CN106681476A - Low-power-consumption gesture interaction system - Google Patents

Low-power-consumption gesture interaction system Download PDF

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Publication number
CN106681476A
CN106681476A CN201611178561.6A CN201611178561A CN106681476A CN 106681476 A CN106681476 A CN 106681476A CN 201611178561 A CN201611178561 A CN 201611178561A CN 106681476 A CN106681476 A CN 106681476A
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processor
acceleration
gesture
motion
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金文光
吴贤为
杨华勇
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN201611178561.6A priority Critical patent/CN106681476A/en
Publication of CN106681476A publication Critical patent/CN106681476A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/26—Power supply means, e.g. regulation thereof
    • G06F1/32—Means for saving power
    • G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
    • G06F1/3206—Monitoring of events, devices or parameters that trigger a change in power modality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/26—Power supply means, e.g. regulation thereof
    • G06F1/32—Means for saving power
    • G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
    • G06F1/3234—Power saving characterised by the action undertaken
    • G06F1/325—Power saving in peripheral device
    • 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
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/013—Eye tracking input arrangements
    • 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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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)

Abstract

The invention discloses a low-power-consumption gesture interaction system, comprising a processing unit, an image sensor, a motion sensor, a storage, a wireless Bluetooth radiofrequency module and a mobile terminal; the image sensor collects gesture image data, the processing unit recognizes the gesture data and transmits to a mobile terminal, such as a cellphone and a Pad in real time to arrive at human-machine interaction. In addition, the motion sensor is put on a wrist to collect motion condition in real time, image sampling frame rate is adjusted according to an acceleration, and power consumption is reduced accordingly; the system is entered in different operating modes according to angular velocity so that system power consumption is maximally reduced. The low-power-consumption controller according to the invention is a wireless intelligent non-contact human-machine interaction device applicable to indoor and outdoor scenes and convenient to carry.

