CN110069137A - Gestural control method, control device and control system - Google Patents
Gestural control method, control device and control system Download PDFInfo
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- CN110069137A CN110069137A CN201910359363.7A CN201910359363A CN110069137A CN 110069137 A CN110069137 A CN 110069137A CN 201910359363 A CN201910359363 A CN 201910359363A CN 110069137 A CN110069137 A CN 110069137A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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Abstract
The disclosure provides a kind of gestural control method, control device and control system.Gesture control device carries out video acquisition in a predetermined direction, according to user's hand images in acquired video, detect whether user opens gesture control function in the reference area in the shooting visual field, if gesture control function is opened, then according to user's hand images in acquired video, detect whether user completes control operation in the working region in the shooting visual field, if user completes control operation in working region, user's hand images are then detected in working region relative to the moving direction of reference area and moving distance, thus generate action command corresponding with current operation mode, action command is sent to corresponding controller of vehicle.The disclosure can make one people of operator complete Current Collector Sleave installation, periphery viewing and crane manipulation, so as to which human cost, raising operation safety, efficiency and suspended object installation accuracy is effectively reduced.
Description
Technical field
This disclosure relates to control field, in particular to a kind of gestural control method, control device and control system.
Background technique
It is greatly developed along with basic economy, people's livelihood engineering, the engineering truck of such as crane is in engineering construction, track
The fields such as traffic and rescue play an important role.For example, wheeled crane its due to hoist ability is strong, transition is high-efficient
Obtain the extensive favor in market.
Traditional lifting operation needs operator to enter control cabinl pulpit.Operator is according to hanging object type, shape ruler
Very little, surrounding enviroment and current location, and experience is combined, real-time operation is mounted on the handle of control cabinl pulpit seat two sides, adjusts
Crane suspension arm length, change angle and suspended object height etc. make suspended object arrive safe and sound target position, to complete suspended object
Lifting operation process.
Summary of the invention
Inventors noted that operator needs to enter control cabinl pulpit, therefore regards in the traditional work mode of engineering truck
Open country will receive limitation.Further, since needing special messenger to carry out Current Collector Sleave installation, periphery viewing and assign operational order, therefore
Working efficiency is lower, and there are job instruction can not by operator quickly, the lifting risk of accurate understanding.
For this purpose, the disclosure provides the scheme that a kind of pair of engineering truck carries out convenience and high-efficiency control.
According to the first aspect of the embodiments of the present disclosure, a kind of gestural control method is provided, comprising: carry out in a predetermined direction
Video acquisition；According to user's hand images in acquired video, detect whether user opens in the reference area in the shooting visual field
Open gesture control function；If user opens gesture control function in the reference area, according to the use in acquired video
Whether family hand images, detection user complete control operation in the working region in the shooting visual field；If user is in the workspace
Control operation is completed in domain, then detects current location of the user's hand images in the working region relative to the ginseng
Moving direction according to region and the moving distance on the moving direction, wherein the reference area is arranged in the workspace
On predetermined position in domain；According to the moving direction and the moving distance, generate corresponding with current operation mode dynamic
It instructs；The action command is sent to corresponding controller of vehicle, so that the controller of vehicle is according to the work
It instructs and corresponding engineering truck is controlled.
In some embodiments, it according to the moving direction and the moving distance, generates opposite with current operation mode
The action command answered comprises determining that the ratio of the moving distance and the predetermined length, as under current operation mode
Movement speed, wherein the predetermined length is moved to the working region boundary along the moving direction for the reference area
Length；The direction of action under current operation mode is determined according to the moving direction；According to the direction of action and the movement
Speed generates corresponding action command.
In some embodiments, prompt corresponding with the direction of action and the movement speed is shown on a display screen
Information.
In some embodiments, the display screen is transparent display screen.
In some embodiments, the action command is sent to corresponding controller of vehicle includes: to utilize the first association
View handles the action command, to obtain the first command information；Using second protocol to the action command at
Reason, to obtain the second command information；First command information and the second command information are sent to corresponding vehicle control dress
It sets.
