CN205750723U - The control system of gesture identification based on human-computer interaction device - Google Patents

Abstract

The control system of a kind of based on human-computer interaction device gesture identification that this utility model embodiment provides, including ultra-wide band module, main control module, Anneta module and communication level modular converter, ultra-wide band module described in described master control module controls sends pulsed radar signal and arrives human hands and produce echo-signal, after Anneta module receives described echo-signal, described echo-signal is sent to described main control module process, make to judge gesture feature according to described echo-signal, then communication level modular converter is according to described gesture feature, it is converted into the control signal to human-computer interaction device, thus reach the effect of man-machine interaction.Wherein, described control system can penetrate barrier by ultra-wide band module transmission pulsed radar signal and avoid it to be disturbed, such that it is the most accurate to gesture identification, solve simultaneously and prior art exists and exactly by human body gesture is detected and cannot identify, thus the problem reaching the effect of man-machine interaction.

Description

The control system of gesture identification based on human-computer interaction device

Technical field

This utility model relates to automatically controlling Smart Home field, particularly relates to a kind of based on human-computer interaction device The control system of gesture identification.

Background technology

Along with the development of man-machine interaction demand, the research identified about human posture gets more and more, human body appearance Gesture controls to include gesture control, can bring excellent man-machine interaction experience to user.Use computer vision skill The Gesture Recognition that art is carried out is the main direction of studying of Gesture Recognition, but vision technique is to environment The requirement of condition: include that the requirement to light and the requirement to shelter are harsher, often make opponent The result of gesture identification has an impact even inefficiency, generation deviation in interactive process.

But, prior art exists and exactly by human body gesture is detected and cannot identify, from And the problem reaching the effect of man-machine interaction.

Utility model content

This utility model purpose is to provide the control system of a kind of gesture identification based on human-computer interaction device, Aim to solve the problem that and technology exists and exactly by human body gesture is detected and cannot identify, thus reach The problem of the effect of man-machine interaction.

This utility model provides the control system of a kind of gesture identification based on human-computer interaction device, described control System processed includes:

Send the ultra-wide band module of the pulsed radar signal penetrating barrier；

It is connected with described ultra-wide band module, controls described ultra-wide band module and send pulsed radar signal to intelligent Body hand also produces the main control module of echo-signal；

It is connected with described main control module, receives described echo-signal and described echo-signal is sent to institute State main control module to process so that judge the Anneta module of gesture feature according to described echo-signal；

It is connected with described main control module, according to described gesture feature, is converted into the control to human-computer interaction device The communication level modular converter of signal processed.

In said structure, described gesture feature include fist shape forward, fist shape backward with fist slip appearance to the right Gesture.

In said structure, in communication level modular converter, when described gesture feature be fist shape forward, then turn The volume turning to human-computer interaction device tunes up；When described gesture feature be fist shape backward, then be converted into man-machine friendship The volume of equipment is turned down mutually；When described gesture feature is fist slip posture to the right, then it is converted into man-machine friendship The deletion action of equipment mutually.

In said structure, described control system also includes:

It is connected with described main control module and Anneta module simultaneously, the echo-signal that described Anneta module receives is entered Row filtering, and it is sent to the high-pass filtering module of described main control module.

In said structure, described control system also includes:

It is connected with described main control module, the memory module that described echo-signal is preserved.

In said structure, described main control module includes that a main control chip U1, described main control chip U1 include:

Main control end CTRL, receiving terminal RXD, power end Bat-VCC, storage end MEM and transmission ends FTP；

Described main control end CTRL connects described ultra-wide band module, and described receiving terminal RXD connects described high-pass filtering Module, described power end Bat-VCC connects described power module, and described storage end MEM connects described storage mould Block, described transmission ends FTP connects described communication level modular converter.

In said structure, described ultra-wide band module includes a ultra-wide band transceiving chip U2, and described ultra-wide band is received and dispatched Chip U2 includes:

Control end ctrl；

Described control end ctrl connects main control end CTRL of described main control chip U1.

In said structure, described high-pass filtering module includes a filtering chip U4, described filtering chip U4 bag Include:

Transmitting terminal Send and filtering end Filt；

Described transmitting terminal Send meets the receiving terminal RXD of described main control chip U1, described filtering end Filt and meets institute State Anneta module.

In said structure, described Anneta module includes that antenna chip U3, described antenna chip U3 include:

Transmitting terminal TXD；

Described transmitting terminal TXD meets the filtering end Filt of described filtering chip U4.

In said structure, described communication level modular converter includes a communication chip U5, described communication chip U5 includes:

Transmission end RTP and communication terminal PLC；

Described transmission end RTP connects transmission ends FTP of described main control chip U1, and described communication terminal PLC meets institute State human-computer interaction device.

