CN107260412B - Folding intelligence stretcher - Google Patents
Folding intelligence stretcher Download PDFInfo
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- CN107260412B CN107260412B CN201710561731.7A CN201710561731A CN107260412B CN 107260412 B CN107260412 B CN 107260412B CN 201710561731 A CN201710561731 A CN 201710561731A CN 107260412 B CN107260412 B CN 107260412B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/013—Stretchers foldable or collapsible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The present invention relates to a kind of folding intelligence stretcher, including it is universal walk wheel, the front of driving wheel is set；Driving wheel, for driving foldable lifting structure to advance, retreat or stopping；Foldable lifting structure, positioned at driving wheel and it is universal walk wheel top, for changing the height of stretcher；Motor driver is connect with driving wheel, for sending control instruction to driving wheel to determine the driving method of driving wheel；Foldable cross bar, positioned at the top of foldable lifting structure, for providing broad-adjustable lying position for patient；Hand grip portion, positioned at the top of foldable cross bar, for providing hand griping position for patient.By means of the invention it is possible to improve stretcher structure, facilitate control of the patient to stretcher.
Description
Technical field
The present invention relates to medical stretcher field more particularly to a kind of folding intelligence stretchers.
Background technique
It should be noted following item when transporting stretcher or push stretcher:
1, the vital sign and injury of the wounded will be checked before by carrying the wounded, emphasis check the head of the wounded, backbone,
Whether get damaged whether there is or not wound, especially cervical vertebra for chest.
2, the wounded must be properly handled, the unobstructed of the respiratory tract for keeping the wounded are first had to, then to the wounded by traumatic part
Position will be stopped blooding according to technical operation specification, wrap up, fix.Handle it is proper after, can just move.
3, it when personnel, stretcher etc. are not ready to appropriate, never carries.When carrying overweight and the clouded in mind wounded,
Consider comprehensively.Prevent from carrying fall on the way, the accident such as tumble injury.
4, the change of illness state of the wounded is observed at any time in the handling process.Primary part observation breathing, mind etc. pay attention to keeping warm,
But should not be too tight by Head And Face backpack cover, in order to avoid influence breathing.Once emergency on the way occurs, such as asphyxia, breathing stop, taking out
When jerking, it should stop carrying, carry out first aid process immediately.
5, it at special scene, should be carried by special method.The wounded are carried in scene of fire in dense smoke, answer curved
Waist is crept；At the scene for having toxic gas leakage, bearer first should cover your mouth and nose or use breathing mask with wet towel, in order to avoid
It is smoked by poison gas.
6, the wounded of backbone, spinal cord injury are carried: after being placed on hard-board stretcher, it is necessary to reinstate its body and stretcher one
Triangle bandage or other dry goods band fixations, especially cervical spine injury person, incidence two sides must place sandbag, pillow, clothing
Etc. being fixed, the activity of cervical vertebra all directions is limited, is then fixed forehead together with stretcher with triangle bandage etc., then by whole body
It is enclosed and is scheduled on together with stretcher with triangle bandage etc..
Summary of the invention
Lack effective communicative channel between patient and stretcher on current stretcher, particularly with the patient for suffering from grave illness
For.To solve the above-mentioned problems, the present invention provides a kind of folding intelligence stretchers, introduce multiple processing equipment and inspection
Measurement equipment accurately detects the gesture of the patient on stretcher, determines corresponding stretcher control instruction, institute based on the gesture
It states stretcher control instruction and executes corresponding operating for controlling stretcher.
According to an aspect of the present invention, provide a kind of folding intelligence stretcher, the stretcher include: it is universal walk
Wheel, is arranged in the front of driving wheel；Driving wheel, for driving foldable lifting structure to advance, retreat or stopping；Foldable lifting
Structure, positioned at driving wheel and it is universal walk wheel top, for changing the height of stretcher.
More specifically, in the folding intelligence stretcher, further includes: motor driver is connect with driving wheel, is used
In the driving method for determining driving wheel to driving wheel transmission control instruction.
More specifically, in the folding intelligence stretcher, further includes: foldable cross bar is located at foldable lifting
The top of structure, for providing broad-adjustable lying position for patient.
More specifically, in the folding intelligence stretcher, further includes: hand grip portion, positioned at the upper of foldable cross bar
Side, for providing hand griping position for patient.