In some embodiments, it includes: basis that whether detection user activates gesture control function in the reference area
Whether user's hand images in acquired video, detection user's hand images are located in the reference area；If user's hand
Image is located in the reference area, then further whether detection user's hand images correspond to default gesture；If user's hand figure
As corresponding default gesture, it is determined that user activates gesture control function in reference area.
In some embodiments, it includes: described in detection that whether detection user completes control operation in the working region
User's hand images whether the stop motion in the working region；If user's hand images are stopped in the working region
It only moves, it is determined that user completes control operation in the working region.
In some embodiments, the instruction inputted according to user by input unit, is adjusted current operation mode.
In some embodiments, if in acquired video not including user's hand images, gesture control function is closed.
According to the second aspect of an embodiment of the present disclosure, a kind of gesture control device is provided, comprising: photographing module is configured
To carry out video acquisition in a predetermined direction；Control module is configured as according to user's hand images in acquired video, inspection
Survey whether user opens gesture control function in the reference area in the shooting visual field, if user opens hand in the reference area
Whether gesture control function detects user in the working region for shooting the visual field then according to user's hand images in acquired video
Middle completion control operation detects user's hand images in institute if user completes control operation in the working region
State movement of the current location relative to the moving direction of the reference area and on the moving direction in working region away from
From wherein the reference area is arranged on the predetermined position in the working region, according to the moving direction and the shifting
Dynamic distance, generates action command corresponding with current operation mode；Communication module is configured as sending the action command
To corresponding controller of vehicle, so that the controller of vehicle carries out corresponding engineering truck according to the work order
Control.
In some embodiments, control module is configured to determine that the ratio of the moving distance and the predetermined length,
Using as the movement speed under current operation mode, wherein the predetermined length is that the reference area is moved along the moving direction
The length for moving the working region boundary determines the direction of action under current operation mode according to the moving direction, according to
The direction of action and the movement speed generate corresponding action command.
In some embodiments, above-mentioned apparatus further include: display screen is configured as display and the direction of action and described
The corresponding prompt information of movement speed.
In some embodiments, the display screen is transparent display screen.
In some embodiments, communication module is configured as handling the action command using the first agreement, with
The first command information is obtained, the action command is handled using second protocol, it, will be described to obtain the second command information
First command information and the second command information are sent to corresponding controller of vehicle.
In some embodiments, control module is configured as according to user's hand images in acquired video, and detection is used
Whether family hand images are located in the reference area, if user's hand images are located in the reference area, further examine
Survey whether user's hand images correspond to default gesture, if the corresponding default gesture of user's hand images, it is determined that user is in reference zone
Gesture control function is activated in domain.
In some embodiments, whether control module is configured as detecting user's hand images in the working region
Middle stop motion, if user's hand images stop motion in the working region, it is determined that user is in the workspace
Control operation is completed in domain.
In some embodiments, above-mentioned apparatus further include: input module is configured as receiving the instruction of user's input；Control
Molding block is additionally configured to be adjusted current operation mode.
In some embodiments, control module be additionally configured in acquired video do not include user's hand images feelings
Under condition, gesture control function is closed.
According to the third aspect of an embodiment of the present disclosure, a kind of gesture control device is provided, comprising: memory is configured as
Store instruction；Processor, is coupled to memory, and the instruction execution that processor is configured as storing based on memory is realized as above-mentioned
Method described in any embodiment.
According to a fourth aspect of embodiments of the present disclosure, a kind of gestural control system is provided, including such as above-mentioned any embodiment
The gesture control device, and the engineering truck configured with controller of vehicle, the controller of vehicle are configured as
The engineering truck is controlled according to the work order that the gesture control device is sent.
In some embodiments, the controller of vehicle is configured as in the work order including the first command information
In the case where the second command information, the first command information is handled using corresponding first agreement to obtain the first movement
Instruction is handled the second command information using corresponding second protocol to obtain the second action command, dynamic described first
Make to instruct in situation identical with second action command, utilizes first action command or second action command pair
The engineering truck is controlled.
In some embodiments, the controller of vehicle is additionally configured to after receiving the work order, judgement
Whether handle control instruction is also received, if receiving the handle control instruction, only executes the handle control instruction.
