技术领域technical field
本发明涉及一种应用于家电的非触碰式遥控器，具体是一种以用户手势作为遥控指令的遥控器，属于智能人机交互技术领域。The invention relates to a non-touch remote controller applied to home appliances, in particular to a remote controller using user gestures as remote control instructions, and belongs to the technical field of intelligent human-computer interaction.
背景技术Background technique
随着电子计算机技术的不断发展，人工智能已广泛应用于社会生活的各个领域，传统的人机交互方式已经不能完全满足用户的需求。以家电为例，传统的交互是以按键和触摸遥控器为主，这也是目前家电遥控器采用的主流交互形式，实际上这种形式存在着一定的局限性。一方面，按键与触摸基本都是离散式的操作模式，不具备例如鼠标式的操作连续性，使用起来不够灵活，另一方面，用户在手中沾有污渍的情况下，想实现遥控功能就必定会弄脏遥控设备，这是大部分用户不希望看到的。鉴于上述的局限性，人们想得到一种可以脱离实体按键或者触摸屏的家电遥控系统，不必刻意地按下指定功能的按键，能够在空间范围内以手势等肢体动作就能完成与家电的遥控与互动。基于上述想法，Soft Kinetic公司设计了一种基于TOF(Time Of Flight)的空间体感识别设备，利用测量光的发射与反射之间的时间差，计算被测物体与镜头的距离，从而实现三维的手势识别。另外，Prime sense公司开发的Light Coding技术利用Laser Speckle(镭射光斑)随距离变化形成不同图案的特性，对测量空间进行编解码，从而达到确切锁定三维空间内目标位置的目的。With the continuous development of computer technology, artificial intelligence has been widely used in various fields of social life, and the traditional human-computer interaction methods can no longer fully meet the needs of users. Taking home appliances as an example, the traditional interaction is mainly based on buttons and touch remote controls. This is also the mainstream interaction form adopted by home appliance remote controls at present. In fact, this form has certain limitations. On the one hand, buttons and touch are basically discrete operation modes, which do not have the continuity of operation such as the mouse, and are not flexible enough to use. On the other hand, when users have stains on their hands, they must It will dirty the remote control device, which is not desired by most users. In view of the above limitations, people want a home appliance remote control system that can be separated from physical buttons or touch screens. It is not necessary to deliberately press the buttons with specified functions, and the remote control and interaction with home appliances can be completed with gestures and other body movements within the spatial range. . Based on the above ideas, Soft Kinetic has designed a TOF (Time Of Flight)-based spatial somatosensory recognition device, which uses the time difference between the emission and reflection of light to be measured to calculate the distance between the measured object and the lens, thereby realizing three-dimensional gestures identify. In addition, the Light Coding technology developed by Prime sense uses the characteristics of Laser Speckle (laser spot) to form different patterns with distance to encode and decode the measurement space, so as to achieve the purpose of accurately locking the target position in the three-dimensional space.
上述TOF和Light Coding技术在理论上一定程度地解决了传统遥控系统存在的问题，但是TOF技术需要使用特殊的图像采集设备，成本较高，而LightCoding技术在识别的距离上还是以1.5M-5M的范围为主，对于近距离物体的识别算法还有待提高，以上述两种技术为基础的家电遥控系统还没有真正的投入市场，另外应用上述两种技术的方案并没有充分考虑到控制系统本身存在于三维空间的方向与角度问题，并且这两种技术也并不是三维空间手势识别仅有的技术手段。除上述的两种技术方案外，公告号为CN102156859B的发明专利“手部姿态与空间位置的感知方法”提到的技术方法可以更有效、更便捷、更精确地实现近距离三维空间手势识别功能。通过引用将公告号为CN102156859B的发明专利的全文合并于此。The above-mentioned TOF and Light Coding technologies have theoretically solved the problems existing in traditional remote control systems to a certain extent, but TOF technology requires the use of special image acquisition equipment, which is costly, while Light Coding technology still has a recognition distance of 1.5M-5M The recognition algorithm for close-range objects still needs to be improved. The home appliance remote control system based on the above two technologies has not really been put into the market. In addition, the application of the above two technologies has not fully considered the control system itself. There are problems of direction and angle in three-dimensional space, and these two technologies are not the only technical means for gesture recognition in three-dimensional space. In addition to the above two technical solutions, the technical method mentioned in the invention patent with the notification number CN102156859B "Perception Method of Hand Posture and Spatial Position" can realize the close-range three-dimensional space gesture recognition function more effectively, conveniently and accurately . The full text of the invention patent with publication number CN102156859B is hereby incorporated by reference.
发明内容Contents of the invention
根据本发明的实施例，提供了一种遥控器，包括设置在遥控器本体上的两个或多个摄像头、手势识别模块、指令生成模块和无线发送模块；其特征在于，所述的两个或多个摄像头用于采集用户手部姿态图像，并耦合到所述手势识别模块；所述手势识别模块用于基于所述手部姿态图像识别用户的手部姿态信息，并耦合到指令生成模块；所述指令生成模块用于输出与用户手部姿态相对应的操作指令，并耦合到所述无线发送模块；所述无线发送模块用于将操作指令发送给所述遥控器所遥控的设备。According to an embodiment of the present invention, a remote controller is provided, including two or more cameras, a gesture recognition module, an instruction generation module and a wireless transmission module arranged on the remote controller body; it is characterized in that the two Or a plurality of cameras are used to collect the user's hand gesture image, and are coupled to the gesture recognition module; the gesture recognition module is used to recognize the user's hand gesture information based on the hand gesture image, and are coupled to the instruction generation module The instruction generation module is used to output the operation instruction corresponding to the gesture of the user's hand, and is coupled to the wireless transmission module; the wireless transmission module is used to send the operation instruction to the device controlled by the remote controller.
