CN105929939A - Remote gesture control terminal - Google Patents
Remote gesture control terminal Download PDFInfo
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- CN105929939A CN105929939A CN201610209786.7A CN201610209786A CN105929939A CN 105929939 A CN105929939 A CN 105929939A CN 201610209786 A CN201610209786 A CN 201610209786A CN 105929939 A CN105929939 A CN 105929939A
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- gesture
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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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 remote gesture control terminal. The remote gesture control terminal has the advantages and the beneficial effects that the terminal can achieve remote gesture control of an intelligent device and can accurately acquire gesture control information; and the system adopts a curvature change trace analysis method, and the recognition rate of gesture commands can be greatly improved.
Description
Art
The present invention relates to a kind of remote gesture control terminal.
Background technology
Along with increasing of intelligent electronic device, the development of human-computer interaction technology, Gesture Recognition is applied to
In increasing intelligent electronic device.In man-machine interaction, people just attempt to break away from centered by computer
Interactive mode turn to interactive mode focusing on people, deacclimatize the working method of computer to meter from user
The natural shift in demand of user deacclimatized by calculation machine.
Gesture is as one during exchange way is widely used in daily life the most intuitively.Gesture as people with
The important medium of people's exchange, contains lively and plentiful information.Therefore, gesture identification is as man-machine interaction
A branch, with it, there is naturality, the most rich, the feature such as direct, be increasingly becoming people and grind
The focus studied carefully.
In prior art, gesture identification comparative maturity is the knowledge utilizing image recognition technology to realize interactive command
Not.This method based on image recognition, it is generally required to be equipped with high performance camera head, is answered than more typical
With such as the Xbox Kinect product of Microsoft.This method obtains either statically or dynamically image by picture pick-up device, so
After utilize computer vision algorithms make analyze image, carry out pattern match, thus understand the implication of this gesture,
Realize gesture identification.But, this technology needs high performance camera head, and needs high performance place
Reason device carries out the image analysis algorithm of complexity, with high costs and be difficult to miniaturization, and identified action needs
Will be in the face of camera head, disadvantage mentioned above results in this technology and cannot extensively apply.
The principal element affecting dynamic hand gesture recognition rate in prior art has: hands has uniqueness, different people
The difference of same gesture is the biggest;Hands is the material in three dimensions, and in two dimensional image, gesture direction is difficult to
Determine.Gesture identification method mainly has geometrical measurers, neural network (ANN) and hidden Markov mould at present
Type (HMM) recognition methods etc..Wherein ANN and HMM is due to algorithm complexity, and real-time is the highest, and uncomfortable
In dynamic hand gesture recognition, and geometric properties identification rule faces the problem that discrimination is not high enough.
Summary of the invention
The present invention provides a kind of remote gesture control terminal, and this terminal can realize to smart machine farther out
The gesture of distance controls, and can obtain gesture control information the most accurately.
To achieve these goals, the present invention provides a kind of remote gesture control terminal to include:
Video acquiring module, for obtaining the first Infrared image from the first infrared camera, infrared takes the photograph from second
As head obtains the second Infrared image;
Degree of depth acquisition module, for by the figure included by described first Infrared image and described second Infrared image
Object identical in Xiang uses binocular imaging mode to calculate deep as this object of the object distance to photographic head
Degree;
Hands separation module, is used for according to the described degree of depth from described first Infrared image and described second Infrared image
Image in detection sell figure;
Gesture acquisition module, handles separation module for acquisition and confirms as the gesture data of gesture graph;
Wireless data transceiver module one, for sending the gesture data of remote gesture control terminal to described
Remote gesture controls server, and is used for receiving the relevant finger controlling server transmission from remote gesture
Make data;
Instruction acquisition module, for from wireless data transceiver module one obtain described gesture corresponding perform instruction;
Perform module, be used for performing described performing instruction.
