CN107145232A - The method and apparatus that a kind of utilization capacitance detecting recognizes user's hand behavior - Google Patents

The method and apparatus that a kind of utilization capacitance detecting recognizes user's hand behavior Download PDF

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Publication number
CN107145232A
CN107145232A CN201710295078.4A CN201710295078A CN107145232A CN 107145232 A CN107145232 A CN 107145232A CN 201710295078 A CN201710295078 A CN 201710295078A CN 107145232 A CN107145232 A CN 107145232A
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hand
capacitor plate
target object
signal
user
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CN107145232B (en
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厉向东
耿卫东
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Zhejiang University ZJU
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Zhejiang University ZJU
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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
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
    • 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
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/044—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by capacitive means

Abstract

The invention discloses the device that a kind of utilization capacitance detecting recognizes user's hand behavior, including：Multiple capacitor plates, the multiple conductive regions being made up of conductive fiber, those conductive regions produce the capacitor plate signal of change according to hand behavior；Capacitance sensor, gathers the capacitor plate signal of multiple capacitor plates, and the capacitor plate signal is transmitted to signal processor；Signal processor, is analyzed and processed to the capacitor plate signal of reception, judges to obtain the attribute and shape data of corresponding with each capacitor plate hand behavioral data and target object；Wireless communication module, the attribute and shape data that signal processor is analyzed into obtained hand behavioral data and target object is delivered to host computer.Invention additionally discloses a kind of method that utilization capacitance detecting recognizes user's hand behavior.The apparatus and method can detect and recognize real-time attitude, the electric conductivity of target object, contour shape and size of user's hand when approaching and contact with target object.