根据本发明的实施例的遥控器还包括按键，所述按键耦合到所述指令生成模块，所述指令生成模块还用于输出与所述按键相对应的操作指令。The remote controller according to the embodiment of the present invention further includes a key, the key is coupled to the instruction generation module, and the instruction generation module is further configured to output an operation instruction corresponding to the key.
根据本发明的实施例的遥控器还包括存储模块，用于存储手部姿态图像、手部姿态信息，所述手势识别模块访问所述存储模块以确定同所述手部姿态图像相对应的手部姿态信息。The remote controller according to the embodiment of the present invention also includes a storage module for storing hand gesture images and hand gesture information, and the gesture recognition module accesses the storage module to determine the hand gesture corresponding to the hand gesture image. posture information.
根据本发明的实施例的遥控器，其中所述两个或多个摄像头的光轴彼此平行，以及所述两个或多个摄像头的光轴与所述遥控器的长轴垂直，所述两个或多个摄像头安装在所述遥控器内部。In the remote controller according to an embodiment of the present invention, wherein the optical axes of the two or more cameras are parallel to each other, and the optical axes of the two or more cameras are perpendicular to the long axis of the remote controller, the two One or more cameras are installed inside the remote control.
根据本发明的实施例的遥控器还包括红外光源，用于照射所述两个或多个摄像头的取景范围，所述两个或多个摄像头的镜头上设有红外滤光装置。The remote controller according to the embodiment of the present invention further includes an infrared light source for illuminating the viewfinder range of the two or more cameras, and the lenses of the two or more cameras are provided with an infrared filter device.
根据发明的实施例的遥控器还包括姿态感知模块，所述姿态感知模块用于检测所述遥控器的空间姿态。The remote controller according to the embodiment of the invention further includes a posture sensing module, which is used to detect the spatial posture of the remote controller.
根据本发明的实施例的遥控器，其中所述姿态感知模块包括加速度传感器。In the remote controller according to an embodiment of the present invention, the gesture sensing module includes an acceleration sensor.
根据本发明的实施例的遥控器，其中遥控器坐标系具有x，y，z轴，遥控器坐标系的y轴平行于遥控器的长轴方向，遥控器坐标系的z轴与遥控器的面板垂直，遥控器坐标系的y轴与z轴所构成的平面与x轴相垂直；所述姿态感知模块用于获取角度信息α和β，其中角度信息α和β的含义为：当所述遥控器坐标系绕其y轴旋转角度α时，遥控器坐标系中的x轴被旋转到平行于世界水平面的方向，当所述遥控器坐标系进行上述α角度旋转后，再绕所述遥控器坐标系的x轴旋转角度β时，所述遥控器坐标系中的y轴被旋转到平行于世界水平面的方向，在所述遥控器坐标系旋转过程中，保持所述遥控器坐标系的y轴在世界水平面上的投影方向不变。According to the remote controller of the embodiment of the present invention, wherein the coordinate system of the remote controller has x, y, z axes, the y axis of the coordinate system of the remote controller is parallel to the long axis direction of the remote controller, and the z axis of the coordinate system of the remote controller is parallel to the direction of the long axis of the remote controller. The panel is vertical, and the plane formed by the y-axis and the z-axis of the remote control coordinate system is perpendicular to the x-axis; the attitude perception module is used to obtain angle information α and β, wherein the meaning of the angle information α and β is: when the When the coordinate system of the remote control is rotated by an angle α around its y-axis, the x-axis in the coordinate system of the remote control is rotated to a direction parallel to the world horizontal plane. When the x-axis of the remote controller coordinate system is rotated by an angle β, the y-axis of the remote controller coordinate system is rotated to a direction parallel to the world horizontal plane. During the rotation of the remote controller coordinate system, the The projection direction of the y-axis on the world horizontal plane is unchanged.
根据本发明的实施例的遥控器，还包括坐标转换模块，所述的坐标转换模块基于所述角度信息α和β将所述手势识别模块识别的具有遥控器坐标系的用户的手部姿态信息转换为所述遥控器坐标系绕其y轴旋转角度α，再绕所述遥控器坐标系的x轴旋转角度β后的第二手部姿态信息。The remote controller according to the embodiment of the present invention further includes a coordinate transformation module, and the coordinate transformation module converts the hand gesture information of the user with the remote controller coordinate system recognized by the gesture recognition module based on the angle information α and β It is transformed into the second hand posture information after the coordinate system of the remote controller is rotated around its y-axis by an angle α, and then rotated by an angle β around the x-axis of the remote controller coordinate system.
