CN110515465A - Control method and device based on brain wave and gesture recognition - Google Patents
Control method and device based on brain wave and gesture recognition Download PDFInfo
- Publication number
- CN110515465A CN110515465A CN201910808855.XA CN201910808855A CN110515465A CN 110515465 A CN110515465 A CN 110515465A CN 201910808855 A CN201910808855 A CN 201910808855A CN 110515465 A CN110515465 A CN 110515465A
- Authority
- CN
- China
- Prior art keywords
- inclination angle
- user
- right components
- head
- forth component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
-
- 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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Dermatology (AREA)
- Neurosurgery (AREA)
- Neurology (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
This application discloses a kind of control method and device based on brain wave and gesture recognition.One embodiment of the method includes: the brain wave for acquiring user, is converted into electric signal；Acquire 3-axis acceleration relevant to user's head posture, the the first left-right components inclination angle and the first back/forth component inclination angle of user's head is calculated, acquisition three axis angular rates relevant to user's head posture simultaneously, are calculated the second left-right components inclination angle and the second back/forth component inclination angle；By the way of Mutually fusion, according to the first, second left-right components inclination angle and the first, second back/forth component inclination angle, calculate separately to obtain left-right components inclination angle and back/forth component inclination angle；If electric signal is greater than preset threshold, left-right components inclination angle, back/forth component inclination angle are compared respectively with predetermined angle threshold value, judge user's head posture, and corresponding instruction is sent to the terminal being steered.The implementation is creative to combine brain wave with head pose, is used for controlling terminal, and accuracy is high.
Description
Technical field
This application involves artificial intelligence fields, and in particular to a kind of control method and dress based on brain wave and gesture recognition
It sets.
Background technique
Brain wave is a kind of bioelectricity, under the brain wave of different people, same person's all ages and classes or different physical conditions, brain
Electric wave is all different.It can only accurately detect whether the attention of people is concentrated according to the brain wave of people at present, be unable to Exact Solutions
Read the idea of the specific materialization of the brain wave.
The method of operation control terminal mainly has at present: handle remote control, voice remote control, gesture remote control, the application it is creative general
Brain wave is combined together with head pose identification, is used for controlling terminal.The terminal includes but is not limited to: robot, toy
Vehicle.
Summary of the invention
The purpose of the application is creative to propose a kind of control method and device based on brain wave and gesture recognition.
In a first aspect, this application provides a kind of control method based on brain wave and gesture recognition, which comprises
The brain wave of user is acquired, and the brain wave is converted into electric signal；Acquire three axis relevant to the user's head posture
The the first left-right components inclination angle and the first front and back point of the user's head is calculated according to the 3-axis acceleration in acceleration
Inclination angle is measured, while acquiring three axis angular rate relevant to the user's head posture, three axis angular rate is integrated, is obtained
To the second left-right components inclination angle and the second back/forth component inclination angle of the user's head；
By the way of Mutually fusion, according to first left-right components inclination angle, the second left-right components inclination angle and described
One back/forth component inclination angle, the second back/forth component inclination angle, calculate separately to obtain left-right components inclination angle and back/forth component inclination angle；If institute
Electric signal is stated greater than preset threshold, respectively compares the left-right components inclination angle, back/forth component inclination angle and predetermined angle threshold value
Compared with judging the user's head posture, and the corresponding instruction of the head pose is sent to the terminal being steered.
In some embodiments, the method also includes: if the electric signal be not more than the preset threshold, will stop
Only instruction is sent to the terminal being steered.
In some embodiments, the method also includes: if can't detect brain wave or the electric signal no more than institute
The time for stating preset threshold is more than preset time threshold, then standby command is sent to the terminal being steered.
In some embodiments, described by the way of Mutually fusion, according to first left-right components inclination angle, second left side
Right component inclination angle and first back/forth component inclination angle, the second back/forth component inclination angle, calculate separately to obtain left-right components inclination angle and
Back/forth component inclination angle, comprising:
Respectively according to the following formula, left-right components inclination angle, back/forth component inclination angle is calculated:
S1=(s11-S1)*a+s12*b
S2=(s21-S2)*a+s22*b
Wherein, S1Indicate left-right components inclination angle, s11Indicate the first left-right components inclination angle, s12Indicate that the second left-right components incline
Angle, S2Indicate back/forth component inclination angle, s21Indicate the first back/forth component inclination angle, s22Indicate the second back/forth component inclination angle, a, b are default
Parameter.
