CN108170281B - A kind of work posture analysis system measuring method - Google Patents
A kind of work posture analysis system measuring method Download PDFInfo
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- CN108170281B CN108170281B CN201810051149.0A CN201810051149A CN108170281B CN 108170281 B CN108170281 B CN 108170281B CN 201810051149 A CN201810051149 A CN 201810051149A CN 108170281 B CN108170281 B CN 108170281B
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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
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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
Abstract
The invention belongs to body feeling interaction field, specifically a kind of work posture analysis system measuring method.This approach includes the following steps：Step 1: start Kinect V2 equipment, and when acquisition operations people is upright 25 skeleton points template data；Step 2: judging the score value on operating personnel head；Step 3: judging the score value at operating personnel back；Step 4: judging the score value of operating personnel leg；Step 5: judging the score value of operating personnel's arm；Step 6: finally being graded by table according to the score value at four positions.The present invention is one kind by Kinect V2 catcher's body skeleton datas, the head of operating personnel, back, arm and leg are evaluated, the work posture analysis system measuring method of the rank finally acted according to action grade separation, has filled up the blank on existing market.
Description
Technical field
The invention belongs to body feeling interaction field, specifically a kind of work posture analysis system measuring method.
Background technology
Work posture analysis system (OWAS) is proposed the 1970s by an iron company of Finland earliest.By
There are a large amount of weight muscle power works, incorrect work posture that a large amount of workers is brought to apply because of professional industrial injury in the production of steel at that time
Sick leave and early retirement, thus the system of complete set is urgently established to define various work postures and improve to it.
Invention content
The present invention provides one kind by Kinect V2 catcher's body skeleton datas, head, the back of the body to operating personnel
Portion, arm and leg are evaluated, and the work posture analysis system of the rank finally acted according to action grade separation is surveyed
Calculation method has filled up the blank on existing market.
Technical solution of the present invention is described with reference to the drawings as follows：
A kind of work posture analysis system measuring method, this approach includes the following steps：
Step 1: start Kinect V2 equipment, and when acquisition operations people is upright 25 skeleton points template data；
Step 2: judging the score value on operating personnel head；
Step 3: judging the score value at operating personnel back；
Step 4: judging the score value of operating personnel leg；
Step 5: judging the score value of operating personnel's arm；
Step 6: finally being graded by table according to the score value at four positions.
The specific method is as follows for the step one：
Start Kinect V2, face operating personnel, and when acquisition operations people is upright 25 skeleton points template data；Its
In 25 position skeleton points include head, neck, shoulder center, left thumb, right thumb, left finger tip, right finger tip, left hand, the right hand, left hand
Wrist, right finesse, left elbow, right elbow, left shoulder, right shoulder, backbone, hip joint center, left stern, left knee, left ankle, left foot, the right side
Stern, right knee, right ankle, right crus of diaphragm.
The specific method is as follows for the step two：
Acquire human body head coordinate points A1(x1,y1,z1), neck coordinate points A2(x2,y2,z2), shoulder centre coordinate point A3(x3,y3,
z3), left shoulder coordinate points A4(x4,y4,z4), right shoulder coordinate points A5(x5,y5,z5), left foot coordinate points A6(x6,y6,z6), left foot
Ankle coordinate points A7(x7,y7,z7), right crus of diaphragm coordinate points A8(x8,y8,z8), right ankle coordinate points A9(x9,y9,z9)；Pass through KinectV2
Facial recognition module capture people left eye coordinates point A10(x10,y10,z10), right eye coordinate points A11(x11,y11,z11)；
At this point, the vector of neck to the end is
The vector of shoulder center to neck is
The vector of left shoulder to right shoulder is
The vector of left ankle to left foot is
The vector of right ankle to right crus of diaphragm is
The vector of left eye to right eye is
Calculate angle
Choose θ6=min | θ3- 90 ° |, | θ4- 90 ° | }, it is false
If
θ6=| θ3- 90 ° |, it calculatesIt is on the contrary
Work as θ1>=135 ° and 135 ° >=θ2>=45 ° and 135 ° >=θ7At >=45 °, the zone of action of operating personnel is in head
Free space I, and remember 1 point；
Work as θ1135 ° of ＜ and θ745 ° of ＜ and θ5When 10 ° of ＜, the zone of action of operating personnel is in head and is bent region forward
II, and remember 2 points；
Work as θ2135 ° of ＞ or θ2When 45 ° of ＜, the zone of action of operating personnel is in head lateral bending region III, and remembers 3 points；
Work as θ1135 ° of ＜ and θ7135 ° of ＞ and θ5When 10 ° of ＜, the zone of action of operating personnel is in head and faces upward region IV, and
And 4 points of note；
When zone of action is not in head lateral bending region III, then can determine whether to turn round by eye vector and the angle of shoulder vector
Turn, as 135 ° >=θ2>=45 ° and θ5When 10 ° of ＞, the zone of action of operating personnel is in head twist range V, and remembers 5 points；
When other angles, the zone of action of operating personnel is in torsion lateral bending region VI, and remembers 6 points.