根据本发明的实施例的遥控器，其中所述遥控器所遥控的设备是家电，所述家电具有家电坐标系，所述家电坐标系具有x1，y1，z1轴，家电坐标系的x1，y1轴相互垂直，x1，y1轴所构成的平面平行于世界水平面，家电坐标系的z1轴垂直于x1，y1轴所构成的平面；所述坐标转换模块将所述第二手部姿态信息在遥控器坐标系中的坐标点(a，b，c)转换成为家电坐标中的坐标点(kx*a，ky*b，kz*c)，其中kx，ky，kz是实数常量。According to the remote controller according to the embodiment of the present invention, the device controlled by the remote controller is a home appliance, the home appliance has a home appliance coordinate system, the home appliance coordinate system has x1, y1, z1 axes, x1, y1 of the home appliance coordinate system The axes are perpendicular to each other, the plane formed by the x1 and y1 axes is parallel to the world horizontal plane, and the z1 axis of the home appliance coordinate system is perpendicular to the plane formed by the x1 and y1 axes; The coordinate point (a, b, c) in the appliance coordinate system is converted into the coordinate point (kx *a, ky *b, kz *c) in the appliance coordinate system, where kx , ky , kz are real numbers constant.
根据本发明的实施例的遥控器，所述手部姿态信息包括手掌的空间位置、每个手指的朝向和指尖的空间位置。According to the remote controller of the embodiment of the present invention, the hand gesture information includes the spatial position of the palm, the orientation of each finger and the spatial position of the fingertip.
附图说明Description of drawings
为了使本发明的内容更容易被清楚的理解，下面结合附图，对本发明作进一步详细的说明，其中，In order to make the content of the present invention more easily understood, the present invention will be described in further detail below in conjunction with the accompanying drawings, wherein,
图1是本发明的装有两个摄像头的遥控器的结构示意图；Fig. 1 is the structural representation of the remote controller that two cameras are housed of the present invention;
图2是本发明的装有三个摄像头的遥控器的结构示意图；Fig. 2 is a schematic structural view of a remote controller equipped with three cameras of the present invention;
图3是本发明的遥控器的结构框图；Fig. 3 is a structural block diagram of the remote controller of the present invention;
图4是本发明的具有空间姿态感知功能的遥控器的结构框图；Fig. 4 is the structural block diagram of the remote controller with space attitude perception function of the present invention;
图5是本发明的遥控器坐标系示意图；Fig. 5 is a schematic diagram of the coordinate system of the remote controller of the present invention;
图6是本发明的家电坐标系示意图；Fig. 6 is a schematic diagram of the household appliance coordinate system of the present invention;
图7是本发明的遥控器的以α角度旋转进行姿态变换的示意图；Fig. 7 is a schematic diagram of attitude transformation of the remote controller of the present invention by rotating at an angle of α;
图8是本发明的遥控器的以α角度旋转进行姿态变换后的示意图；Fig. 8 is a schematic diagram of the remote controller of the present invention after the attitude transformation is performed by rotating at an angle of α;
图9是本发明的遥控器的以β角度旋转进行姿态变换的示意图；Fig. 9 is a schematic diagram of attitude transformation of the remote controller of the present invention by rotating at an angle of β;
图10是本发明的遥控器的以β角度旋转进行姿态变换后的示意图。FIG. 10 is a schematic diagram of the remote controller of the present invention after the attitude transformation is performed by rotating at an angle of β.
具体实施方式detailed description
图1是根据发明的实施例的装有两个摄像头遥控器的结构示意图。遥控器105上设置有摄像头模块104。摄像头模块104包括摄像头101与摄像头102。摄像头101与摄像头102设置在遥控器105内部，摄像头101与摄像头102的光轴垂直于遥控器105的面板。摄像头101与摄像头102用于采集用户手部姿态的图像信息。Fig. 1 is a schematic structural diagram of a remote controller equipped with two cameras according to an embodiment of the invention. The remote controller 105 is provided with a camera module 104 . The camera module 104 includes a camera 101 and a camera 102 . The camera 101 and the camera 102 are arranged inside the remote control 105 , and the optical axes of the camera 101 and the camera 102 are perpendicular to the panel of the remote control 105 . The camera 101 and the camera 102 are used to collect image information of the user's hand posture.
在可选实施方式中，摄像头模块104还包括红外灯103。优选地，红外灯103的照射范围覆盖摄像头101与摄像头102的取景范围。In an optional implementation manner, the camera module 104 further includes an infrared lamp 103 . Preferably, the irradiation range of the infrared lamp 103 covers the viewing range of the camera 101 and the camera 102 .
摄像头101与摄像头102的镜头上设置红外滤光装置，以滤除可见光。The lenses of the camera 101 and the camera 102 are provided with infrared filter devices to filter out visible light.