In some embodiments, described by the way of Mutually fusion, according to first left-right components inclination angle, second left side
Right component inclination angle and first back/forth component inclination angle, the second back/forth component inclination angle, calculate separately to obtain left-right components inclination angle and
Back/forth component inclination angle, comprising:
Respectively according to the following formula, left-right components inclination angle, back/forth component inclination angle is calculated:
S1=(s11-S1)*c+(s12-s11+S1)*d
S2=(s21-S2)*c+(s22-s21+S2)*d
Wherein, S1Indicate left-right components inclination angle, s11Indicate the first left-right components inclination angle, s12Indicate that the second left-right components incline
Angle, S2Indicate back/forth component inclination angle, s21Indicate the first back/forth component inclination angle, s22Indicate the second back/forth component inclination angle, c, d are default
Parameter.
In some embodiments, described respectively by the left-right components inclination angle, back/forth component inclination angle and predetermined angle threshold value
It is compared, judges the user's head posture, and the corresponding instruction of the head pose is sent to the terminal being steered, wrap
It includes: if S1> B and-B≤S2≤ B then judges that the user's head inclines to the left, and the instruction turned left is sent to and is steered
Terminal, wherein B is predetermined angle threshold value；If S1<-B and-B≤S2≤ B then judges the user's head Right deviation, will to the right
The instruction turned is sent to the terminal being steered；If S2> B and-B≤S1≤ B then judges that the user bows, by the finger of advance
Order is sent to the terminal being steered；If S2<-B and-B≤S1≤ B then judges the user's head layback, by the instruction of retrogressing
It is sent to the terminal being steered；If S1> B and S2> B then judges that the user's head is bowed to left front, will forward to the left
Instruction be sent to the terminal being steered；If S1> B and S2<-B then judges that the user's head faces upward head to left back, will be to
Left back turn of instruction is sent to the terminal being steered；If S1<-B and S2> B then judges that the user's head is low to right front
The instruction of forward to the right is sent to the terminal being steered by head；If S1<-B and S2<-B, then judge the user's head to
Head is faced upward in right back, and the instruction turned afterwards to the right is sent to the terminal being steered.
Second aspect, this application provides a kind of control device based on brain wave and gesture recognition, described device include:
Acquiring brain waves module is converted into electric signal for acquiring the brain wave of user, and by the brain wave；Three axis accelerometer,
For generating 3-axis acceleration associated with user's head posture；Three-axis gyroscope, for generating and user's head posture phase
Associated three axis angular rate；Processor, for being electrically connected with the acquiring brain waves module, three axis accelerometer, three-axis gyroscope
It connects, according to the 3-axis acceleration, the first left-right components inclination angle and the first back/forth component that the user's head is calculated are inclined
Angle integrates three axis angular rate, obtains the second left-right components inclination angle and the second back/forth component of the user's head
Inclination angle, then, by the way of Mutually fusion, according to first left-right components inclination angle, the second left-right components inclination angle and described
First back/forth component inclination angle, the second back/forth component inclination angle, calculate separately to obtain left-right components inclination angle and back/forth component inclination angle, most
Afterwards, judged, if the electric signal be greater than preset threshold, respectively by the left-right components inclination angle, back/forth component inclination angle with
Predetermined angle threshold value is compared, and judges the user's head posture, and the corresponding order of the head pose is sent to and is grasped
The terminal of control.
It in some embodiments, will if the processor is also used to the electric signal and is not more than the preset threshold
Halt instruction is sent to the terminal being steered.
In some embodiments, if the processor is also used to not receive the electricity that the acquiring brain waves module is sent
The time that signal or the electric signal are not more than the preset threshold is more than preset time threshold, then standby command is sent to institute
State the terminal being steered.