Preferably, described degree of depth acquisition module, specifically for:
Same to described first Infrared image and described second Infrared image have in the image of identical time stamp
One object uses binocular imaging mode to calculate the object distance to photographic head as the degree of depth of this object;
If two video cameras are at the same characteristic point P (x of synchronization viewing space objectc,yc,zc), respectively first
Obtaining the image of a P on Infrared image and the second Infrared image, their image coordinate is respectively
pleft=(Xleft,Yleft), pright=(Xright,Yright);
The image of existing two video cameras is in approximately the same plane, then the image coordinate Y coordinate of characteristic point P is identical,
I.e. Yleft=Yright=Y, then obtained by triangle geometrical relationship:
Then parallax is: Disparity=Xleft-Xright, thus can calculate characteristic point P under camera coordinates system
Three-dimensional coordinate is:
Wherein B is baseline distance, equal to the distance of the projection centre line of two video cameras;F is camera focus;
Therefore, as long as any point of the first Infrared image can find the match point of correspondence at the second Infrared image,
Being assured that out that the three-dimensional coordinate of this point, this method are the most point-to-point computings, in image planes, institute is a little
Simply by the presence of corresponding match point, it is possible to participate in above-mentioned computing, thus obtain the three-dimensional coordinate of its correspondence.
Preferably, described hands separation module, specifically for:
By the degree of depth described in the image from described first Infrared image and described second Infrared image at predeterminable range
In the range of, and the object that motion intense degree is in the range of default severe degree is judged as gesture graph.
Preferably, described instruction acquisition module, specifically for:
Obtain the control instruction that described control instruction fit module identifies.
Preferably, described video acquiring module has four infrared sensors, is used for gathering described gesture operation
The infrared signal that direction reflects, and the infrared signal warp that will collect according to the clock signal synchronized
Digital-to-analogue conversion becomes four railway digital sampled signals to be sent to degree of depth acquisition module, handles separation module and is judged as gesture
After figure, gesture acquisition module obtains the gesture data with four railway digital sampled signals, then through wireless number
It is sent to remote gesture according to transceiver module one and controls server.
Preferably, described control instruction takes following manner to obtain:
Described four railway digital sampled signals are smoothed by described control server;
According to four railway digital sampled signals after smoothing processing, with the time as x-axis, with infrared sensor collection
To the intensity of infrared signal be y-axis, the infrared light letter respectively described four infrared sensors collected
The variation tendency of number intensity fits to four curves;
Four bent curvatures of a curve of described curve generation module output in calculating different time sections;
For according to described four curves curvature in different time sections obtain described four bent curvatures of a curve with
Four change rate curves of time change;
The gesture of user is judged according to described four change rate curves;
Store the different characteristic curve templates corresponding to gesture;
Extract the crest value in described four change rate curves, the time of crest value appearance and crest value to occur
Curvature Variation front and back;
The time occurred according to the described crest value in described four change rate curves, described crest value and institute
State the curvature Variation before and after crest value occurs and identify the gesture of user, and provide corresponding control instruction.
The present invention has the following advantages and beneficial effect: it is more remote that this terminal can realize smart machine
Gesture control, and can obtain the most accurately gesture control information, system use Curvature varying trace analysis
Algorithm, is greatly improved the discrimination of gesture instruction.
Accompanying drawing explanation
Fig. 1 shows the based on gesture of a kind of remote gesture control terminal comprising the present invention of the present invention
The block diagram of remote control system.
Fig. 2 shows the remote gestural control method of the gesture control terminal utilizing the present invention of the present invention
Flow chart.
Detailed description of the invention
Fig. 1 shows a kind of based on gesture the remote control system of the present invention.This system includes long distance
Server 2 is controlled from gesture control terminal 1 and remote gesture.