Description

A kind of low-power consumption gesture interaction system
Technical field
The present invention relates to field of virtual reality, more particularly to a kind of low-power consumption gesture interaction system.
Background technology
Robot, virtual reality industry are developed rapidly, promote the fast development of nature human-computer interaction technology.Man-machine friendship Mutual technology, its objective is to make one to interact with machine, possesses and exchange harmonious property between person to person, people and real world.Man-machine friendship Mutually technology is developed into and connect based on the non-of the modes such as gesture, language, attitude, physiology from mouse, this kind of contact interactive mode of keyboard Tactile property interactive mode.The derivation of interactive mode causes man-machine interaction more natural, convenient.
In terms of gesture perception interactive, mainly there are two kinds of passages to perceive：Vision and motion perception.Gathered by visual pattern Identify that gesture semanteme is based primarily upon depth camera and optical camera；Gesture information is obtained by finger-joint bending to rely primarily on Data glove.Camera is easily affected by ambient light, and data glove is not easy to dress and have sensor drift.With reference to the letter of two kinds of passages Breath can make up certain defect.
Wearable device is the product under the Internet of things era, and it adopts SOS, is worn by human body, realizes intelligence Lasting interaction.The combination of wearable device and human body, in being widely used in medical treatment, health, amusement, motion；Set by these Standby, people can preferably perceive the outside and information of itself.
With the fast development of semiconductor manufacturing class technique, embedded intelligence systemic-function becomes increasingly complex, Consumer's Experience Constantly lifted, power consumption of processing unit is also substantially improved.For mobile embedded system, continuation of the journey characteristic is even more important, low power consumption characteristic It is Embedded development trend.Presently, the most widely used method for reducing power consumption is mainly dynamic power management (DPM) Technology and dynamic frequency (DFS) technology.Dynamic power management technology is a kind of electric power management mechanism, and it is allowed in system operation Dynamic power management, according to the component power-off that practical situation uses unwanted or part.In embedded device The part such as processor and memorizer is made up of cmos circuit, and required power consumption is with cmos switch frequency, supply voltage into just Than.In CPU runnings, cpu load is continually changing, and CPU operating frequencies is suitably reduced in load hour, when loading big It is corresponding to improve operating frequency, can be with dynamic regulation power consumption.With reference to two kinds of power managements, adjusted according to the operation conditions of system Hardware effort state, can rationally reduce power consumption.
If system carries out image acquisition with very high frame per second always, the power consumption that can cause mobile device is greatly increased, and is subtracted The cruising time of few mobile device.When gesture motion is slower, the mobile relative Repeat of gesture is little, and similarity is higher, now may be used To reduce sampling frame per second, power consumption of sampling not only can be reduced, and amount of calculation can be reduced so as to reduce power.Generally and Speech, judges that the speed that gesture is moved can bring larger amount of calculation, so as to bring larger power consumption according to the calculating between image.
The content of the invention
The technical problem to be solved is：For the defect of prior art, a kind of low-power consumption gesture interaction is proposed System is a kind of while obtaining the double channels acquisition device of visual signal and motor message, is abundant extension device cruise-ability, is led to Cross motion sensor acquisition acceleration come adjust image sampling frame per second reduce power consumption, while according to acceleration judge equipment moving State.This method compare by the calculating between image to judge kinestate for amount of calculation it is less a lot, power consumption is lower.
The present invention is employed the following technical solutions to realize above-mentioned application：A kind of low-power consumption gesture interaction system, including process Device, imageing sensor, accelerometer, memorizer, wireless blue tooth radio-frequency module and mobile terminal；Described two sensors (accelerate Degree meter and imageing sensor) it is connected with processor respectively, processor is connected respectively with memorizer, wireless blue tooth radio-frequency module.Figure As sensor obtains images of gestures data, processor obtains images of gestures data, gesture is identified by imageing sensor, Recognition result is stored in memorizer, and is sent to mobile terminal by wireless blue tooth radio-frequency module, realizes interaction.Meanwhile, accelerate Degree meter obtains the acceleration in gesture motion data, and processor adjusts image acquisition frame per second, is achieved according to acceleration information Power consumption control.
Further, the processor adjusts by the following method the acquisition frame rate of imageing sensor：