图2是根据使用新型的实施例的装有三个摄像头的遥控器的结构示意图。遥控器206上设置有摄像头模块205。摄像头模块205包括摄像头201、摄像头202和摄像头203。摄像头201、摄像头202、摄像头203均设置在遥控器206的内部。摄像头201、摄像头202、摄像头203的光轴垂直于遥控器206的面板。摄像头201、摄像头202、摄像头203的几何中心在同一平面上，其相互的连线构成一个等边三角形。所属领域技术人员将意识到，摄像头201、摄像头202、摄像头203之间的可具有其他位置关系而不限于等边三角形。摄像头201、摄像头202、摄像头203也可以位于遥控器206的侧面，或者摄像头201、摄像头202、摄像头203的光轴垂直于遥控器206的侧面。摄像头201、摄像头202、摄像头203用于采集用户手部姿态的图像信息。Fig. 2 is a structural schematic diagram of a remote controller equipped with three cameras according to a novel embodiment. The remote controller 206 is provided with a camera module 205 . The camera module 205 includes a camera 201 , a camera 202 and a camera 203 . The camera 201 , the camera 202 and the camera 203 are all arranged inside the remote controller 206 . The optical axes of the camera 201 , the camera 202 , and the camera 203 are perpendicular to the panel of the remote control 206 . The geometric centers of the camera 201 , the camera 202 , and the camera 203 are on the same plane, and their mutual connection lines form an equilateral triangle. Those skilled in the art will appreciate that the camera 201 , the camera 202 , and the camera 203 may have other positional relationships and are not limited to an equilateral triangle. The camera 201 , the camera 202 , and the camera 203 may also be located on the side of the remote controller 206 , or the optical axes of the camera 201 , the camera 202 , and the camera 203 are perpendicular to the side of the remote controller 206 . The camera 201, the camera 202, and the camera 203 are used to collect image information of a user's hand posture.
摄像头模块205上还设置红外灯204。在优选的实施例中，红外灯204的照射范围覆盖摄像头的取景范围。An infrared lamp 204 is also arranged on the camera module 205 . In a preferred embodiment, the irradiation range of the infrared lamp 204 covers the viewing range of the camera.
摄像头201、摄像头202、摄像头203的镜头上设置红外滤光装置，滤除可见光。The cameras 201, 202 and 203 are equipped with infrared filter devices to filter out visible light.
在另一个实施例中，可以提供多于三个摄像头。更多的摄像头有助于提高手势识别的精度。In another embodiment, more than three cameras may be provided. More cameras can help improve the accuracy of gesture recognition.
图3是发明实施例的遥控器的结构框图。遥控器306包括摄像头模块301、手势识别模块302、指令生成模块303、无线发送模块304、按键模块305。Fig. 3 is a structural block diagram of the remote controller of the embodiment of the invention. The remote control 306 includes a camera module 301 , a gesture recognition module 302 , an instruction generation module 303 , a wireless transmission module 304 , and a button module 305 .
摄像头模块301的输出与手势识别模块302的输入相连。摄像头模块301用于采集其视野范围内的图像信息，并将图像信息传送给手势识别模块302。The output of the camera module 301 is connected to the input of the gesture recognition module 302 . The camera module 301 is used to collect image information within its field of view, and transmit the image information to the gesture recognition module 302 .
手势识别模块302的输入与摄像头模块301的输出相连，手势识别模块302的输出与指令生成模块303的输入相连。手势识别模块302将摄像头模块301采集到的图像信息进行处理。如果摄像头模块301视野范围内有用户手势出现，则手势识别模块302将其提取出来，并得到包括例如用户手掌的空间位置、每个手指的朝向和指尖的空间位置的信息。手势识别模块302完成其功能可以通过多种方式，例如，将摄像头模块301采集到的用户手部姿态的图像与存储模块中事先训练得到的模板库中的信息进行对比，从模板库中搜索出与当前采集的图像最接近的图像模板，依据该模板得到与该模板相对应的当前用户手部姿态信息，手部姿态信息包括但不限于用户手掌的空间位置、每个手指的朝向和指尖的空间位置。The input of the gesture recognition module 302 is connected to the output of the camera module 301 , and the output of the gesture recognition module 302 is connected to the input of the instruction generation module 303 . The gesture recognition module 302 processes the image information collected by the camera module 301 . If there is a user gesture within the field of view of the camera module 301, the gesture recognition module 302 extracts it and obtains information including, for example, the spatial position of the user's palm, the orientation of each finger, and the spatial position of the fingertip. The gesture recognition module 302 can complete its function in various ways, for example, compare the image of the user's hand posture collected by the camera module 301 with the information in the template library that has been trained in advance in the storage module, and search out the template library from the template library. The image template closest to the currently collected image, according to which the current user's hand gesture information corresponding to the template is obtained, the hand gesture information includes but not limited to the spatial position of the user's palm, the orientation of each finger and the fingertip spatial location.
指令生成模块303的输入与手势识别模块302的输出相连，指令生成模块303的输出与无线发送模块304的输入相连。指令生成模块303中，存储了预先定义的手部姿态信息与遥控指令的对应关系数据。手部姿态信息可以是用户的静态姿势，例如，伸出右手食指而其他手指紧握，也可以是动态的连续动作，例如，右手伸出，五指合并，向左侧挥动的整个连续过程。指令生成模块303可以根据输入的手部姿态信息查找到与其相对应的遥控指令，再将遥控指令传送给无线发送模块304。遥控指令可以是打开或者关闭家电的某项功能、增加或者减小家电某种工作参数，对于有二维或者三维图形交互界面的家电，遥控指令还可以包括界面内光标或者其他操作对象的定位指令等。The input of the instruction generating module 303 is connected to the output of the gesture recognition module 302 , and the output of the instruction generating module 303 is connected to the input of the wireless sending module 304 . In the command generating module 303, the predefined correspondence data between hand posture information and remote control command is stored. The hand gesture information can be a static gesture of the user, for example, extending the index finger of the right hand and clenching the other fingers, or a dynamic continuous action, for example, extending the right hand, merging five fingers, and swaying to the left. The command generating module 303 can find the corresponding remote control command according to the input hand gesture information, and then transmit the remote control command to the wireless sending module 304 . The remote control command can be to turn on or off a certain function of the home appliance, increase or decrease a certain working parameter of the home appliance, and for a home appliance with a two-dimensional or three-dimensional graphic interactive interface, the remote control command can also include positioning commands for the cursor or other operating objects in the interface Wait.