According to a fifth aspect of the embodiments of the present disclosure, a kind of computer readable storage medium is provided, wherein computer-readable
Storage medium is stored with computer instruction, and the method being related to such as above-mentioned any embodiment is realized when instruction is executed by processor.
By the detailed description referring to the drawings to the exemplary embodiment of the disclosure, the other feature of the disclosure and its
Advantage will become apparent.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Disclosed some embodiments without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the exemplary process diagram of the gestural control method of an embodiment of the present disclosure；
Fig. 2 is the schematic diagram at the action control interface of an embodiment of the present disclosure；
Fig. 3 is the schematic diagram at the action control interface of another embodiment of the disclosure；
Fig. 4 is the exemplary block diagram of the gesture control device of an embodiment of the present disclosure；
Fig. 5 is the exemplary block diagram of the gesture control device of another embodiment of the disclosure；
Fig. 6 is the exemplary block diagram of the gesture control device of another embodiment of the disclosure；
Fig. 7 is the exemplary block diagram of the gestural control system of an embodiment of the present disclosure；
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation description, it is clear that described embodiment is only disclosure a part of the embodiment, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the disclosure and its application or making
Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, belong to the disclosure protection range.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited the scope of the present disclosure processed of formula and numerical value.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Fig. 1 is the exemplary process diagram of the gestural control method of an embodiment of the present disclosure.In some embodiments, gesture
Control method step is executed by gesture control device.
In step 101, video acquisition is carried out in a predetermined direction.
In some embodiments, video acquisition is carried out by photographic device in a predetermined direction.
Whether user is detected in the reference for shooting the visual field according to user's hand images in acquired video in step 102
Gesture control function is opened in region.
In some embodiments, reference area is set in the shooting visual field.According to user's hand figure in acquired video
Whether picture, detection user's hand images are located in reference area.If user's hand images are located in reference area, further examine
Survey whether user's hand images correspond to default gesture.If the corresponding default gesture of user's hand images, it is determined that user is in reference zone
Gesture control function is activated in domain.
For example, user passes through mobile hand, it is located at hand images in reference area, and hold up in the reference area
Thumb, to open gesture control function.Only after the unlatching of gesture control function, subsequent processing just will do it.Thus
It can ensure that the maloperation caused by arbitrarily waving because of user.
In step 103, if user opens gesture control function in reference area, according to the user in acquired video
Whether hand images, detection user complete control operation in the working region in the shooting visual field.
In some embodiments, working region is set in the shooting visual field, reference area is arranged in pre- in working region
Positioning is set.By detection user's hand images whether the stop motion in working region, if user's hand images are in workspace
Stop motion in domain, it is determined that user completes control operation in working region.
For example, after opening gesture control function, user moves right hand.After mobile a distance, user's hand
It is remain stationary a period of time, that is, shows that user completes secondary control operation.
User's hand images are detected in working region if user completes control operation in working region in step 104
Moving direction and moving distance in the direction of movement of the interior current location relative to reference area.
Action command corresponding with current operation mode is generated according to moving direction and moving distance in step 105.
In some embodiments, by determining the ratio of moving distance and predetermined length, as under current operation mode
Movement speed, wherein predetermined length is that reference area is moved to the length on working region boundary along moving direction.According to movement
Direction determines the direction of action under current operation mode.Corresponding action command is generated according to direction of action and movement speed.
In some embodiments, prompt information corresponding with direction of action and movement speed is shown on a display screen, with
Just user understands information associated with direction of action and movement speed.
In some embodiments, display screen is transparent display screen.For example, gesture control device can be intelligent glasses, intelligence
Transparent display screen can be set at least one spectacle lens of glasses.By showing direction of action and movement speed in display screen
On, consequently facilitating user understands information.Further, since display screen is transparent display screen, to not influence the sight of user.
In step 106, action command is sent to corresponding controller of vehicle, so that controller of vehicle is according to work
Instruction controls corresponding engineering truck.
