CN112596606A - Shadowless lamp control system, control method and radar-based gesture control shadowless lamp - Google Patents
Shadowless lamp control system, control method and radar-based gesture control shadowless lamp Download PDFInfo
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- CN112596606A CN112596606A CN202011477794.2A CN202011477794A CN112596606A CN 112596606 A CN112596606 A CN 112596606A CN 202011477794 A CN202011477794 A CN 202011477794A CN 112596606 A CN112596606 A CN 112596606A
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- shadowless lamp
- gesture
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- adjusting
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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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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention discloses a shadowless lamp control method, which comprises the following steps: acquiring radar data; performing gesture recognition and matching gesture types; adjusting a shadowless lamp adjusting command; and sending an execution instruction. The invention also provides a shadowless lamp control system which comprises a data acquisition module, a gesture recognition module and a data processing module. The invention also provides a gesture control shadowless lamp based on the radar, which comprises the shadowless lamp, an adjusting mechanism used for installing the shadowless lamp and the shadowless lamp control system, wherein at least one radar is arranged on the shadowless lamp, and the adjusting mechanism comprises an executing mechanism for driving the shadowless lamp to act. By adopting the technical scheme, the radar is adopted for gesture recognition, so that the gesture recognition is not influenced by light rays, and the recognition precision is high; the position of the shadowless lamp is adjusted in the operation process, and the shadowless lamp does not need to be touched by hands, so that pollution is avoided; the adjustment of the shadowless lamp is directly completed by the operating doctor without being matched with other people, the operating doctor can adjust the shadowless lamp in time according to the requirement, and the adaptability is good.
Description
Technical Field
The invention relates to a shadowless lamp control system, a control method and a radar-based gesture control shadowless lamp, and belongs to the technical field of medical instruments.
Background
The operating shadowless lamp is a medical instrument used by doctors to illuminate an operating site during operation, and the doctors often need to adjust the position and the illumination angle of the operating shadowless lamp in order to optimally observe the operating site. Generally, the adjustment of the shadowless lamp for operation needs direct adjustment by hands of medical staff, an operator needs to be matched with an adjuster during adjustment, time and labor are wasted, personnel configuration is increased, and problems such as sanitation problems and inflexible operation are caused due to manual adjustment.
A method for controlling a shadowless lamp by using a gesture recognition technology is also proposed, for example, chinese patent document CN107448822A discloses an operation shadowless lamp based on a target tracking and gesture recognition technology and a control method thereof, which includes a vision recognition unit, a mechanical arm control unit, a computer, and the like, where the vision recognition unit includes a label and a camera mounted on the shadowless lamp, the medical staff labels on their hands, the camera collects different gesture images made by the medical staff, and gives a corresponding action instruction to each gesture, and the computer obtains a gesture recognition model by using a principle of machine learning for training. However, the gesture recognition technology is based on a camera image capture technology, and when capturing an image, a mark needs to be attached to a hand, so that new pollutants are introduced.
Further, as disclosed in chinese patent document CN110288661A, the method for adjusting the position of an operating lamp includes acquiring an acquired image, determining coordinates of a positioning feature in an image coordinate system when the positioning feature is detected to be present in the image, converting the coordinates into coordinates of the positioning feature in a shadowless lamp coordinate system, and determining a position adjustment parameter of the operating lamp according to the coordinates of the positioning feature in the shadowless lamp coordinate system, so as to adjust the position of the operating lamp. The gesture recognition technology is still based on a camera image capturing technology, so that the image capturing is not stable due to the influence of light and a blocking object, and the reaction is slow.
At present, gesture recognition is performed through an image capture technology, and gesture recognition can also be performed through a radar, for example, a method for establishing and recognizing a fine gesture library based on an ultra-high resolution radar disclosed in chinese patent document CN111813224A is first to determine coarse categories of gestures according to the instantaneous energy sequence variance and radial motion change of a gesture sample to be recognized, and then to perform classification recognition of gestures by extracting corresponding gesture features based on each category. Further, as disclosed in chinese patent document CN107430443A, a gesture recognition method based on wide field radar provides a radar field through a transmitter of a radar system, and receives a gesture performed in the continuous radar field at a receiver of the radar system. Therefore, it is necessary to design a radar-based gesture-controlled operation shadowless lamp, which overcomes the defect in the prior art that light is affected by an image capture gesture.