The specific method is as follows for the step three：
Acquire shoulder centre coordinate point A3(x3,y3,z3), left shoulder coordinate points A4(x4,y4,z4), right shoulder coordinate points A5(x5,
y5,z5), backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points A14
(x14,y14,z14), right stern coordinate points A15(x15,y15,z15)；
At this point, the vector of left shoulder to right shoulder is
The vector at backbone to shoulder center is
The vector of hip joint center to backbone is
The vector of left stern to right stern is
Calculate angle
Work as θ8>=135 ° and θ9When 10 ° of ＜, operating personnel are in the upright range in back, and remember 1 point；
Work as θ8135 ° of ＜ and θ9When 10 ° of ＜, operating personnel are in back and bend over range, and remember 2 points；
Work as θ8>=135 ° and θ9At >=10 °, operating personnel are in back slew range, and remember 3 points；
Work as θ8135 ° of ＜ and θ9At >=10 °, operating personnel are in back and bend over to add slew range, and remember 4 points.
The specific method is as follows for the step four：
Acquire backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points
A14(x14,y14,z14), right stern wing coordinate points A15(x15,y15,z15), left knee coordinate points A16(x16,y16,z16), right knee coordinate
Point A17(x17,y17,z17), left ankle coordinate points A7(x7,y7,z7), right ankle coordinate points A9(x9,y9,z9)；
At this point, the vector of hip joint center to backbone is
The vector of left knee to left stern is
The vector of left ankle to left knee is
The vector of right knee to right stern is
The vector of right ankle to right knee is
Calculate angle
Left ankle is to left stern distance
Right ankle is to right stern distance
Work as θ10When 95 ° of ＜, operator is in sitting range, and remembers 1 point；
Work as θ10>=95 ° and θ1160 ° of ＜ and θ1260 ° of ＜ and | l2-l1| when ＜ 5cm, operator is in standing state, and remembers
2 points；
Work as θ10>=95 ° and θ1160 ° of ＜ and θ1260 ° of ＜ and | l2-l1When | >=5cm, operator is in the state that stands on one leg, and
And 3 points of note；
Work as θ10>=95 ° and θ11>=60 ° and θ12>=60 ° and | l2-l1| when ＜ 5cm, operator is in double gonocampsis standing shapes
State, and remember 4 points；
Work as θ10>=95 ° and θ11>=60 ° and θ12>=60 ° and | l2-l1When | >=5cm, operator is in single knee bends and stands
State, and remember 5 points.