Wherein, a kind of remote gesture control terminal 1 of the present invention includes:
Video acquiring module 11, for obtaining the first Infrared image from the first infrared camera, infrared from second
Photographic head obtains the second Infrared image;
Degree of depth acquisition module 12, for by included by described first Infrared image and described second Infrared image
Object identical in image uses binocular imaging mode to calculate deep as this object of the object distance to photographic head
Degree;
Hands separation module 13, is used for according to the described degree of depth from described first Infrared image and described second infrared figure
The image of shape detects figure of selling;
Gesture acquisition module 14, handles separation module for acquisition and confirms as the gesture data of gesture graph;
Wireless data transceiver module 1, for sending the gesture data of remote gesture control terminal to institute
State remote gesture and control server, and be used for receiving from being correlated with that remote gesture control server sends
Director data;
Instruction acquisition module 16, for obtaining, from wireless data transceiver module 1, the execution that described gesture is corresponding
Instruction;
Perform module 17, be used for performing described performing instruction.
Remote gesture control server 2 include wireless data transceiver module 2 21, data cache module 22,
Curve generation module 23, study module 24 and control instruction matching module 25:
Wireless data transceiver module 2 21, for receiving what described terminal wireless data transmit-receive module 1 sent
Remote gesture data;
Data cache module 22, is used for receiving described hand signal data, and will according to the principle of first in first out
Described hand signal data send to described control instruction matching module 25 and curve generation module 23;
Curve generation module 23, for fitting to curve according to the variation tendency of described gesture data;
Study module 24, is used for learning in advance and storing the characteristic curve template corresponding to different gestures;
Control instruction matching module 25, knows for the curve fitted to described in basis and described characteristic curve template
Do not go out the gesture of user, and export corresponding control instruction according to the gesture of user, and by control instruction via
Wireless data transceiver module two is sent to described remote gesture control terminal 1.
Preferably, described degree of depth acquisition module 12, specifically for:
Same to described first Infrared image and described second Infrared image have in the image of identical time stamp
One object uses binocular imaging mode to calculate the object distance to photographic head as the degree of depth of this object;
If two video cameras are at the same characteristic point P (x of synchronization viewing space objectc,yc,zc), respectively first
Obtaining the image of a P on Infrared image and the second Infrared image, their image coordinate is respectively
pleft=(Xleft,Yleft), pright=(Xright,Yright);
The image of existing two video cameras is in approximately the same plane, then the image coordinate Y coordinate of characteristic point P is identical,
I.e. Yleft=Yright=Y, then obtained by triangle geometrical relationship:
Then parallax is: Disparity=Xleft-Xright, thus can calculate characteristic point P under camera coordinates system
Three-dimensional coordinate is:
Wherein B is baseline distance, equal to the distance of the projection centre line of two video cameras;F is camera focus;
Therefore, as long as any point of the first Infrared image can find the match point of correspondence at the second Infrared image,
Being assured that out that the three-dimensional coordinate of this point, this method are the most point-to-point computings, in image planes, institute is a little
Simply by the presence of corresponding match point, it is possible to participate in above-mentioned computing, thus obtain the three-dimensional coordinate of its correspondence.
Preferably, described hands separation module 13, specifically for:
By the degree of depth described in the image from described first Infrared image and described second Infrared image at predeterminable range
In the range of, and the object that motion intense degree is in the range of default severe degree is judged as gesture graph.
Preferably, described instruction acquisition module 16, specifically for:
Obtain the control instruction that described control instruction fit module identifies.
Preferably, described video acquiring module 11 has four infrared sensors, is used for gathering described gesture behaviour
The infrared signal reflected as direction, and the infrared signal that will collect according to the clock signal synchronized
Become four railway digital sampled signals to be sent to degree of depth acquisition module 12 through digital-to-analogue conversion, handle separation module 13 and judge
After gesture graph, gesture acquisition module 14 obtains the gesture data with four railway digital sampled signals, then
It is sent to remote gesture through wireless data transceiver module 1 and controls server.
Preferably, described curve generation module 23 includes pretreatment unit and the Curves compilation unit being sequentially connected with,
Described pretreatment unit is also connected with described data cache module 22, described Curves compilation unit also with described
Practise module and described control instruction matching module connect, wherein:
Described pretreatment unit, for being smoothed described four railway digital sampled signals;
Described Curves compilation unit, for according to four railway digital sampled signals after smoothing processing, with the time as x
Axle, the intensity of the infrared signal collected with infrared sensor is as y-axis, respectively by described four infrared biographies
The variation tendency of the infrared signal intensity that sensor collects fits to four curves.
