CN217900869U - Gesture detection system for multi-person synchronous micro-motion - Google Patents
Gesture detection system for multi-person synchronous micro-motion Download PDFInfo
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- CN217900869U CN217900869U CN202222848602.5U CN202222848602U CN217900869U CN 217900869 U CN217900869 U CN 217900869U CN 202222848602 U CN202222848602 U CN 202222848602U CN 217900869 U CN217900869 U CN 217900869U
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Abstract
The utility model provides a pair of synchronous micro motion's of many people gesture detecting system belongs to smart machine technical field, include: the panoramic camera is arranged above the personnel to be tested; the detection robot comprises a plurality of detection robots; each of the inspection robots includes: the robot comprises a robot main body, a robot controller, a depth camera assembly and a plurality of laser sensors; the depth camera shooting assembly is arranged on the robot main body and is connected with the robot controller; the plurality of laser sensors are rotatably arranged on the robot main body and are connected with the robot controller; the utility model discloses an attitude detection system of many people's synchronous micro motion uses through panoramic camera and a plurality of detection robot's cooperation, has realized the detection to a plurality of personnel's that await measuring micro motion.
Description
Technical Field
The utility model relates to a robotechnology field, concretely relates to gesture detecting system of many people's synchronous micro motion.
Background
The traditional robot for detecting the human motion posture usually depends on a camera optical detection method, and estimates the human motion posture based on the analysis of the acquired video image, wherein the human motion posture comprises information such as the position, key points, joint angles and contours of a human body.
However, the existing gesture detection system usually detects a single target by a single group of robots, and has low detection efficiency, so that the subsequent evaluation of multiple groups of detection results is inconvenient.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in that the gesture detecting system among the prior art is single group robot usually to single target detection, defect that detection efficiency is low to a gesture detecting system of many people's synchronous micro motion is provided.
In order to solve the technical problem, the utility model provides a pair of many people synchronous micro motion's gesture detecting system, include:
the panoramic camera is arranged above the personnel to be tested;
the detection robot comprises a plurality of detection robots; each of the inspection robots includes: the robot comprises a robot main body, a robot controller, a depth camera assembly and a plurality of laser sensors;
the depth camera shooting assembly is arranged on the robot main body and is connected with the robot controller; the plurality of laser sensors are rotatably arranged on the robot main body and are connected with the robot controller.
Preferably, the method further comprises the following steps:
a computer host; the panoramic camera is connected with the computer host; the detection robot is connected with the computer host through a wireless antenna module.
Preferably, the inspection robot further includes:
the measuring rod is vertically arranged on the robot main body; the depth camera shooting assembly is arranged at the top of the measuring rod; the plurality of laser sensors are arranged at intervals along the axial direction of the measuring rod.
Preferably, the laser sensor is arranged on the measuring rod through an installation mechanism; the mounting mechanism includes:
the first bracket is fixedly arranged on the measuring rod;
the second bracket is rotatably arranged on the first bracket through a first rotating shaft; the laser sensor is rotatably arranged on the second bracket through a second rotating shaft; the first rotating shaft and the second rotating shaft are vertically arranged in the same plane.
Preferably, the mounting mechanism further comprises:
a first drive motor; the body of the first driving motor is arranged on the first bracket; the driving end of the first driving motor is connected with the second bracket;
a second drive motor; the body of the second driving motor is arranged on the second bracket; and the driving end of the second driving motor is connected with the laser sensor.
As a preferred scheme, the detection robot further comprises a voice alarm module arranged on the robot main body; the voice alarm module is connected with the robot controller.
Preferably, the detection robot further comprises a position information module arranged on the robot main body; the position information module is connected with the robot controller.
Preferably, the depth camera module includes: the camera comprises a camera body, and an infrared camera, a color camera, an infrared transmitter and a floodlight which are arranged on the camera body.
Preferably, the camera body is further provided with a proximity sensor, and the proximity sensor is connected to the robot controller.