In some embodiments, according to the following formula, left-right components inclination angle is calculated, back/forth component inclines in the processor
Angle:
S1=(s11-S1)*a+s12*b
S2=(s21-S2)*a+s22*b
Wherein, S1Indicate left-right components inclination angle, s11Indicate the first left-right components inclination angle, s12Indicate that the second left-right components incline
Angle, S2Indicate back/forth component inclination angle, s21Indicate the first back/forth component inclination angle, s22Indicate the second back/forth component inclination angle, a, b are default
Parameter.
Control method and device provided by the present application based on brain wave and gesture recognition, it is creative by brain wave and head
Portion's gesture recognition is combined together, and is used for controlling terminal.And the brain wave of user is acquired in real time, only concentrated in user's attention
When, just judge the head pose of user, by the head pose it is corresponding instruction be sent to the terminal being steered, effectively prevent to infuse
When meaning power is not concentrated, maloperation is made.In addition, the first left-right components that user's head is calculated incline according to 3-axis acceleration
Angle and the first back/forth component inclination angle, while three axis angular rates relevant to user's head posture are acquired, three axis angular rates are carried out
Integral, obtains the second left-right components inclination angle and the second back/forth component inclination angle of user's head, using 3-axis acceleration and three shaft angles
The mode of speed Mutually fusion detects user's head posture, and algorithm is simple and testing result is more acurrate, further improves manipulation
The accuracy of terminal.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the flow chart of one embodiment of control method of the application based on brain wave and gesture recognition；
Fig. 2 is the coordinate of three axis accelerometer and three-axis gyroscope；
Fig. 3 is the structural schematic diagram of one embodiment of control device of the application based on brain wave and gesture recognition.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the flow chart of one embodiment of control method of the application based on brain wave and gesture recognition.Such as
Shown in figure, it the described method comprises the following steps:
Step 101, the brain wave of user is acquired, and brain wave is converted into electric signal.
In the present embodiment, user wears with acquiring brain waves module, three axis accelerometer, three-axis gyroscope and processing
The helmet or headring of device.
In the present embodiment, by acquiring brain waves module, acquire user's by the way of non-intrusion type or intrusive mood
Brain wave filters out noise, and the brain wave of acquisition is then converted into electric signal, the electric signal include but is not limited to voltage signal,
Current signal.
In other optional implementations of the present embodiment, the brain wave of user is first acquired, then from the brain wave
Certain frequency or the brain wave of certain interval frequency are extracted, later, the brain wave of the frequency or the interval frequency is converted into voltage letter
Number.Wherein, the frequency or the value of the interval frequency are adaptively adjusted in the following way: for the first time in use, first repeated detection
A series of brain wave of a user when making manipulation ideas, analysis obtain the frequency of the brain wave or the value of frequency separation, it
Afterwards, according to every time in use, the brain wave of acquisition, adjusts the value of said frequencies or frequency separation.
Step 102, it acquires 3-axis acceleration relevant to user's head posture and use is calculated according to 3-axis acceleration
The first left-right components inclination angle and the first back/forth component inclination angle in account portion, while acquiring three shaft angles relevant to user's head posture
Speed integrates three axis angular rates, obtains the second left-right components inclination angle and the second back/forth component inclination angle of user's head.
In the present embodiment, the 3-axis acceleration of user's head is acquired by above-mentioned three axis accelerometer.Pass through three axis tops
Three axis angular rates of spiral shell instrument acquisition user.Wherein, the coordinate of three axis accelerometer and three-axis gyroscope is as shown in Figure 2.Wherein, it penetrates
Line X, Y, Z respectively indicate the X-axis, Y-axis, Z axis of three axis accelerometer, and Wx, Wy, Wz indicate the angle speed of three axis of three-axis gyroscope
Degree.Wherein, the positive direction of the X-axis of triaxial accelerometer is the left direction of user, and the positive direction of Y-axis is immediately ahead of user, and Z axis is vertical
X-axis and Y direction are upward, and when user's head level, X-axis, Y-axis are parallel to the ground, and Z axis is perpendicular to the ground, and Ax, Ay, Az points
It Biao Shi not X-axis, Y-axis, the acceleration on Z axis.If user's head keeps horizontal stationary motionless, the value of Ax, Ay, Az are respectively
0,0, -1g, when user's head "Left"-deviationist, the absolute value of Ax becomes larger with tilt angle, and the absolute value of Az is with inclination angle
Degree gradually becomes smaller, and the value of Ay remains unchanged, and tilt angle so user's head can be calculated according to Ax, Az, and by the left and right
Tilt angle is defined as the first left-right components inclination angle.In C language, using following formula, first of user's head or so is calculated
Component inclination angle:
Wherein, s11Indicate the first left-right components inclination angle in account portion, atan2 () is to calculate azimuthal letter in C language
Number, Ax, Az respectively indicate X-axis, the acceleration on Z axis.