Preferably, described study module 24 includes that the curvature estimation unit being sequentially connected with, change rate curve generate
Unit, gesture judging unit and memory element, described curvature estimation unit is with described Curves compilation unit even
Connecing, described memory element is connected, wherein with described control instruction matching module:
Described curvature estimation unit, described curve generation module exports in calculating different time sections four
Bent curvature of a curve;
Described change rate curve signal generating unit, for according to described four curves curvature in different time sections
Obtain time dependent four change rate curves of described four bent curvatures of a curve;
Described gesture judging unit, for judging the gesture of user according to described four change rate curves;
Described memory element, stores different gesture institutes for the judged result according to described gesture judging unit
Characteristic of correspondence template curve.
Preferably, described study module 24 also includes being connected to described change rate curve signal generating unit and described hands
Trigger element between gesture judging unit;
Described trigger element, for judging whether the curvature value in four change rate curves described in current time has
One reaches default curvature range, the most then triggers the gesture of described gesture judging unit identification user.
Preferably, described gesture judging unit includes feature extraction unit and the gesture identification unit being sequentially connected with,
Described feature extraction unit is also connected with described change rate curve signal generating unit, described gesture identification unit also with
Described control instruction matching module connects, wherein:
Described feature extraction unit, for extracting crest value in described four change rate curves, crest value goes out
Curvature Variation before and after existing time and crest value appearance;
Described gesture identification unit, for according to the described crest value in described four change rate curves, described
Curvature Variation before and after the time of crest value appearance and the appearance of described crest value identifies the hands of user
Gesture.
Preferably, described wireless data transceiver module 2 21 includes receptor, distributor, stream control device and frequency control
Device, the remote gesture control terminal data that receptor sends for receiving radio data transceiver module one, point
Send out the remote gesture control terminal data that received by receptor of device and be distributed to data cache module, and by long distance
Speed from gesture control terminal data receiver passes to adaptive controller module, and stream control device is by self-adaptive controlled
The adaptation value that device module processed produces is sent to frequency and controls device, to control remote gesture control terminal data receiver
Speed.
Fig. 2 shows a kind of remote gestural control method of the present invention.The method specifically includes following steps:
S1. video acquiring module obtains Infrared image, and degree of depth acquisition module obtains from different thermal cameras
The degree of depth of Infrared image;
S2. isolating infrared gesture graph from described Infrared image, gesture acquisition module obtains infrared gesture figure
The data of shape, are then sent to remote gesture and control server;
S3. curve generation module generates corresponding data curve according to described gesture data, before this, learns mould
Block learns in advance and stores different characteristic curve template corresponding to gesture;
S4. control instruction matching module identifies user according to described data and curves and described characteristic curve template
Gesture, and export corresponding control instruction according to the gesture of user;
S5. control instruction is sent to remote gesture control terminal, and performs this instruction.
Preferably, described step S1 specifically includes:
Binocular is used to become on the same object in the image with identical time stamp in different thermal cameras
Image space formula calculates the object distance to photographic head as the degree of depth of this object;
If two video cameras are at the same characteristic point P (x of synchronization viewing space objectc,yc,zc), respectively first
Obtaining the image of a P on Infrared image and the second Infrared image, their image coordinate is respectively
pleft=(Xleft,Yleft), pright=(Xright,Yright);
The image of existing two video cameras is in approximately the same plane, then the image coordinate Y coordinate of characteristic point P is identical,
I.e. Yleft=Yright=Y, then obtained by triangle geometrical relationship:
Then parallax is: Disparity=Xleft-Xright, thus can calculate characteristic point P under camera coordinates system
Three-dimensional coordinate is:
Wherein B is baseline distance, equal to the distance of the projection centre line of two video cameras;F is camera focus;
Therefore, as long as any point of the first Infrared image can find the match point of correspondence at the second Infrared image,
Being assured that out that the three-dimensional coordinate of this point, this method are the most point-to-point computings, in image planes, institute is a little
Simply by the presence of corresponding match point, it is possible to participate in above-mentioned computing, thus obtain the three-dimensional coordinate of its correspondence.