Preferably, mecanum wheels are respectively disposed around the robot main body.
The utility model discloses technical scheme has following advantage:
the utility model provides a pair of synchronous micro motion's of many people gesture detecting system, include: the system comprises a panoramic camera and a plurality of detection robots; sensing and identifying the number and the positions of the personnel to be detected in the field through the panoramic camera; the detection robot is distributed according to the number and the positions of the people to be detected and is close to the people to be detected, key points and outlines of the people to be detected are sensed and detected through the depth camera assembly, the laser sensor is used for scanning the key points of the human body, and displacement, jitter amplitude, joint angles and the like of micro-motion of the human body are detected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is the overall structure schematic diagram of the posture detection system for multi-person synchronous micro-motion of the present invention.
Fig. 2 is a schematic structural diagram of the inspection robot of the present invention.
Fig. 3 is a schematic structural diagram of the mounting mechanism of the present invention.
Fig. 4 is the utility model discloses a structural schematic diagram of degree of depth camera shooting subassembly.
Description of reference numerals:
1. a panoramic camera; 2. detecting a robot; 3. a computer host; 4. a person to be tested;
21. a depth camera assembly; 22. a robot main body; 23. a laser sensor; 24. a measuring rod; 25. a voice alarm module; 26. a location information module; 27. a wireless antenna module; 28. a Mecanum wheel;
211. an infrared camera; 212. a color camera; 213. an infrared emitter; 214. a floodlight; 215. a proximity sensor; 216. a camera main body; 231. a first bracket; 232. a second bracket; 233. a first drive motor; 234. a second drive motor.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment provides a multi-person synchronous micro-motion posture detection system, wherein in the using process of the system, a person 4 to be detected is in a wall body capable of forming an indoor space; as shown in fig. 1, the posture detection system includes: the system comprises a panoramic camera 1 and a detection robot 2; the panoramic camera 1 is arranged above the person 4 to be tested, namely the top of the wall body; the detection robot 2 has a plurality of; each detection robot 2 includes: a robot body 22, a robot controller, a depth camera assembly, and a plurality of laser sensors 23.
As shown in fig. 2, the depth camera assembly 21 is provided on the robot main body 22; the depth camera component 21 can acquire image information of the person 4 to be detected and key points and contour information of a human body, and the acquisition is more accurate; and is connected with the robot controller, and the information to be collected is transmitted to the robot controller. The plurality of laser sensors 23 are rotatably provided on the robot main body 22 and connected to the robot controller.
Optionally, the panoramic camera 1 selects the number and the positions according to the size layout of the indoor space, and collects all the people 4 to be measured; can carry out 360 rotatory scans and discernment, and panorama camera 1 can acquire the information of the personnel 4 that await measuring, scans the personnel 4 that await measuring. The panoramic camera 1 is preferably a color panoramic camera 1.
In the using process, the panoramic camera 1 carries out sensing identification and numbering on the number and the position of the indoor person 4 to be detected, and matches the detection robot 2 according to the obtained number and the position, so that the detection robot 2 approaches the person 4 to be detected; sensing and detecting key points and contours of a person 4 to be detected through a depth camera component 21 of the detection robot 2, scanning the key points of a human body through a laser sensor 23, and detecting the displacement, the jitter amplitude and the joint angle of the micro-motion of the human body; through the cooperation use of panoramic camera 1 and a plurality of detection robot 2, realized the detection to the micromotion of a plurality of personnel 4 that await measuring, improved detection efficiency.
Further, the attitude detection system further includes: a computer host 3. The panoramic camera 1 is connected with a computer host 3; the detection robot 2 is connected with the computer host 3 through a wireless antenna module 27.
In the using process, the panoramic camera 1 collects data of indoor persons to be detected 4, the data are transmitted to the computer host 3 in a wireless or wired mode (the embodiment shown in the attached drawings is in a wireless transmission mode), the computer host 3 receives the data and analyzes the number and the positions of the persons to be detected 4, then the computer host 3 sends the data to different detection robots 2 respectively, different detection robots 2 start to move to different positions of the persons to be detected 4, scanning collection is carried out, and scanning information is transmitted to the computer host 3.