More specifically, in the folding intelligence stretcher, further includes:
The foldable lifting structure includes the scissor component of two groups of horizontally-parallel settings, each scissor component includes lock
Determine part and multiple parallel connecting rods, locking piece to each parallel connecting rod for being locked or being discharged operation；
Spherical camera, including camera shooting bracket, optical filter, high-definition image sensor, camera lens, flash lamp and brightness sensing
Device, the luminance sensor is for detecting ambient brightness, and the flash lamp is connect with the luminance sensor, for being based on
The output of the luminance sensor determines that specific flashing action, the camera lens are sensed in the optical filter and the high-definition image
Between device, the camera shooting bracket is for fixing the optical filter, the high-definition image sensor, the camera lens, the flash lamp
With the luminance sensor, the spherical camera is used to carry out the acquisition of high-definition image data to the patient on stretcher, to obtain
High definition patient image,
Noise complexity detection device, connect with the spherical camera, for receiving the high definition patient image, to institute
It states high definition patient image and carries out the detection of noise complexity to determine and export picture noise complexity；
Image block equipment is connect with the noise complexity detection device, for receiving described image noise complexity
With the high definition patient image, and based on described image noise complexity to the high definition patient image carry out piecemeal processing to obtain
Multiple image blocks are obtained, described image noise complexity is higher, carries out piecemeal to the high definition patient image and handles figure obtained
As the quantity of block is more；
Adaptive-filtering equipment is connect, for receiving described multiple images block, to each with described image piecemeal equipment
Image block executes following processing: carrying out noise type analysis to obtain main noise type, based on main to each image block
Noise type determines that corresponding types filter is filtered to obtain filter block image block；The adaptive-filtering equipment
Also all filter blocks are combined to obtain and export combined filter image；
Crucial independent positioning device connect to obtain the combined filter image with the adaptive-filtering equipment, is based on 5
Benchmark key dot shape determines 5 key point current locations in the combined filter image respectively, wherein works as in 5 key points
In front position, each key point current location is opposite position of the corresponding key point relative to right arm middle fingertip current location
It sets, 5 benchmark key points are the benchmark image of 5 key points in human body right arm, include right arm middle fingertip in 5 key points；
Key point reference device, for establishing human body right arm model based on right arm skeleton model and right arm joint model, from
5 key points are extracted at the human body right arm model and determine 5 key point reference positions respectively；
Gesture identification equipment is connect with the crucial independent positioning device and the key point reference device respectively, for true
Each fixed key point current location, to obtain 5 offset vectors, is based on institute to the offset vector for corresponding to key point reference position
It states 5 offset vectors and determines current gesture；
DSP handles chip, connect with the gesture identification equipment, works as receiving the current gesture, and based on described
Preceding gesture determines that corresponding stretcher control instruction, the stretcher control instruction execute corresponding operating for controlling stretcher；
Wherein, in 5 key point reference positions, each key point reference position is corresponding key point relative to human body
The relative position of middle fingertip in right arm model.
More specifically, in the folding intelligence stretcher: the noise complexity detection device, described image point
Block device, the adaptive-filtering equipment, the crucial independent positioning device, the key point reference device and the gesture identification
Equipment is integrated in one piece of SOC chip and is realized.
More specifically, in the folding intelligence stretcher: the noise complexity detection device, described image point
Block device, the adaptive-filtering equipment, the crucial independent positioning device, the key point reference device and the gesture identification
Equipment is integrated on same integrated circuit board.
More specifically, in the folding intelligence stretcher: the noise complexity detection device, described image point
Block device, the adaptive-filtering equipment, the crucial independent positioning device, the key point reference device and the gesture identification
Equipment is all arranged in the hand grip portion of stretcher.
Detailed description of the invention
Embodiment of the present invention is described below with reference to attached drawing, in which:
Fig. 1 is the structural block diagram according to the folding intelligence stretcher shown in embodiment of the present invention.
Fig. 2 is the structure box according to the folding intelligence stretcher of the spherical camera shown in embodiment of the present invention
Figure.
Appended drawing reference: 1 it is universal walk wheel；2 driving wheels；3 foldable lifting structures；4 spherical cameras；41 camera shooting brackets；42
Optical filter；43 high-definition image sensors；44 camera lenses；45 flash lamps；46 luminance sensors
Specific embodiment
The embodiment of folding intelligence stretcher of the invention is described in detail below with reference to accompanying drawings.
