CN115016635A - Target control method and system based on motion recognition - Google Patents
Target control method and system based on motion recognition Download PDFInfo
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- CN115016635A CN115016635A CN202210405585.XA CN202210405585A CN115016635A CN 115016635 A CN115016635 A CN 115016635A CN 202210405585 A CN202210405585 A CN 202210405585A CN 115016635 A CN115016635 A CN 115016635A
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- 210000000707 wrist Anatomy 0.000 claims abstract description 115
- 230000003287 optical effect Effects 0.000 claims abstract description 19
- 230000009471 action Effects 0.000 claims abstract description 7
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- 230000008569 process Effects 0.000 description 5
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Abstract
The invention discloses a target control method and a system based on action recognition, wherein the method comprises the following steps: acquiring a first motion of the finger relative to the wrist based on an optical sensor worn on the lower part of the wrist; acquiring a second movement of the wrist relative to a target position on the body of the user based on the acquisition device worn on the wrist; and superposing the first motion of the finger relative to the wrist and the second motion of the wrist relative to the target position on the body of the user, and controlling the target according to the superposed motion result. According to the invention, the movement of the finger relative to the wrist and the movement of the wrist relative to the target position on the body of the user are superposed and then the target is controlled, because the movement range of the hand of the user is larger, the larger and more precise and complicated control can be realized, the phenomenon that the finger shakes too obviously due to over amplification of the action of the finger is avoided, and the operation experience is improved.
Description
Technical Field
The invention relates to the technical field of human-computer interaction, in particular to a target control method and a target control system based on motion recognition.
Background
The gesture recognition method has the advantages that the gesture is recognized to output the instruction, so that the human-computer interaction is realized, and convenience is brought to a user to operate related equipment.
The prior art can be used to control a target device by capturing the movement of a finger relative to a wrist. However, the range of movement of the finger relative to the wrist is relatively limited, for example, the limit range for the index finger to move left and right relative to the wrist is usually about 20 cm (the comfortable and flexible range of movement usually does not exceed 10 cm), and the limit range for the back and forth movement is usually about 15 cm (the comfortable and flexible range of movement usually does not exceed 7 cm). If a large-scale, fine target manipulation is to be performed, such as manipulating a cursor on a large-sized screen, the width is 2 meters, the range of the left-right movement of the finger is enlarged by at least 10 times (or 20 times if a comfortable movement range is considered), so that the whole target screen can be completely covered. This causes two problems:
(1) the finger movement is excessively amplified, so that the finger is difficult to perform fine and complex operations in a target screen, and when the icons are arranged closely, the finger is easy to touch by mistake;
(2) under the method for optically identifying the finger movement, the identified key point of the finger can fluctuate in a small range, and after the finger movement is excessively amplified, the small fluctuation can cause severe jitter of a cursor representing the finger in a target screen, so that the precision and the use experience are strongly influenced.
In the above case, the size of the controlled target screen is limited, that is, when the target screen size is too large, the scheme is not applicable to control.
In the prior art, a positioning device (or a handheld positioning device) can be worn on a wrist for measuring spatial movement of the wrist, and the positioning device can be an inertial positioning device (such as an acceleration sensor and a gyroscope), a magnetometer, an optical sensor and the like.
Accordingly, there is a need for improvements and developments in the art.
Disclosure of Invention
The invention mainly aims to provide a target control method and a target control system based on motion recognition, and aims to solve the problem that fine control operation is inconvenient to carry out on a target screen in the prior art.
In order to achieve the above object, the present invention provides a target control method based on motion recognition, which comprises the following steps:
acquiring a first motion of the finger relative to the wrist based on an optical sensor worn on the lower part of the wrist;
acquiring a second movement of the wrist relative to a target position on the body of the user based on the acquisition device worn on the wrist;
and superposing the first movement of the finger relative to the wrist and the second movement of the wrist relative to the target position on the body of the user, and controlling the target according to the superposed movement result.
Optionally, the target control method based on motion recognition, wherein the acquisition device includes at least one accessory worn on a human body, and the accessory is used to assist the wearable device body in measuring the spatial position and/or spatial motion of the wearable device body relative to the accessory.
Optionally, the target control method based on motion recognition, wherein the accessory is a pendant hung around the neck, a sticker attached to the body or to a garment, a part fixed to a garment, and a part placed in a pocket.
Optionally, the target control method based on motion recognition may directly calculate the second motion of the wrist with respect to the target position on the body based on information acquired by the acquisition device worn on the wrist, without providing a worn accessory on the human body.
Optionally, in the target control method based on motion recognition, a calibration motion is added, so that the acquisition device accurately recognizes the target position on the body; the method for calibrating the action comprises the following steps: and setting part of the body information acquired by the acquisition device as a target position.
