CN106055089A - Control system for gesture recognition based on man-machine interaction equipment and control method for same - Google Patents

Abstract

The embodiment of the invention provides a control system for gesture recognition based on man-machine interaction equipment and a control method for the same. The system comprises an ultra-bandwidth module, a main control module, an antenna module and a communication level conversion module, wherein the main control module controls the ultra-bandwidth module to send a pulse radar signal to a human hand and generate an echo signal; the antenna module receives the echo signal and then sends the echo signal to the main control module for processing, so that gesture characteristics can be judged according to the echo signal; and then, the communication level conversion module converts the signal into a control signal of the man-machine interaction equipment according to the gesture characteristics, so that man-machine interaction is implemented. The control system is characterized in that the ultra-bandwidth module is used to send the pulse radar signal which can penetrate an obstacle and can avoid interference to the system, so that the gesture recognition becomes more accurate; and problems in the prior art that human body gestures cannot be detected and recognized accurately and thus the human interaction cannot be implemented can be solved.

Description

The control system of gesture identification based on human-computer interaction device and control method thereof

Technical field

The present invention relates to automatically control Smart Home field, particularly relate to a kind of gesture identification based on human-computer interaction device Control system and control method.

Background technology

Along with the development of man-machine interaction demand, the research identified about human posture gets more and more, and human posture controls Including gesture control, excellent man-machine interaction experience can be brought to user.Use the gesture identification that computer vision technique is carried out Technology is the main direction of studying of Gesture Recognition, but the requirement that vision technique is to environmental condition: include light is wanted Sue for peace harsher to the requirement of shelter, often make to have an impact the result of gesture identification even in man-machine interaction Inefficiency, generation deviation in journey.

But, prior art exists and exactly by human body gesture is detected and cannot identify, thus reach The problem of the effect of man-machine interaction.

Summary of the invention

Present invention aim at providing control system and the controlling party thereof of a kind of gesture identification based on human-computer interaction device Method, it is intended to exist in solution technology and exactly by human body gesture is detected and cannot identify, thus reach man-machine friendship The problem of mutual effect.

The invention provides the control system of a kind of gesture identification based on human-computer interaction device, described control system bag Include:

Send the ultra-wide band module of the pulsed radar signal penetrating barrier；

It is connected with described ultra-wide band module, controls described ultra-wide band module and send pulsed radar signal arrival human hands And produce the main control module of echo-signal；

It is connected with described main control module, receives described echo-signal and described echo-signal is sent to described master control Module processes so that judge the Anneta module of gesture feature according to described echo-signal；

It is connected with described main control module, according to described gesture feature, is converted into the control signal to human-computer interaction device Communication level modular converter.

Present invention also offers the control method of a kind of gesture identification based on human-computer interaction device, described control method bag Include:

Ultra-wide band module sends the pulsed radar signal penetrating barrier；

Ultra-wide band module described in master control module controls sends pulsed radar signal and arrives human hands and produce echo-signal；

Anneta module receives described echo-signal and described echo-signal is sent to described main control module processes, Make to judge gesture feature according to described echo-signal；

Communication level modular converter, according to described gesture feature, is converted into the control signal to human-computer interaction device.

In sum, the embodiment of the present invention provide a kind of based on human-computer interaction device gesture identification control system and Its control method, including ultra-wide band module, main control module, Anneta module and communication level modular converter, described main control module control Making described ultra-wide band module send pulsed radar signal arrival human hands and produce echo-signal, Anneta module receives described After echo-signal, described echo-signal is sent to described main control module and processes so that judge according to described echo-signal Going out gesture feature, then communication level modular converter is according to described gesture feature, is converted into the letter of the control to human-computer interaction device Number, thus reach the effect of man-machine interaction.Wherein, due to super-broadband tech, there is higher message transmission rate, multi-path resolved Ability is strong, penetration capacity is strong, low-power consumption, the contactless and feature of good concealment, described control system pass through ultra-wide band module Transmission pulsed radar signal can penetrate barrier and avoid it to be disturbed, such that the most accurate to gesture identification, simultaneously Solve and prior art exists and exactly by human body gesture is detected and cannot identify, thus reach man-machine interaction The problem of effect.

Accompanying drawing explanation

The mould of the control system of a kind of based on human-computer interaction device gesture identification that Fig. 1 provides for one embodiment of the invention Block structure schematic diagram.

The control system of a kind of based on human-computer interaction device gesture identification that Fig. 2 provides for one embodiment of the invention Electrical block diagram.

The reality of the control system of a kind of based on human-computer interaction device gesture identification that Fig. 3 provides for one embodiment of the invention Thing operation chart.