(1) acceleration of gravity is separated, obtains hand due to moving the acceleration for causing synthesis
gx=gsin ρ (1)
gy=gsin γ cos ρ (2)
A in formulax、ay、azIt is accelerometer output by gravitational acceleration component and due to moving the linear acceleration that causes Component synthesizes, gx、gy、gzIn the axial component of accelerometer three, ρ, γ are respectively that hand is bowed to respectively static weight acceleration The elevation angle and roll angle,It is 3-axis acceleration component that hand exercise causes,It is acceleration that hand exercise causes Degree composite value.
(2) obtain after acceleration of motion, the movement velocity of hand can be obtained by following formula：
Wherein, VtFor t device direction of motion speed, Vt0For t0When engraving device hand exercise direction speed.
(3) image sensor system sampling frame per second f=15+ σ Vt, σ is constant factor, takes σ for 50.
Further, the system also includes gyroscope, and gyroscope obtains the angular velocity in gesture motion data, processor According to the mode of operation (including operation, idle and dormancy) of angular velocity information regulating system, the operational mode is normal mode, Its power consumption is not additionally controlled；The idle pulley is low-power consumption mode, and its power consumption has part to reduce；The park mode is Super low-power consumption pattern, its power consumption is far below the above two, and now system is waited and waken up, specially：By three axles in motion sensor Gyroscope obtains three axis angular rates, when any one axis angular rate was both less than 0.05 degrees second more than 3 seconds so that system enters idle Pattern；After keeping idle pulley 30s, control system enters park mode；Otherwise system is in operational mode.
The intelligence switching of described mode of operation, it is characterised in that：
(1) operational mode is：Processor is in full speed running state, and operating frequency is highest frequency, processor institute Need peripheral interface all in running order, imageing sensor is acquired so that 30 frames are per second, and wireless blue tooth is real-time by recognition result Transmit to mobile terminal, memorizer real-time storage identification data.
(2) idle pulley is：Processor reduces operating frequency, is only used for meeting motion sensor demand (acceleration Meter and gyroscope)；Imageing sensor stops collection, and wireless blue tooth stops transmission, and memorizer stops storage.Motion sensor continues Gather exercise data and be sent to processor and be identified, to recognize follow-up mode of operation.
(3) park mode is：Processor reduces operating frequency, is only used for meeting motion sensor demand (acceleration Meter and gyroscope)；Imageing sensor stops collection, and wireless blue tooth stops transmission, and memorizer stops storage.Motion sensor every 3s gathers exercise data.
The application realized using above technical scheme is had the characteristics that：
1st, beneficial to wearing：The Wearable device of collection visual signal and motor message is easy to wear, and auxiliary LED can be obtained The preferable visual signal of light quality, while motor message can aid in gesture identification and low-power consumption mode identification.
2nd, low-power consumption：Optimised power consumption is systematic integration optimization, and component used is all low energy-consumption electronic device, and transmission means is using low Power consumption Bluetooth transmission, by motor message image acquisition frame rate adjustment and energy saver mode identification are carried out, and this method is than directly profit Differentiated with the calculating between image, with less amount of calculation, so as to reduce power consumption.
3rd, separate unit：Systematic function is powerful, is identified calculating in local node, and transplantability is strong, compatible any flat Platform.
Description of the drawings
Fig. 1 system application block diagrams；
Fig. 2 controller architecture block diagrams；
Fig. 3 low power consumpting states transfer figure.
Specific embodiment
Enforcement with instantiation to the present invention below in conjunction with the accompanying drawings is specifically described：
The invention discloses a kind of low-power consumption gesture interaction system, its application scenarios explanation is as shown in figure 1, the system is suitable For towards in the semantic field of human-computer interaction of gesture, such as education, physical culture, amusement, concrete application scene such as intelligent terminal PPT Demonstration, Remote, immersion somatic sensation television game etc., can all incorporate apparatus of the present invention wherein.Apparatus of the present invention wirelessly connect Terminal can be the intelligent terminals such as PC, Pad, mobile phone.
The composition frame chart of apparatus of the present invention is as shown in Figure 2.When user is by motion sensor (accelerometer and gyroscope) After being worn in wrist, equipment is opened.Equipment sets up stable automatically into init state by wireless blue tooth and intelligent terminal Connection.After initialization success, into running status.Imageing sensor obtains images of gestures data, and processor is passed by image Sensor obtains images of gestures data, and gesture is identified, and recognition result is stored in memorizer, and by wireless blue tooth radio frequency mould Block is sent to mobile terminal, and mobile terminal carries out result presentation according to gesture semanteme.