In sum, a kind of based on human-computer interaction device gesture identification that this utility model embodiment provides Control system, including ultra-wide band module, main control module, Anneta module and communication level modular converter, described Ultra-wide band module described in master control module controls sends pulsed radar signal and arrives human hands and produce echo letter Number, after Anneta module receives described echo-signal, described echo-signal is sent to described main control module and enters Row process so that judge gesture feature according to described echo-signal, then communication level modular converter according to Described gesture feature, is converted into the control signal to human-computer interaction device, thus reaches the effect of man-machine interaction. Wherein, owing to super-broadband tech has, higher message transmission rate, multi-path resolved ability be strong, penetration capacity By force, low-power consumption, the contactless and feature of good concealment, described control system is sent by ultra-wide band module Pulsed radar signal can penetrate barrier and avoid it to be disturbed, such that the most accurate to gesture identification, Solve simultaneously and prior art exists and exactly by human body gesture is detected and cannot identify, from And the problem reaching the effect of man-machine interaction.

Accompanying drawing explanation

The control of a kind of based on human-computer interaction device gesture identification that Fig. 1 provides for this utility model one embodiment The modular structure schematic diagram of system processed.

The control of a kind of based on human-computer interaction device gesture identification that Fig. 2 provides for this utility model one embodiment The electrical block diagram of system processed.

The control of a kind of based on human-computer interaction device gesture identification that Fig. 3 provides for this utility model one embodiment The object operation schematic diagram of system processed.

The control of a kind of based on human-computer interaction device gesture identification that Fig. 4 provides for this utility model one embodiment The structural representation of system processed.

The control of a kind of based on human-computer interaction device gesture identification that Fig. 5 provides for this utility model one embodiment The module effect schematic diagram of system processed.

The control of a kind of based on human-computer interaction device gesture identification that Fig. 6 provides for this utility model one embodiment The gesture coupling schematic diagram of system processed.

The control of a kind of based on human-computer interaction device gesture identification that Fig. 7 provides for this utility model one embodiment The gesture identification curve chart of system processed.

The control of a kind of based on human-computer interaction device gesture identification that Fig. 8 provides for this utility model one embodiment The operation principle flow chart of system processed.

A kind of based on human-computer interaction device gesture identification that Fig. 9 provides for another embodiment of this utility model The flow chart of steps of control method.

Detailed description of the invention

In order to make the technical problems to be solved in the utility model, technical scheme and beneficial effect clearer, Below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that herein Described specific embodiment, only in order to explain this utility model, is not used to limit this utility model.

The control system of a kind of based on human-computer interaction device gesture identification that this utility model embodiment provides, It is mainly used in controlling human-computer interaction device by gesture.

Fig. 1 shows a kind of based on human-computer interaction device gesture identification that this utility model one embodiment proposes The modular structure of control system, for convenience of explanation, illustrate only relevant to this utility model embodiment Part.

A kind of control system 10 of gesture identification based on human-computer interaction device, described control system 10 includes:

Send the ultra-wide band module 102 of the pulsed radar signal penetrating barrier；

It is connected with described ultra-wide band module 102, controls described ultra-wide band module 102 and send pulse radar letter Number arrive human hands and produce the main control module 101 of echo-signal；

It is connected with described main control module 101, receives described echo-signal and described echo-signal is sent Process to described main control module so that judge the Anneta module of gesture feature according to described echo-signal 103；

It is connected with described main control module 101, according to described gesture feature, is converted into human-computer interaction device The communication level modular converter 105 of control signal.

As this utility model one embodiment, described gesture feature include fist shape forward, fist shape backward with fist to The slip posture on right side.

As this utility model one embodiment, in communication level modular converter 105, when described gesture feature For fist shape forward, then the volume being converted into human-computer interaction device tunes up；When described gesture feature be fist shape backward, The volume being then converted into human-computer interaction device is turned down；When described gesture feature is fist slip posture to the right, Then it is converted into the deletion action of human-computer interaction device.

As this utility model one embodiment, described control system also includes:

It is connected with described main control module 101 and Anneta module 103 simultaneously, described Anneta module 103 is received Echo-signal be filtered, and be sent to the high-pass filtering module 104 of described main control module 101.

As this utility model one embodiment, described control system also includes:

It is connected with described main control module 101, the memory module 106 that described echo-signal is preserved.

As this utility model one embodiment, described control system also includes:

It is connected with described main control module 101, the power module 107 that described control system 10 is powered.

Fig. 2 shows a kind of based on human-computer interaction device gesture identification that this utility model one embodiment proposes The circuit structure of control system, for convenience of explanation, illustrate only relevant to this utility model embodiment Part.