Preferably, in step s 2, by the degree of depth of described object in the range of predeterminable range, and motion intense
Degree object in the range of default severe degree is judged as gesture graph.
Preferably, in step sl, video acquiring module has four infrared sensors, is used for gathering described
The infrared signal that gesture operation direction reflects, and infrared by collect according to the clock signal synchronized
Optical signal becomes four railway digital sampled signals to be sent to degree of depth acquisition module through digital-to-analogue conversion.
Preferably, in step s 2, handling after separation module is judged as gesture graph, gesture acquisition module obtains
Take the gesture data with four railway digital sampled signals, be then sent to long distance through wireless data transceiver module one
Server is controlled from gesture.
Preferably, in step s3, the four railway digital sampled signals exported according to described data cache module will
It is concrete that the variation tendency of the infrared signal intensity that described four infrared sensors collect fits to four curves
Including:
The four railway digital sampled signals exporting described data buffer are smoothed;
According to four railway digital sampled signals after smoothing processing, with the time as x-axis, with infrared sensor collection
To the intensity of infrared signal be y-axis, the infrared light letter respectively described four infrared sensors collected
The variation tendency of number intensity fits to four curves.
Preferably, described learn in advance and store the characteristic curve template corresponding to different gestures to specifically include:
The variation tendency of the infrared signal intensity collected by described four infrared sensors fits to four songs
Line, and described four bent curvatures of a curve in calculating different time sections;
Described four bent curvatures of a curve are obtained in time according to described four curves curvature in different time sections
Four change rate curves of change;
Judge the gesture of user according to described four change rate curves, and store different handss according to judged result
Characteristic curve template corresponding to gesture.
Preferably, the described gesture judging user according to described four change rate curves, and according to judged result
Also include before storing the different characteristic curve templates corresponding to gesture;
Judge whether the curvature value in four change rate curves described in current time has one to reach default curvature
Scope, the most then enter the step of the gesture judging user according to described four change rate curves.
Preferably, described judge that the gesture of user specifically includes according to described four change rate curves:
Extract the crest value in described four change rate curves, the time of crest value appearance and crest value to occur
Curvature Variation front and back;
The time occurred according to the described crest value in described four change rate curves, described crest value and institute
State the curvature Variation before and after crest value occurs and identify the gesture of user.
As mentioned above, although the embodiment and the accompanying drawing that are limited according to embodiment are illustrated, but to this skill
Art field can carry out various amendment and deformation for having the technical staff of general knowledge from above-mentioned record.
Such as, carry out according to the order that the method illustrated from the technology of explanation is mutually different, and/or according to say
The form that the method illustrated by element such as bright system, structure, device, circuit is mutually different is combined
Or combination, or it is replaced according to other elements or equipollent or replaces and also can reach suitable effect.
For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise,
Make some equivalents to substitute or obvious modification, and performance or purposes are identical, all should be considered as belonging to the present invention
Protection domain.
Claims (6)
1. a remote gesture control terminal, including:
Video acquiring module, for obtaining the first Infrared image from the first infrared camera, infrared takes the photograph from second
As head obtains the second Infrared image;
Degree of depth acquisition module, for by the figure included by described first Infrared image and described second Infrared image
Object identical in Xiang uses binocular imaging mode to calculate deep as this object of the object distance to photographic head
Degree;
Hands separation module, is used for according to the described degree of depth from described first Infrared image and described second Infrared image
Image in detection sell figure;
Gesture acquisition module, handles separation module for acquisition and confirms as the gesture data of gesture graph;
Wireless data transceiver module one, for sending the gesture data of remote gesture control terminal to described
Remote gesture controls server, and is used for receiving the relevant finger controlling server transmission from remote gesture
Make data;
Instruction acquisition module, for from wireless data transceiver module one obtain described gesture corresponding perform instruction;
Perform module, be used for performing described performing instruction.