无线发送模块304的输入与指令生成模块303的输出相连。无线发送模块304将接收到的指令生成模块303的遥控指令进行编码，以无线信号的形式发送给被控家电。可选地，无线通信模块304的通信方式可采用红外、蓝牙、Wi-Fi、ZIGBEE等多种短距离无线通信方式。被控家电在接收到遥控指令后，会对指令进行解码，并执行指令中的操作内容。被控家电可以是电视机、空调、冰箱、微波炉等。The input of the wireless sending module 304 is connected with the output of the instruction generating module 303 . The wireless sending module 304 encodes the received remote control instruction of the instruction generating module 303, and sends it to the controlled appliance in the form of a wireless signal. Optionally, the communication mode of the wireless communication module 304 may adopt multiple short-distance wireless communication modes such as infrared, Bluetooth, Wi-Fi, and ZIGBEE. After receiving the remote control command, the accused home appliance will decode the command and execute the operation content in the command. The accused home appliances can be televisions, air conditioners, refrigerators, microwave ovens, etc.
可选地，遥控器306包括按键模块305。按键模块305包括遥控器按键，例如数字键、音量调节键、频道增/减键等。按键模块305的输出与指令生成模块303的输入相连。按键模块305中的按键所产生的离散输入通过指令生成模块303转换成按键代表的相应遥控指令，并传送给无线发送模块304，无线发送模块304以短距离无线通信方式将遥控指令发送到被控家电，被控家电接收到遥控指令，对指令进行解码并执行指令所对应的操作。Optionally, the remote controller 306 includes a button module 305 . The key module 305 includes remote control keys, such as number keys, volume adjustment keys, channel up/down keys, and the like. The output of the button module 305 is connected to the input of the instruction generation module 303 . The discrete input generated by the keys in the key module 305 is converted into the corresponding remote control command represented by the key through the command generation module 303, and sent to the wireless transmission module 304, and the wireless transmission module 304 sends the remote control command to the controlled terminal by means of short-distance wireless communication. Home appliances, the accused home appliance receives the remote control command, decodes the command and executes the operation corresponding to the command.
图4是本发明的具有空间姿态感知功能的遥控器的结构框图。遥控器407包括摄像头模块401、手势识别模块402、姿态感知模块403、坐标转换模块404、指令生成模块405、无线发送模块406。Fig. 4 is a structural block diagram of a remote controller with a space posture perception function according to the present invention. The remote control 407 includes a camera module 401 , a gesture recognition module 402 , a posture perception module 403 , a coordinate transformation module 404 , an instruction generation module 405 , and a wireless transmission module 406 .
摄像头模块401的输出与手势识别模块402的输入相连。摄像头模块401用于采集其视野范围内的图像信息，并将图像信息传送给手势识别模块402。The output of the camera module 401 is connected to the input of the gesture recognition module 402 . The camera module 401 is used to collect image information within its field of view, and transmit the image information to the gesture recognition module 402 .
手势识别模块402的输入与摄像头模块401输出相连，手势识别模块402的输出与坐标转换模块404相连。手势识别模块402将摄像头模块401采集到的图像信息进行处理，得到与用户当前手部姿态与空间位置相对应的手部姿态信息。The input of the gesture recognition module 402 is connected to the output of the camera module 401 , and the output of the gesture recognition module 402 is connected to the coordinate conversion module 404 . The gesture recognition module 402 processes the image information collected by the camera module 401 to obtain hand gesture information corresponding to the user's current hand gesture and spatial position.
姿态感知模块403的输出与坐标转换模块404的输入相连。姿态感知模块403可安装于遥控器407的电路板的任何位置。姿态感知模块403可以返回遥控器407自身的姿态信息，包括但不限于遥控器所在坐标系与真实世界水平面的角度信息。为了描述清楚，参看图5，定义了遥控器坐标系。The output of the gesture perception module 403 is connected to the input of the coordinate transformation module 404 . The gesture sensing module 403 can be installed anywhere on the circuit board of the remote controller 407 . The attitude perception module 403 can return the attitude information of the remote controller 407 itself, including but not limited to the angle information between the coordinate system where the remote controller is located and the horizontal plane of the real world. For clarity of description, referring to FIG. 5 , the coordinate system of the remote controller is defined.
规定遥控器几何中心为遥控器坐标系的坐标原点。The geometric center of the remote control is specified as the coordinate origin of the coordinate system of the remote control.
通过坐标原点平行于遥控器长轴的直线为遥控器坐标系y轴方向，无线发送模块位于遥控器长轴的一端，由坐标原点指向无线发送模块的方向为y轴正方向。The straight line parallel to the long axis of the remote controller through the coordinate origin is the y-axis direction of the remote controller coordinate system.
遥控器按键板位于遥控器的表面。通过坐标原点，与遥控器按键板平面垂直的直线为遥控器坐标系z轴方向，由坐标原点指向遥控器按键平面的方向为z轴正向。The remote control keypad is located on the surface of the remote control. The straight line passing through the origin of the coordinates and perpendicular to the plane of the remote control keypad is the direction of the z-axis of the remote control coordinate system, and the direction from the origin of coordinates to the plane of the keys of the remote control is the positive direction of the z-axis.