The specific method is as follows for the step five：
Acquire left hand coordinate points A18(x18,y18,z18), right-handed scale (R.H.scale) point A19(x19,y19,z19), shoulder centre coordinate point A3
(x3,y3,z3), backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points A14
(x14,y14,z14), right stern coordinate points A15(x15,y15,z15), left knee coordinate points A16(x16,y16,z16), right knee coordinate points A17
(x17,y17,z17), left ankle coordinate points A7(x7,y7,z7), right ankle coordinate points A9(x9,y9,z9), left foot A20(x20,y20,
z20), right crus of diaphragm A21(x21,y21,z21)；
When leg judgement is sitting, chooses left stern coordinate points, right stern coordinate points and right knee coordinate points and set up vectorPlane 1 is built, first really
Recognize normal vectorIt can obtain
Wherein it is set as B1For (y15-y14)×(z17-z15)-(z15-z14)×(y17-y15),
B2For (z15-z14)×(x17-x15)-(x15-x14)×(z17-z15),
B3For (x15-x14)×(y17-y15)-(y15-y14)×(x17-x15)。
Normal vector is n=(B1,B2,B3), plane equation is B1(x-x14)+B2(y-y14)+B3(z-z14)=0, abbreviation
B can be obtained1x+B2y+B3Z=B1x14+B2y14+B3z14。
If B1x14+B2y14+B3z14For C, 1 equation of plane is represented by B1x+B2y+B3Z=C；
Calculate distance
Offset distance
Build plane 2：B1x+B2y+B3Z=C+l7；
When leg judgement is non-sitting, work as l1＞ l2, choose left ankle, left foot and right crus of diaphragm coordinate points and set up vector, according to flat
Face building mode obtains plane 1；
Calculate distance
Offset distanceIt can obtain
Plane 2；
Work as l1≤l2, choose right ankle, left foot and right crus of diaphragm coordinate points and set up vector, plane is obtained according to plane building mode
1；
Calculate distance
Offset distanceIt can obtain
Plane 2；
Left hand and the right hand are calculated to plane 1, the distance of plane 2, distance of the left hand apart from plane 1 beDistance apart from plane 2 isThe right hand
Distance apart from plane 1 isDistance apart from plane 2 is
Work as d1＜ l7And d2＜ l7And d3＜ l7And d4＜ l7Or d1＜ l7And d2＜ l7And d3＜ d4And d4≥l7Or d1＜ d2And
d2≥l7And d3＜ l7And d4＜ l7Or d1＜ d2And d2≥l7And d3＜ d4And d4≥l7When, operator's both hands are under shoulder, and are remembered
1 point；
Work as d1≥l7And d2＜ d1And d3＜ l7And d4＜ l7Or d1≥l7And d2＜ d1And d3＜ d4And d4≥l7Or d1＜ l7And
d2＜ l7And d3＞ d4And d4≥l7Or d1＜ d2And d2≥l7And d3＞ d4And d3≥l7When, operator's one hand is in shoulder or more, and
And 2 points of note；
Work as d1≥l7And d2＜ d1And d3≥l7And d4＜ d3When, operator's both hands are in shoulder or more, and remember 3 points.
The specific method is as follows for the step six：
The work posture row of operating personnel is checked according to the score of the head of the operator of calculating, back, leg and arm
Dynamic table of grading obtains final grading；Final grading is divided into Pyatyi, respectively grade 1, grade 2, grade 3, class 4 and grade
5；Grade 1 is expressed as normal posture, can receive, and need not handle；Grade 2 is to need to take improvement in the recent period by slight hazard
Measure；Grade 3, which is posture, apparent harm, needs to take Improving Measurements as early as possible；Class 4 has more serious harm, needs immediately
Take Improving Measurements；Class 5 has serious harm, need to stop immediately.
Beneficial effects of the present invention are：
The judge of work posture analysis system can be designed to the receptible mathematical method of computer by the present invention, reduce engineering
The workload of teacher.
Description of the drawings
Fig. 1 head movement area schematics；
The backs Fig. 2 flexible movable angle schematic diagram；
The backs Fig. 3 flexible movable angle, apart from schematic diagram；
The judgement of the legs Fig. 4 is sitting offset distance schematic diagram；
The judgement of the legs Fig. 5 is non-sitting and l1＞ l2Offset distance schematic diagram；
The judgement of the legs Fig. 6 is non-sitting and l1≤l2Offset distance schematic diagram.