Similarly, when user bows or faces upward, user's head front and rear tilt angle can be calculated according to Ay, Az, and will be before this
Rear-inclined angle is defined as the first back/forth component inclination angle, and calculation formula is as follows:
Wherein, s21Indicate the first back/forth component inclination angle in account portion, atan2 () is to calculate azimuthal letter in C language
Number, Ay, Az respectively indicate Y-axis, the acceleration on Z axis.
In the present embodiment, it when user's head tilts to the left or to the right, is equivalent to user's head and is rotated around Y-axis, so
Integral is carried out to Wy user's head can be obtained to tilt angle, because being the angle for acquiring gyroscope of intermittent in the present embodiment
Speed acquires user's head and tilts angle, by the angle that tilts so by the cumulative summation of the Wy of intermittent acquisition
It is defined as the second left-right components inclination angle.Similarly, carrying out integral to Wx can be obtained user's head front and rear tilt angle, for intermittent
The cumulative summation of Wy is acquired user's head front and rear tilt angle, by the front and rear tilt angle by the gyroscope angular speed Wy of acquisition
It is defined as the second back/forth component inclination angle.
In other embodiments, it is closed if the coordinate system of three axis accelerometer, three-axis gyroscope is corresponding with user's posture
System changes, then the modification of adaptability solve the first left-right components inclination angle, the first back/forth component inclination angle formula and solve the
The angular speed integrated when two left-right components inclination angles, the second back/forth component inclination angle.
Step 103, by the way of Mutually fusion, according to the first left-right components inclination angle, the second left-right components inclination angle and
One back/forth component inclination angle, the second back/forth component inclination angle, calculate separately to obtain left-right components inclination angle and back/forth component inclination angle.
Three-axis gyroscope is insensitive to the disturbance of vibration etc, so the short time passes through three axis accelerometer in user movement
The second left-right components inclination angle that instrument measures, the second back/forth component inclination angle are more acurrate, but when long-time measures, it may appear that gyroscope
The case where drift, accuracy are relatively low.But three axis accelerometer is sensitive to the disturbance of vibration etc, so in user's long-time
Shift invariant or it is slowly varying when, the first left-right components inclination angle for being obtained by its three axis accelerometer, the first back/forth component
The accuracy at inclination angle is higher.So the first left-right components inclination angle, the first back/forth component inclination angle that will be calculated by triaxial accelerometer
Mutually fusion is carried out with the second left-right components inclination angle, the second back/forth component inclination angle calculated by gyroscope, improves final measurement
Left-right components inclination angle, back/forth component inclination angle accuracy.
In the present embodiment, using the formula of following Mutually fusion, left-right components inclination angle, back/forth component inclination angle are calculated:
S1=(s11-S1)*a+s12*b
S2=(s21-S2)*a+s22*b
Wherein, S1Indicate left-right components inclination angle, s11Indicate the first left-right components inclination angle, s12Indicate that the second left-right components incline
Angle, S2Indicate back/forth component inclination angle, s21Indicate the first back/forth component inclination angle, s22Indicate the second back/forth component inclination angle, a, b are default
Parameter.