通过坐标原点，y×z方向为x轴正向(×表示向量积)。Through the coordinate origin, the y×z direction is the positive direction of the x-axis (× indicates the vector product).
以电视机为例，定义家电坐标系，如图6所示。Taking TV as an example, define the home appliance coordinate system, as shown in Figure 6.
以家电的几何中心为坐标原点，垂直于家电显示界面，由家电的正面指向反面的方向为y1轴的正方向；Taking the geometric center of the home appliance as the coordinate origin, perpendicular to the home appliance display interface, the direction from the front of the home appliance to the back is the positive direction of the y1 axis;
通过坐标原点，指向家电正上方为z1轴的正方向；Through the origin of the coordinates, pointing to the positive direction of the z1 axis just above the home appliance;
通过坐标原点，y1×z1方向为x1轴正向(×表示向量积)。Through the origin of the coordinates, the direction of y1×z1 is the positive direction of the x1 axis (× represents the vector product).
继续参看图4，姿态感知模块403返回遥控器407自身姿态信息。在一个实施例中，姿态感知模块403包括加速度传感器。姿态感知模块403通过加速度传感器可以得到两个角度信息，分别为α和β，其中α是遥控器坐标系需要围绕y轴旋转的角度，β是完成上述旋转后的遥控器坐标系围绕x轴旋转的角度。姿态感知模块403将这两个角度信息传送给坐标转换模块404。Continuing to refer to FIG. 4 , the attitude sensing module 403 returns the attitude information of the remote controller 407 itself. In one embodiment, the posture sensing module 403 includes an acceleration sensor. The attitude perception module 403 can obtain two angle information through the acceleration sensor, which are α and β respectively, where α is the angle at which the coordinate system of the remote control needs to rotate around the y-axis, and β is the rotation of the coordinate system of the remote control around the x-axis after the above rotation Angle. The posture perception module 403 transmits the two angle information to the coordinate transformation module 404 .
坐标转换模块404的输入分别独立地与手势识别模块402和姿态感知模块403的输出向连，坐标转换模块404的输出与指令生成模块405的输入相连。在遥控器坐标系的xy平面与真实世界水平面不平行情况下，坐标转换模块404对手势识别模块402的输出结果进行坐标系旋转。而本发明的技术方案可适用于以多种姿态摆放的家电，家电坐标系可与世界坐标系存在任意方向差异。在坐标系旋转过程中，保持遥控器坐标系y轴在世界水平面上的投影方向不变，并将遥控器坐标系的xy平面旋转成与世界水平面平行。坐标转换模块404利用姿态感知模块403提供的角度信息α和β对手势识别模块402输出的结果进行坐标转换。参看图7-图10，详细描述了角度α和β的含义。The input of the coordinate transformation module 404 is independently connected to the outputs of the gesture recognition module 402 and the posture perception module 403 , and the output of the coordinate transformation module 404 is connected to the input of the instruction generation module 405 . In the case that the xy plane of the coordinate system of the remote control is not parallel to the horizontal plane of the real world, the coordinate conversion module 404 performs coordinate system rotation on the output result of the gesture recognition module 402 . However, the technical solution of the present invention is applicable to home appliances placed in various postures, and the coordinate system of the home appliance may differ from the world coordinate system in any direction. During the coordinate system rotation process, keep the projection direction of the y-axis of the remote control coordinate system on the world horizontal plane unchanged, and rotate the xy plane of the remote control coordinate system to be parallel to the world horizontal plane. The coordinate transformation module 404 uses the angle information α and β provided by the gesture perception module 403 to perform coordinate transformation on the result output by the gesture recognition module 402 . Referring to Figures 7-10, the meanings of the angles α and β are described in detail.
如图7所示，网格GO1代表世界水平面，当遥控器坐标系绕其y轴旋转角度α时，遥控器坐标系中的x轴被旋转到平行于世界水平面的方向，旋转后得到如图8的结果。As shown in Figure 7, grid GO1 represents the world horizontal plane. When the coordinate system of the remote controller is rotated by an angle α around its y-axis, the x-axis in the coordinate system of the remote controller is rotated to a direction parallel to the world horizontal plane. After rotation, the 8 results.
如图9所示，网格GO1代表世界水平面，当遥控器坐标系进行上述α角度旋转后(参看图8)，再绕其x轴旋转角度β时，遥控器坐标系中的y轴被旋转到平行于世界水平面的方向，旋转后得到如图10的结果。As shown in Figure 9, the grid GO1 represents the world horizontal plane. When the coordinate system of the remote control is rotated by the angle α above (see Figure 8), and then rotated by an angle β around its x-axis, the y-axis in the coordinate system of the remote control is rotated To the direction parallel to the world horizontal plane, the result shown in Figure 10 is obtained after rotation.
继续参照图4，定义手势识别模块402输出的手部姿态信息包括遥控器坐标系中的坐标为(Xyk，Yyk，Zyk)，坐标转换模块404利用角度信息α和β对此坐标进行转换。Continuing to refer to FIG. 4 , it is defined that the hand posture information output by the gesture recognition module 402 includes the coordinates in the coordinate system of the remote controller as (Xyk , Yyk , Zyk ), and the coordinate conversion module 404 uses the angle information α and β to perform this coordinate convert.