Specific implementation mode
The present invention is from work posture analysis system, it is intended to be calculated automatically using body feeling interaction technology and computer technology
Go out to participate in the head of the personnel of Virtual assemble, back, leg, arm state, and the skeleton acquired by Kinect V2
It puts to calculate specific action, to be evaluated.
The specific method is as follows：
Step 1: start Kinect V2 equipment, face operating personnel, and 25 skeleton points when acquisition operations people is upright
Template data；
Wherein 25 position skeleton points include head, neck, shoulder center, left thumb, right thumb, left finger tip, right finger tip, left hand,
The right hand, left finesse, right finesse, left elbow, right elbow, left shoulder, right shoulder, backbone, hip joint center, left stern, left knee, left foot
Ankle, left foot, right stern, right knee, right ankle, right crus of diaphragm.
Step 2: judging the score value on operating personnel head；
Acquire human body head coordinate points A1(x1,y1,z1), neck coordinate points A2(x2,y2,z2), shoulder centre coordinate point A3(x3,y3,
z3), left shoulder coordinate points A4(x4,y4,z4), right shoulder coordinate points A5(x5,y5,z5), left foot coordinate points A6(x6,y6,z6), left foot
Ankle coordinate points A7(x7,y7,z7), right crus of diaphragm coordinate points A8(x8,y8,z8), right ankle coordinate points A9(x9,y9,z9)；Pass through KinectV2
Facial recognition module capture people left eye coordinates point A10(x10, y10, z10), right eye coordinate points A11(x11, y11, z11)；
At this point, the vector of neck to the end is
The vector of shoulder center to neck is
The vector of left shoulder to right shoulder is
The vector of left ankle to left foot is
The vector of right ankle to right crus of diaphragm is
The vector of left eye to right eye is
Calculate angle
Choose θ6=min | θ3- 90 ° |, | θ4- 90 ° | }, it is false
If
θ6=| θ3- 90 ° |, it calculatesIt is on the contrary
Refering to fig. 1, work as θ1>=135 ° and 135 ° >=θ2>=45 ° and 135 ° >=θ7At >=45 °, the zone of action of operating personnel
In head free space I, and remember 1 point；
Work as θ1135 ° of ＜ and θ745 ° of ＜ and θ5When 10 ° of ＜, the zone of action of operating personnel is in head and is bent region forward
II, and remember 2 points；
Work as θ2135 ° of ＞ or θ2When 45 ° of ＜, the zone of action of operating personnel is in head lateral bending region III, and remembers 3 points；
Work as θ1135 ° of ＜ and θ7135 ° of ＞ and θ5When 10 ° of ＜, the zone of action of operating personnel is in head and faces upward region IV, and
And 4 points of note；
When zone of action is not in head lateral bending region III, then can determine whether to turn round by eye vector and the angle of shoulder vector
Turn, as 135 ° >=θ2>=45 ° and θ5When 10 ° of ＞, the zone of action of operating personnel is in head twist range V, and remembers 5 points；
When other angles, the zone of action of operating personnel is in torsion lateral bending region VI, and remembers 6 points.
Step 3: judging the score value at operating personnel back；
Acquire shoulder centre coordinate point A3(x3,y3,z3), left shoulder coordinate points A4(x4,y4,z4), right shoulder coordinate points A5(x5,
y5,z5), backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points A14
(x14,y14,z14), right stern coordinate points A15(x15,y15,z15)；
At this point, the vector of left shoulder to right shoulder is
The vector at backbone to shoulder center is
The vector of hip joint center to backbone is
The vector of left stern to right stern is
Referring to Fig.2, calculating angle
Work as θ8>=135 ° and θ9When 10 ° of ＜, operating personnel are in the upright range in back, and remember 1 point；
Work as θ8135 ° of ＜ and θ9When 10 ° of ＜, operating personnel are in back and bend over range, and remember 2 points；
Work as θ8>=135 ° and θ9At >=10 °, operating personnel are in back slew range, and remember 3 points；
Work as θ8135 ° of ＜ and θ9At >=10 °, operating personnel are in back and bend over to add slew range, and remember 4 points.