As this utility model one embodiment, described main control module 101 includes a main control chip U1, described master Control chip U1 includes:

Main control end CTRL, receiving terminal RXD, power end Bat-VCC, storage end MEM and transmission ends FTP；

Described main control end CTRL connects described ultra-wide band module 102, and described receiving terminal RXD connects the filter of described high pass Mode block 104, described power end Bat-VCC connects described power module 107, and described storage end MEM connects Described memory module 106, described transmission ends FTP connects described communication level modular converter 105.In this enforcement In example, main control chip U1 have employed the microprocessor chip that model is ATSAM4E16E, certainly, micro-place The model of reason device chip does not limits, as long as can reach to make with the function described in the present embodiment main control chip U1 With also may be used.

As this utility model one embodiment, described ultra-wide band module 102 includes a ultra-wide band transceiving chip U2, described ultra-wide band transceiving chip U2 include:

Control end ctrl；

Described control end ctrl connects main control end CTRL of described main control chip U1.In the present embodiment, super band Wide transceiving chip U2 have employed the ultra-wide band transceiving chip that model is CC2400, certainly, ultra-wide band transmitting-receiving core The model of sheet does not limits, as long as can reach to make with the function described in the present embodiment ultra-wide band transceiving chip U2 With also may be used.

As this utility model one embodiment, described high-pass filtering module 104 includes a filtering chip U4, institute State filtering chip U4 to include:

Transmitting terminal Send and filtering end Filt；

Described transmitting terminal Send meets the receiving terminal RXD of described main control chip U1, described filtering end Filt and meets institute State Anneta module.In the present embodiment, filtering chip U4 have employed the filtering chip that model is HF3800, Certainly, the model of filtering chip does not limits, if can reach with described in the present embodiment filtering chip U4 Function also may be used.

As this utility model one embodiment, described Anneta module 103 includes antenna chip U3, described sky Core sheet U3 includes:

Transmitting terminal TXD；

Described transmitting terminal TXD meets the filtering end Filt of described filtering chip U4.In the present embodiment, antenna Chip U3 have employed the antenna chip that model is PT2272, and certainly, the model of antenna chip does not limits, As long as can reach also may be used with the function described in the present embodiment antenna chip U3.

As this utility model one embodiment, described communication level modular converter 105 includes a communication chip U5, described communication chip U5 include:

Transmission end RTP and communication terminal PLC；

Described transmission end RTP connects transmission ends FTP of described main control chip U1, and described communication terminal PLC meets institute State human-computer interaction device.In the present embodiment, communication chip U5 have employed model is TMS320C6203's Communication chip, certainly, the model of communication chip does not limits, as long as can reach and the present embodiment communication chip Function described in U5 also may be used.

As this utility model one embodiment, described memory module 106 includes a storage chip U6, described in deposit Storage chip U6 includes:

Store end mem；

Described storage end mem meets the storage end MEM of described main control chip U1.In the present embodiment, deposit Storage chip U6 have employed the storage chip that model is PC5300, and certainly, the model of storage chip does not limits, As long as can reach also may be used with the function described in the present embodiment storage chip U6.

As this utility model one embodiment, described power module 107 includes:

Alternating current power supply VCC；

Described alternating current power supply VCC meets the power end Bat-vcc of described main control chip U1.

Fig. 3 shows a kind of based on human-computer interaction device gesture identification that this utility model one embodiment proposes The object operation schematic diagram of control system, for convenience of explanation, illustrate only and this utility model embodiment Relevant part.

This utility model one embodiment provides the control system of a kind of gesture identification based on human-computer interaction device, On described control system 10 (aspects such as robot, smart mobile phone, computer, intelligent appliance can be expanded to) There is radar transmit-receive unit 12, including ultra-wide band module and Anneta module, by launching and receiving ultra-wide band (UWB) Pulsed radar signal can detect posture and the motion of body part, including gesture and gesture motion 14.Described The ultra-wide band module of control system can launch a series of pulse radar, and pulse radar can penetrate some barriers Hinder thing 16, such as interference more that may be present in glove, clothes, pocket, bag bag etc. life.Simultaneously Also without conditions such as light, it is possible to normally working in dark environment, pulse radar is at hand 14 Received by radar transmit-receive module 12 after reflecting, with some the most fixed gestures relative to detection equipment (ratio Relative to as described in control system fist and the palm up and down before and after etc. gesture) make comparisons, determine that user is The no gesture being made that setting.Such as, relative to the fist type gesture forward or backward of described control system 10 Action is detected, and then the volume being converted into human-computer interaction device tunes up going out in (or turning down), game Fist or emission bullet etc. operate；Detected relative to the palm of described control system 10 slip posture to the right Arrive, and then be converted into the operation of slip or deletion etc. to the right of human-computer interaction device.

Fig. 4 shows a kind of based on human-computer interaction device gesture identification that this utility model one embodiment proposes The structure of control system, for convenience of explanation, illustrate only the part relevant to this utility model embodiment.