The knot of the control system of a kind of based on human-computer interaction device gesture identification that Fig. 4 provides for one embodiment of the invention Structure schematic diagram.

The mould of the control system of a kind of based on human-computer interaction device gesture identification that Fig. 5 provides for one embodiment of the invention Block effect schematic diagram.

The hands of the control system of a kind of based on human-computer interaction device gesture identification that Fig. 6 provides for one embodiment of the invention Gesture coupling schematic diagram.

The hands of the control system of a kind of based on human-computer interaction device gesture identification that Fig. 7 provides for one embodiment of the invention Gesture identification curve chart.

The work of the control system of a kind of based on human-computer interaction device gesture identification that Fig. 8 provides for one embodiment of the invention Make principle flow chart.

The control method of a kind of based on human-computer interaction device gesture identification that Fig. 9 provides for another embodiment of the present invention Flow chart of steps.

Detailed description of the invention

In order to make the technical problem to be solved in the present invention, technical scheme and beneficial effect clearer, below in conjunction with Drawings and Examples, are further elaborated to the present invention.Should be appreciated that specific embodiment described herein is only used To explain the present invention, it is not intended to limit the present invention.

The control system of a kind of based on human-computer interaction device gesture identification that the embodiment of the present invention provides, is mainly used in leading to Cross gesture and control human-computer interaction device.

Fig. 1 shows the control system of a kind of based on human-computer interaction device gesture identification that one embodiment of the invention proposes Modular structure, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

A kind of control system 10 of gesture identification based on human-computer interaction device, described control system 10 includes:

Send the ultra-wide band module 102 of the pulsed radar signal penetrating barrier；

It is connected with described ultra-wide band module 102, controls described ultra-wide band module 102 and send pulsed radar signal arrival Human hands also produces the main control module 101 of echo-signal；

It is connected with described main control module 101, receives described echo-signal and described echo-signal is sent to described master Control module processes so that judge the Anneta module 103 of gesture feature according to described echo-signal；

It is connected with described main control module 101, according to described gesture feature, is converted into the letter of the control to human-computer interaction device Number communication level modular converter 105.

As one embodiment of the invention, described gesture feature include fist shape forward, fist shape backward with fist slip to the right Posture.

As one embodiment of the invention, in communication level modular converter 105, when described gesture feature be fist shape forward, The volume being then converted into human-computer interaction device tunes up；When described gesture feature be fist shape backward, then be converted into human-computer interaction device Volume turn down；When described gesture feature is fist slip posture to the right, then it is converted into the deletion action of human-computer interaction device.

As one embodiment of the invention, described control system also includes:

It is connected with described main control module 101 and Anneta module 103, the echo letter that described Anneta module 103 is received simultaneously Number it is filtered, and is sent to the high-pass filtering module 104 of described main control module 101.

As one embodiment of the invention, described control system also includes:

It is connected with described main control module 101, the memory module 106 that described echo-signal is preserved.

As one embodiment of the invention, described control system also includes:

It is connected with described main control module 101, the power module 107 that described control system 10 is powered.

Fig. 2 shows the control system of a kind of based on human-computer interaction device gesture identification that one embodiment of the invention proposes Circuit structure, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

As one embodiment of the invention, described main control module 101 includes a main control chip U1, described main control chip U1 bag Include:

Main control end CTRL, receiving terminal RXD, power end Bat-VCC, storage end MEM and transmission ends FTP；

Described main control end CTRL connects described ultra-wide band module 102, and described receiving terminal RXD connects described high-pass filtering module 104, Described power end Bat-VCC connects described power module 107, and described storage end MEM connects described memory module 106, described transmission ends FTP connects described communication level modular converter 105.In the present embodiment, main control chip U1 have employed model is ATSAM4E16E's Microprocessor chip, certainly, the model of microprocessor chip does not limits, as long as can reach and the present embodiment main control chip U1 institute The function stated also may be used.

As one embodiment of the invention, described ultra-wide band module 102 includes a ultra-wide band transceiving chip U2, described ultra-wide band Transceiving chip U2 includes:

Control end ctrl；

Described control end ctrl connects main control end CTRL of described main control chip U1.In the present embodiment, ultra-wide band transmitting-receiving core Sheet U2 have employed the ultra-wide band transceiving chip that model is CC2400, and certainly, the model of ultra-wide band transceiving chip does not limits, as long as Can reach also may be used with the function described in the present embodiment ultra-wide band transceiving chip U2.