Step 4: judging the score value of operating personnel leg；
The specific method is as follows for the step four：
Acquire backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points
A14(x14,y14,z14), right stern wing coordinate points A15(x15,y15,z15), left knee coordinate points A16(x16,y16,z16), right knee coordinate
Point A17(x17,y17,z17), left ankle coordinate points A7(x7,y7,z7), right ankle coordinate points A9(x9,y9,z9)；
At this point, the vector of hip joint center to backbone is
The vector of left knee to left stern is
The vector of left ankle to left knee is
The vector of right knee to right stern is
The vector of right ankle to right knee is
Refering to Fig. 3, angle is calculated
Left ankle is to left stern distance
Right ankle is to right stern distance
Work as θ10When 95 ° of ＜, operator is in sitting range, and remembers 1 point；
Work as θ10>=95 ° and θ1160 ° of ＜ and θ1260 ° of ＜ and | l2-l1| when ＜ 5cm, operator is in standing state, and remembers
2 points；
Work as θ10>=95 ° and θ1160 ° of ＜ and θ1260 ° of ＜ and | l2-l1When | >=5cm, operator is in the state that stands on one leg, and
And 3 points of note；
Work as θ10>=95 ° and θ11>=60 ° and θ12>=60 ° and | l2-l1| when ＜ 5cm, operator is in double gonocampsis standing shapes
State, and remember 4 points；
Work as θ10>=95 ° and θ11>=60 ° and θ12>=60 ° and | l2-l1When | >=5cm, operator is in single knee bends and stands
State, and remember 5 points.
Step 5: judging the score value of operating personnel's arm；
Acquire left hand coordinate points A18(x18,y18,z18), right-handed scale (R.H.scale) point A19(x19,y19,z19), shoulder centre coordinate point A3
(x3,y3,z3), backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points A14
(x14,y14,z14), right stern coordinate points A15(x15,y15,z15), left knee coordinate points A16(x16,y16,z16), right knee coordinate points A17
(x17,y17,z17), left ankle coordinate points A7(x7,y7,z7), right ankle coordinate points A9(x9,y9,z9), left foot A20(x20,y20,
z20), right crus of diaphragm A21(x21,y21,z21)；
When leg judgement is sitting, chooses left stern coordinate points, right stern coordinate points and right knee coordinate points and set up vectorPlane 1 is built, first really
Recognize normal vectorIt can obtain
Wherein it is set as B1For (y15-y14)×(z17-z15)-(z15-z14)×(y17-y15),
B2For (z15-z14)×(x17-x15)-(x15-x14)×(z17-z15),
B3For (x15-x14)×(y17-y15)-(y15-y14)×(x17-x15)。
Normal vector is n=(B1,B2,B3), plane equation is B1(x-x14)+B2(y-y14)+B3(z-z14)=0, abbreviation
B can be obtained1x+B2y+B3Z=B1x14+B2y14+B3z14；
If B1x14+B2y14+B3z14For C, 1 equation of plane is represented by B1x+B2y+B3Z=C；
Calculate distance
Refering to Fig. 4, offset distance
Build plane 2：B1x+B2y+B3Z=C+l7；
When leg judgement is non-sitting, work as l1＞ l2, choose left ankle, left foot and right crus of diaphragm coordinate points and set up vector, according to flat
Face building mode obtains plane 1；
Calculate distance
Refering to Fig. 5, offset distance
Plane 2 can be obtained；
Work as l1≤l2, choose right ankle, left foot and right crus of diaphragm coordinate points and set up vector, plane is obtained according to plane building mode
1；
Calculate distance
Refering to Fig. 6, offset distance
Plane 2 can be obtained；
Left hand and the right hand are calculated to plane 1, the distance of plane 2, distance of the left hand apart from plane 1 beDistance apart from plane 2 isThe right hand
Distance apart from plane 1 isDistance apart from plane 2 is
As (d1＜ l7And d2＜ l7And d3＜ l7And d4＜ l7) or (d1＜ l7And d2＜ l7And d3＜ d4And d4≥l7) or (d1＜
d2And d2≥l7And d3＜ l7And d4＜ l7) or (d1＜ d2And d2≥l7And d3＜ d4And d4≥l7) when, operator's both hands are in shoulder
Under, and remember 1 point；
As (d1≥l7And d2＜ d1And d3＜ l7And d4＜ l7) or (d1≥l7And d2＜ d1And d3＜ d4And d4≥l7) or (d1＜
l7And d2＜ l7And d3＞ d4And d4≥l7) or (d1＜ d2And d2≥l7And d3＞ d4And d3≥l7) when, operator's one hand is in shoulder
More than, and remember 2 points；
Work as d1≥l7And d2＜ d1And d3≥l7And d4＜ d3When, operator's both hands are in shoulder or more, and remember 3 points.