Description

The method and apparatus that a kind of utilization capacitance detecting recognizes user's hand behavior
Technical field
The present invention relates to gestures detection technical field, particularly a kind of utilization capacitance detecting recognizes the side of user's hand behavior Method and device.
Background technology
With the development of the communication technology and human-computer interaction technology, the mobile terminal device such as mobile phone and flat board has become each Essential article in people's Working Life.These hand-holdable product functions become increasingly abundant, and support touch-screen and aerial gesture Interactive mode, but higher requirement also is proposed to the accuracy and efficiency of user's hand activities simultaneously.Exist to understand user Using the specific activity during handheld electric products, typically by observed and recorded or video analysis to user's hand activities It is acquired, and extracts main hand motion as the foundation of handheld electric products interaction design.This is not required nothing more than to user Hand activities posture carry out accurately and effectively detection in real time, be more required to behavior to hand and be intended to (with specific hand Portion posture carries out grasping body, slides in body surface, with certain gestures close to or contact object) and target object base This attribute (electric conductivity, shape, three-dimensional dimension) has accurate identification.
More accurate user's hand behavioral value, it usually needs the equipment by depth camera or belt sensor is entered Row detection.CN205644089U discloses a kind of system that gestures detection identification is carried out using EMG armlets, but it can not be to hand Detected with the distance between target object and velocity variations；CN105929936A discloses a kind of comprehensive multiple sensors The attitude detecting method and system of the hand of (including one or more motion detectors, gyroscope, proximity detector), but for hand Associating between portion and target object fails detection；CN101655757B proposes a kind of gesture detecting method for Trackpad, But its pair can not effective detection with aerial hand behavior；CN205540578U discloses a kind of control hand recognized based on hand Set, it fully utilizes infrared tube, voltage comparator, single-chip microcomputer, bluetooth module, but predominantly detects the degree of crook of finger； CN205485911U discloses the controlled in wireless gesture gloves that a kind of use three-axis gyroscope, accelerometer are constituted, and it is for hand The electric conductivity of gesture contact object, shape attribute are not detected.
The content of the invention
In view of above-mentioned, the invention provides the method and apparatus that a kind of utilization capacitance detecting recognizes user's hand behavior.This The hand gestures behavioral value recognition methods of invention can be detected using the design of a kind of capacitance sensor and multiple capacitor plates With electric conductivity, the contour shape of real-time attitude of identification user's hand when approaching and contact with target object, and target object And size dimension.
First aspect present invention provides the device that a kind of utilization capacitance detecting recognizes user's hand behavior, including：
Multiple capacitor plates, the multiple conductive regions being made up of conductive fiber, those conductive regions are produced according to hand behavior The capacitor plate signal for changing；
Capacitance sensor, gathers the capacitor plate signal of multiple capacitor plates, and the capacitor plate signal is transmitted to letter Number processor；
Signal processor, is analyzed and processed to the capacitor plate signal of reception, and judgement is obtained and each capacitor plate pair The hand behavioral data and the attribute and shape data of target object answered；
Wireless communication module, signal processor is analyzed the attribute and shape of obtained hand behavioral data and target object Data are delivered to host computer；
Power supply, is that capacitance sensor, signal processor and wireless communication module are powered.
Preferably, the device of described utilization capacitance detecting identification user's hand behavior for be loaded with multiple capacitor plates, Capacitance sensor, signal processor, wireless communication module and power supply, and be made up of insulation and conductive fiber material mixed weaving Gloves；Described multiple capacitor plates are located at finger position, described capacitance sensor, signal processor, wireless telecommunications mould Block and power supply are located at the hand neck position of gloves.
Preferably, the concrete arrangement that described multiple capacitor plates are located at finger position is：The thumb of gloves 1 capacitor plate of location arrangements, remaining 4 finger position are respectively arranged 2 capacitor plates, the difference for detecting different fingers Position is close respectively or releases the state of target object；The right-hand man of gloves is arranged symmetrically, and is worn for both hands, both hands hand row For difference and cooperation detection；Such arrangement can flexibly and accurately detect locus residing during finger movement.
Preferably, capacitance sensor, signal processor and the wireless telecommunications at the described hand neck position positioned at gloves Module is integrated in one piece based on flexible PCB circuit board, prolongs for shortening from time of the acquisition process of capacitance signal to transmission Late, and flexible PCB circuit board can adapt to the bending during gloves use, it is user-friendly.
Preferably, the power supply at the described hand neck position positioned at gloves is the multigroup thin circle arranged perpendicular to gloves edge Cylindricality lithium battery；The bending of gloves afterbody is so can adapt to, the comfort level that user uses is improved.
When target object contacts or will contact hand, target object can produce influence to the dielectric constant of capacitor plate And change the capacitance of capacitor plate institute band, now, described capacitance signalling values c is driving frequency f and the reference of capacitor plate Reference frequency f0Ratio, be specially：
Signal processor calculates i-th of capacitor plate close to the speed v of target according to capacitance signalling values and detection frequencyi (mm/s), specifically it is calculated as：