As one embodiment of the invention, described high-pass filtering module 104 includes a filtering chip U4, described filtering chip U4 Including:

Transmitting terminal Send and filtering end Filt；

Described transmitting terminal Send meets the receiving terminal RXD of described main control chip U1, described filtering end Filt and connects described antenna mould Block.In the present embodiment, filtering chip U4 have employed the filtering chip that model is HF3800, and certainly, the model of filtering chip is not Limit, as long as can reach also may be used with the function described in the present embodiment filtering chip U4.

As one embodiment of the invention, described Anneta module 103 includes antenna chip U3, described antenna chip U3 bag Include:

Transmitting terminal TXD；

Described transmitting terminal TXD meets the filtering end Filt of described filtering chip U4.In the present embodiment, antenna chip U3 uses Model is the antenna chip of PT2272, and certainly, the model of antenna chip does not limits, as long as can reach and the present embodiment antenna Function described in chip U3 also may be used.

As one embodiment of the invention, described communication level modular converter 105 includes a communication chip U5, described communication core Sheet U5 includes:

Transmission end RTP and communication terminal PLC；

Described transmission end RTP connects transmission ends FTP of described main control chip U1, and described communication terminal PLC connects described man-machine interaction Equipment.In the present embodiment, communication chip U5 have employed the communication chip that model is TMS320C6203, certainly, communication chip Model does not limits, as long as can reach also may be used with the function described in the present embodiment communication chip U5.

As one embodiment of the invention, described memory module 106 includes a storage chip U6, described storage chip U6 bag Include:

Store end mem；

Described storage end mem meets the storage end MEM of described main control chip U1.In the present embodiment, storage chip U6 uses Model is the storage chip of PC5300, and certainly, the model of storage chip does not limits, as long as can reach and the present embodiment storage Function described in chip U6 also may be used.

As one embodiment of the invention, described power module 107 includes:

Alternating current power supply VCC；

Described alternating current power supply VCC meets the power end Bat-vcc of described main control chip U1.

Fig. 3 shows the control system of a kind of based on human-computer interaction device gesture identification that one embodiment of the invention proposes Object operation schematic diagram, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

One embodiment of the invention provides the control system of a kind of gesture identification based on human-computer interaction device, described control system Radar transmit-receive unit 12 is had, including surpassing on system 10 (aspects such as robot, smart mobile phone, computer, intelligent appliance can be expanded to) Bandwidth module and Anneta module, can detect the appearance of body part by launching and receiving ultra-wide band (UWB) pulsed radar signal Gesture and motion, including gesture and gesture motion 14.The ultra-wide band module of described control system can launch a series of pulse thunder Reaching, pulse radar can penetrate some barriers 16, such as in glove, clothes, pocket, bag bag etc. life that may be present one A little interference.Simultaneously also without conditions such as light, it is possible to normally working in dark environment, pulse radar is at hand 14 Received by radar transmit-receive module 12 after reflecting, with some the most fixed gestures relative to detection equipment (such as relative to institute State control system fist and the palm up and down before and after etc. gesture) make comparisons, determine whether user is made that the gesture of setting.Ratio As, it is detected relative to the fist type gesture motion forward or backward of described control system 10, and then is converted into man-machine interaction The volume of equipment tunes up the operations such as the punch in (or turning down), game or emission bullet；The palm relative to described control system 10 Slip posture to the right is detected, and then is converted into the operation of slip or deletion etc. to the right of human-computer interaction device.

Fig. 4 shows the control system of a kind of based on human-computer interaction device gesture identification that one embodiment of the invention proposes Structure, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

In described control system 10 side has the ultra-wide band module of a diversification angular regions can be detected Gesture.The R-T unit of described radar transmit-receive unit 12 is arranged on two edges of described gestures detection equipment to ensure inspection Survey the effective angle scope of gesture more than 180 °.With a camera module 22 for contrast, photographic head is arranged on control system 10 On be only able to detect the information in a smaller range, use a pair photographic head to be the most relatively difficult to ensure that card detects and pulse thunder the most at last Reach suitable scope.And it is non-to reduce equally to delimit the scope of " R " as depicted for pulse radar detection scheme It is intended to the interference of gesture.