Early period by adjusting a, b value, as far as possible by S1With s11Curve be overlapped, S2With s21Curve carry out weight
It closes, when taking registration highest, the value of parameter preset a, b when the value of a, b are as formal measurement below.The Mutually fusion formula can have
Effect filters out the shake of attitude angle, keeps the curve changed over time at left-right components inclination angle, back/forth component inclination angle smoother, accuracy
It is high.It is illustrative: a=0.013, b=1.
In other optional implementations of this implementation, using the formula of following Mutually fusion, calculates left-right components and incline
Angle, back/forth component inclination angle:
S1=(s11-S1)*c+(s12-s11+S1)*d
S2=(s21-S2)*c+(s22-s21+S2)*d
Wherein, S1Indicate left-right components inclination angle, s11Indicate the first left-right components inclination angle, s12Indicate that the second left-right components incline
Angle, S2Indicate back/forth component inclination angle, s21Indicate the first back/forth component inclination angle, s22Indicate the second back/forth component inclination angle, c, d are default
Parameter.
Early period by adjusting c, d value, as far as possible by S1With s11Curve be overlapped, S2With s21Curve carry out weight
It closes, the value of parameter preset c, d when the value of c, d are as formal measurement below when taking registration highest.The Mutually fusion formula is same
The shake that attitude angle can be effectively filtered out keeps left-right components inclination angle, the curve at back/forth component inclination angle smoother, and accuracy is high.Example
Property: c=0.75, d=0.92.
Step 104, if electric signal is greater than preset threshold, respectively by left-right components inclination angle, back/forth component inclination angle and default
Angle threshold is compared, and judges user's head posture, and the corresponding instruction of the head pose is sent to the terminal being steered.
In the present embodiment, regardless of the head whichaway of user tilts, tilt angle and direction can all use left and right
Component inclination angle, back/forth component inclination angle are embodied.Used by the left-right components inclination angle of analysis user's head, the judgement of back/forth component inclination angle
Family head pose, above-mentioned head pose includes but is not limited to: head is left-leaning, head Right deviation, bows, face upward head, left front is bowed, right
Front is bowed, head is faced upward in left back, head is faced upward in right back.Then, the corresponding instruction of the head pose is sent to the terminal being steered.
The terminal being steered includes but is not limited to: robot, toy car etc..
In the present embodiment, a predetermined angle threshold value B is set, by by left-right components inclination angle S1, back/forth component inclination angle S2
It is compared with the predetermined angle threshold value, judges user's head posture.If S1> B and-B≤S2≤ B, then judge user's head
It inclines to the left, the instruction turned left is sent to the terminal being steered；If S1<-B and-B≤S2≤ B then judges described to use account
Right-handed instruction is sent to the terminal being steered by portion's Right deviation；If S2> B and-B≤S1≤ B then judges that the user is low
The instruction of advance is sent to the terminal being steered by head；If S2<-B and-B≤S1≤ B, then after judging the user's head
It faces upward, the instruction of retrogressing is sent to the terminal being steered；If S1> B and S2> B then judges the user's head to left front
It bows, the instruction of forward to the left is sent to the terminal being steered；If S1> B and S2<-B, then judge the user's head to
Head is faced upward in left back, and the instruction to left back turn is sent to the terminal being steered；If S1<-B and S2> B then judges the user
Head is bowed to right front, and the instruction of forward to the right is sent to the terminal being steered；If S1<-B and S2<-B, then judge
The user's head faces upward head to right back, and the instruction turned afterwards to the right is sent to the terminal being steered.
In other optional implementations of the present embodiment, two predetermined angle threshold value B are set1With B2It is respectively used to table
Show the angle threshold that head tilts, tilts forward and back, it is specific: B1For replacing S1B in inequality, B2For replacing S2
B in inequality.
The present embodiment is creative to be combined together brain wave and head pose identification, is used for controlling terminal.And in real time
The brain wave of user is acquired, the time only concentrated in user's attention, the head pose of user is just judged, by the head pose
Corresponding instruction is sent to the terminal being steered, when effectively preventing absent minded, the maloperation made.In addition, using three
The mode of axle acceleration and three axis angular rate Mutually fusions detects user's head posture, and algorithm is simple, and testing result is more quasi-
Really, the accuracy of operation control terminal is further improved.
