval time between twice gesture motion obtains the frequency parameter of gesture motion, and gesture identification result is transferred to external unit 19.Described single-chip microcomputer main control module 13 can adopt the C51 single-chip microcomputer or microprocessor chip that comprise communication (such as serial communication, Bluetooth communication) function, sends data to external unit 19 by realizations such as serial ports, SPI, IIC, Bluetooth communications.
Particularly, single-chip microcomputer main control module 13 receives the digital signal after conversion by digital signal input ports, and processes digital signal.Particularly, gesture parameter measurement can realize with C language or assembly language, obtain actual range by range finding, and calculates and judge that the sequencing detecting existence in one's hands judge gesture motion, compile by after be burnt to single-chip microcomputer.Ranging process is: the digital signal i of the hand position detected by sensor (such as, i is that infrared distance measuring sensor exports the digital quantity of 0.4V-2.4V analog voltage signal after analog to digital conversion, i value and distance value are inversely proportional to, and for non-linear) carry out formula conversion, d=(676200/ (i*613-900))+4, d is distance value.Once there be hand channel mistake, when Sensor monitoring is less than predetermined threshold value (default distance range such as 8-30cm) to distance, single-chip microcomputer main control module 13 begins through resolution two-way sensor and detects the order of signal in one's hands to detect the direction of gesture motion (see Fig. 3 A-3B, two kinds of different directions gesture motions detect schematic diagram, wherein Fig. 3 A is that hand moves right schematic diagram, Fig. 3 B is that hand is to left movement schematic diagram), the time stopped by estimation hand obtains speed parameter, by estimating that the interval time between twice gesture motion obtains frequency parameter.Through identifying and calculating gesture parameter, obtain gesture identification result and be transferred to external unit 19, such as, hand is different by the time (i.e. frequency) of two sensors, can realize demonstrating different effects, such as make the lamp of different colours bright.
External unit 19 can select PC or other single-chip microcomputers, for receiving the gesture identification result that described single-chip microcomputer main control module 13 sends, and interrupts arousal function by sending the gesture identifying device interrupted described in control signal realization.Be specially, described object moving state recognition device is communicated with external unit 19 by serial ports, enters duty after receiving the work order of external unit 19, and enters park mode after the halt instruction receiving external unit 19.By work and holding state switch mode, under making holding state, object moving state recognition device will enter the park mode of idle condition, realize low-power consumption.
Preferably, the object moving state recognition device of the present invention also comprises acousto-optic display device 20, acousto-optic display device 20 connects single-chip microcomputer main control module 13 to receive the gesture identification result of single-chip microcomputer main control module 13, by described acousto-optic display device 20, implement actor and can confirm from clear and definite sense organ that oneself has completed the effect of this action, as the information feed back to enforcement actor, acousto-optic display device can be one or one group of loudspeaker, one or one group of LED, or other sounding or light-emitting device, such as hummer controlled device lamp.
The object moving state recognition device of the present invention is mainly used in the non-contact detection of gesture motion: such as device is connected computer and can realize alternative mouse roller and realize page turn over operation or alternative combinations key and realize switch window operation, itself and acousto-optic device are merged as a kind of switch mutually, can join in existing household electrical appliance, such as desk lamp, fan; Also as the input equipment of interactive device, the interaction with multimedia device can be realized; Also can be placed in the place that some danger maybe should not contact, realize contactless control.But it should be noted that at this, the present invention is not limited only the object of hand, pitch requirements (the wide width being equivalent to object herein of the palm in requirement) can also be met by the distance that widens between two-way distance measuring sensor, to realize direction of motion, speed, the frequency test of roomy object, as test car speed.Two-way distance measuring sensor can adjustment direction be also longitudinally, to detect gesture lengthwise movement, realizes the differentiation that moves up and down in the preset range not affecting left and right differentiation.
Fig. 4 is the flow chart of steps of the recognition methods of a kind of object moving state of the present invention.As shown in Figure 4, the recognition methods of a kind of object moving state of the present invention, comprises the steps:
S41: the work order receiving external unit enters duty.Described object moving state recognition device needs to carry out serial communication Initialize installation, and the transfer rate of usual serial ports can select 9600bps.External unit realizes described gesture identifying device interruption arousal function by sending interruption control signal, and described object moving state recognition device, by serial ports and external device communication, enters duty after receiving the work order of external unit.
S42: utilize the object under test (hand) that at least two-way distance measuring sensor detects in preset range to there is signal.The distance being less than preset range above distance measuring sensor is interior once there be object under test (hand) to pass through, namely be judged to be that object under test (hand) is through distance measuring sensor overhead, namely corresponding distance measuring sensor starts to obtain object under test (hand) and there is signal, comprises object under test (gesture) kinematic parameters such as measuring time that object under test (hand) stops to the actual range of sensor, object under test (hand).Described preset range is the relatively reasonable distance artificially preset by experiment between object under test (hand) to distance measuring sensor.
Signal is there is for hand, two-way distance measuring sensor is (for convenience of describing, be divided into left and right sensor carry out distinguish describe) detect and export hand there is the flow process of signal with reference to shown in figure 5, be specially: after selecting to enter duty (S51), judged whether that sensor instrument distance d is less than predetermined threshold value (predeterminable range scope 8-30cm) (S52); If right sensor instrument distance is less than threshold value, then continue to judge whether left sensor instrument distance is less than maximum preset threshold value (S53), if, further after the left sensor instrument distance of judgement is greater than minimum predetermined threshold value (S54), export right (exporting ascii code ' r ' in practice) (S55); If left sensor is less than threshold value, then continue to judge whether right sensor instrument distance is less than maximum preset threshold value (S56), if, further after the right sensor instrument distance of judgement is greater than minimum predetermined threshold value (S57), export left (exporting asciiASCII code ' l ' in practice) (S58); In each determining step, if be judged to be no, then return step S51.Right, left output form user also can use the other standards oneself defined, but standard should possess unique definition.The distance measuring signal of sensor, for judging object under test (gesture) direction of motion, has nothing to do with the Output rusults after judging herein.