Fig. 5 shows the control system of a kind of based on human-computer interaction device gesture identification that one embodiment of the invention proposes Module effect schematic diagram, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

Microcontroller 24 is write order and ultra-wide band transmitting-receiving control chip 26 is configured and controlled.Microprocessor module is excellent Selecting the chip of the ARM-Smart structure of altera corp, model is ATSAM4E16E, and it is high that this module has arithmetic speed, in real time The advantage that property controlling is strong.The communication mode of configuration control command uses SPI communication.Chip has 128KB on-chip SRAM, 16KB ROM, 1024KB internal Flash, 1 road USB 2.0 FS Device, (1 road and the choosing of SPI sheet are multiple for 4 16, tunnel PWM, 2 road UART With), 2 road USART, 2 road TWI (1 road and JTAG multiplexing), 1 road SD/SDIO/MMC, 1 road SPI, 1 road NAND controller, 1 tunnel EMAC controller, supports 16 AFEC, 1 tunnel 2 Channel 12-Bit DAC, the highest can run under the frequency of 120M, can realize quickly Process data, and support multiple kinds.The written in code of microcontroller chip U1 uses polyglot, including C++, C, The programming languages such as compilation.Ultra-wide band is received and dispatched the X2 pulse radar transceiver of the preferred XETHUR company of control chip 26 and is controlled core Sheet, configuration and control command according to microcontroller chip 24 are operated, and produce the continuous or ultra-wide band pulse of segmentation and drive Launch antenna 28 and launch pulsed radar signal.Launch the preferred material of antenna be copper, it is also possible to be other material such as aluminum and Plastics etc..Described reception antenna 30 receives pulsed radar signal, and pulsed radar signal is probably through body part as hands The reflection in portion and have passed through some barriers such as glove, bag bag etc..The material of described reception antenna 30 and described transmitting sky Line is preferably by identical material.

The pulsed radar signal that described reception antenna 30 receives passes to described ultra-wide band transmitting-receiving control chip 26, institute The ultra-wide band transmitting-receiving control chip 26 stated is sent to microcontroller chip 24 after sampling the pulsed radar signal received and enters Row time-frequency conversion, feature extraction etc. processes, and obtains a plurality of Time-Frequency Information.Short time Fourier transformation (STFT) is moving window Fourier transformation, analyzes the frequency component of signal by traveling time window, obtains one and contains signal at different time The two-dimentional time frequency distribution map of frequency information.(1), then the STFT of signal s (t) is defined as follows given window function w:

STFT (t, ω)=∫ s (t ') ω^*(t′-t)exp{-jωt′}dt′

STFT is and primary signal segmentation is carried out Fourier transformation, and the existence just because of window function w (t) makes STFT have Had Local Characteristic, be the function of time be also the function of frequency.Or say STFT be function s (t') at one group by ω (t '-t) Exp{-j ω t ' } projection on the basic function that formed.Being no longer endless due to time domain, it can be used for monitoring signal spectrum How function as the time changes.The two-dimentional joint time-frequency table of original time signal is obtained with time t for function moving window It is shown as STFT (t, ω).Shu STFT (t, ω) Shu is referred to as the spectrogram of signal, obtains how frequency spectrum becomes with the function of horizontal time axis The information changed.

Empirical mode decomposition (EMD) is a kind of for non-linear, the control and analysis of nonstationary time series signal, The ultimate principle of EMD is according to local time's feature, the trend component of different scale or fluctuation in decomposed signal step by step, produces one Series IMF mode function (Intrinsic Mode Function, IMF), each IMF has completeness and orthogonal, this process Substantially non-stationary signal is carried out tranquilization process.Each IMF component represents the form of a vibration performance in signal respectively, Its generation needs to meet following condition: the data analyzed exist maximum and minimum point, and extreme point is individual with zero crossing Within number difference one, if signal only having flex point and without extreme point, extreme value need to being obtained by single order or higher differentiation；In data The envelope up and down that local maximum and minimum point are constituted, its average line be one level off to zero straight line.EMD decomposition obtains The process of each IMF component is referred to as hoof choosing, during calculating, needs constantly to be eliminated from original signal by oneself the IMF component through obtaining, Until the IMF hoof made new advances cannot be decomposed again select process particularly as follows: first, detect all very big, the minimum in original signal X Point, matching is made the upper lower enveloping curve of signal, is obtained their average line signal M1, deduct this average line and obtain one in X New sequence H1, i.e. H1=X-M1, judge whether H1 meets the condition of IMF component, if not meeting, continues to replace originally with H1 X do and same process to obtain H11, i.e. H11=H1-M11, this process iteration n time, until meeting the condition of IMF component, obtains IMF Component C1, i.e.