Step 6: finally being graded by table according to the score value at four positions.
The work posture row of operating personnel is checked according to the score of the head of the operator of calculating, back, leg and arm
Dynamic table of grading can obtain final grading；Final grading is divided into Pyatyi, respectively grade 1, grade 2, grade 3, class 4 and waits
Grade 5；Grade 1 is expressed as normal posture, can receive, and need not handle；Grade 2 changes by slight hazard, to need to take in the recent period
Kind measure；Grade 3, which is posture, apparent harm, needs to take Improving Measurements as early as possible；Class 4 has more serious harm, needs to stand
Take Improving Measurements；Class 5 has serious harm, need to stop immediately.The work posture action table of grading of operating personnel enters 1 institute of table
Show.
The work posture action grade of 1 operating personnel of table
Claims (1)
1. a kind of work posture analysis system measuring method, which is characterized in that this approach includes the following steps：
Step 1: start Kinect V2 equipment, and when acquisition operations people is upright 25 skeleton points template data；
Step 2: judging the score value on operating personnel head；
Step 3: judging the score value at operating personnel back；
Step 4: judging the score value of operating personnel leg；
Step 5: judging the score value of operating personnel's arm；
Step 6: finally being graded by table according to the score value at four positions；
The specific method is as follows for the step one：
Start Kinect V2, face operating personnel, and when acquisition operations people is upright 25 skeleton points template data；Wherein 25
A position skeleton point includes head, neck, shoulder center, left thumb, right thumb, left finger tip, right finger tip, left hand, the right hand, left finesse, the right side
Wrist, left elbow, right elbow, left shoulder, right shoulder, backbone, hip joint center, left stern, left knee, left ankle, left foot, right stern, the right side
Knee, right ankle, right crus of diaphragm；
The specific method is as follows for the step two：
Acquire human body head coordinate points A1(x1,y1,z1), neck coordinate points A2(x2,y2,z2), shoulder centre coordinate point A3(x3,y3,z3), it is left
Shoulder coordinate points A4(x4,y4,z4), right shoulder coordinate points A5(x5,y5,z5), left foot coordinate points A6(x6,y6,z6), left ankle coordinate
Point A7(x7,y7,z7), right crus of diaphragm coordinate points A8(x8,y8,z8), right ankle coordinate points A9(x9,y9,z9)；Pass through the face of Kinect V2
Hole identification module captures the left eye coordinates point A of people10(x10,y10,z10), right eye coordinate points A11(x11,y11,z11)；
At this point, the vector of neck to the end is
The vector of shoulder center to neck is
The vector of left shoulder to right shoulder is
The vector of left ankle to left foot is
The vector of right ankle to right crus of diaphragm is
The vector of left eye to right eye is
Calculate angle Choose θ6=min | θ3- 90 ° |, | θ4- 90 ° | }, it is assumed that θ6=| θ3- 90 ° |, it calculatesIt is on the contrary
Work as θ1>=135 ° and 135 ° >=θ2>=45 ° and 135 ° >=θ7At >=45 °, the zone of action of operating personnel is in head freedom
Region I, and remember 1 point；
Work as θ1<135 ° and θ7<45 ° and θ5<At 10 °, the zone of action of operating personnel is in head and is bent region II forward, and
2 points of note；
Work as θ2>135 ° or θ2<At 45 °, the zone of action of operating personnel is in head lateral bending region III, and remembers 3 points；