2. terminal as claimed in claim 1, it is characterised in that described degree of depth acquisition module, specifically for:
Same to described first Infrared image and described second Infrared image have in the image of identical time stamp
One object uses binocular imaging mode to calculate the object distance to photographic head as the degree of depth of this object;
If two video cameras are at the same characteristic point P (x of synchronization viewing space objectc,yc,zc), respectively first
Obtaining the image of a P on Infrared image and the second Infrared image, their image coordinate is respectively
pleft=(Xleft,Yleft), pright=(Xright,Yright);
The image of existing two video cameras is in approximately the same plane, then the image coordinate Y coordinate of characteristic point P is identical,
I.e. Yleft=Yright=Y, then obtained by triangle geometrical relationship:
Then parallax is: Disparity=Xleft-Xright, thus can calculate characteristic point P under camera coordinates system
Three-dimensional coordinate is:
Wherein B is baseline distance, equal to the distance of the projection centre line of two video cameras;F is camera focus;
Therefore, as long as any point of the first Infrared image can find the match point of correspondence at the second Infrared image,
Being assured that out that the three-dimensional coordinate of this point, this method are the most point-to-point computings, in image planes, institute is a little
Simply by the presence of corresponding match point, it is possible to participate in above-mentioned computing, thus obtain the three-dimensional coordinate of its correspondence.
3. terminal as claimed in claim 2, it is characterised in that described hands separation module, specifically for:
By the degree of depth described in the image from described first Infrared image and described second Infrared image at predeterminable range
In the range of, and the object that motion intense degree is in the range of default severe degree is judged as gesture graph.
4. terminal as claimed in claim 3, it is characterised in that described instruction acquisition module, specifically for:
Obtain the control instruction that described control instruction fit module identifies.
5. terminal as claimed in claim 4, it is characterised in that described video acquiring module have four infrared
Sensor, for gathering the infrared signal that described gesture operation direction reflects, and according to synchronize time
The infrared signal collected is become four railway digital sampled signals to be sent to degree of depth acquisition through digital-to-analogue conversion by clock signal
Module, handles after separation module is judged as gesture graph, and gesture acquisition module obtains has four railway digitals samplings
The gesture data of signal, is then sent to remote gesture through wireless data transceiver module one and controls server.
6. terminal as claimed in claim 1, it is characterised in that described control instruction takes following manner to obtain:
Described four railway digital sampled signals are smoothed by described control server;
According to four railway digital sampled signals after smoothing processing, with the time as x-axis, with infrared sensor collection
To the intensity of infrared signal be y-axis, the infrared light letter respectively described four infrared sensors collected
The variation tendency of number intensity fits to four curves;
Four bent curvatures of a curve of described curve generation module output in calculating different time sections;
For according to described four curves curvature in different time sections obtain described four bent curvatures of a curve with
Four change rate curves of time change;
The gesture of user is judged according to described four change rate curves;
Store the different characteristic curve templates corresponding to gesture;
Extract the crest value in described four change rate curves, the time of crest value appearance and crest value to occur
Curvature Variation front and back;
The time occurred according to the described crest value in described four change rate curves, described crest value and institute
State the curvature Variation before and after crest value occurs and identify the gesture of user, and provide corresponding control instruction.
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CN106873776B (en) * | 2017-01-16 | 2019-08-23 | 广东美的制冷设备有限公司 | Recognition methods, identification device and air conditioner |
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CN108647564A (en) * | 2018-03-28 | 2018-10-12 | 安徽工程大学 | A kind of gesture recognition system and method based on casement window device |
CN111374388A (en) * | 2020-03-19 | 2020-07-07 | 云南电网有限责任公司玉溪供电局 | AR safety helmet |
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