H_1n=H_1(n-1)-M_1n

C₁=H_1n

Then, removing first IMF component from primary signal X, data left sequence R1=X-C1, by R1 as former X And the processing procedure before repeating, i.e. R₂=R₁-C₂,...,R_k=R_K-1-C_KK IMF component of final acquisition.EMD control method is sieved The stop condition of choosing is data sequence R_kCan not decompose again and obtain suitable IMF component, i.e. with dull Long-term change trend, or only have One extreme point, or be a steady state value.Now EMD processing procedure terminates.At present, EMD control method is non-linear, non-because processing The advantage of stationary signal and be able to fast development, be similarly subjected to many attention, biological thunder in processing of biomedical signals field Reaching signal self is exactly a kind of non-stationary signal, meets three preconditions needed for EMD control method, thus can utilize EMD control method processes, and extracts signal characteristic, obtains a plurality of Time-Frequency Information.

Fig. 6 shows the control system of a kind of based on human-computer interaction device gesture identification that one embodiment of the invention proposes Gesture coupling schematic diagram, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

For realizing the Effec-tive Function of gestures detection function, need first to be acquired gesture feature setting up gesture model storehouse. Pulsed radar signal is launched and received to the control system 10 of gesture identification by radar transmit-receive unit 12, and pulsed radar signal passes through Specific gesture 36-1 (hand relative to described control system 10 for just slapping), (hand is relative to described control system 10 for 36-2 For positive fist), quilt after 36-3 (hand is the flat palm (finger tip is just to described control system 10) relative to described control system 10) reflection Described control system 10 receives sampling, sampled signal is filtered by described control system 10, amplitude-frequency analysis, after feature extraction To the model signals of classification, setting up the disaggregated model storehouse of certain gestures and store, storage device uses SRAM or FLASH, for hands Gesture detection creates data basis.

Fig. 7 shows the control system of a kind of based on human-computer interaction device gesture identification that one embodiment of the invention proposes Gesture identification curve, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

The signal that microprocessor samples obtains is as it can be seen, it contains gesture feature, movement velocity of hand, backward energy Etc. information；ATSAM4E16E chip sends commands to ultra-wide band sensor by four line full duplex SPI communication interfaces, and ultra-wide band passes Sensor sends ultra-wide band signal, when ultra-wide band signal touching human body, while sending, proceeds by clock count, when super After bandwidth signal is propagated in air dielectric, feed back to ultra-wide band signal receiving antenna, then calculate it by equation below Distance:

$d=\frac{CT}{2}$

Wherein d represents the distance of ultra-wide band antenna and hand, and owing to ultra-wide band signal is light velocity propagation, C represents the light velocity, T Represent the transition time, the distance of reality can be calculated by this formula.Reflect when radiofrequency signal arrives a target, due to Target travel can produce frequency modulation(PFM).If target is moved with the speed of v (t) m/s, the frequency of reflected signal is according to Doppler's frequency Shifting can occur a skew:Wherein f_dIt is Doppler frequency shift, unit Hz, f is tranmitting frequency, unit Hz, C is signal velocity, unit m/s, and t is elapsed time, unit S, and λ is the wavelength launching signal, unit m.Assume hand Movement representation is x (t), and the Doppler frequency shift of reflected signal can be described as a phase-modulation:When When radar signal is reflected by hand positions motion, the motion of hand will produce ratio modulation to radar carrier phase.? Ideally will obtain the time-varying phase information proportional to hand exercise incident displacement by phase demodulating, thus obtain in one's hands The velocity information of portion's motion；Ignoring the amplitude of variation launching signal, the CW radar emission signal of a single-frequency can be expressed as T (t) =cos (2 π ft+ φ (t)), f is frequency of oscillation, and φ (t) is the phase noise of agitator, here it is regarded as signal phase Random fluctuation.Assume that target, in distance do, has the displacement x (t) of time-varying, then the distance between transceiver and object is d (t)=do+X (t).The propagation time delay that generation be can not ignore by the distance between transceiver and target, equal to d (t) divided by Spread speed C of signal.Owing to while hand exercise, signal is transmitting, the distance of antenna to thoracic wall is d in the moment of reflection (t-(d(t))/c).So, t time delay of round trip_dCan be expressed as:

$t_d=\frac{2d(t-\frac{d\left(t\right)}{c})}{c}+\frac{2(d_0+x(t-\frac{d\left(t\right)}{c}\left)\right)}{c}$

Signal R (t) that receiver obtains is the delay signal of transmitter signal, and amplitude fading is Ar, then

R (t)=A_rcos[2πf(t-t_d)+φ(t-t_d)+θ₀)

Wherein θ₀Offseting for constant phase, it is affected by some questions, the phase place that the reflecting surface of such as target is formed Skew (close to 180 °), and the time delay etc. from transmitter to antenna and between antenna to frequency mixer.Substitute into the expression of td Formula, obtains receiving signal