In the present embodiment, when the electric signal of user's brain wave conversion is greater than preset threshold, i.e., in user's attention collection
When middle, by adjusting the movement of head pose controlling terminal, when the electric signal of user's brain wave conversion is not more than preset threshold,
I.e. when user is absent minded, then not in the head pose for judging user, halt instruction directly is sent to terminal.User protects
Protect the safety of terminal.
In other optional implementations, when user it is absent minded when, then not in the head appearance for judging user
State is not sending any instruction to terminal.
In the present embodiment, if can't detect brain wave or detect that user's scatterbrained time is more than default
Time threshold then sends standby or shutdown command to above-mentioned terminal.It is more intelligent in this way, the electricity consumption of terminal can be saved, is brought simultaneously
The more intelligent experience of user.
In other optional implementations, button is arranged in above-mentioned terminal, supports that user presses lower button, in standby or shutdown
State terminal.
It in the present embodiment, can be by way of wired connection or radio connection sends an instruction to and is steered
Terminal, wherein above-mentioned radio connection can include but is not limited to 3G/4G connection, WiFi connection, bluetooth connection, WiMAX
Connection, Zigbee connection, UWB (ultra wideband) connection and other currently known or exploitation in the future wireless connections
Mode.
With continued reference to Fig. 3, as an implementation of the above method, this application provides one kind to be based on brain wave and gesture recognition
Control device one embodiment, the Installation practice is corresponding with embodiment of the method shown in FIG. 1.The device can specifically answer
For in the equipment of the various helmets or headring.
As shown in figure 3, the control device based on brain wave and gesture recognition described in the present embodiment includes: acquiring brain waves
Module 301, three axis accelerometer 302, three-axis gyroscope 303, processor 304, wherein acquiring brain waves module 301, three axis add
Speedometer 302, three-axis gyroscope 303 are electrically connected with processor 304 respectively.Wherein, acquiring brain waves module 301 is for adopting
Collect the brain wave of user, and the brain wave is converted into electric signal；Three axis accelerometer 302 is for generating and user's head posture
Associated 3-axis acceleration；Three-axis gyroscope 303 is for generating three axis angular rates associated with user's head posture；Processing
Device 304, according to 3-axis acceleration, is calculated for being electrically connected with acquiring brain waves module, three axis accelerometer, three-axis gyroscope
To the first left-right components inclination angle and the first back/forth component inclination angle of user's head, three axis angular rates are integrated, user is obtained
The second left-right components inclination angle and the second back/forth component inclination angle on head, then, by the way of Mutually fusion, according to first or so
Component inclination angle, the second left-right components inclination angle and the first back/forth component inclination angle, the second back/forth component inclination angle, calculate separately and are controlled
Component inclination angle and back/forth component inclination angle, if electric signal is greater than preset threshold, respectively incline left-right components finally, being judged
Angle, back/forth component inclination angle are compared with predetermined angle threshold value, judge user's head posture, and by the corresponding life of the head pose
Order is sent to the terminal being steered.Processor 304 specifically by executing computer program, calculates left-right components inclination angle and front and back
Component inclination angle and judge that user's head posture and aforesaid way embodiment are identical, here, repeating no more.
In the present embodiment, above-mentioned apparatus is simple, but creative identify brain wave and head pose is incorporated in one
It rises, is used for controlling terminal.In addition, calculating left-right components inclination angle, back/forth component inclination angle, posture because by the way of Mutually fusion
Identifying that accuracy is higher, while algorithm is simple, the operation and storage capacity requirement to processor are lower, hardware requirement is reduced,
The cost of product can be further decreased.
In other optional implementations of the present embodiment, processor 304 is also used to judging acquiring brain waves module
When the electric signal of 301 acquisitions is not more than preset threshold, then halt instruction is sent to the terminal being steered.In addition, processor 304
The time for being also used to judge that the electric signal of the acquisition of acquiring brain waves module 301 is not more than preset threshold is more than preset time threshold,
Standby command is then sent to above-mentioned terminal.If the device is removed to come from the head of user, acquiring brain waves module 301
The brain wave of user is not acquired, processor 304 does not receive the electric signal of the transmission of acquiring brain waves module 301, then processor
Shutdown command is sent to the above-mentioned terminal being steered by 304.The manual operation for reducing user, brings the more intelligent body of user
It tests.