Optionally, the method for controlling a target based on motion recognition, where the superimposing a first motion of a finger with respect to a wrist and a second motion of the wrist with respect to a target position on a user's body, and controlling the target according to a superimposed motion result specifically includes:
superposing a first movement M of the finger relative to the wrist and a second movement N of the wrist relative to a target position on the body of the user to obtain a movement result P which is as follows:
the motion result P is the first motion M + of the finger relative to the wrist and the second motion N of the wrist relative to the target position on the user's body.
Optionally, the target control method based on motion recognition, wherein the obtaining of the motion result P by superimposing the first motion M of the finger relative to the wrist and the second motion N of the wrist relative to the target position on the user body specifically includes:
decomposing the first motion M into Mx, My and Mz along three mutually perpendicular directions;
decomposing the second motion N into Nx, Ny, Nz along three mutually perpendicular directions;
decomposing the motion result P into Px, Py and Pz along three mutually perpendicular directions;
the motion result P is then expressed as:
Px＝kx1*Mx+kx2*Nx；
Py＝ky1*My+ky2*Ny；
Pz＝kz1*Mz+kz2*Nz；
wherein kx1, kx2, ky1, ky2, kz1 and kz2 are all coefficients;
controlling the target equipment according to Px, Py and Pz in the motion result P;
wherein the decomposition of the first motion M and the second motion N is in the same coordinate system or in different coordinate systems.
Optionally, the object control method based on motion recognition is implemented by using the same sensor as the acquisition device for acquiring the second movement of the wrist relative to the object position of the body and the sensor for acquiring the first movement of the finger relative to the wrist.
Optionally, the target control method based on motion recognition is implemented, wherein the target position is a chest or a chest opening of the user body.
In addition, to achieve the above object, the present invention further provides a target control system based on motion recognition, wherein the target control system based on motion recognition includes: a target, an optical sensor and a collection device;
acquiring a first motion of the finger relative to the wrist based on an optical sensor worn below the wrist;
acquiring a second movement of the wrist relative to a target position on the body of the user based on the acquisition device worn on the wrist;
and superposing the first movement of the finger relative to the wrist and the second movement of the wrist relative to the target position on the body of the user, and controlling the target according to the superposed movement result.
In the invention, based on an optical sensor worn on the lower part of a wrist, first movement of a finger relative to the wrist is acquired; acquiring a second movement of the wrist relative to a target position on the body of the user based on the acquisition device worn on the wrist; and superposing the first motion of the finger relative to the wrist and the second motion of the wrist relative to the target position on the body of the user, and controlling the target according to the superposed motion result. According to the invention, the movement of the finger relative to the wrist and the movement of the wrist relative to the target position on the body of the user are superposed and then the target is controlled, because the movement range of the hand of the user is larger, the larger and more precise and complicated control can be realized, the phenomenon that the finger shakes too obviously due to over amplification of the action of the finger is avoided, and the operation experience is improved.
Drawings
FIG. 1 is a flow chart of a target control method based on motion recognition according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As shown in fig. 1, the method for controlling a target based on motion recognition according to a preferred embodiment of the present invention includes the following steps:
step S10 acquires a first movement of the finger with respect to the wrist based on the optical sensor worn on the lower part of the wrist.
In particular, light originating from a finger is sensed based on an optical sensor (preferably a 3D optical sensor) worn at the user's wrist; the optical sensor acquires real-time three-dimensional coordinates of at least one characteristic point of the finger (preferably the fingertip) based on the light to obtain a first motion of the finger relative to the wrist. Wherein the optical sensor is worn on the side of the user's wrist or forearm facing the palm.
And step S20, acquiring a second movement of the wrist relative to the target position on the user body based on the acquisition device worn on the wrist.
Specifically, at least one accessory is worn on the body of a user, and the accessory is used for assisting the wearable device body to measure the spatial position and/or spatial movement of the accessory.
In particular, the accessories can be classified by means of fastening into a pendant, a fixture such as a pendant, an sticker such as a sticker, a holder such as a sensor mounted in a pocket, and the like.
The accessories can be classified according to their operating principle into electromagnetic wave positioning, such as beacons, magnetic positioning, such as permanent magnets, acoustic positioning, such as ultrasonic transmitters, etc.
The accessories can be classified into active type such as an ultrasonic transmitter, passive type such as a two-dimensional code sticker, and the like according to whether a signal is actively transmitted or not.
The wrist-worn acquisition device acquires a second movement of the wrist relative to a target location on the body by acquiring information derived from the accessory.