Disclosure of Invention
Therefore, an object of the present invention is to provide a shadowless lamp control system and a control method capable of recognizing a gesture by a radar, and a gesture-controlled shadowless lamp based on the radar.
In order to achieve the above object, a shadowless lamp control method of the present invention includes:
acquiring data information acquired by a radar;
performing gesture recognition on data information acquired by the radar, and comparing the gesture information with gesture types matched with data prestored in a storage module;
calling a shadowless lamp adjusting command corresponding to the gesture type;
and forming an execution instruction according to the shadowless lamp adjusting command and sending the execution instruction to an execution mechanism.
The gesture type comprises a trigger gesture; when the triggering gesture is compared for the first time, the shadowless lamp adjusting command is called for the gesture types which are compared subsequently.
The gesture type comprises a termination gesture; and when the compared gesture type is a termination gesture, forbidding to call the shadowless lamp adjusting command for the subsequent compared gesture type.
The number of the shadowless lamps is multiple; the shadowless lamp control method further comprises the following steps:
determining a shadowless lamp to be adjusted;
and forming an execution instruction aiming at the shadowless lamp to be adjusted according to the shadowless lamp adjusting command and sending the execution instruction to an execution mechanism.
And determining the shadowless lamps to be adjusted by comparing the distance between the hand and each shadowless lamp.
The shadowless lamp is provided with a preset station in the space; the shadowless lamp adjustment command comprises adjusting the shadowless lamp to a preset station.
The gesture types include a static type and a dynamic type, the static type refers to the gesture of the hand keeping static, and the dynamic type refers to the gesture transformation of the hand and the movement track of the hand.
The invention also provides a shadowless lamp control system, comprising:
the data acquisition module is used for acquiring data information acquired by the radar;
the gesture recognition module is used for performing gesture recognition on the data information acquired by the radar;
and the data processing module is used for comparing the gesture type matched with the pre-stored data of the storage module, calling the shadowless lamp adjusting command corresponding to the gesture type, forming an executing instruction according to the shadowless lamp adjusting command and sending the executing instruction to the executing mechanism.
The shadowless lamp control system further comprises a storage module, wherein the storage module is used for prestoring data of gesture types and shadowless lamp adjusting commands corresponding to the gesture types.
The invention also provides a gesture control shadowless lamp based on the radar, which comprises the shadowless lamp, an adjusting mechanism used for installing the shadowless lamp and the shadowless lamp control system, wherein at least one radar is arranged on the shadowless lamp, and the adjusting mechanism comprises an executing mechanism for driving the shadowless lamp to act.
By adopting the technical scheme, the shadowless lamp control system, the control method and the radar-based gesture control shadowless lamp have the following beneficial effects compared with the prior art:
1. the radar is used for gesture recognition, so that the gesture recognition is not influenced by light rays, and the recognition precision is high;
2. the position of the shadowless lamp is adjusted in the operation process, and the shadowless lamp does not need to be touched by hands, so that pollution is avoided;
3. the adjustment of the shadowless lamp is directly completed by the operating doctor without being matched with other people, the operating doctor can adjust the shadowless lamp in time according to the requirement, and the adaptability is good.
Drawings
Fig. 1 is a block diagram of a shadowless lamp control system in an embodiment of the invention.
Fig. 2 is a flow chart of a shadowless lamp control method in an embodiment of the invention.
Fig. 3 is a schematic structural diagram of a radar-based gesture-controlled shadowless lamp in an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
The shadowless lamp control method can be implemented by adopting a shadowless lamp control system shown in fig. 1, and the shadowless lamp control system comprises a data acquisition module, a gesture recognition module, a data processing module, a storage module and a steering engine driving module.
The data acquisition module is used for acquiring data information acquired by the radar. The gesture recognition module is used for performing gesture recognition on the data information acquired by the radar. The data processing module is used for comparing gesture types matched with the prestored data of the storage module, calling shadowless lamp adjusting commands corresponding to the gesture types, forming executing instructions according to the shadowless lamp adjusting commands and sending the executing instructions to the executing mechanism. The storage module is used for prestoring data of gesture types and shadowless lamp adjusting commands corresponding to the gesture types.
According to the shadowless lamp control method, data in a radar area can be collected through a radar, after the data information collected by the radar is obtained, the shadowless lamp control system obtains the data information collected by the radar, performs gesture recognition, and compares the gesture information with gesture types in data prestored in a storage module, so that the gesture types contained in the data information collected by the radar are compared.