vi=| ci,t-ci,t+1|×di,0×f1
Wherein, ci,tThe capacitance signalling values of i-th of capacitor plate, c during for the t times detectioni,t+1I-th during for the t+1 times detection The capacitance signalling values of individual capacitor plate, f1For the detection frequency of capacitor plate；di,0For the unit capacitance values of i-th of capacitor plate Respective distances, are specifically calculated as：
Wherein, di,maxFor the maximum detecting distance of capacitor plate, ci,maxFor the capacitance signalling values of i-th capacitor plate Maximum, ci,minFor the minimum value of the capacitance signalling values of i-th of capacitor plate.
Each capacitor plate close to target velocity viFor finger position corresponding with the capacitor plate close to target speed Degree.If preferably, setting n capacitor plate on a finger, now, need to only calculate any position correspondence capacitance pole of the finger Plate close to target velocity, other n-1 capacitor plate is obtained close to target velocity according to the bending freedom calculation of finger. For example, two capacitor plates for belonging to forefinger, the capacitor plate in forefinger finger belly close to target velocity be 100mm/ S, then capacitor plate in forefinger joint close to target velocity be 0.65 × 100mm/s=65mm/s, wherein, 0.65 is The bending free degree of forefinger joint.
Signal processor is according to the speed of capacitor plate with detecting frequency f1Calculating obtains i-th of capacitor plate close to target Acceleration ai(mm/s2), specifically it is calculated as：
ai=vi×f1
Each capacitor plate close to aimed acceleration aiIt is finger position corresponding with the capacitor plate close to target Acceleration.If preferably, setting n capacitor plate on a finger, now, need to only calculate any position correspondence electricity of the finger Hold pole plate close to aimed acceleration, other n-1 capacitor plate close to the bending free degree of the aimed acceleration according to finger Calculating is obtained.For example, two capacitor plates for belonging to forefinger, the capacitor plate in forefinger finger belly accelerates close to target Spend for 10mm/s2, then capacitor plate in forefinger joint close to aimed acceleration be 0.65 × 10mm/s2=6.5mm/ s2, wherein, 0.65 is the bending free degree of forefinger joint.
Signal processor calculates the relative distance l of each capacitor plate and target objectiFormula be：
li=(ci,max-ci)×di,0
Wherein, ciFor i-th of capacitor plate capacitance present signal value；The relative distance of each capacitor plate and target object The relative distance of the corresponding finger position of as each capacitor plate and target object；
When same finger sets two or more capacitor plate, signal processor is according to belonging to each of same finger The distance between the relative distance of capacitor plate and target object, the adjacent capacitive plates for belonging to same finger calculate each hand Refer to the angle of approach θ at position, be specifically calculated as：
θ=arccos ((la-lb)/D)
Wherein, laFor the relative distance of a-th of capacitor plate and target object, laFor b-th of capacitor plate and target object Relative distance, and a-th of capacitor plate and b-th of capacitor plate are the adjacent capacitive plates for belonging to same finger, and D is a The distance between individual capacitor plate and b-th capacitor plate.
By signal processor processes so that the detection sensitivity of the gloves is up to 10-7, dynamic response time is 10-6Second.
Device of the present invention can also judge be which position of hand with target object rank near to or in contact with, now, Described signal processor analysis obtains the attribute of the location of type, capacitor plate of target object and target object.
Preferably, described signal processor is according to capacitor plate, the capacitor plate signal when close to target object shakes Width and pace of change judge that target object is human body, other conductors or insulator, and now, the electric capacity of collection capacitor plate signal is passed Sensor is target object type detector.
Preferably, described signal processor is according to capacitor plate, the capacitor plate signal when close to target object shakes Width and pace of change judge hand diverse location near to or in contact with the pattern of target object, and then produce close to behavior pattern letter Number, now, the capacitance sensor of collection capacitor plate signal is mode detector of the hand close to target object.Described is close Behavior pattern signal include it is linear close to or far away from speed, acceleration and angle；The speed being physically contacted or leave, Acceleration and angle.
Second aspect of the present invention provides device detection identification user's hand behavior that a kind of application first aspect is provided Method, including：
(1) capacitor plate signal is gathered using capacitance sensor, and the capacitor plate signal is transmitted to signal processor；
(2) signal processor is divided according to the amplitude, change duration and pace of change of the capacitor plate signal of reception Whether analysis is handled, judge each capacitor plate close to target object, each capacitor plate close to the speed of target object and each The distance between individual capacitor plate and target object；
(3) signal processor analyzes each capacitor plate signal, and according to the variation characteristic of each capacitor plate signal, meter Calculate reduction each capacitor plate test position of hand and target object close to or contact condition and hand each detecting position The relative tertiary location put；
(4) signal processor calculates the sky of each test position according to the relative tertiary location of each test position of hand Between distance relation, and then obtain the spatial form profile of target object；
(5) signal processor will calculate obtained data used and be transferred to host computer through wireless communication module.
The apparatus and method that first aspect present invention and second aspect are provided mainly for detection of user using mobile phone and Hand activities and behavior during the products such as flat board, so that detect and judge interbehavior of the user during product use, and Therefrom speculate the interaction intention of user, service hoisting product interactivity is specifically included：Detect the production of the mobile electron such as mobile phone and flat board Product, user's hand activities of large scale electronic equipment and other hand-held non-electronic products and behavior；Based on user's hand activities and row For detection, judge user interaction intention, aid in user interactive task.