Specifically, the second movement of the wrist relative to the target position on the body can be calculated by means of the information acquired by the acquisition device worn on the wrist, without the need for accessories worn on the human body. For example, the acquisition device is a 3D sensor that can measure the three-dimensional contour of the body and identify the target location, thereby calculating a second movement of the wrist relative to the target location on the body.
Specifically, a calibration action can be added to enable the acquisition device to more accurately identify the target position on the body. The method for calibrating the action comprises the following steps: and setting part of the body information acquired by the acquisition device as a target position. For example, the acquisition device is a 3D sensor, a calibration mode is started, and then information is acquired by facing a target position on a body, and the device sets the acquired information as the target position; information including the target position is then collected, for example, by a 3D sensor, and the target position is then marked in the collected information.
Wherein the optical sensor and the acquisition device may both be provided on a smart wearable device worn on a wrist of a user to acquire movements of the finger relative to the wrist and movements of the wrist relative to a target location on the body of the user.
It should be noted that, step S10 (acquiring the first movement of the finger relative to the wrist) and step S20 (acquiring the second movement of the wrist relative to the target position on the user' S body) may be performed simultaneously, not sequentially.
And step S30, superposing the first movement of the finger relative to the wrist and the second movement of the wrist relative to the target position on the user body, and controlling the target according to the superposed movement result.
Specifically, a motion result P (P is used to control the target device) is obtained by superimposing a first motion M of the finger relative to the wrist and a second motion N of the wrist relative to a target position on the body of the user, and the motion result P is:
the motion result P is the first motion M of the finger relative to the wrist + the second motion N of the wrist relative to the target location on the user's body (i.e., the motion of the user's finger relative to the chest is the motion of the finger relative to the wrist + the motion of the wrist relative to the chest).
Wherein, M, N, P three movements can be decomposed into several partial movements under a certain coordinate system, and the movement here is the concept of physical inside displacement, including distance and direction, taking the rectangular coordinate system as an example:
decomposing the first motion M into Mx, My and Mz along three mutually perpendicular directions;
decomposing the second motion N into Nx, Ny, Nz along three mutually perpendicular directions;
decomposing the motion result P into Px, Py and Pz along three mutually perpendicular directions;
the motion result P can be expressed as:
Px＝kx1*Mx+kx2*Nx；
Py＝ky1*My+ky2*Ny；
Pz＝kz1*Mz+kz2*Nz；
wherein kx1, kx2, ky1, ky2, kz1 and kz2 are all coefficients;
the six coefficients may be two or more of the same or different, and may be determined empirically by the designer and may be exchanged for a different set of coefficients for controlling a different target device, or for different users, in terms of the contribution (magnification or reduction) to the control of the target for two movements M, N.
The decomposition of the first motion M and the second motion N may be performed in the same coordinate system, or may be performed in different coordinate systems.
The above example is to decompose the motion in a rectangular coordinate system, and may also decompose in a polar coordinate system or other coordinate systems.
Finally, the target is controlled according to Px, Py and Pz in the motion result P.
In particular, the acquisition means for acquiring the second movement of the wrist with respect to the target position of the body may be the same sensor as the sensor for acquiring the first movement of the finger with respect to the wrist. The first and second movements are acquired simultaneously, for example using one 3D sensor, or alternately at certain intervals.
Because the movement range of the wrist relative to the body is large, for example, the range of the wrist moving left and right relative to the body can easily reach 80 centimeters, the range of the fingers moving left and right relative to the wrist can reach 1 meter, under the condition, the movement in the left and right directions can be amplified by only 2 times, the control on the content in a screen with the width reaching 2 meters can be completed, and the fine control on a larger screen can be realized.
Furthermore, the control target can be used for realizing human-computer interaction between people and other devices, for example, realizing on-off operation of the device, switching of device screens, adjusting sound, inputting characters, controlling games, and the like, and can also be used as an object for outputting signals or instructions to control some functions on the target device, for example, on-off operation of the device, on or off of applications in the device, switching of screens in the applications, adjusting sound in the applications, and the like.
Has the beneficial effects that:
(1) the magnification is small, so that the fingers can perform fine and complex control on the content in the image;
(2) the magnification ratio is small, so that the small shaking of the fingers or wrists cannot be amplified to an excessively obvious degree, and the use experience is improved;
(3) can be used for equipment needing larger-amplitude operation.
Further, based on the above target control method based on motion recognition, the present invention also provides a target control system based on motion recognition, wherein the target control system based on motion recognition comprises: a target, an optical sensor and a collection device; an optical sensor worn on the lower part of the wrist is used for acquiring a first motion of the finger relative to the wrist; the acquisition device worn on the wrist is used for acquiring second movement of the wrist relative to a target position on the body of the user; and superposing the first motion of the finger relative to the wrist and the second motion of the wrist relative to the target position on the body of the user, and controlling the target according to the superposed motion result.