Low power-consumption intelligent control method is the core of the present invention.Described low power-consumption intelligent control method is based on motion letter Number, accelerometer obtains the acceleration in gesture motion data, and by modes such as wireless, bluetooths processor, processor are sent to Image acquisition frame per second is adjusted according to acceleration information, power consumption control is achieved in, it is specific as follows：
(1) acceleration of gravity is separated, obtains hand due to moving the acceleration for causing synthesis
gx=gsin ρ (1)
gy=gsin γ cos ρ (2)
A in formulax、ay、azIt is accelerometer output by gravitational acceleration component and due to moving the linear acceleration that causes Component synthesizes, gx、gy、gzIn the axial component of accelerometer three, ρ, γ are respectively that hand is bowed to respectively static weight acceleration The elevation angle and roll angle,It is 3-axis acceleration component that hand exercise causes,It is acceleration that hand exercise causes Degree composite value.
(2) obtain after acceleration of motion, the movement velocity of hand can be obtained by following formula：
Wherein, VtFor t device direction of motion speed, Vt0For t0When engraving device hand exercise direction speed.
(3) image sensor system sampling frame per second f=15+ σ Vt, σ is constant factor, takes σ for 50.
For example, it is assumed that minimum sampling frame per second 15Hz of image acquisition device, highest frame per second 60Hz is adopted and works as VtFor 0.1m/s when, Sample frequency is 20Hz；Work as VtFor 0.9m/s when, sample frequency is 60Hz；Work as Vt>During 0.9m/s, sample frequency has arrived most high frequency Rate, is not further added by.
Additionally, gyroscope obtains the angular velocity in gesture motion data, process is sent to by modes such as wireless, bluetooths Device, according to the mode of operation (including operation, idle and dormancy) of angular velocity information regulating system, the operational mode is processor Normal mode, its power consumption is not additionally controlled；The idle pulley is low-power consumption mode, and its power consumption has part to reduce；It is described Park mode be super low-power consumption pattern, its power consumption be far below the above two, now system wait wake up, wherein, idle pulley and stop Sleep mode is respectively low power consumpting state and super low-power consumption state.System running state transfer figure is as shown in Figure 3.Control method is concrete For：Three axis angular rates are obtained by three-axis gyroscope in motion sensor, any one axis angular rate is both less than 0.05 degrees second and exceedes When 3 seconds so that system enters idle pulley；After keeping idle pulley 30s, control system enters park mode；Otherwise at system In operational mode.
During gesture interaction, processor is in full speed running state, and processor is in full speed running state, and operating frequency is for most Altofrequency, peripheral interface is all in running order needed for processor, and imageing sensor is acquired so that 30 frames are per second, wireless blue tooth By recognition result real-time Transmission to mobile terminal, memorizer real-time storage identification data.
When user does not carry out gesture interaction or controller is removed into idle, it is by exercise data preliminary judgement system Resting state, system automatically switches to idle pulley.Now processor reduces operating frequency, is only used for meeting motion sensor need Ask (accelerometer and gyroscope)；Imageing sensor stops collection, and wireless blue tooth stops transmission, and memorizer stops storage.Motion Sensor continues to gather exercise data and be sent to processor to be identified, to recognize follow-up mode of operation.
After into idle pulley within 30s, if user re-starts gesture interaction, system can detect motion shape Simultaneously fast wake-up returns to running status to state, almost without hysteresis quality；If being still within static, system automatic switchover after 30s To park mode.Now processor reduces operating frequency, is only used for meeting motion sensor demand (accelerometer and gyroscope)； Imageing sensor stops collection, and wireless blue tooth stops transmission, and memorizer stops storage.Motion sensor gathers motion number every 3s According to device wakes up whole system all component once motion.Because wireless blue tooth is only at resting state, wake up without the need for weight New connection is newly set up with mobile terminal；The wake-up of other assemblies need to consume more times than spending under idle pulley.After wake-up, it is System has automatically switched to operational mode full speed running.Whole wakeup process about needs 80ms, has little influence on interactive real-time.
Sampling frame rate adjustment and pattern switching involved in the present invention is all intelligence automatically, without the need for human intervention, by system Software control system hardware.The specific embodiment of the present invention is the foregoing described, but the present invention is not limited to above-mentioned embodiment party Formula, for a person skilled in the art, the present invention can have various modifications and variations with adapt to different application scenarios and Demand.