In the present embodiment, above-mentioned apparatus further includes wireless communication module, and the instruction that processor 304 generates is wireless by this
Communication module is sent to the terminal being steered.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of control method based on brain wave and gesture recognition, which is characterized in that the described method includes:
The brain wave of user is acquired, and the brain wave is converted into electric signal；
It acquires 3-axis acceleration relevant to the user's head posture and the use is calculated according to the 3-axis acceleration
The first left-right components inclination angle and the first back/forth component inclination angle in account portion, while acquiring and the user's head posture relevant three
Axis angular rate integrates three axis angular rate, before obtaining the second left-right components inclination angle and second of the user's head
Component inclination angle afterwards；
By the way of Mutually fusion, before first left-right components inclination angle, the second left-right components inclination angle and described first
Component inclination angle, the second back/forth component inclination angle afterwards, calculate separately to obtain left-right components inclination angle and back/forth component inclination angle；
If the electric signal is greater than preset threshold, respectively by the left-right components inclination angle, back/forth component inclination angle and predetermined angle
Threshold value is compared, and judges the user's head posture, and the corresponding instruction of the head pose is sent to the terminal being steered.
2. the control method according to claim 1 based on brain wave and gesture recognition, which is characterized in that the method is also
Include:
If the electric signal is not more than the preset threshold, halt instruction is sent to the terminal being steered.
3. the control method according to claim 2 based on brain wave and gesture recognition, which is characterized in that the method is also
Include:
If can't detect brain wave or the electric signal no more than the time of the preset threshold is more than preset time threshold,
Standby command is sent to the terminal being steered.
4. the control method according to claim 3 based on brain wave and gesture recognition, which is characterized in that described using mutual
Mend fusion mode, according to first left-right components inclination angle, the second left-right components inclination angle and first back/forth component inclination angle,
Second back/forth component inclination angle calculates separately to obtain left-right components inclination angle and back/forth component inclination angle, comprising:
Respectively according to the following formula, left-right components inclination angle, back/forth component inclination angle is calculated:
S1=(s11-S1)*a+s12*b
S2=(s21-S2)*a+s22*b
Wherein, S1Indicate left-right components inclination angle, s11Indicate the first left-right components inclination angle, s12Indicate the second left-right components inclination angle, S2
Indicate back/forth component inclination angle, s21Indicate the first back/forth component inclination angle, s22Indicate the second back/forth component inclination angle, a, b are default ginseng
Number.
5. the control method according to claim 3 based on brain wave and gesture recognition, which is characterized in that described using mutual
Mend fusion mode, according to first left-right components inclination angle, the second left-right components inclination angle and first back/forth component inclination angle,
Second back/forth component inclination angle calculates separately to obtain left-right components inclination angle and back/forth component inclination angle, comprising:
Respectively according to the following formula, left-right components inclination angle, back/forth component inclination angle is calculated:
S1=(s11-S1)*c+(s12-s11+S1)*d
S2=(s21-S2)*c+(s22-s21+S2)*d
Wherein, S1Indicate left-right components inclination angle, s11Indicate the first left-right components inclination angle, s12Indicate the second left-right components inclination angle, S2
Indicate back/forth component inclination angle, s21Indicate the first back/forth component inclination angle, s22Indicate the second back/forth component inclination angle, c, d are default ginseng
Number.