$R\left(t\right)=A_{r}cos\[2\mathrm{\π}ft-\frac{4{\mathrm{\πd}}_0}{\mathrm{\λ}}-\frac{4\mathrm{\π}x(t-\frac{d\left(t\right)}{c})}{\mathrm{\λ}}+\mathrm{\φ}(t-\frac{2d_0}{c}-\frac{2x(t-\frac{d\left(t\right)}{c})}{c})+{\mathrm{\θ}}_0\]$

Its medium wavelength is people=c/f.Assume that (d (t))/c item in x (t-(d (t))/c) is due to the cycle of hand exercise T》 d₀/ C and can ignore, due to identical, so 2x (t-d (t)/c)/c item deformable simplifies, and therefore receives letter Number can approximate and to be written as:

$R\left(t\right)\≈A_{r}cos\[2\mathrm{\π}ft-\frac{4{\mathrm{\πd}}_0}{\mathrm{\λ}}-\frac{4\mathrm{\π}x\left(t\right)}{\mathrm{\λ}}+\mathrm{\φ}(t-\frac{2d_0}{c}-\frac{2x\left(t\right)}{c})+{\mathrm{\θ}}_0\]$

From above formula, receive signal amplitude compared with launching signal and become A_r, many one by target range d.Impact Time delay item, and phase place receives the modulation of displacement function x (t) of hand exercise.

In direct transformational structure, if signal is to get with the L0 signal multiplication launching signal homology with one, this The target information of individual periodic movement can be easy to demodulated out.Relevant to L0 owing to receiving the phase noise of signal, ignore The conversion of amplitude, L0 signal can be expressed as:

L (t)=cos (2 π ft+ φ (t))

When receiving signal and the mixing of LO signal and exporting through low pass filter, the baseband signal of output is:

$B\left(t\right)=A_b=cos\[\mathrm{\θ}+\frac{4\mathrm{\π}x\left(t\right)}{\mathrm{\λ}}+\mathrm{\Δ}\mathrm{\φ}\left(t\right)\]$

WhereinIt is the amplitude of baseband signal, G_RIt is the gain of receiver, G_CIt it is the conversion of frequency mixer Gain, is excess phase noise,

$\mathrm{\θ}=\frac{4{\mathrm{\πd}}_0}{\mathrm{\λ}}-{\mathrm{\θ}}_0$

It is constant phase skew, it and the relating to parameters of receiver own, and along with mesh Mark distance do between radar and become.4 π x (t)/λ is the time-varying phase offset being directly proportional to signal x (t), by it Demodulation extraction can obtain target travel information.For single-path architecture receiver, eliminate the impact of constant phase shift, and covert when ensureing Shifting amount meets little angle approximate condition, then demodulated signal can directly be approximated by baseband signal:

$B\left(t\right)\≈A_b(\frac{4\mathrm{\π}x\left(t\right)}{\mathrm{\λ}}+\mathrm{\Δ}\mathrm{\φ}(t\left)\right)$

For orthohormbic structure receiver, after using phase demodulation algorithm, the whole of baseband signal can be recovered in theory Phase information:

$P\left(t\right)=\mathrm{\θ}+\frac{4\mathrm{\π}x\left(t\right)}{\mathrm{\λ}}+\mathrm{\Δ}\mathrm{\φ}\left(t\right)$

The useful phase place finally given all can be affected by residual noise.By theory analysis, we are known when residue phase Position noise is when playing leading position, signal to noise ratio and distance square be approximated to inverse ratio, and excess phase noise exists when time close together Overall noise rising leading position, so being operated time close together, and being filtered by hardware filtering and wavelet transformation scheduling algorithm After ripple, we can successfully extract the movable information of target.

Power P r (mW) receiving signal is to launch power P t (mW), and dual-mode antenna gain is Gt and Gr, the radar of target Target scattering sections σ (m²), attenuation constant a in atmosphere, the wavelength X (m) of radiofrequency signal, and the function of target range R (m)

$P_r=\frac{P_t{G}_t{G}_r{\mathrm{\σ\λ}}^2{e}^{-2\mathrm{\α}R}}{{\left(4\mathrm{\π}\right)}^3{R}^4}$

For the application scenario of detections of radar sign, target scattering sections σ (m in this radar equation²) it is unique Uncertain parameter.But Radar Target Scatter cross section σ (m²) affected by many factors, including the electrical property of target material, The geometric shape of target, the orientation that target is irradiated by radar wave, the wavelength of incidence wave, incident field polarization form and reception antenna Polarization etc..When detecting target and being human body, the calculating irradiating effective target sectional area needs residing for whole human body and human body The information of background.But, static health itself creates stronger clutter, and the effective area involved by Human Physiology motion Varying with each individual, the individual variation between different user is the biggest and along with factor changes such as aerial radiation angle, the positions of human body Very big, thus be difficult to estimate.It is thus desirable to combine the gesture that user characteristics storehouse is set up, believed by the different gestures gathering user Breath, uses different echo-signals Wavelet Packet Transform scheduling algorithm to extract signal characteristic, then uses SVM scheduling algorithm Carry out model training to obtain different gesture motion models and jointly realize the identification of gesture.