According to the state of an illness of patient, the posture of the patient on stretcher can be taken following several:
1, dorsal position can use this position to all severely injured personnel.It can be to avoid the excessive curved of neck and vertebra
Generation that is bent and preventing centrum dislocation；To the wounded of the open wound of abdominal-wall defect, when the wounded, which shout, to hold one's breath, intestinal tube can be deviate from,
It allows the wounded to take buckling lower limb body position of lying on the back, can prevent abdominal viscera from deviating from.
2, after excluding neck injury, to the wounded to sicken for consciousness, lateral position can be used in lateral position.To prevent the wounded
In vomiting, food sucks tracheae.When the wounded lie on one's side, it can maintain a neutral position in its one pillow of neck cushion.
3, semireclining position, for only having the wounded of thoracic injury, often because of pain, haemopneumothorax and the severe dyspnea that arrives.It is removing
When outer merging thoracic vertebrae, lumbar vertebral injury and shock, this position can be used, in favor of wounded's breathing.
4, there are the wounded of paradoxical breathing and severe depletion of oxygen to wall of the chest extensive injuries in prone position, can use prone position.
To oppress, limit paradoxical breathing.
5, seat, it is suitable to have in pleural effusion, Patients with Cardiac Failure.
In the prior art, often control model selection face is less by the patient on stretcher, such as the patient of aphasis
And the difficult patient that is confined says, can only select gesture to realize the transmission of instruction, not deposit in stretcher in the prior art
In such mechanism.In order to overcome above-mentioned deficiency, the present invention has built a kind of folding intelligence stretcher, above-mentioned for solving
Technical problem.
Fig. 1 is the structural block diagram according to the folding intelligence stretcher shown in embodiment of the present invention, the stretcher
Include:
It is universal to walk to take turns, the front of driving wheel is set；
Driving wheel, for driving foldable lifting structure to advance, retreat or stopping；
Foldable lifting structure, positioned at driving wheel and it is universal walk wheel top, for changing the height of stretcher.
Then, continue that the specific structure of folding intelligence stretcher of the invention is further detailed.
In the folding intelligence stretcher, further includes:
Motor driver is connect with driving wheel, for sending control instruction to driving wheel to determine the driving side of driving wheel
Formula.
In the folding intelligence stretcher, further includes:
Foldable cross bar, positioned at the top of foldable lifting structure, for providing broad-adjustable lying position for patient.
In the folding intelligence stretcher, further includes:
Hand grip portion, positioned at the top of foldable cross bar, for providing hand griping position for patient.
In the folding intelligence stretcher, further includes:
The foldable lifting structure includes the scissor component of two groups of horizontally-parallel settings, each scissor component includes lock
Determine part and multiple parallel connecting rods, locking piece to each parallel connecting rod for being locked or being discharged operation；
Spherical camera, as shown in Fig. 2, include camera shooting bracket, optical filter, high-definition image sensor, camera lens, flash lamp and
Luminance sensor, for detecting ambient brightness, the flash lamp is connect the luminance sensor with the luminance sensor,
For determining specific flashing action based on the output of the luminance sensor, the camera lens is in the optical filter and the high definition
Between imaging sensor, the camera shooting bracket is for fixing the optical filter, the high-definition image sensor, the camera lens, institute
Flash lamp and the luminance sensor are stated, the spherical camera is used to carry out high-definition image data to the patient on stretcher to adopt
Collection, to obtain high definition patient image,
Noise complexity detection device, connect with the spherical camera, for receiving the high definition patient image, to institute
It states high definition patient image and carries out the detection of noise complexity to determine and export picture noise complexity；
Image block equipment is connect with the noise complexity detection device, for receiving described image noise complexity
With the high definition patient image, and based on described image noise complexity to the high definition patient image carry out piecemeal processing to obtain
Multiple image blocks are obtained, described image noise complexity is higher, carries out piecemeal to the high definition patient image and handles figure obtained
As the quantity of block is more；
Adaptive-filtering equipment is connect, for receiving described multiple images block, to each with described image piecemeal equipment
Image block executes following processing: carrying out noise type analysis to obtain main noise type, based on main to each image block
Noise type determines that corresponding types filter is filtered to obtain filter block image block；The adaptive-filtering equipment
Also all filter blocks are combined to obtain and export combined filter image；
Crucial independent positioning device connect to obtain the combined filter image with the adaptive-filtering equipment, is based on 5
Benchmark key dot shape determines 5 key point current locations in the combined filter image respectively, wherein works as in 5 key points
In front position, each key point current location is opposite position of the corresponding key point relative to right arm middle fingertip current location
It sets, 5 benchmark key points are the benchmark image of 5 key points in human body right arm, include right arm middle fingertip in 5 key points；
Key point reference device, for establishing human body right arm model based on right arm skeleton model and right arm joint model, from
5 key points are extracted at the human body right arm model and determine 5 key point reference positions respectively；
Gesture identification equipment is connect with the crucial independent positioning device and the key point reference device respectively, for true
Each fixed key point current location, to obtain 5 offset vectors, is based on institute to the offset vector for corresponding to key point reference position
It states 5 offset vectors and determines current gesture；
DSP handles chip, connect with the gesture identification equipment, works as receiving the current gesture, and based on described
Preceding gesture determines that corresponding stretcher control instruction, the stretcher control instruction execute corresponding operating for controlling stretcher；
Wherein, in 5 key point reference positions, each key point reference position is corresponding key point relative to human body
The relative position of middle fingertip in right arm model.