在一个实施例中，首先，利用角度信息α，将坐标(Xyk，Yyk，Zyk)以y轴为旋转轴，以角度α做坐标的转换，此坐标转换可以用一个表示坐标转换的矩阵左乘向量(Xyk，Yyk，Zyk)来表示，即In one embodiment, firstly, using the angle information α, the coordinates (Xyk , Yyk , Zyk ) are converted with the y-axis as the rotation axis and the angle α as the coordinate conversion. This coordinate conversion can be represented by a coordinate conversion The matrix is expressed by multiplying the vector (Xyk , Yyk , Zyk ) to the left, namely
然后，利用角度信息β，将通过公式(1)转换得到的位置坐标向量(X’，Y’，Z’)以x轴为旋转轴，旋转的角度为β做坐标的转换，此时坐标的转换同样可以用一个表示坐标转换的矩阵左乘位置向量(X’，Y’，Z’)来表示，即Then, use the angle information β to convert the position coordinate vector (X', Y', Z') obtained by the formula (1) with the x-axis as the rotation axis, and the rotation angle is β for coordinate transformation. At this time, the coordinate The transformation can also be expressed by multiplying the position vector (X', Y', Z') by a matrix representing the coordinate transformation, namely
经过上述两次坐标的转换后，将遥控器坐标系中坐标位置(Xyk，Yyk，Zyk)转换到遥控器坐标系的xy平面与世界水平面平行的坐标系中，转换后的坐标为(X，Y，Z)。After the above two coordinate transformations, the coordinate positions (Xyk , Yyk , Zyk ) in the coordinate system of the remote control are transformed into a coordinate system in which the xy plane of the coordinate system of the remote control is parallel to the world horizontal plane, and the converted coordinates are (X, Y, Z).
在可选实施例中，结合公式(1)和(2)通过公式(3)将遥控器坐标系的(Xyk，Yyk，Zyk)转换为与世界水平面平行的坐标系中的坐标(X，Y，Z)。In an optional embodiment, (Xyk , Yyk , Zyk ) in the coordinate system of the remote controller is transformed into coordinates in a coordinate system parallel to the world horizontal plane ( X, Y, Z).
基于公式(1)、(2)、(3)，所属领域技术人员将意识到可以采用多种方式实现坐标转换模块404。Based on formulas (1), (2), and (3), those skilled in the art will realize that the coordinate conversion module 404 can be implemented in various ways.
在一个实施例中，坐标转换模块404包括9个乘法器与6个加法器。用9个乘法器分别完成Cosα*Xyk、0*Yyk、-sinα*Zyk、-sinαcosβ*Xyk、cosβ*Yyk、-cosαsinβ*Zyk、sinαcosβ*Xyk、sinβ*Yyk、cosαcosβ*Zyk；6个加法器完成Cosα*Xyk+0*Yyk＝A、A+(-sinα*Zyk)＝X、-sinαcosβ*Xyk+cosβ*Yyk＝B、B+(-cosαsinβ*Zyk)＝Y、sinαcosβ*Xyk+sinβ*Yyk＝C、C+cosαcosβ*Zyk＝Z。In one embodiment, the coordinate conversion module 404 includes 9 multipliers and 6 adders. Use 9 multipliers to complete Cosα*Xyk , 0*Yyk , -sinα*Zyk , -sinαcosβ*Xyk , cosβ*Yyk , -cosαsinβ*Zyk , sinαcosβ*Xyk , sinβ*Yyk , cosαcosβ*Zyk ; 6 adders complete Cosα*Xyk +0*Yyk ＝A、A+(-sinα*Zyk )＝X、-sinαcosβ*Xyk +cosβ*Yyk ＝B、B+(-cosαsinβ *Zyk )=Y, sinαcosβ*Xyk +sinβ*Yyk =C, C+cosαcosβ*Zyk =Z.
在另一个实施例中，使用1个乘法器顺序执行9次乘法操作，而用一个加法器顺序执行6次加法操作。也可以使用其他数量的乘法器和/或加法器。In another embodiment, 1 multiplier is used to sequentially perform 9 multiplication operations, and one adder is used to sequentially perform 6 addition operations. Other numbers of multipliers and/or adders may also be used.
在依然进一步的实施例中，坐标转换模块404可由查表电路实现。In still a further embodiment, the coordinate conversion module 404 may be implemented by a look-up table circuit.
基于坐标(Xyk，Yyk，Zyk)的旋转过程，所属技术领域人员将意识到坐标转换模块404可以完成向量的旋转，例如使用坐标点旋转的操作对向量的起始点和终止点分别进行旋转，并使用对应旋转结果作为新向量的起始点和终止点。其他几何概念或形体的旋转也可拆分为坐标点旋转，在此不做赘述。坐标转换模块404将遥控器坐标系的(Xyk，Yyk，Zyk)转换成为与世界水平面平行的坐标系中的坐标(X，Y，Z)。以此方式，坐标转换模块404将手势识别模块402输出的手部姿态信息转换到与世界水平面平行的坐标系中。Based on the rotation process of the coordinates (Xyk , Yyk , Zyk ), those skilled in the art will realize that the coordinate transformation module 404 can complete the rotation of the vector, for example, the starting point and the ending point of the vector are respectively performed using the operation of coordinate point rotation Rotate, and use the corresponding rotation results as the start and end points of the new vector. Rotation of other geometric concepts or shapes can also be split into coordinate point rotation, which will not be repeated here. The coordinate conversion module 404 converts (Xyk , Yyk , Zyk ) in the coordinate system of the remote controller into coordinates (X, Y, Z) in a coordinate system parallel to the world horizontal plane. In this way, the coordinate transformation module 404 transforms the hand gesture information output by the gesture recognition module 402 into a coordinate system parallel to the world horizontal plane.