In some embodiments, action command is handled using the first agreement, to obtain the first command information.It utilizes
The second protocols different from the first agreement handle action command, to obtain the second command information.By the first command information
Corresponding controller of vehicle is sent to the second command information.Controller of vehicle is receiving the first command information and second
After command information, the first command information is handled to obtain the first action command using the first agreement, utilizes second protocol
Second command information is handled to obtain the second action command.It is only identical in the first action command and the second action command
In the case of, it can just be controlled accordingly using the first action command or the second action command.Thus information transmission can be promoted
Safety, faulty operation caused by effectively avoiding because of action command error of transmission.
In disclosure gestural control method provided by the above embodiment, operator passes through mobile hand and control hand
Gesture can control engineering truck in the case where not entering control cabinl pulpit.Thus hoist cable can be completed by one people of operator
Tool installation, periphery viewing and crane manipulation, so as to be effectively reduced human cost, improve operation safety, efficiency and
Suspended object installation accuracy.
In some embodiments, the instruction inputted according to user by input unit, is adjusted current operation mode.
For example, for crane, there are self contained function control models and composite move control model.Self contained function controls mould
Formula includes expanding-contracting action control model, revolution movement control model, luffing action control mode and raising action control mode.It is multiple
Closing action control mode includes flexible/luffing compound control mode, flexible/raising action control mode, flexible/revolution movement control
Molding formula, luffing/revolution compound control mode, luffing/raising compound control mode, revolution/raising action control mode.User
Can be as needed, corresponding instruction is inputted using the input units such as directionkeys and acknowledgement key, touch tablet, it is current to select
Operating mode.
In some embodiments, it will shoot on reference area and operating-region map to display screen in the visual field.Thus it uses
Necessary information is watched at family on one side, can also see that gesture is mobile on one side.
Fig. 2 is the schematic diagram at the action control interface of an embodiment of the present disclosure.
As shown in Fig. 2, including reference area 21 and working region 22 on the action control interface shown on a display screen.With
Family can open gesture control function in reference area 21, can also accordingly be controlled in working region 22 by mobile hand
System.Since display screen is transparent screen, user intuitively can pass through gesture motion in reference area 21 and working region 22
Carry out corresponding control operation.
In some embodiments, reference area 21 be square, round or other shapes operated convenient for user.
In some embodiments, it is additionally provided with indicating equipment 23 on action control interface, to remind user when needed.This
Outside, it is additionally provided with operating mode prompt information, on action control interface with the operating mode for prompting user to be presently in.
Fig. 3 is the schematic diagram at the action control interface of another embodiment of the disclosure.
As shown in figure 3, user selects current operation mode for " revolution ", then highlights and " return on action control interface
Turn ".Hand is moved in reference area by user, and is thumbed up, to open gesture control function.Gesture control device is being opened
Indicating equipment 23 is lighted after opening gesture control function, to remind user gesture control function to open successfully.
Then, the hand of user can move in working region 22.For example, the hand of user since reference area 21 to
Stop after the mobile a distance in right side.By calculate the right side boundary of reference area 21 between user's hand current location away from
From, and corresponding percentage is converted to according to maximum length.For example, obtained percentage is 51%.Since user is in mold rotation
Moved right under formula 51% distance, therefore obtained command status are as follows: direction of action is right-hand rotation, and movement speed is
51%.By showing obtained command status on action control interface, as shown in the information 24 in Fig. 3.
In addition, can also be according to the corresponding progress indicator strip of mobile display of user's hand, such as the progress indicator strip 25 in Fig. 3
It is shown.
Obtained instruction is sent to controller of vehicle by gesture control device, so that controller of vehicle controls engineering truck
With 51% movement speed execute right-hand rotation movement.
In some embodiments, if user's hand leaves working region 22, gesture control function is closed, to avoid to vehicle
Error control.
Fig. 4 is the exemplary block diagram of the gesture control device of an embodiment of the present disclosure.As shown in figure 4, gesture control fills
It sets including photographing module 41, control module 42 and communication module 43.
Photographing module 41 is configured as carrying out video acquisition in a predetermined direction.
Control module 42 is configured as detecting whether user regards in shooting according to user's hand images in acquired video
Gesture control function is opened in wild reference area, if user opens gesture control function in reference area, according to being adopted
Collect user's hand images in video, whether detection user completes control operation in the working region in the shooting visual field, if user
Control operation is completed in working region, then detects current location of user's hand images in working region relative to reference zone
The moving direction in domain and moving distance in the direction of movement, wherein the predetermined position in working region is arranged in reference area
On, according to moving direction and moving distance, generate action command corresponding with current operation mode.