The present invention recognizes the device and method of user's hand behavior based on a kind of utilization capacitance detecting, compared to existing skill Art, the beneficial effects of the present invention are：
(1) by using single capacitance sensor and its multi-channel capacitive plate designs on gloves, realize compared with Gao Ling Sensitivity, the real-time detection identification of user's hand activities behavior of the degree of accuracy；
(2) handled using the sampling and analysis of signal of multi-channel capacitive pole plate, realize to the close of target object or connect Tactile detection, the particularly identification to target object shape size；
(3) compliant conductive fiber is used as capacitance sensor pole plate material, binding signal processing and communication and built-in power Module, realizes the low-power consumption movement detection identification of hand activities behavior.
Brief description of the drawings
Fig. 1 is the schematic device for recognizing user's hand behavior in embodiment using capacitance detecting；
Fig. 2 is the principle schematic for the device for recognizing user's hand behavior in embodiment using capacitance detecting；
Fig. 3 is the flow chart that the relative space relation between hand and target object is judged in embodiment；
Fig. 4 is calculating hand and target object relative position schematic diagram in embodiment.
Embodiment
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and embodiment is to technical scheme It is described in detail.
In order to understand the hand state of user in interaction exactly, the present invention provides a kind of detection identification hand behavior Method and a kind of detection identifying device.This method and apparatus can be used for being handed over using nature hand activities in user The specific hand behavior of the user of detection identification in real time and close or contact target object in mutual process.In addition, aobvious And easy insight, this hand behavioral value method and apparatus of the invention can also be applied to other electronic equipments interactions, example Such as controlled by the use of hand activities as interactive mode in game, other interactive tasks of multiple person cooperational Information Sharing and situation, For the interaction naturality for making full use of nature hand active belt under these task situations.The present invention can also be used for thing Identification is surveyed in physical examination, such as applied to the shapes and sizes detection for detecting various inconvenient directly grasping objects.Below in conjunction with the accompanying drawings Certain specific embodiments of the invention are described in detail.
Referring to Fig. 1, the device of utilization capacitance detecting identification user's hand behavior in the present embodiment is loaded with multiple capacitance poles Plate 2, capacitance sensor 3, signal processor 4, low-power consumption bluetooth communication module 5 and multigroup thin cylinder type lithium battery 6, and by exhausted The gloves 1 that edge and conductive fiber material mixed weaving are constituted.1 capacitor plate 2 of thumb location arrangements of gloves 1, remaining four Individual finger position is respectively arranged 2 capacitor plates 2, and the different parts for detecting different fingers are close respectively or release object The state of body.Capacitance sensor 3, signal processor 4, wireless communication module 5 are located at the hand neck position of gloves, and are integrated in one piece Based on flexible PCB circuit board, it can so shorten from the acquisition process of capacitance signal to the time delay of transmission, and it is flexible PCB can adapt to the bending during gloves use, be user-friendly.Multigroup thin cylinder type lithium battery 6 perpendicular to Gloves edge is arranged, and so can adapt to the bending of gloves afterbody, improves the comfort level that user uses.
Referring to Fig. 2, the workflow of the device is：
First, capacitance sensor gathers all capacitor plate signals, and the capacitor plate signal is transmitted to signal transacting Device；
Then, signal processor is carried out according to the amplitude, change duration and pace of change of the capacitor plate signal of reception Analyzing and processing, obtain each capacitor plate whether close to target object, each capacitor plate close to target object speed and The distance between each capacitor plate and target object, each capacitor plate test position of hand and target object close to or The information such as the relative tertiary location of each test position of contact condition and hand；Signal processor is always according to each detection of hand The relative tertiary location of position, calculates the space length relation of each test position, and then obtains the spatial form of target object Profile；
Finally, signal processor will calculate obtained data used and be transferred to outside through wireless communication module low-power consumption bluetooth Equipment, completes interaction.
Referring to Fig. 3, what the device detection identification provided using the present invention obtained hand spatial movement state is specially：
Gloves shown in Fig. 1 are worn on hand, and according to the capacitance signalling values of multiple capacitor plates, utilize signal transacting Device calculates the v for obtaining upper capacitor plate in k-th of fingerK, on、aK, on、lK, on、θK, on；Lower capacitor plate in k-th of finger vK, under、aK, under、lK, under、θK, under；
The then spatial movement state S of k-th of fingerkIt is described as：
Sk={ vK, on, vK, under, aK, on, aK, under, lK, on, lK, under, θK, on, θK, under}
The mass motion state description of hand is described as S：
S={ S1,S2,S3,S4,S5}
Referring to Fig. 4, the specific of θ is calculated as in the present embodiment：
θK, on=arccos ((lK, on-lK, under)/Dk)
θK, under=180 θK, on
Technical scheme and beneficial effect are described in detail above-described embodiment, Ying Li Solution is to the foregoing is only presently most preferred embodiment of the invention, is not intended to limit the invention, all principle models in the present invention Interior done any modification, supplement and equivalent substitution etc. are enclosed, be should be included in the scope of the protection.