Work as θ1<135 ° and θ7>135 ° and θ5<At 10 °, the zone of action of operating personnel is in head and faces upward region IV, and remembers 4 points；
When zone of action is not in head lateral bending region III, then can determine whether to reverse by eye vector and the angle of shoulder vector,
As 135 ° >=θ2>=45 ° and θ5>At 10 °, the zone of action of operating personnel is in head twist range V, and remembers 5 points；
When other angles, the zone of action of operating personnel is in torsion lateral bending region VI, and remembers 6 points；
The specific method is as follows for the step three：
Acquire shoulder centre coordinate point A3(x3,y3,z3), left shoulder coordinate points A4(x4,y4,z4), right shoulder coordinate points A5(x5,y5,
z5), backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points A14(x14,
y14,z14), right stern coordinate points A15(x15,y15,z15)；
At this point, the vector of left shoulder to right shoulder is
The vector at backbone to shoulder center is
The vector of hip joint center to backbone is
The vector of left stern to right stern is
Calculate angle
Work as θ8>=135 ° and θ9<At 10 °, operating personnel are in the upright range in back, and remember 1 point；
Work as θ8<135 ° and θ9<At 10 °, operating personnel are in back and bend over range, and remember 2 points；
Work as θ8>=135 ° and θ9At >=10 °, operating personnel are in back slew range, and remember 3 points；
Work as θ8<135 ° and θ9At >=10 °, operating personnel are in back and bend over to add slew range, and remember 4 points；
The specific method is as follows for the step four：
Acquire backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points A14
(x14,y14,z14), right stern wing coordinate points A15(x15,y15,z15), left knee coordinate points A16(x16,y16,z16), right knee coordinate points
A17(x17,y17,z17), left ankle coordinate points A7(x7,y7,z7), right ankle coordinate points A9(x9,y9,z9)；
At this point, the vector of hip joint center to backbone is
The vector of left knee to left stern is
The vector of left ankle to left knee is
The vector of right knee to right stern isThe vector of right ankle to right knee is
Calculate angle
Left ankle is to left stern distance
Right ankle is to right stern distance
Work as θ10<At 95 °, operator is in sitting range, and remembers 1 point；
Work as θ10>=95 ° and θ11<60 ° and θ12<60 ° and | l2-l1|<When 5cm, operator is in standing state, and remembers 2 points；
Work as θ10>=95 ° and θ11<60 ° and θ12<60 ° and | l2-l1When | >=5cm, operator is in the state that stands on one leg, and remembers 3
Point；
Work as θ10>=95 ° and θ11>=60 ° and θ12>=60 ° and | l2-l1|<When 5cm, operator is in double gonocampsis standing states, and
And 4 points of note；
Work as θ10>=95 ° and θ11>=60 ° and θ12>=60 ° and | l2-l1When | >=5cm, operator is in single knee bends standing state,
And remember 5 points；
The specific method is as follows for the step five：
Acquire left hand coordinate points A18(x18,y18,z18), right-handed scale (R.H.scale) point A19(x19,y19,z19), shoulder centre coordinate point A3(x3,y3,
z3), backbone coordinate points A12(x12,y12,z12), hip joint centre coordinate point A13(x13,y13,z13), left stern coordinate points A14(x14,
y14,z14), right stern coordinate points A15(x15,y15,z15), left knee coordinate points A16(x16,y16,z16), right knee coordinate points A17(x17,
y17,z17), left ankle coordinate points A7(x7,y7,z7), right ankle coordinate points A9(x9,y9,z9), left foot A20(x20,y20,z20), right crus of diaphragm
A21(x21,y21,z21)；
When leg judgement is sitting, chooses left stern coordinate points, right stern coordinate points and right knee coordinate points and set up vectorPlane 1 is built, first really