In some embodiments, control module 42 is configured to determine that the ratio of moving distance and predetermined length, using as
Movement speed under current operation mode, wherein predetermined length is moved to working region boundary along moving direction for reference area
Length determines the direction of action under current operation mode according to moving direction, is generated according to direction of action and movement speed corresponding
Action command.
In some embodiments, control module 42 is configured as according to user's hand images in acquired video, detection
Whether user's hand images are located in reference area, if user's hand images are located in reference area, further detect user
Whether hand images correspond to default gesture, if the corresponding default gesture of user's hand images, it is determined that user swashs in reference area
Gesture control function living.
In some embodiments, control module 42 is configured as whether detection user's hand images stop in working region
Movement, if the stop motion in working region of user's hand images, it is determined that user completes control operation in working region.
In some embodiments, control module 42 is additionally configured to not include user's hand images in acquired video
In the case of, close gesture control function.
Communication module 43 is configured as action command being sent to corresponding controller of vehicle, so as to controller of vehicle
Corresponding engineering truck is controlled according to work order.
In some embodiments, communication module 43 is configured as handling action command using the first agreement, with
To the first command information, action command is handled using second protocol, to obtain the second command information, the first instruction is believed
Breath and the second command information are sent to corresponding controller of vehicle.
In disclosure gesture control device provided by the above embodiment, operator passes through mobile hand and control hand
Gesture can control engineering truck in the case where not entering control cabinl pulpit.Thus hoist cable can be completed by one people of operator
Tool installation, periphery viewing and crane manipulation, so as to be effectively reduced human cost, improve operation safety, efficiency and
Suspended object installation accuracy.
Fig. 5 is the exemplary block diagram of the gesture control device of another embodiment of the disclosure.The difference of Fig. 5 and Fig. 4
It is, in the embodiment shown in fig. 5, gesture control device further includes display screen 44.Display screen 44 is configured as display and movement
Direction and the corresponding prompt information of movement speed.
In some embodiments, display screen 44 is transparent display screen.For example, gesture control device can be intelligent glasses,
Transparent display screen is set at least one spectacle lens of intelligent glasses.By showing direction of action and movement speed in display screen
On, consequently facilitating user understands information.Further, since display screen is transparent display screen, to not influence the sight of user.
In some embodiments, as shown in figure 5, gesture control device further includes input module 45.Input unit 45 can be
Directionkeys and acknowledgement key, touch tablet or other types of input unit.
Input module 45 is configured as receiving the instruction of user's input.Control module 42 is additionally configured to work at present mould
Formula is adjusted.
Fig. 6 is the exemplary block diagram of the gesture control device of another embodiment of the disclosure.As shown in fig. 6, gesture control
Device includes memory 61 and processor 62.
For storing instruction, processor 62 is coupled to memory 61 to memory 61, and processor 62 is configured as based on storage
The instruction execution of device storage realizes the method that any embodiment is related to as shown in figure 1.
As shown in fig. 6, the gesture control device further includes communication interface 63, for carrying out information exchange with other equipment.
Meanwhile the device further includes bus 64, processor 62, communication interface 63 and memory 61 are completed each other by bus 64
Communication.
Memory 61 may include high speed RAM memory, can also further include nonvolatile memory (non-volatile
Memory), a for example, at least magnetic disk storage.Memory 61 is also possible to memory array.Memory 61 is also possible to be divided
Block, and block can be combined into virtual volume by certain rule.
In addition, processor 62 can be a central processor CPU, perhaps can be application-specific integrated circuit ASIC or
It is arranged to implement one or more integrated circuits of the embodiment of the present disclosure.
The disclosure also relates to a kind of computer readable storage medium, and wherein computer-readable recording medium storage has meter
The method that any embodiment is related to as shown in figure 1 is realized in the instruction of calculation machine when instruction is executed by processor.