Claims (10)

1. a kind of utilization capacitance detecting recognizes the device of user's hand behavior, it is characterised in that including：
Multiple capacitor plates, the multiple conductive regions being made up of conductive fiber, those conductive regions produce change according to hand behavior The capacitor plate signal of change；
Capacitance sensor, gathers the capacitor plate signal of multiple capacitor plates, and the capacitor plate signal is transmitted to signal Manage device；
Signal processor, is analyzed and processed to the capacitor plate signal of reception, and judgement obtains corresponding with each capacitor plate The attribute and shape data of hand behavioral data and target object；
Wireless communication module, signal processor is analyzed the attribute and shape data of obtained hand behavioral data and target object It is delivered to host computer；
Power supply, is that capacitance sensor, signal processor and wireless communication module are powered.
2. the device of user's hand behavior is recognized using capacitance detecting as claimed in claim 1, it is characterised in that described profit Recognize the device of user's hand behavior with capacitance detecting to be loaded with multiple capacitor plates, it is capacitance sensor, signal processor, wireless Communication module and power supply, and the gloves by insulating and conductive fiber material mixed weaving is constituted；Described multiple capacitor plates Positioned at finger position, described capacitance sensor, signal processor, wireless communication module and power supply is located at the hand neck portion of gloves Position.
3. the device of user's hand behavior is recognized using capacitance detecting as claimed in claim 2, it is characterised in that described is more Individual capacitor plate be located at finger position concrete arrangement be：1 capacitor plate of thumb location arrangements of gloves, remaining 4 Individual finger position is respectively arranged 2 capacitor plates, and the right-hand man of gloves is arranged symmetrically.
4. the device of user's hand behavior is recognized using capacitance detecting as claimed in claim 3, it is characterised in that described position Capacitance sensor, signal processor and wireless communication module in the hand neck position of gloves are integrated in one piece and are based on flexible PCB On circuit board.
5. the device of user's hand behavior is recognized using capacitance detecting as claimed in claim 3, it is characterised in that described position Power supply in the hand neck position of gloves is the multigroup thin cylinder type lithium battery arranged perpendicular to gloves edge.
6. the device of user's hand behavior is recognized using capacitance detecting as claimed in claim 1, it is characterised in that described letter The amplitude and pace of change of capacitor plate signal when close to target object judge target object according to capacitor plate for number processor It is human body, other conductors or insulator, now, the capacitance sensor of collection capacitor plate signal is target object type detection Device.
7. the device of user's hand behavior is recognized using capacitance detecting as claimed in claim 1, it is characterised in that described letter Number processor judges that hand is different according to the amplitude of capacitor plate capacitor plate signal when close to target object with pace of change Be closely located to or contact target object pattern, produce close to behavior pattern signal, now, gather the electric capacity of capacitor plate signal Sensor is mode detector of the hand close to target object.
8. the device of user's hand behavior is recognized using capacitance detecting as claimed in claim 7, it is characterised in that described connects Nearly behavior pattern signal include it is linear close to or far away from speed, acceleration and angle；The speed be physically contacted or left Degree, acceleration and angle.
9. a kind of method of any described device detection identification user's hand behavior of application claim 1~8, including：
(1) capacitor plate signal is gathered using capacitance sensor, and the capacitor plate signal is transmitted to signal processor；
(2) signal processor is carried out at analysis according to the amplitude, change duration and pace of change of the capacitor plate signal of reception Reason, judge each capacitor plate whether close to target object, each capacitor plate close to the speed of target object and each electricity Hold the distance between pole plate and target object；
(3) signal processor analyzes each capacitor plate signal, and according to the variation characteristic of each capacitor plate signal, calculates also Each capacitor plate test position of former hand and target object close to or contact condition and hand each test position Relative tertiary location；
(4) signal processor is according to the relative tertiary location of each test position of hand, calculate the space of each test position away from From relation, the spatial form profile of target object is obtained.
10. the method described in a kind of any described device of claim 1~8 or claim 9 recognizes user's hand in detection The application of behavior, including：
Detect user's hand activities and the behavior of mobile phone, flat board, large scale electronic equipment and other hand-held non-electronic products；
Detection based on user's hand activities and behavior, judges the interaction intention of user, aids in the interactive task of user.
CN201710295078.4A 2017-04-28 2017-04-28 A kind of method and apparatus using capacitance detecting identification user's hand behavior Active CN107145232B (en)

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