如果家电具有二维或者三维图形交互界面，还可以通过根据本发明实施例的遥控器来提供用于图形交互界面上的光标或者其他操作对象的定位信息。为操作图形交互界面上的光标或者其他操作对象，将手部姿态信息转换到家电坐标系中。通过坐标转换模块404进行坐标转换后的结果(X，Y，Z)，可以线性对应到家电坐标系x1，y1，z1中以满足其需求。转换过的遥控器坐标系中的一个点(X，Y，Z)可以被线性对应到家电坐标系中的(kx*X，ky*Y，kz*Z)，其中kx，ky，kz是随应用场景变化的三个常量，它们可以是任意实数。If the home appliance has a two-dimensional or three-dimensional graphical interaction interface, positioning information for a cursor or other operating objects on the graphical interactive interface can also be provided through the remote controller according to the embodiment of the present invention. In order to operate the cursor or other operating objects on the graphical interactive interface, the hand gesture information is converted into the home appliance coordinate system. The result (X, Y, Z) after the coordinate conversion by the coordinate conversion module 404 can be linearly mapped to the home appliance coordinate system x1, y1, z1 to meet its needs. A point (X, Y, Z) in the transformed remote control coordinate system can be linearly mapped to (kx *X, ky *Y, kz *Z) in the home appliance coordinate system, where kx , ky , kz are three constants that vary with application scenarios, and they can be any real numbers.
指令生成模块405的输入与坐标转换模块404的输出相连，指令生成模块405的输出与无线发送模块406的输入相连。指令生成模块405接收到坐标转换模块404转换后的手部姿态信息后，将其与预先存储的手部姿态信息与遥控指令的对应关系数据相比较，得到与其相对应的遥控指令，并将指令传送给无线发送模块406。The input of the instruction generation module 405 is connected to the output of the coordinate conversion module 404 , and the output of the instruction generation module 405 is connected to the input of the wireless transmission module 406 . After receiving the hand posture information transformed by the coordinate transformation module 404, the instruction generating module 405 compares it with the pre-stored correspondence data between the hand posture information and the remote control instruction, obtains the corresponding remote control instruction, and converts the instruction Send it to the wireless sending module 406.
无线发送模块406的输入与指令生成模块405的输出相连。无线发送模块406将接收到的指令生成模块405的遥控指令进行编码，以无线信号的形式发送给被控家电。可选地，无线通信模块406的通信方式可采用红外、蓝牙、Wi-Fi、ZIGBEE等多种短距离无线通信方式。被控家电在接收到遥控指令后，会对指令进行解码，并执行指令中的操作内容。被控家电可以是电视机、空调、冰箱、微波炉等。The input of the wireless transmission module 406 is connected to the output of the command generation module 405 . The wireless sending module 406 encodes the received remote control instruction from the instruction generating module 405, and sends it to the controlled appliance in the form of a wireless signal. Optionally, the communication mode of the wireless communication module 406 may adopt multiple short-distance wireless communication modes such as infrared, Bluetooth, Wi-Fi, and ZIGBEE. After receiving the remote control command, the accused home appliance will decode the command and execute the operation content in the command. The accused home appliances can be televisions, air conditioners, refrigerators, microwave ovens, etc.
在本发明的一个具体的实施例中，遥控器上的摄像头模块、手势识别模块、指令生成模块还可以处于休眠状态中，姿态感知模块检测到遥控器的空间姿态发生变化后，触发摄像头模块、手势识别模块和指令生成模块退出休眠状态，以识别用户的手势遥控指令。In a specific embodiment of the present invention, the camera module, the gesture recognition module, and the command generation module on the remote controller can also be in a dormant state. After the posture perception module detects that the spatial posture of the remote controller changes, it triggers the camera module, The gesture recognition module and the instruction generation module exit the dormant state to recognize the user's gesture remote control instruction.
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明的保护范围之中。Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. However, the obvious changes or changes derived therefrom still fall within the scope of protection of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201410173927.5ACN103956036B (en) | 2013-10-14 | 2014-04-28 | A kind of non-touching formula remote controller being applied to household electrical appliances |
| Application Number | Priority Date | Filing Date | Title |
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| CN201320636252.4 | 2013-10-14 | ||
| CN201320636252 | 2013-10-14 | ||
| CN2013206362524 | 2013-10-14 | ||
| CN201410173927.5ACN103956036B (en) | 2013-10-14 | 2014-04-28 | A kind of non-touching formula remote controller being applied to household electrical appliances |
| Publication Number | Publication Date |
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| CN103956036A CN103956036A (en) | 2014-07-30 |
| CN103956036Btrue CN103956036B (en) | 2016-12-07 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201410173927.5AActiveCN103956036B (en) | 2013-10-14 | 2014-04-28 | A kind of non-touching formula remote controller being applied to household electrical appliances |
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