In the folding intelligence stretcher: the noise complexity detection device, described image piecemeal equipment, institute
Adaptive-filtering equipment, the crucial independent positioning device, the key point reference device and the gesture identification equipment is stated to be collected
It is realized in Cheng Yi block SOC chip.
In the folding intelligence stretcher: the noise complexity detection device, described image piecemeal equipment, institute
Adaptive-filtering equipment, the crucial independent positioning device, the key point reference device and the gesture identification equipment is stated to be collected
At on same integrated circuit board.
In the folding intelligence stretcher: the noise complexity detection device, described image piecemeal equipment, institute
State adaptive-filtering equipment, the crucial independent positioning device, the key point reference device and the gesture identification equipment all by
It is arranged in the hand grip portion of stretcher.
In addition, the Harvard structure that the inside of dsp chip is separated using program and data, has special hardware multiplier,
Pile line operation is widely used, special DSP instruction is provided, can be used to quickly realize various digital signal processing algorithms.
According to the requirement of Digital Signal Processing, dsp chip generally has following some main features: (1) referring at one
Enable an achievable multiplication and a sub-addition in the period.(2) program and data space is separated, can simultaneously access instruction sum number
According to.(3) there is quick RAM in piece, can usually be accessed simultaneously in two pieces by independent data/address bus.(4) there is low overhead
Or without overhead loop and the hardware supported jumped.(5) quickly interrupt processing and Hardware I/O are supported.(6) have within the monocycle
Multiple hardware address generators of operation.(7) multiple operations can be executed parallel.(8) it supports pile line operation, makes fetching, translates
The operations such as code and execution can be with Overlapped Execution.
Classified according to the data format of dsp chip work.Data are known as pinpointing with the dsp chip that fixed point format works
Dsp chip, TMS320C1X/C2X, TMS320C2XX/C5X, TMS320C54X/C62XX such as TI company are serial, AD company
ADSP21XX series, the DSP16/16A of AT & T Corp., the MC56000 etc. of Motolora company.What is worked in a floating-point format is known as
Float-point DSP, the ADSP21XXX such as the TMS320C3X/C4X/C8X of TI company, AD company is serial, AT & T Corp.
The MC96002 etc. of DSP32/32C, Motolora company.
Not exclusively, some dsp chips use customized floating-point to floating-point format used by different float-point DSPs
Format, such as TMS320C3X, and some dsp chips then use the standard floating-point format of IEEE, such as motorola inc
The ZR35325 etc. of the MB86232 and ZORAN company of MC96002, FUJITSU company.
Using folding intelligence stretcher of the invention, it is difficult to fold and lack and disease for stretcher in the prior art
The technical issues of effective communication mechanism of people, solves first technical problem by building portable and collapsible mechanism, by drawing
Entering multiple targeted processing equipments and detection device, joint completes the foundation of patient's communication mechanism based on gesture, thus
Solve second technical problem.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any person skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications all are made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of variation.Therefore, anything that does not depart from the technical scheme of the invention are right according to the technical essence of the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the range of technical solution of the present invention protection
It is interior.