Fig. 7 is the exemplary block diagram of the gestural control system of an embodiment of the present disclosure.As shown in fig. 7, gesture control system
System includes gesture control device 71 and engineering truck 72, is provided with controller of vehicle 73 in engineering truck 72.Gesture control dress
Set 71 gesture control devices being related to for any embodiment in fig. 4 to fig. 6.
Controller of vehicle 73 is configured as controlling engineering truck according to the work order that gesture control device is sent
System.
In some embodiments, controller of vehicle 73 is configured as in work order including the first command information and second
In the case where command information, the first command information is handled using corresponding first agreement to obtain the first action command,
The second command information is handled using corresponding second protocol to obtain the second action command.In the first action command and
In the identical situation of two action commands, engineering truck is controlled using the first action command or the second action command.
Faulty operation caused by being can avoid as a result, because of instruction error of transmission.
In some embodiments, controller of vehicle 73 is additionally configured to after receiving work order, is judged whether also
Handle control instruction is received, if receiving handle control instruction, only executes handle control instruction.
What needs to be explained here is that control cabinl pulpit is equipped with control handle in the engineering truck of such as crane, pass through manipulation
Handle and the priority of control signal generated is higher than other control equipment.Therefore the case where receiving handle control instruction
Under, even if gesture control device has sent work order, also accordingly controlled still according to handle control instruction.
In some embodiments, controller of vehicle 73 is additionally configured to refer in the work for executing gesture control device transmission
It before order, also judges direction of action and whether movement speed is effective, only under direction of action and the effective situation of movement speed
Corresponding control can be executed, security of system is thus further improved.
In some embodiments, functional unit block described above can be implemented as being retouched for executing the disclosure
State the general processor of function, programmable logic controller (PLC) (Programmable Logic Controller, referred to as: PLC),
Digital signal processor (Digital Signal Processor, referred to as: DSP), specific integrated circuit (Application
Specific Integrated Circuit, referred to as: ASIC), field programmable gate array (Field-Programmable
Gate Array, referred to as: FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware
Component or it is any appropriately combined.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The description of the disclosure is given for the purpose of illustration and description, and is not exhaustively or by the disclosure
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
Embodiment is stated and be the principle and practical application in order to more preferably illustrate the disclosure, and those skilled in the art is enable to manage
The solution disclosure is to design various embodiments suitable for specific applications with various modifications.
Claims (23)
1. a kind of gestural control method, comprising:
Video acquisition is carried out in a predetermined direction；
According to user's hand images in acquired video, detect whether user in the reference area in the shooting visual field opens gesture
Control function；
If user opens gesture control function in the reference area, according to user's hand images in acquired video,
Detect whether user completes control operation in the working region in the shooting visual field；
If user completes control operation in the working region, user's hand images are detected in the working region
Moving direction of the current location relative to the reference area and the moving distance on the moving direction, wherein the ginseng
It is arranged on the predetermined position in the working region according to region；
According to the moving direction and the moving distance, action command corresponding with current operation mode is generated；
The action command is sent to corresponding controller of vehicle, so that the controller of vehicle refers to according to the work
Order controls corresponding engineering truck.
2. according to the method described in claim 1, being generated and work at present mould according to the moving direction and the moving distance
The corresponding action command of formula includes:
The ratio for determining the moving distance and the predetermined length, using as the movement speed under current operation mode, wherein
The predetermined length is the length that the reference area is moved to the working region boundary along the moving direction；
The direction of action under current operation mode is determined according to the moving direction；
Corresponding action command is generated according to the direction of action and the movement speed.
3. according to the method described in claim 2, further include:
Prompt information corresponding with the direction of action and the movement speed is shown on a display screen.
4. according to the method described in claim 3, wherein,
The display screen is transparent display screen.
5. according to the method described in claim 1, the action command be sent to corresponding controller of vehicle including:
The action command is handled using the first agreement, to obtain the first command information；
The action command is handled using second protocol, to obtain the second command information；
First command information and the second command information are sent to corresponding controller of vehicle.
6. according to the method described in claim 1, whether detection user activates gesture control function packet in the reference area
It includes:
According to user's hand images in acquired video, detect whether user's hand images are located in the reference area；
If user's hand images are located in the reference area, further detect whether user's hand images correspond to default hand
Gesture；
If the corresponding default gesture of user's hand images, it is determined that user activates gesture control function in reference area.