Described control system 10 side has the ultra-wide band module of a diversification angular area can be detected Gesture in territory.The R-T unit of described radar transmit-receive unit 12 is arranged on described gestures detection equipment Two edges are to ensure that the effective angle scope of detection gesture is more than 180 °.With a camera module 22 it is Contrast, photographic head is arranged in control system 10 information in a smaller range that is only able to detect, the most at last Use a pair photographic head also compared with being difficult to ensure that card detects the scope suitable with pulse radar.And for pulse radar Detection scheme equally delimited the scope of " R " as depicted and reduced the interference being not intended to gesture.

Fig. 5 shows a kind of based on human-computer interaction device gesture identification that this utility model one embodiment proposes The module effect schematic diagram of control system, for convenience of explanation, illustrate only and this utility model embodiment Relevant part.

Microcontroller 24 is write order and ultra-wide band transmitting-receiving control chip 26 is configured and controlled.Micro-process The chip of the ARM-Smart structure of the preferred altera corp of device module, model is ATSAM4E16E, should It is high that module has arithmetic speed, the advantage that real-time controlling is strong.The communication mode of configuration control command uses SPI communication.Chip has 128KB on-chip SRAM, the internal Flash of 16KB ROM, 1024KB, 1 tunnel USB 2.0FS Device, 4 16, tunnel PWM, 2 road UART (1 road and SPI sheet select multiplexing), 2 Road USART, 2 road TWI (1 road and JTAG multiplexing), 1 road SD/SDIO/MMC, 1 road SPI, 1 road NAND controller, 1 road EMAC controller, support 16 AFEC, 1 tunnel 2 Channel 12-Bit DAC, the highest can run under the frequency of 120M, can realize quickly processing data, and support multiple Communications protocol.The written in code of microcontroller chip U1 uses polyglot, including C++, C, compilation etc. Programming language.Ultra-wide band receives and dispatches the X2 pulse radar transmitting-receiving one of the preferred XETHUR company of control chip 26 Body control chip, configuration and control command according to microcontroller chip 24 are operated, and produce continuously or segmentation Ultra-wide band pulse and drive transmitting antenna 28 launch pulsed radar signal.Launching the preferred material of antenna is Copper, it is also possible to be other material such as aluminum and plastics etc..Described reception antenna 30 receives pulse radar Signal, pulsed radar signal is probably and as the reflection of hand and have passed through some barriers through body part Such as glove, bag bag etc..The material of described reception antenna 30 launches antenna preferably by identical material with described.

The pulsed radar signal that described reception antenna 30 receives passes to described ultra-wide band transmitting-receiving and controls core Sheet 26, described ultra-wide band transmitting-receiving control chip 26 is sent out after sampling the pulsed radar signal received Giving microcontroller chip 24 and carry out time-frequency conversion, feature extraction etc. processes, and obtains a plurality of Time-Frequency Information.In short-term Between Fourier transformation (STFT) be the Fourier transformation of moving window, analyze signal by traveling time window Frequency component, obtain one and contain the signal two-dimentional time frequency distribution map at the frequency information of different time.Give Determine window function w (1), then the STFT of signal s (t) is defined as follows:

STFT (t, ω)=∫ s (t ') ω^*(t′-t)exp{-jωt′}dt′

STFT is and primary signal segmentation is carried out Fourier transformation, and the existence just because of window function w (t) makes STFT is provided with Local Characteristic, be the function of time be also the function of frequency.Or say that STFT is function s (t') At one group by ω (t '-t) exp{-j ω t ' } projection on the basic function that formed.It is no longer endless due to time domain, It can be used for monitoring how signal spectrum changes as the function of time.Obtain with time t for function moving window Two-dimentional joint time-frequency to original time signal is expressed as STFT (t, ω).Shu STFT (t, ω) Shu is referred to as the spectrum of signal Figure, obtains the information how frequency spectrum changes with the function of horizontal time axis.

Empirical mode decomposition (EMD) is a kind of for non-linear, the analysis and Control of nonstationary time series signal Method, the ultimate principle of EMD is according to local time's feature, the trend of different scale in decomposed signal step by step Component or fluctuation, produce a series of IMF mode function (Intrinsic Mode Function, IMF), and each IMF has There is completeness and orthogonal, this process nature is non-stationary signal is carried out tranquilization process.Each IMF divides Amount represents the form of a vibration performance in signal respectively, and its generation needs to meet following condition: analyzed Data there is maximum and minimum point, within extreme point differs one with the number of zero crossing, if signal In only have flex point and without extreme point, extreme value need to be obtained by single order or higher differentiation；Local maximum in data With minimum point constitute envelope up and down, its average line be one level off to zero straight line.EMD decomposes Process to each IMF component is referred to as hoof choosing, during calculating, need constantly by oneself IMF component through obtaining from Original signal eliminates, until the IMF hoof made new advances cannot be decomposed select process particularly as follows: first, detects original signal again All very big, minimum point in X, matching is made the upper lower enveloping curve of signal, is obtained their average line letter Number M1, deducts this average line and obtains new sequence H1, i.e. a H1=X-M1, it is judged that whether H1 accords with in X Close the condition of IMF component, if not meeting, continuing to replace original X to do with H1 and same processing to obtain H11, I.e. H11=H1-M11, this process iteration n time, until meeting the condition of IMF component, obtains IMF component C1, I.e.