Further, a measuring rod 24 is vertically provided on the robot main body 22; the depth camera assembly 21 is arranged at the top of the measuring rod 24; the plurality of laser sensors 23 are arranged at intervals in the axial direction of the measuring rod 24 by a mounting mechanism. As shown in fig. 3, the mounting mechanism includes a first bracket 231 and a second bracket 232; the first bracket 231 is a U-shaped plate and is fixedly arranged on the measuring rod 24; a first bracket 231 is rotatably provided on the second bracket 232 through a first rotating shaft; the laser sensor 23 is rotatably arranged on the second bracket 232 through a second rotating shaft; the first rotating shaft and the second rotating shaft are vertically arranged in the same plane. In the scheme, as shown in fig. 2, XYZ directions are defined, the measurement bar 24 is provided extending in the Z direction, the first rotation axis is provided in the X direction, and the second rotation axis is provided in the Y direction; therefore, the second support 232 can drive the laser sensor 23 to rotate 360 degrees along the Z surface, the laser sensor 23 can rotate 45 degrees on the Y plane relative to the second support 232, and the distance measurement of the key points of the human body by the arbitrary degree of freedom of the laser sensor 23 is realized.
Further, a body of the first driving motor 233 is mounted on the first support 231, and a driving end of the first driving motor 233 is connected with the second support 232, so that the first driving motor 233 drives the second support 232 to rotate relative to the first support 231. The second support 232 is provided with a body of a second driving motor 234, and a driving end of the second driving motor 234 is connected with the laser sensor 23, so that the second driving motor 234 drives the laser sensor 23 to rotate relative to the second support 232.
The detection robot 2 further comprises a voice alarm module 25 arranged on the robot main body 22, and the voice alarm module 25 is connected with the robot controller; the language alarm module is used for sending out voice prompt according to the command of the robot controller; the prompt may be a prompt for the person 4 to be tested to keep the action to be tested, or a voice prompt may be issued when an obstacle is encountered.
The detection robot 2 further comprises a position information module 26 mounted on the robot main body 22, and the position information module 26 is connected with the robot controller; the position information module 26 is used for detecting the position of the detection robot 2 and feeding back the information to the robot controller in real time, so that the robot controller can receive the position of the detection robot 2 and make processing according to the position information.
As shown in fig. 4, the depth camera assembly 21 includes: a camera body 216, and an infrared camera 211, a color camera 212, an infrared emitter 213, and a floodlight 214 provided on the camera body 216; the outline and key point data of the person 4 to be measured are identified by the infrared camera 211 and the color camera 212. Further, a proximity sensor 215 is further disposed on the robot main body 22, and the proximity sensor 215 is connected to the robot controller; the proximity sensor 215 can prevent the depth camera module 21 from colliding with other objects.
The chassis of the detection robot 2 is driven by a motor and is provided with four moving wheels, and in the scheme, the moving wheels are Mecanum wheels 28; mecanum wheels 28 may drive inspection robot 2 to rotate 360 degrees in the horizontal plane, so that inspection robot 2 moves to the front, side, and back of person 4 to be inspected for inspection.
In this scheme, gather all personnel 4 that await measuring's quantity and positional information through setting up panoramic camera 1 in overhead, transmit for computer 3 through wireless or wired mode, computer 3 numbers personnel 4 that await measuring according to personnel 4's quantity and position to the matching corresponds serial number detection robot 2. The computer host 3 issues a command to control the detection robot 2 to approach the person 4 to be detected, and prompts the action to be kept through the voice alarm module 25.