Recognize normal vectorIt can obtain
Wherein it is set as B1For (y15-y14)×(z17-z15)-(z15-z14)×(y17-y15),
B2For (z15-z14)×(x17-x15)-(x15-x14)×(z17-z15),
B3For (x15-x14)×(y17-y15)-(y15-y14)×(x17-x15)；
Normal vector is n=(B1,B2,B3), plane equation is B1(x-x14)+B2(y-y14)+B3(z-z14)=0, abbreviation can obtain
B1x+B2y+B3Z=B1x14+B2y14+B3z14；
If B1x14+B2y14+B3z14For C, 1 equation of plane is represented by B1x+B2y+B3Z=C；
Calculate distance
Offset distance
Build plane 2：B1x+B2y+B3Z=C+l7；
When leg judgement is non-sitting, work as l1>l2, choose left ankle, left foot and right crus of diaphragm coordinate points and set up vector, according to plane structure
The mode of building obtains plane 1；
Calculate distance
Offset distancePlane can be obtained
2；
Work as l1≤l2, choose right ankle, left foot and right crus of diaphragm coordinate points and set up vector, plane 1 is obtained according to plane building mode；
Calculate distance
Offset distancePlane can be obtained
2；
Left hand and the right hand are calculated to plane 1, the distance of plane 2, distance of the left hand apart from plane 1 beDistance apart from plane 2 isThe right hand
Distance apart from plane 1 isDistance apart from plane 2 is
Work as d1<l7And d2<l7And d3<l7And d4<l7Or d1<l7And d2<l7And d3<d4And d4≥l7Or d1<d2And d2≥l7And d3<l7And
d4<l7Or d1<d2And d2≥l7And d3<d4And d4≥l7When, operator's both hands are under shoulder, and remember 1 point；
Work as d1≥l7And d2<d1And d3<l7And d4<l7Or d1≥l7And d2<d1And d3<d4And d4≥l7Or d1<l7And d2<l7And d3>d4
And d4≥l7Or d1<d2And d2≥l7And d3>d4And d3≥l7When, operator's one hand is in shoulder or more, and remembers 2 points；
Work as d1≥l7And d2<d1And d3≥l7And d4<d3When, operator's both hands are in shoulder or more, and remember 3 points；
The specific method is as follows for the step six：
The work posture action etc. of operating personnel is checked according to the score of the head of the operator of calculating, back, leg and arm
Grade table obtains final grading；Final grading is divided into Pyatyi, respectively grade 1, grade 2, grade 3, class 4 and class 5；Deng
Grade 1 is expressed as normal posture, can receive, need not handle；Grade 2 is to need to take Improving Measurements in the recent period by slight hazard；
Grade 3, which is posture, apparent harm, needs to take Improving Measurements as early as possible；Class 4 has more serious harm, needs to take immediately and changes
Kind measure；Class 5 has serious harm, need to stop immediately.
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| CN104460972A (en) * | 2013-11-25 | 2015-03-25 | 安徽寰智信息科技股份有限公司 | Human-computer interaction system based on Kinect |
| CN107293175A (en) * | 2017-08-04 | 2017-10-24 | 华中科技大学 | A kind of locomotive hand signal operation training method based on body-sensing technology |
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| CN103827891A (en) * | 2011-07-28 | 2014-05-28 | Arb实验室公司 | Systems and methods of detecting body movements using globally generated multi-dimensional gesture data |
| CN103455657A (en) * | 2013-06-21 | 2013-12-18 | 浙江理工大学 | Kinect based field operation simulation method and Kinect based field operation simulation system |
| CN104460972A (en) * | 2013-11-25 | 2015-03-25 | 安徽寰智信息科技股份有限公司 | Human-computer interaction system based on Kinect |
| CN107293175A (en) * | 2017-08-04 | 2017-10-24 | 华中科技大学 | A kind of locomotive hand signal operation training method based on body-sensing technology |
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