Claims (1)
1. a kind of folding intelligence stretcher, comprising: it is universal to walk to take turns, the front of driving wheel is set；Driving wheel, for driving
Foldable lifting structure is advanced, retreats or is stopped；Foldable lifting structure, positioned at driving wheel and it is universal walk wheel top, be used for
Change the height of stretcher；
Motor driver is connect with driving wheel, for sending control instruction to driving wheel to determine the driving method of driving wheel；
Foldable cross bar, positioned at the top of foldable lifting structure, for providing broad-adjustable lying position for patient；
Hand grip portion, positioned at the top of foldable cross bar, for providing hand griping position for patient；
The foldable lifting structure includes the scissor component of two groups of horizontally-parallel settings, each scissor component includes locking piece
With multiple parallel connecting rods, locking piece to each parallel connecting rod for being locked or being discharged operation；
Spherical camera, including camera shooting bracket, optical filter, high-definition image sensor, camera lens, flash lamp and luminance sensor, institute
Luminance sensor is stated for detecting ambient brightness, the flash lamp is connect with the luminance sensor, for based on described
The output of luminance sensor determines specific flashing action, the camera lens the optical filter and the high-definition image sensor it
Between, the camera shooting bracket is for fixing the optical filter, the high-definition image sensor, the camera lens, the flash lamp and institute
Luminance sensor is stated, the spherical camera is used to carry out the acquisition of high-definition image data to the patient on stretcher, to obtain high definition
Patient image,
Noise complexity detection device, connect with the spherical camera, for receiving the high definition patient image, to the height
Clear patient image carries out the detection of noise complexity to determine and export picture noise complexity；
Image block equipment is connect, for receiving described image noise complexity and institute with the noise complexity detection device
High definition patient image is stated, and more to obtain to high definition patient image progress piecemeal processing based on described image noise complexity
A image block, described image noise complexity is higher, carries out piecemeal to the high definition patient image and handles image block obtained
Quantity it is more；
Adaptive-filtering equipment is connect with described image piecemeal equipment, for receiving described multiple images block, to each image
Block executes following processing: carrying out noise type analysis to each image block to obtain main noise type, is based on main noise
Type determines that corresponding types filter is filtered to obtain filter block image block；The adaptive-filtering equipment will also
All filter blocks are combined to obtain and export combined filter image；
Crucial independent positioning device connect to obtain the combined filter image with the adaptive-filtering equipment, is based on 5 benchmark
Crucial dot shape determines 5 key point current locations in the combined filter image respectively, wherein in 5 key point present bits
In setting, each key point current location is relative position of the corresponding key point relative to right arm middle fingertip current location, 5
Benchmark key point is the benchmark image of 5 key points in human body right arm, includes right arm middle fingertip in 5 key points；
Key point reference device, for establishing human body right arm model based on right arm skeleton model and right arm joint model, described in
5 key points are extracted at human body right arm model and determine 5 key point reference positions respectively；
Gesture identification equipment is connect with the crucial independent positioning device and the key point reference device respectively, every for determining
One key point current location, to obtain 5 offset vectors, is based on described 5 to the offset vector for corresponding to key point reference position
Offset vector determines current gesture；
DSP handles chip, connect with the gesture identification equipment, works as remote holder for receiving the current gesture, and based on described
Gesture determines that corresponding stretcher control instruction, the stretcher control instruction execute corresponding operating for controlling stretcher；
Wherein, in 5 key point reference positions, each key point reference position is corresponding key point relative to human body right arm
The relative position of middle fingertip in model；
The noise complexity detection device, described image piecemeal equipment, the adaptive-filtering equipment, the crucial point location
Equipment, the key point reference device and the gesture identification equipment, which are integrated in one piece of SOC chip, to be realized；
The noise complexity detection device, described image piecemeal equipment, the adaptive-filtering equipment, the crucial point location
Equipment, the key point reference device and the gesture identification equipment are integrated on same integrated circuit board；
The noise complexity detection device, described image piecemeal equipment, the adaptive-filtering equipment, the crucial point location
Equipment, the key point reference device and the gesture identification equipment are all arranged in the hand grip portion of stretcher.
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| CN106934351A (en) * | 2017-02-23 | 2017-07-07 | 中科创达软件股份有限公司 | Gesture identification method, device and electronic equipment |
| CN106821628A (en) * | 2017-04-12 | 2017-06-13 | 中国医学科学院生物医学工程研究所 | A kind of controller system and its control method based on high speed SSVEP intelligent wheel chairs |
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