Fig. 8 shows the control system of a kind of based on human-computer interaction device gesture identification that one embodiment of the invention proposes Operation principle flow process, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

When control system powers on, supply voltage is+3.3V, and ATSAM4E16E chip proceeds by self-check program, and Resetting peripheral hardware accordingly and initialization operation, ATSAM4E16E chip is sent out by four line full duplex SPI communication interfaces Order of losing one's life receives and dispatches control chip to super band, and ultra-wide band sensor sends ultra-wide band signal, carries out signal after receiving echo-signal Process, it is judged that whether echo-signal is the gesture echo-signal in target area, if not then ignoring, it is to avoid target detection The interference of echo-signal outside district, improves the Accuracy and high efficiency of detection；If the gesture echo-signal in target area is then Proceeding next step gesture identification, the contrast by the feature analysis of signal and with gesture model storehouse carries out gesture knowledge Not, identify and the most then preserve use, if unidentified success, directly carry out the gesture identification of next flow process.

Fig. 9 shows the control of a kind of based on human-computer interaction device gesture identification that another embodiment of the present invention proposes The steps flow chart of method, for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.

A kind of control method of gesture identification based on human-computer interaction device based on above-mentioned control system, described controlling party Method includes:

S11, ultra-wide band module sends the pulsed radar signal penetrating barrier；

S12, ultra-wide band module described in master control module controls sends pulsed radar signal and arrives human hands and produce echo Signal；

S13, Anneta module receives described echo-signal and described echo-signal is sent at described main control module Reason so that judge gesture feature according to described echo-signal；

S14, communication level modular converter, according to described gesture feature, is converted into the control signal to human-computer interaction device.

As another embodiment of the present invention, described gesture feature include fist shape forward, fist shape backward with fist cunning to the right Dynamic posture.

As another embodiment of the present invention, when described gesture feature be fist shape forward, then be converted into human-computer interaction device's Volume tunes up；When described gesture feature be fist shape backward, then the volume being converted into human-computer interaction device is turned down；When described gesture is special Levy as fist slip posture to the right, be then converted into the deletion action of human-computer interaction device.

The control system of gesture identification based on human-computer interaction device that the embodiment of the present invention provides and control method thereof Operation principle is:

First, power module is started so that alternating current power supply VCC is that described control system is powered, secondly, master control module controls Ultra-wide band module sends pulsed radar signal and arrives human hands and produce echo-signal, and then Anneta module receives described returning After ripple signal, through high-pass filtering module, described echo-signal is filtered, then filtered echo-signal is sent to Described main control module processes and identifies, judges gesture feature according to described echo-signal, identifies that the most then preservation makes With, last communication level modular converter according to described gesture feature, be converted into the control signal to human-computer interaction device, such as when Described gesture feature be fist shape forward, then the volume being converted into human-computer interaction device tunes up；When described gesture feature be fist shape to After, then the volume being converted into human-computer interaction device is turned down；When described gesture feature is fist slip posture to the right, then it is converted into The deletion action of human-computer interaction device, thus reach the effect of man-machine interaction.

In sum, the embodiment of the present invention provide a kind of based on human-computer interaction device gesture identification control system and Its control method, including ultra-wide band module, main control module, Anneta module and communication level modular converter, described main control module control Making described ultra-wide band module send pulsed radar signal arrival human hands and produce echo-signal, Anneta module receives described After echo-signal, described echo-signal is sent to described main control module and processes so that judge according to described echo-signal Going out gesture feature, then communication level modular converter is according to described gesture feature, is converted into the letter of the control to human-computer interaction device Number, thus reach the effect of man-machine interaction.Wherein, due to super-broadband tech, there is higher message transmission rate, multi-path resolved Ability is strong, penetration capacity is strong, low-power consumption, the contactless and feature of good concealment, described control system pass through ultra-wide band module Transmission pulsed radar signal can penetrate barrier and avoid it to be disturbed, such that the most accurate to gesture identification, simultaneously Solve and prior art exists and exactly by human body gesture is detected and cannot identify, thus reach man-machine interaction The problem of effect.The embodiment of the present invention realizes simple, it is not necessary to increases extra hardware, can effectively reduce cost, have relatively Strong usability and practicality.