H_1n=H_1(n-1) ^-M_1n

C₁=H_1n

Then, removing first IMF component from primary signal X, data left sequence R1=X-C1, by R1 As the processing procedure before former X repetition, i.e. R₂=R₁-C₂,...,R_k=R_K-1-C_KFinal acquisition k IMF component.The stop condition of EMD control method screening is data sequence R_kCan not decompose again and obtain properly IMF component, i.e. with dull Long-term change trend, or an only extreme point, or be a steady state value.Now EMD processing procedure terminates.At present, EMD control method is because non-linear, the advantage of non-stationary signal of process Being able to fast development, be similarly subjected to many attention in processing of biomedical signals field, bioradar signal is certainly Body is exactly a kind of non-stationary signal, meets three preconditions needed for EMD control method, thus can utilize EMD control method processes, and extracts signal characteristic, obtains a plurality of Time-Frequency Information.

Fig. 6 shows a kind of based on human-computer interaction device gesture identification that this utility model one embodiment proposes Control system gesture coupling schematic diagram, for convenience of explanation, illustrate only and this utility model embodiment Relevant part.

For realizing the Effec-tive Function of gestures detection function, need first to be acquired gesture feature setting up gesture mould Type storehouse.The control system 10 of gesture identification is launched by radar transmit-receive unit 12 and is received pulsed radar signal, Pulsed radar signal through specific gesture 36-1 (hand relative to described control system 10 for just slapping), 36-2 (hand is positive fist relative to described control system 10), (hand is relative to described control system for 36-3 10 is the flat palm (finger tip is just to described control system 10)) received sampling by described control system 10 after reflection, Sampled signal is filtered by described control system 10, amplitude-frequency analysis, obtain the model of classification after feature extraction Signal, sets up the disaggregated model storehouse of certain gestures and stores, and storage device uses SRAM or FLASH, Data basis is created for gestures detection.

Fig. 7 shows a kind of based on human-computer interaction device gesture identification that this utility model one embodiment proposes The gesture identification curve of control system, for convenience of explanation, illustrate only and this utility model embodiment phase The part closed.

Signal that microprocessor samples obtains as it can be seen, it contains gesture feature, movement velocity of hand, The information such as backward energy；ATSAM4E16E chip is sent commands to by four line full duplex SPI communication interfaces Ultra-wide band sensor, ultra-wide band sensor sends ultra-wide band signal, when ultra-wide band signal touching human body, While transmission, proceed by clock count, after ultra-wide band signal is propagated in air dielectric, feed back to Ultra-wide band signal receiving antenna, then calculates its distance by equation below:

$d=\frac{CT}{2}$

Wherein d represents the distance of ultra-wide band antenna and hand, owing to ultra-wide band signal is light velocity propagation, and C table Show that the light velocity, T represent the transition time, the distance of reality can be calculated by this formula.When radiofrequency signal arrives One target reflects, owing to target travel can produce frequency modulation(PFM).If target is with the speed of v (t) m/s Motion, the frequency of reflected signal can occur a skew according to Doppler frequency shift:Wherein f_d Being Doppler frequency shift, unit Hz, f is tranmitting frequency, unit Hz, and C is signal velocity, unit m/s, and t is Elapsed time, unit S, λ is the wavelength launching signal, unit m.Assume that hand exercise is expressed as x (t), instead Penetrate the Doppler frequency shift of signal and can be described as a phase-modulation:Work as hand positions When radar signal is reflected by motion, the motion of hand will produce ratio modulation to radar carrier phase. Believed obtaining the time changeable phases proportional to hand exercise incident displacement by phase demodulating in the ideal case Breath, thus obtain the velocity information of hand exercise；Ignore the amplitude of variation launching signal, the CW of a single-frequency Radar emission signal can be expressed as T (t)=cos (2 π ft+ φ (t)), and f is frequency of oscillation, and φ (t) is the phase place of agitator Noise, here regards the random fluctuation of signal phase as it.Assume that target, in distance do, has time-varying Displacement x (t), then the distance between transceiver and object is d (t)=do+X (t).Distance between transceiver and target Propagation time delay generation can not ignore, equal to d (t) divided by spread speed C of signal.Owing to hand is transported While Dong, signal is d (t-(d (t))/c) in transmission, the distance of antenna to thoracic wall in the moment of reflection.So, come and go T time delay once_dCan be expressed as:

$t_d=\frac{2d(t-\frac{d\left(t\right)}{c})}{c}+\frac{2(d_0+x(t-\frac{d\left(t\right)}{c}\left)\right)}{c}$

Signal R (t) that receiver obtains is the delay signal of transmitter signal, and amplitude fading is Ar, then

R (t)=A_rcos[2πf(t-t_d)+φ(t-t_d)+θ₀)

Wherein θ₀Offseting for constant phase, it is affected by some questions, and the reflecting surface of such as target is formed Phase offset (close to 180 °), and the time delay from transmitter to antenna and between antenna to frequency mixer Deng.Substitute into the expression formula of td, obtain receiving signal

$R\left(t\right)=A_{r}cos\[2\mathrm{\π}ft-\frac{4{\mathrm{\πd}}_0}{\mathrm{\λ}}-\frac{4\mathrm{\π}x(t-\frac{d\left(t\right)}{c})}{\mathrm{\λ}}+\mathrm{\φ}(t-\frac{2d_0}{c}-\frac{2x(t-\frac{d\left(t\right)}{c})}{c})+{\mathrm{\θ}}_0\]$

Its medium wavelength is people=c/f.Assume that (d (t))/c item in x (t-(d (t))/c) is due to the cycle T of hand exercise " d₀/ C and can ignore, again due to identical, so 2x (t-d (t)/c)/c item deformable simplifies, therefore receive Signal can approximate and be written as:

$R\left(t\right)\≈A_{r}cos\[2\mathrm{\π}ft-\frac{4{\mathrm{\πd}}_0}{\mathrm{\λ}}-\frac{4\mathrm{\π}x\left(t\right)}{\mathrm{\λ}}+\mathrm{\φ}(t-\frac{2d_0}{c}-\frac{2x\left(t\right)}{c})+{\mathrm{\θ}}_0\]$

From above formula, receive signal amplitude compared with launching signal and become A_r, many one by target range d. The time delay item of impact, and phase place receives the modulation of displacement function x (t) of hand exercise.

In direct transformational structure, if signal is to get with the L0 signal multiplication launching signal homology with one , the target information of this periodic movement can be easy to demodulated out.Owing to receiving the phase noise of signal Relevant to L0, ignore the conversion of amplitude, L0 signal can be expressed as:

L (t)=cos (2 π ft+ φ (t))

When receiving signal and the mixing of LO signal and exporting through low pass filter, the baseband signal of output is:

$B\left(t\right)=A_b=cos\[\mathrm{\θ}+\frac{4\mathrm{\π}x\left(t\right)}{\mathrm{\λ}}+\mathrm{\Δ}\mathrm{\φ}\left(t\right)\]$

WhereinIt is the amplitude of baseband signal, G_RIt is the gain of receiver, G_CIt it is frequency mixer Conversion gain, be excess phase noise,

$\mathrm{\θ}=\frac{4{\mathrm{\πd}}_0}{\mathrm{\λ}}-{\mathrm{\θ}}_0$

It is constant phase skew, it and the relating to parameters of receiver own, and along with mesh Mark distance do between radar and become.4 π x (t)/λ is the time-varying phase offset being directly proportional to signal x (t), logical Cross the extraction of the demodulation to it and can obtain target travel information.For single-path architecture receiver, eliminate constant phase shift Impact, and ensure that time-varying phase-shift phase meets little angle approximate condition, then demodulated signal can directly be approximated by baseband signal :

$B\left(t\right)\≈A_b(\frac{4\mathrm{\π}x\left(t\right)}{\mathrm{\λ}}+\mathrm{\Δ}\mathrm{\φ}(t\left)\right)$

For orthohormbic structure receiver, after using phase demodulation algorithm, baseband signal can be recovered in theory Whole phase informations:

$P\left(t\right)=\mathrm{\θ}+\frac{4\mathrm{\π}x\left(t\right)}{\mathrm{\λ}}+\mathrm{\Δ}\mathrm{\φ}\left(t\right)$

The useful phase place finally given all can be affected by residual noise.By theory analysis we known work as When excess phase noise plays leading position, signal to noise ratio and distance square be approximated to inverse ratio, and when time close together Excess phase noise plays leading position in overall noise, so being operated time close together, and by hard After part filtering and the filtering of wavelet transformation scheduling algorithm, we can successfully extract the movable information of target.