At the moment, the detection robot 2 scans the human body through the depth camera assembly 21 to obtain key points, positions and contours of the human body, uploads the key points, the positions and the contours of the human body to the computer host 3 in real time, and carries out three-dimensional human body model modeling and data calculation by adopting a depth machine algorithm; then the computer 3 issues commands to the robot controller to perform three-dimensional sensing ranging on key points of the human body on the front side, the side face and the back side, the data are uploaded to the computer 3 in real time, human body data of human body shaking amplitude, displacement and joint angle are obtained in real time through a path recognition and calibration algorithm and a biomechanics algorithm of the laser sensor 23, the data are resolved through platform software, and the static force contraction degree of the muscle, the muscle stability and the nerve control capability are analyzed.
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. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (10)
1. A multi-person synchronous micro-motion posture detection system is characterized by comprising:
the panoramic camera is arranged above the personnel to be tested;
the detection robots are provided with a plurality of detection robots; each of the inspection robots includes: the robot comprises a robot main body, a robot controller, a depth camera assembly and a plurality of laser sensors;
the depth camera shooting assembly is arranged on the robot main body and is connected with the robot controller; the plurality of laser sensors are rotatably arranged on the robot main body and are connected with the robot controller.
2. The posture detecting system of a multi-person synchronous micro-motion as claimed in claim 1, further comprising:
a computer host; the panoramic camera is connected with the computer host; the detection robot is connected with the computer host through a wireless antenna module.
3. The multi-person synchronous micro-motion pose detection system of claim 1, wherein said detection robot further comprises:
the measuring rod is vertically arranged on the robot main body; the depth camera shooting assembly is arranged at the top of the measuring rod; the plurality of laser sensors are arranged at intervals along the axial direction of the measuring rod.
4. The multi-person synchronous micro-motion attitude detection system according to claim 3, wherein the laser sensor is provided on the measuring rod by a mounting mechanism; the mounting mechanism includes:
the first bracket is fixedly arranged on the measuring rod;
the second bracket is rotatably arranged on the first bracket through a first rotating shaft; the laser sensor is rotatably arranged on the second bracket through a second rotating shaft; the first rotating shaft and the second rotating shaft are vertically arranged in the same plane.
5. The multi-person synchronous micro-motion pose detection system of claim 4, wherein the mounting mechanism further comprises:
a first drive motor; the body of the first driving motor is arranged on the first bracket; the driving end of the first driving motor is connected with the second bracket;
a second drive motor; the body of the second driving motor is arranged on the second bracket; and the driving end of the second driving motor is connected with the laser sensor.
6. The multi-person synchronous micro-motion attitude detection system according to claim 2, wherein the detection robot further comprises a voice alarm module provided on the robot main body; the voice alarm module is connected with the robot controller.
7. The multi-person synchronous micro-motion attitude detection system according to claim 2, wherein the detection robot further comprises a position information module provided on the robot main body; the position information module is connected with the robot controller.
8. The multi-person synchronous micro-motion pose detection system of claim 1, wherein the depth camera assembly comprises: camera main part and infrared camera, color camera, infra-red transmitter and the floodlight of setting in the camera main part.
9. The multi-person synchronous micro-motion attitude detection system according to claim 8, wherein a proximity sensor is further provided on the camera body, and the proximity sensor is connected to the robot controller.
10. The multi-person synchronous micro-motion posture detecting system as claimed in claim 1, wherein mecanum wheels are respectively provided around the robot main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222848602.5U CN217900869U (en) | 2022-10-28 | 2022-10-28 | Gesture detection system for multi-person synchronous micro-motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222848602.5U CN217900869U (en) | 2022-10-28 | 2022-10-28 | Gesture detection system for multi-person synchronous micro-motion |
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| Publication Number | Publication Date |
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| CN217900869U true CN217900869U (en) | 2022-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222848602.5U Active CN217900869U (en) | 2022-10-28 | 2022-10-28 | Gesture detection system for multi-person synchronous micro-motion |
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| CN (1) | CN217900869U (en) |
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- 2022-10-28 CN CN202222848602.5U patent/CN217900869U/en active Active
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