In summary, the present invention provides a target control method and system based on motion recognition, where the method includes: acquiring a first motion of the finger relative to the wrist based on an optical sensor worn on the lower part of the wrist; acquiring a second movement of the wrist relative to a target position on the body of the user based on the acquisition device worn on the wrist; and superposing the first motion of the finger relative to the wrist and the second motion of the wrist relative to the target position on the body of the user, and controlling the target according to the superposed motion result. In the prior art, the target is controlled only by detecting the first movement of the finger relative to the wrist, and when the large-amplitude control is needed, the movement of the finger needs to be amplified, so that the tiny shake of the finger can be amplified to an excessively obvious degree, and the use experience is influenced. According to the invention, the motion of the finger relative to the wrist and the motion of the wrist relative to the target position on the body of the user are superposed and then the target is controlled, so that the range of motion of the hand of the user is larger, larger-amplitude control can be realized, the target can be finely and complexly controlled due to small magnification, the small jitter of the finger or the wrist cannot be amplified to an excessively obvious degree, and the operation experience is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Of course, it will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer readable storage medium, and when executed, the program can include the processes of the embodiments of the methods described above. The computer readable storage medium may be a memory, a magnetic disk, an optical disk, etc.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. A target control method based on motion recognition is characterized by comprising the following steps:
acquiring a first motion of the finger relative to the wrist based on an optical sensor worn on the lower part of the wrist;
acquiring a second movement of the wrist relative to a target position on the body of the user based on the acquisition device worn on the wrist;
and superposing the first movement of the finger relative to the wrist and the second movement of the wrist relative to the target position on the body of the user, and controlling the target according to the superposed movement result.
2. The target control method based on the motion recognition is characterized in that the acquisition device comprises at least one accessory worn on a human body, and the accessory is used for assisting the wearable device body to measure the spatial position and/or the spatial movement of the wearable device body relative to the accessory.
3. The object control method based on motion recognition according to claim 2, wherein the accessories are a pendant hanging around the neck, a sticker attached to the body or on a garment, a part fixed to a garment, and a part put in a pocket.
4. The object control method based on motion recognition according to claim 1, wherein the second motion of the wrist with respect to the object position on the body is directly calculated based on information acquired by an acquisition device worn on the wrist without providing a worn accessory on the human body.
5. The target control method based on motion recognition according to claim 4, wherein a calibration motion is added to enable the acquisition device to accurately recognize the target position on the body; the method for calibrating the action comprises the following steps: and setting part of the body information acquired by the acquisition device as a target position.
6. The method for controlling the target based on the motion recognition according to claim 1, wherein the overlaying a first motion of the finger relative to the wrist and a second motion of the wrist relative to a target position on the user's body, and the controlling the target according to the overlaid motion results specifically comprises:
superposing a first movement M of the finger relative to the wrist and a second movement N of the wrist relative to a target position on the body of the user to obtain a movement result P which is as follows:
the motion result P is the first motion M + of the finger relative to the wrist and the second motion N of the wrist relative to the target position on the user's body.
7. The method of claim 6, wherein the superimposing a first movement M of the finger with respect to the wrist and a second movement N of the wrist with respect to a target position on the user's body to obtain a movement result P specifically comprises:
decomposing the first motion M into Mx, My and Mz along three mutually perpendicular directions;
decomposing the second motion N into Nx, Ny, Nz along three mutually perpendicular directions;
decomposing the motion result P into Px, Py and Pz along three mutually perpendicular directions;
the motion result P is then expressed as:
Px＝kx1*Mx+kx2*Nx；
Py＝ky1*My+ky2*Ny；
Pz＝kz1*Mz+kz2*Nz；
wherein kx1, kx2, ky1, ky2, kz1 and kz2 are all coefficients;
controlling the target equipment according to Px, Py and Pz in the motion result P;
wherein the decomposition of the first motion M and the second motion N is in the same coordinate system or in different coordinate systems.
8. The method of claim 1, wherein the means for acquiring the second movement of the wrist with respect to the target position of the body and the sensor for acquiring the first movement of the finger with respect to the wrist are the same sensor.
9. The motion recognition based target control method according to any one of claims 1 to 8, wherein the target position is a chest or a chest opening on a user's body.
10. An object control system based on motion recognition, characterized in that the object control system based on motion recognition comprises: a target, an optical sensor and a collection device;
acquiring a first motion of the finger relative to the wrist based on an optical sensor worn below the wrist;
the acquisition device worn on the wrist is used for acquiring second movement of the wrist relative to a target position on the body of the user;
and superposing the first movement of the finger relative to the wrist and the second movement of the wrist relative to the target position on the body of the user, and controlling the target according to the superposed movement result.
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