, there is signal according to object under test (hand) and carry out object under test motion state (gesture) parameter measurement acquisition gesture identification result in step S43.Object under test motion state (gesture) parameter measurement: comprise and detect by differentiating two-way distance measuring sensor the direction parameter that order acquisition object under test (gesture) that object under test (hand) exists signal is moved, the speed parameter that object under test (gesture) moves is obtained, by obtaining the frequency parameter that object under test (gesture) moves the interval time estimating between twice object under test (gesture) motion by estimation object under test (hand) time of stopping.Concrete measuring and calculating mode see aforementioned, can repeat no more herein.
S44: send object under test motion state (gesture) recognition result to acousto-optic display device.Here, acousto-optic display device can be one or one group of loudspeaker, one or one group of LED, or other sounding or light-emitting device.
Preferably, the recognition methods of the object moving state of the present invention can further include S45: enter park mode after receiving the halt instruction of external unit.By work and holding state switch mode, under making holding state, described object moving state recognition device will enter the park mode of idle condition, realize low-power consumption.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any those skilled in the art all without prejudice under spirit of the present invention and category, can carry out modifying to above-described embodiment and change.Therefore, the scope of the present invention, should listed by claims.
Claims (10)
1. an object moving state recognition device, at least comprises:
Sensor assembly, at least comprises two-way distance measuring sensor, and what utilize the object under test in described distance measuring sensor detection preset range exists signal, and sends analog-to-digital conversion module to;
Analog-to-digital conversion module, be connected with described sensor assembly and single-chip microcomputer main control module respectively, described analog-to-digital conversion module adopt at least two-way analog to digital conversion passage obtain respectively two-way distance measuring sensor obtain object under test there is signal, after analog to digital conversion, be sent to single-chip microcomputer main control module;
Single-chip microcomputer main control module, the direction parameter of object under test motion is obtained by the order that there is signal differentiating the object under test that two-way distance measuring sensor detects, the time stopped by estimation object under test obtains the speed parameter that object under test moves, by estimating the frequency parameter obtaining object under test motion interval time between twice object under test motion, and the recognition result of object under test motion state is transferred to external unit.
2. a kind of object moving state recognition device as claimed in claim 1, is characterized in that, two-way distance measuring sensor spacing is chosen and need be met 2 requirements: the width that can not be greater than described object under test; Can not be overlapping.
3. a kind of object moving state recognition device as claimed in claim 2, it is characterized in that: described object under test is staff, the spacing of described two-way distance measuring sensor is between 4 to 7 centimetres.
4. a kind of object moving state recognition device as claimed in claim 3, is characterized in that: described recognition device enters duty after receiving the work order of described external unit, and enters park mode after the halt instruction receiving described external unit.
5. a kind of object moving state recognition device as claimed in claim 4, it is characterized in that: described recognition device also comprises acousto-optic display device, described acousto-optic display device connects described single-chip microcomputer main control module to obtain recognition result, using as to implementing the information feed back of actor, described acousto-optic display device can be one or one group of loudspeaker, one or one group of LED, or other sounding or light-emitting device.
6. a recognition methods for object moving state, comprises the steps:
Step one, utilize at least two-way distance measuring sensor to detect and export the object under test in preset range there is signal;
Step 2, the direction parameter of described object under test motion is obtained by the order that there is signal differentiating the object under test that two-way distance measuring sensor detects, by estimating that time that described object under test stops obtains the speed parameter of described object under test motion, by estimating the frequency parameter obtaining the motion of described object under test interval time described in twice between object under test motion, identify and calculate the kinematic parameter of those objects under test, obtain the recognition result of object under test motion state.
7. the recognition methods of a kind of object moving state as claimed in claim 6, it is characterized in that, step one also comprises the steps:
Suppose that described two-way distance measuring sensor is left and right sensor, judged whether that sensor instrument distance is less than predetermined threshold value;
If right sensor instrument distance is less than described predetermined threshold value, then continue to judge whether left sensor instrument distance is less than maximum preset threshold value, if so, then after the left sensor instrument distance of judgement is greater than minimum predetermined threshold value, export right; If left sensor is less than described predetermined threshold value, then continue to judge whether right sensor instrument distance is less than maximum preset threshold value, if so, then after the right sensor instrument distance of judgement is greater than minimum predetermined threshold value, export left.
8. the recognition methods of a kind of object moving state as claimed in claim 7, is characterized in that: after step 2, also comprise the step recognition result of described object under test motion state being delivered to external unit.
9. the recognition methods of a kind of object moving state as claimed in claim 8, it is characterized in that: before step one, also comprise the step that the work order receiving described external unit enters duty, after the recognition result of described object under test motion state is delivered to external unit, after also comprising the halt instruction receiving described external unit, enter the step of park mode.
10. the recognition methods of a kind of object moving state as claimed in claim 9, is characterized in that: described distance measuring sensor ranging process is as follows, and the digital signal i of the object under test position detected by distance measuring sensor utilizes following formula conversion:
d＝(676200/(i*613-900))+4，
Wherein, d is distance value.
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