7. according to the method described in claim 1, whether detection user is in the working region, completion control operation includes:
Detect user's hand images whether the stop motion in the working region；
If user's hand images stop motion in the working region, it is determined that user completes in the working region
Control operation.
8. according to the method described in claim 1, further include:
According to the instruction that user is inputted by input unit, current operation mode is adjusted.
9. method according to claim 1 to 8, further includes:
If in acquired video not including user's hand images, gesture control function is closed.
10. a kind of gesture control device, comprising:
Photographing module is configured as carrying out video acquisition in a predetermined direction；
Control module is configured as whether detecting user in the shooting visual field according to user's hand images in acquired video
Gesture control function is opened in reference area, if user opens gesture control function in the reference area, according to being adopted
Collect user's hand images in video, whether detection user completes control operation in the working region in the shooting visual field, if user
Control operation is completed in the working region, then detects current location of the user's hand images in the working region
Moving direction relative to the reference area and the moving distance on the moving direction, wherein the reference area is arranged
On the predetermined position in the working region, according to the moving direction and the moving distance, generate and work at present mould
The corresponding action command of formula；
Communication module is configured as the action command being sent to corresponding controller of vehicle, so as to the vehicle control
Device controls corresponding engineering truck according to the work order.
11. device according to claim 10, wherein
Control module is configured to determine that the ratio of the moving distance and the predetermined length, as under current operation mode
Movement speed, wherein the predetermined length is that the reference area along the moving direction is moved to the working region boundary
Length, the direction of action under current operation mode is determined according to the moving direction, according to the direction of action and described dynamic
Make speed and generates corresponding action command.
12. device according to claim 11, further includes:
Display screen is configured as display prompt information corresponding with the direction of action and the movement speed.
13. device according to claim 12, wherein
The display screen is transparent display screen.
14. device according to claim 10, wherein
Communication module is configured as handling the action command using the first agreement, to obtain the first command information, benefit
The action command is handled with second protocol, to obtain the second command information, by first command information and second
Command information is sent to corresponding controller of vehicle.
15. device according to claim 10, wherein
Control module is configured as detecting whether user's hand images are located at institute according to user's hand images in acquired video
It states in reference area, if user's hand images are located in the reference area, whether right further detects user's hand images
Gesture should be preset, if the corresponding default gesture of user's hand images, it is determined that user activates gesture control function in reference area.
16. device according to claim 10, wherein
Control module be configured as detecting user's hand images whether the stop motion in the working region, if the use
Family hand images stop motion in the working region, it is determined that user completes control operation in the working region.
17. device according to claim 10, further includes:
Input module is configured as receiving the instruction of user's input；
Control module is additionally configured to be adjusted current operation mode.
18. device described in any one of 0-17 according to claim 1, wherein
Control module is additionally configured in acquired video in the case where do not include user's hand images, closes gesture control function
Energy.
19. a kind of gesture control device, comprising:
Memory is configured as store instruction；
Processor, is coupled to memory, and the instruction execution that processor is configured as storing based on memory realizes such as claim
Method described in any one of 1-9.
20. a kind of control system, including the gesture control device as described in any one of claim 10-19, and
Engineering truck configured with controller of vehicle, the controller of vehicle are configured as according to the gesture control device
The work order of transmission controls the engineering truck.
21. system according to claim 20, wherein
The controller of vehicle is configured as in the work order including the feelings of the first command information and the second command information
Under condition, the first command information is handled using corresponding first agreement to obtain the first action command, utilize corresponding
Two agreements are handled the second command information to obtain the second action command, are moved in first action command and described second
Make to instruct in identical situation, the engineering truck is controlled using first action command or second action command
System.
22. system according to claim 20, wherein
The controller of vehicle is additionally configured to after receiving the work order, judges whether also to receive handle control
Instruction, if receiving the handle control instruction, only executes the handle control instruction.
23. a kind of computer readable storage medium, wherein computer-readable recording medium storage has computer instruction, instructs quilt
Processor realizes method as claimed in any one of claims 1-9 wherein when executing.
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