Power P r (mW) receiving signal is to launch power P t (mW), and dual-mode antenna gain is Gt and Gr, target Radar Target Scatter cross section_σ(m²), attenuation constant a in atmosphere, the wavelength X (m) of radiofrequency signal, and mesh The function of subject distance R (m)

$P_r=\frac{P_t{G}_t{G}_r{\mathrm{\σ\λ}}^2{e}^{-2\mathrm{\α}R}}{{\left(4\mathrm{\π}\right)}^3{R}^4}$

For the application scenario of detections of radar sign, target scattering sections σ (m in this radar equation²) It it is unique uncertain parameter.But Radar Target Scatter cross section σ (m²) affected by many factors, including mesh The electrical property of mark material, the geometric shape of target, the orientation that target is irradiated by radar wave, the wavelength of incidence wave, incident Field polarization and the polarization etc. of reception antenna.When detecting target and being human body, irradiate effective target cross section Long-pending calculating needs the information of background residing for whole human body and human body.But, static health creates relatively itself Strong clutter, and the effective area involved by Human Physiology motion varies with each individual, the individual diversity between different user Different the biggest and along with aerial radiation angle, the factor such as the position of human body changes the most greatly, thus is difficult to estimate.Therefore Need to combine the gesture that user characteristics storehouse is set up, by gathering the different gesture informations of user, different are returned Ripple signal uses Wavelet Packet Transform scheduling algorithm to extract signal characteristic, then uses SVM scheduling algorithm Carry out model training to obtain different gesture motion models and jointly realize the identification of gesture.

Fig. 8 shows a kind of based on human-computer interaction device gesture identification that this utility model one embodiment proposes The operation principle flow process of control system, for convenience of explanation, illustrate only and this utility model embodiment phase The part closed.

When control system powers on, supply voltage is+3.3V, and ATSAM4E16E chip proceeds by self-inspection Program, and peripheral hardware is resetted and initialization operation accordingly, ATSAM4E16E chip passes through four Line full duplex SPI communication interface sends commands to super band transmitting-receiving control chip, and ultra-wide band sensor sends super band Bandwidth signals, carries out signal processing after receiving echo-signal, it is judged that in whether echo-signal is target area Gesture echo-signal, if not then ignoring, it is to avoid the interference of echo-signal outside target detection district, improves The Accuracy and high efficiency of detection；If the gesture echo-signal in target area then proceeds next step Gesture identification, the contrast by the feature analysis of signal and with gesture model storehouse carries out gesture identification, knows Not success then preserves use, if unidentified success, directly carries out the gesture identification of next flow process.

Fig. 9 shows that a kind of based on human-computer interaction device gesture that another embodiment of this utility model proposes is known The steps flow chart of other control method, for convenience of explanation, illustrate only relevant to this utility model embodiment Part.

A kind of control method of gesture identification based on human-computer interaction device based on above-mentioned control system, described Control method includes:

Ultra-wide band module sends the pulsed radar signal penetrating barrier；

Ultra-wide band module described in master control module controls sends pulsed radar signal and arrives human hands and produce echo Signal；

Anneta module receives described echo-signal and described echo-signal is sent to described main control module carries out Process so that judge gesture feature according to described echo-signal；

Communication level modular converter, according to described gesture feature, is converted into the control signal to human-computer interaction device.

As another embodiment of this utility model, described gesture feature include fist shape forward, fist shape backward and fist Slip posture to the right.

As another embodiment of this utility model, when described gesture feature be fist shape forward, then be converted into man-machine The volume of interactive device tunes up；When described gesture feature be fist shape backward, then be converted into human-computer interaction device's Volume is turned down；When described gesture feature is fist slip posture to the right, then it is converted into human-computer interaction device's Deletion action.

The work of the control system of the gesture identification based on human-computer interaction device that this utility model embodiment provides Principle is:

First, power module is started so that alternating current power supply VCC is that described control system is powered, secondly, main Control module controls ultra-wide band module and sends pulsed radar signal arrival human hands and produce echo-signal, then After Anneta module receives described echo-signal, through high-pass filtering module, described echo-signal is filtered, Then filtered echo-signal is sent to described main control module process and identify, according to described time Ripple signal judges gesture feature, identifies and the most then preserves use, and last communication level modular converter is according to institute State gesture feature, be converted into the control signal to human-computer interaction device, such as, be fist shape when described gesture feature Forward, then the volume being converted into human-computer interaction device tunes up；When described gesture feature be fist shape backward, then turn The volume turning to human-computer interaction device is turned down；When described gesture feature is fist slip posture to the right, then turn Turn to the deletion action of human-computer interaction device, thus reach the effect of man-machine interaction.