As shown in fig. 2, when the medical staff needs to adjust the shadowless lamp, firstly, gesture actions are made by adopting gestures corresponding to the trigger gestures, and the hands are placed in the radar field area. And when the shadowless lamp control system compares that the gesture type is a trigger gesture, further processing the subsequently acquired gesture type, and otherwise, repeatedly acquiring data and performing gesture recognition. At the moment, the shadowless lamp is in a ready state, and the medical staff can be prompted to be ready through the prompt tone. Medical personnel then begin to change the gesture action as required and control the shadowless lamp. And when the shadowless lamp control system compares the gesture type matched with the prestored data of the storage module again, calling a shadowless lamp adjusting command corresponding to the gesture type, forming an executing instruction according to the shadowless lamp adjusting command and sending the executing instruction to the executing mechanism.
After the executing mechanism finishes executing the executing command, if the medical staff has no further adjusting gesture, the gesture action corresponding to the stopping gesture can be adopted, when the shadowless lamp control system compares the stopping gesture, the subsequent gesture type obtained by comparison is forbidden to call the shadowless lamp adjusting command again, the misoperation is placed, and when the triggering gesture is compared again, the standby state is entered again.
In one embodiment of the invention, the shadowless lamp is in plurality. Because the number of the shadowless lamps is multiple, when the medical staff carries out adjustment, the shadowless lamp control system should determine which shadowless lamp needs to be adjusted, and therefore, the shadowless lamp control method further comprises the following steps:
determining a shadowless lamp to be adjusted; and forming an execution instruction aiming at the shadowless lamp to be adjusted according to the shadowless lamp adjusting command and sending the execution instruction to an execution mechanism.
The shadowless lamp to be adjusted is determined, and still can be associated by presetting a specific gesture type, for example, a certain gesture type corresponds to a subsequent instruction to adjust a certain shadowless lamp. In this embodiment, the shadowless lamps to be adjusted are determined, preferably by comparing the distance between the hand and each shadowless lamp. Specifically, the distance from the hand to each shadowless lamp is obtained through a radar or other distance measuring sensing device, and when a trigger gesture is compared, the shadowless lamp closest to (or farthest from) the hand is judged to be adjusted.
In addition, a preset station can be arranged in the real space where the shadowless lamp is located, and the shadowless lamp is located at a specific angle and a specific space position on the preset station. The shadowless lamp adjusting command comprises that the shadowless lamp is adjusted to a preset station, and when the medical staff makes corresponding gesture actions, the shadowless lamp control system sends an execution instruction to the execution mechanism to directly adjust the shadowless lamp to the preset station.
Of course, the gesture types include static types as well as dynamic types. The static type refers to a hand posture kept static, and the dynamic type refers to a hand posture change and a hand movement track.
The invention also provides a gesture control shadowless lamp based on the radar, which comprises the shadowless lamp, an adjusting mechanism for installing the shadowless lamp, the shadowless lamp control system and the radar, wherein the adjusting mechanism is used for installing the shadowless lamp; the adjusting mechanism comprises an actuating mechanism for driving the shadowless lamp to act.
As shown in fig. 3, in this embodiment, the controller is located in the upper mounting seat 1, the adjusting mechanism is a robot arm 2, the executing mechanism is a plurality of steering engines 21, and the robot arm 2 includes a plurality of connecting rods 22 and the steering engines 21. The shadowless lamp 3 is mounted at the end of the robot arm 2, the radar 4 is located on the shadowless lamp 3, and the radar field area of the radar 4 is directed towards the irradiation direction of the shadowless lamp 3. Radar 4 sets up in above-mentioned position, compares in other positions, can make its radar field corresponding with 3 directions of shining of shadowless lamp, when 3 not equidirectional that turn to of shadowless lamp, then lies in this direction all the time at the radar field, and the medical personnel of being convenient for carry out the gesture operation, also can avoid the radar to receive the at utmost to block simultaneously.
When the shadowless lamp control system calls out a shadowless lamp adjusting command, determining the current spatial position and angle of the shadowless lamp, and calculating the spatial position and angle to which the shadowless lamp needs to be adjusted according to the shadowless lamp adjusting command, so as to further calculate the rotation direction, namely the angle, corresponding to each steering engine 21 required for completing the operation, thereby forming a digital execution instruction for controlling the steering engines 21 to act; the shadowless lamp control system sends the execution instruction to the steering engine 21, controls different steering engines 21 to rotate forward or reversely by a specific angle, and realizes the adjustment of the posture of the robot arm 2, thereby completing the command of adjusting the shadowless lamp.