One of ordinary skill in the art will appreciate that: the step or the part steps that realize said method embodiment can be passed through The hardware that programmed instruction is relevant completes, and aforesaid program can be stored in computer read/write memory medium, and this program exists During execution, perform to include the step of said method embodiment, and aforesaid storage medium includes: ROM, RAM, magnetic disc or CD Etc. the various media that can store program code.

Embodiment described above only in order to technical scheme to be described, is not intended to limit；Although with reference to aforementioned reality Execute example the present invention has been described in detail, it will be understood by those within the art that: its still can to aforementioned respectively Technical scheme described in embodiment is modified, or wherein portion of techniques feature is carried out equivalent；And these amendments Or replace, do not make the essence of appropriate technical solution depart from spirit and the model of the embodiment of the present invention each embodiment technical scheme Enclose.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.

Claims (10)

1. the control system of a gesture identification based on human-computer interaction device, it is characterised in that described control system includes:

Send the ultra-wide band module of the pulsed radar signal penetrating barrier；

It is connected with described ultra-wide band module, controls described ultra-wide band module and send pulsed radar signal arrival human hands and produce The main control module of raw echo-signal；

It is connected with described main control module, receives described echo-signal and described echo-signal is sent to described main control module Process so that judge the Anneta module of gesture feature according to described echo-signal；

It is connected with described main control module, according to described gesture feature, is converted into the logical of the control signal to human-computer interaction device Letter level switch module.

2. the control system of gesture identification based on human-computer interaction device as claimed in claim 1, it is characterised in that described hands Gesture feature include fist shape forward, fist shape backward with fist slip posture to the right.

3. the control system of gesture identification based on human-computer interaction device as claimed in claim 2, it is characterised in that in communication In level switch module, when described gesture feature be fist shape forward, then the volume being converted into human-computer interaction device tunes up；When described Gesture feature be fist shape backward, then the volume being converted into human-computer interaction device is turned down；When described gesture feature be fist to the right Slip posture, then be converted into the deletion action of human-computer interaction device.

4. the control system of gesture identification based on human-computer interaction device as claimed in claim 3, it is characterised in that described control System processed also includes:

It is connected with described main control module and Anneta module simultaneously, the echo-signal that described Anneta module receives is filtered, and It is sent to the high-pass filtering module of described main control module.

5. the control system of gesture identification based on human-computer interaction device as claimed in claim 4, it is characterised in that described control System processed also includes:

It is connected with described main control module, the memory module that described echo-signal is preserved.

6. the control system of gesture identification based on human-computer interaction device as claimed in claim 5, it is characterised in that described master Control module includes that a main control chip U1, described main control chip U1 include:

Main control end CTRL, receiving terminal RXD, storage end MEM and transmission ends FTP；

Described main control end CTRL connects described ultra-wide band module, and described receiving terminal RXD connects described high-pass filtering module, described storage end MEM connects described memory module, and described transmission ends FTP connects described communication level modular converter.

7. the control system of gesture identification based on human-computer interaction device as claimed in claim 6, it is characterised in that described super Bandwidth module includes that a ultra-wide band transceiving chip U2, described ultra-wide band transceiving chip U2 include:

Control end ctrl；

Described control end ctrl connects main control end CTRL of described main control chip U1.

8. the control system of gesture identification based on human-computer interaction device as claimed in claim 7, it is characterised in that described height Pass filtering module includes that a filtering chip U4, described filtering chip U4 include:

Transmitting terminal Send and filtering end Filt；

Described transmitting terminal Send meets the receiving terminal RXD of described main control chip U1, described filtering end Filt and connects described Anneta module.

9. the control system of gesture identification based on human-computer interaction device as claimed in claim 8, it is characterised in that described logical Letter level switch module includes that a communication chip U5, described communication chip U5 include:

Transmission end RTP and communication terminal PLC；

Described transmission end RTP connects transmission ends FTP of described main control chip U1, and described communication terminal PLC meets described human-computer interaction device.

10. a control method based on control system as claimed in claim 1, it is characterised in that described control method bag Include:

Ultra-wide band module sends the pulsed radar signal penetrating barrier；

Ultra-wide band module described in master control module controls sends pulsed radar signal and arrives human hands and produce echo-signal；

Anneta module receives described echo-signal and described echo-signal is sent to described main control module processes so that Gesture feature is judged according to described echo-signal；

Communication level modular converter, according to described gesture feature, is converted into the control signal to human-computer interaction device.