Claims (3)

1. a kind of low-power consumption gesture interaction system, it is characterised in that：Including processor, imageing sensor, accelerometer, storage Device, wireless blue tooth radio-frequency module and mobile terminal；The accelerometer and imageing sensor are connected respectively with processor, processor It is connected with memorizer, wireless blue tooth radio-frequency module.Imageing sensor obtains images of gestures data, and processor passes through imageing sensor Images of gestures data are obtained, gesture is identified, recognition result is stored in memorizer, and is sent out by wireless blue tooth radio-frequency module Mobile terminal is sent to, interaction is realized.Meanwhile, accelerometer obtains the acceleration in gesture motion data, and processor is according to acceleration Degree information adjusts image acquisition frame per second, is achieved in power consumption control.
2. system according to claim 1, it is characterised in that the processor adjusts by the following method imageing sensor Acquisition frame rate：
(1) acceleration of gravity is separated, obtains hand due to moving the acceleration for causing synthesis
gx=gsin ρ (1)
gy=gsin γ cos ρ (2)
g z = g 2 - g x 2 - g y 2 - - - ( 3 )
a x ‾ = a x - g x - - - ( 4 )
a y ‾ = a y - g y - - - ( 5 )
a z ‾ = a z - g z - - - ( 6 )
a ‾ = a x ‾ 2 + a y ‾ 2 + a z ‾ 2 - - - ( 7 )
A in formulax、ay、azBe accelerometer output 3-axis acceleration, gx、gy、gzRespectively static weight acceleration is in acceleration Count three axial components, ρ, γ are respectively the hand angle of pitch and roll angle, It is three axles that hand exercise causes Component of acceleration,It is acceleration composite value that hand exercise causes.
(2) obtain after acceleration of motion, the movement velocity of hand can be obtained by following formula：
V t = V t 0 + ∫ t 0 t a ‾ d t - - - ( 8 )
Wherein, VtFor t device direction of motion speed, Vt0For t0When engraving device hand exercise direction speed.
(3) image sensor system sampling frame per second f=15+ σ Vt, σ is constant factor, takes σ for 50.
3. system according to claim 1, it is characterised in that the system also includes gyroscope, gyroscope obtains gesture Angular velocity in exercise data, processor is according to the mode of operation of angular velocity information regulating system (including operation, idle and stop Sleep), specially：Three axis angular rates are obtained by three-axis gyroscope in motion sensor, any one axis angular rate is both less than 0.05 When degrees second was more than 3 seconds so that system enters idle pulley；After keeping idle pulley 30s, control system enters park mode；It is no Then system is in operational mode.
The intelligence switching of described mode of operation, it is characterised in that：
(1) operational mode is：Processor is in full speed running state, and operating frequency is highest frequency, outer needed for processor Enclose interface all in running order, imageing sensor is acquired so that 30 frames are per second, wireless blue tooth is by recognition result real-time Transmission To mobile terminal, memorizer real-time storage identification data.
(2) idle pulley is：Processor reduces operating frequency, be only used for meeting motion sensor demand (accelerometer and Gyroscope)；Imageing sensor stops collection, and wireless blue tooth stops transmission, and memorizer stops storage.Motion sensor continues to gather Exercise data is simultaneously sent to processor and is identified, to recognize follow-up mode of operation.
(3) park mode is：Processor reduces operating frequency, be only used for meeting motion sensor demand (accelerometer and Gyroscope)；Imageing sensor stops collection, and wireless blue tooth stops transmission, and memorizer stops storage.Motion sensor is adopted every 3s Collection exercise data.
CN201611178561.6A 2016-12-19 2016-12-19 Low-power-consumption gesture interaction system Pending CN106681476A (en)

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Cited By (5)

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CN109407842A (en) * 2018-10-22 2019-03-01 Oppo广东移动通信有限公司 Interface operation method, device, electronic equipment and computer readable storage medium
CN109491525A (en) * 2018-11-13 2019-03-19 宁波视睿迪光电有限公司 Realize the method and device of interaction pen low-power consumption
CN110177213A (en) * 2019-06-28 2019-08-27 Oppo广东移动通信有限公司 Gyroscope parameters method of adjustment and device, terminal, computer readable storage medium
CN110300263A (en) * 2019-06-28 2019-10-01 Oppo广东移动通信有限公司 Gyroscope treating method and apparatus, electronic equipment, computer readable storage medium
CN111881862A (en) * 2020-07-31 2020-11-03 Oppo广东移动通信有限公司 Gesture recognition method and related device

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CN111881862A (en) * 2020-07-31 2020-11-03 Oppo广东移动通信有限公司 Gesture recognition method and related device

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