The radar 4 may be disposed at an edge of the lamp panel of the shadowless lamp 3, or may be disposed at a middle of the lamp panel.
In other embodiments, the radars 4 may be arranged in a plurality of numbers, and the plurality of radars 4 can collect hand postures of medical staff from different angles, so that a stereoscopic dot matrix of the hand is obtained, and the accuracy of gesture recognition is improved. In addition, the number of the shadowless lamps 3 may be plural, and the plurality of radars 4 may be distributed on the plural shadowless lamps 3.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A shadowless lamp control method, comprising:
acquiring data information acquired by a radar;
performing gesture recognition on data information acquired by the radar, and comparing the gesture information with gesture types matched with data prestored in a storage module;
calling a shadowless lamp adjusting command corresponding to the gesture type;
and forming an execution instruction according to the shadowless lamp adjusting command and sending the execution instruction to an execution mechanism.
2. The shadowless lamp control method of claim 1 wherein: the gesture type comprises a trigger gesture; when the triggering gesture is compared for the first time, the shadowless lamp adjusting command is called for the gesture types which are compared subsequently.
3. The shadowless lamp control method of claim 1 wherein: the gesture type comprises a termination gesture; and when the compared gesture type is a termination gesture, forbidding to call the shadowless lamp adjusting command for the subsequent compared gesture type.
4. The shadowless lamp control method of claim 1 wherein: the number of the shadowless lamps is multiple; the shadowless lamp control method further comprises the following steps:
determining a shadowless lamp to be adjusted;
and forming an execution instruction aiming at the shadowless lamp to be adjusted according to the shadowless lamp adjusting command and sending the execution instruction to an execution mechanism.
5. The shadowless lamp control method of claim 4, wherein: the shadowless lamps to be adjusted are determined by comparing the distance between the hand and each shadowless lamp.
6. The shadowless lamp control method of claim 1 wherein: the shadowless lamp is provided with a preset station in the space; the shadowless lamp adjustment command comprises adjusting the shadowless lamp to a preset station.
7. The shadowless lamp control method of any of claims 1 to 6, wherein: the gesture types include a static type and a dynamic type, the static type refers to the gesture of the hand keeping static, and the dynamic type refers to the gesture transformation of the hand and the movement track of the hand.
8. A shadowless lamp control system, comprising:
the data acquisition module is used for acquiring data information acquired by the radar;
the gesture recognition module is used for performing gesture recognition on the data information acquired by the radar;
the data processing module is used for comparing gesture types matched with the pre-stored data of the storage module, calling shadowless lamp adjusting commands corresponding to the gesture types, forming executing instructions according to the shadowless lamp adjusting commands and sending the executing instructions to the executing mechanism;
and the storage module is used for prestoring data of the gesture type and shadowless lamp adjusting commands corresponding to the gesture type.
9. The utility model provides a gesture control shadowless lamp based on radar which characterized in that: the shadowless lamp control system comprises a shadowless lamp, an adjusting mechanism for installing the shadowless lamp and the shadowless lamp control system according to claim 8, wherein at least one radar is arranged on the shadowless lamp, and the adjusting mechanism comprises an actuating mechanism for driving the shadowless lamp to act.
10. The radar-based gesture-controlled shadowless lamp of claim 8, wherein: the adjusting mechanism is a robot arm and comprises a plurality of connecting rods and a plurality of steering engines; the actuating mechanism is the steering engine.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113357576A (en) * | 2021-07-09 | 2021-09-07 | 胡珠 | Remote control adjustment operation shadowless lamp |
| CN113876426A (en) * | 2021-10-28 | 2022-01-04 | 电子科技大学 | Intraoperative positioning and tracking system and method combined with shadowless lamp |
| CN114245542A (en) * | 2021-12-17 | 2022-03-25 | 深圳市恒佳盛电子有限公司 | Radar induction lamp and control method thereof |
| CN116690585A (en) * | 2023-07-25 | 2023-09-05 | 上海汇丰医疗器械股份有限公司 | Shadowless lamp path planning method and device based on automatic mechanical arm |
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