In sum, a kind of based on human-computer interaction device gesture identification that this utility model embodiment provides Control system, including ultra-wide band module, main control module, Anneta module and communication level modular converter, described Ultra-wide band module described in master control module controls sends pulsed radar signal and arrives human hands and produce echo letter Number, after Anneta module receives described echo-signal, described echo-signal is sent to described main control module and enters Row process so that judge gesture feature according to described echo-signal, then communication level modular converter according to Described gesture feature, is converted into the control signal to human-computer interaction device, thus reaches the effect of man-machine interaction. Wherein, owing to super-broadband tech has, higher message transmission rate, multi-path resolved ability be strong, penetration capacity By force, low-power consumption, the contactless and feature of good concealment, described control system is sent by ultra-wide band module Pulsed radar signal can penetrate barrier and avoid it to be disturbed, such that the most accurate to gesture identification, Solve simultaneously and prior art exists and exactly by human body gesture is detected and cannot identify, from And the problem reaching the effect of man-machine interaction.This utility model embodiment realizes simple, it is not necessary to increase extra Hardware, can effectively reduce cost, there is stronger usability and practicality.

Embodiment described above only in order to the technical solution of the utility model to be described, is not intended to limit；Although Being described in detail this utility model with reference to previous embodiment, those of ordinary skill in the art should Understand: the technical scheme described in foregoing embodiments still can be modified by it, or in the middle part of it Technical characteristic is divided to carry out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution Depart from the spirit and scope of this utility model embodiment each embodiment technical scheme.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, All any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, all should Within being included in protection domain of the present utility model.

Claims (10)

1. the control system of a gesture identification based on human-computer interaction device, it is characterised in that described control System includes:

Send the ultra-wide band module of the pulsed radar signal penetrating barrier；

It is connected with described ultra-wide band module, controls described ultra-wide band module and send pulsed radar signal to intelligent Body hand also produces the main control module of echo-signal；

It is connected with described main control module, receives described echo-signal and described echo-signal is sent to institute State main control module to process so that judge the Anneta module of gesture feature according to described echo-signal；

It is connected with described main control module, according to described gesture feature, is converted into the control to human-computer interaction device The communication level modular converter of signal processed.

2. the control system of gesture identification based on human-computer interaction device as claimed in claim 1, its feature Be, described gesture feature include fist shape forward, fist shape backward with fist slip posture to the right.

3. the control system of gesture identification based on human-computer interaction device as claimed in claim 2, its feature Be, in communication level modular converter, when described gesture feature be fist shape forward, then be converted into man-machine friendship The volume of equipment tunes up mutually；When described gesture feature be fist shape backward, then be converted into the sound of human-computer interaction device Amount is turned down；When described gesture feature is fist slip posture to the right, then it is converted into deleting of human-computer interaction device Division operation.

4. the control system of gesture identification based on human-computer interaction device as claimed in claim 3, its feature Being, described control system also includes:

It is connected with described main control module and Anneta module simultaneously, the echo-signal that described Anneta module receives is entered Row filtering, and it is sent to the high-pass filtering module of described main control module.

5. the control system of gesture identification based on human-computer interaction device as claimed in claim 4, its feature Being, described control system also includes:

It is connected with described main control module, the memory module that described echo-signal is preserved.

6. the control system of gesture identification based on human-computer interaction device as claimed in claim 5, its feature Being, described main control module includes that a main control chip U1, described main control chip U1 include:

Main control end CTRL, receiving terminal RXD, storage end MEM and transmission ends FTP；

Described main control end CTRL connects described ultra-wide band module, and described receiving terminal RXD connects described high-pass filtering Module, described storage end MEM connects described memory module, and described transmission ends FTP connects described communication level and turns Die change block.

7. the control system of gesture identification based on human-computer interaction device as claimed in claim 6, its feature Being, described ultra-wide band module includes a ultra-wide band transceiving chip U2, described ultra-wide band transceiving chip U2 bag Include:

Control end ctrl；

Described control end ctrl connects main control end CTRL of described main control chip U1.

8. the control system of gesture identification based on human-computer interaction device as claimed in claim 7, its feature Being, described high-pass filtering module includes that a filtering chip U4, described filtering chip U4 include:

Transmitting terminal Send and filtering end Filt；

Described transmitting terminal Send meets the receiving terminal RXD of described main control chip U1, described filtering end Filt and meets institute State Anneta module.

9. the control system of gesture identification based on human-computer interaction device as claimed in claim 8, its feature Being, described Anneta module includes that antenna chip U3, described antenna chip U3 include:

Transmitting terminal TXD；

Described transmitting terminal TXD meets the filtering end Filt of described filtering chip U4.

10. the control system of gesture identification based on human-computer interaction device as claimed in claim 9, its feature Being, described communication level modular converter includes that a communication chip U5, described communication chip U5 include:

Transmission end RTP and communication terminal PLC；

Described transmission end RTP connects transmission ends FTP of described main control chip U1, and described communication terminal PLC meets institute State human-computer interaction device.