6. the control method according to claim 4 or 5 based on brain wave and gesture recognition, which is characterized in that described point
The left-right components inclination angle, back/forth component inclination angle are not compared with predetermined angle threshold value, judge the user's head posture,
And the corresponding instruction of the head pose is sent to the terminal being steered, comprising:
If S1> B and-B≤S2≤ B then judges that the user's head inclines to the left, and the instruction turned left is sent to and is steered
Terminal, wherein B is predetermined angle threshold value；
If S1<-B and-B≤S2≤ B then judges the user's head Right deviation, and right-handed instruction is sent to and is steered
Terminal；
If S2> B and-B≤S1≤ B then judges that the user bows, and the instruction of advance is sent to the terminal being steered；
If S2<-B and-B≤S1≤ B then judges the user's head layback, the instruction of retrogressing is sent to the end being steered
End；
If S1> B and S2> B then judges that the user's head is bowed to left front, the instruction of forward to the left is sent to and is grasped
The terminal of control；
If S1> B and S2<-B then judges that the user's head faces upward head to left back, by the instruction to left back turn be sent to by
The terminal of manipulation；
If S1<-B and S2> B then judges that the user's head is bowed to right front, by the instruction of forward to the right be sent to by
The terminal of manipulation；
If S1<-B and S2<-B then judges that the user's head faces upward head to right back, by the instruction turned afterwards to the right be sent to by
The terminal of manipulation.
7. a kind of control device based on brain wave and gesture recognition, which is characterized in that described device includes:
Acquiring brain waves module is converted into electric signal for acquiring the brain wave of user, and by the brain wave；
Three axis accelerometer, for generating 3-axis acceleration associated with user's head posture；
Three-axis gyroscope, for generating three axis angular rates associated with user's head posture；
Processor, for being electrically connected with the acquiring brain waves module, three axis accelerometer, three-axis gyroscope, according to described three
The the first left-right components inclination angle and the first back/forth component inclination angle of the user's head is calculated, to three axis in axle acceleration
Angular speed is integrated, and the second left-right components inclination angle and the second back/forth component inclination angle of the user's head are obtained, and then, is used
The mode of Mutually fusion is inclined according to first left-right components inclination angle, the second left-right components inclination angle and first back/forth component
Angle, the second back/forth component inclination angle, calculate separately to obtain left-right components inclination angle and back/forth component inclination angle, finally, judged, if
The electric signal is greater than preset threshold, respectively carries out the left-right components inclination angle, back/forth component inclination angle and predetermined angle threshold value
Compare, judges the user's head posture, and the corresponding order of the head pose is sent to the terminal being steered.
8. the control device according to claim 7 based on brain wave and gesture recognition, which is characterized in that the processor
If being also used to the electric signal no more than the preset threshold, halt instruction is sent to the terminal being steered.
9. the control device according to claim 8 based on brain wave and gesture recognition, which is characterized in that the processor
If the electric signal or the electric signal that are also used to not receive the acquiring brain waves module transmission are no more than the default threshold
The time of value is more than preset time threshold, then standby command is sent to the terminal being steered.
10. the control device according to claim 9 based on brain wave and gesture recognition, which is characterized in that the processing
According to the following formula, left-right components inclination angle, back/forth component inclination angle is calculated in device:
S1=(s11-S1)*a+s12*b
S2=(s21-S2)*a+s22*b
Wherein, S1Indicate left-right components inclination angle, s11Indicate the first left-right components inclination angle, s12Indicate the second left-right components inclination angle, S2
Indicate back/forth component inclination angle, s21Indicate the first back/forth component inclination angle, s22Indicate the second back/forth component inclination angle, a, b are default ginseng
Number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910808855.XA CN110515465A (en) | 2019-08-29 | 2019-08-29 | Control method and device based on brain wave and gesture recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910808855.XA CN110515465A (en) | 2019-08-29 | 2019-08-29 | Control method and device based on brain wave and gesture recognition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110515465A true CN110515465A (en) | 2019-11-29 |
Family
ID=68628151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910808855.XA Pending CN110515465A (en) | 2019-08-29 | 2019-08-29 | Control method and device based on brain wave and gesture recognition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110515465A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102411440A (en) * | 2011-12-27 | 2012-04-11 | 上海大学 | Wireless head-controlled mouse based on accelerometer and gyro sensor |
| CN103076045A (en) * | 2011-10-25 | 2013-05-01 | 上海新世纪机器人有限公司 | Head posture sensing device and method |
| CN103170962A (en) * | 2013-03-08 | 2013-06-26 | 北京工业大学 | Desktop type double-wheel self-balancing robot |
| CN103285599A (en) * | 2012-01-04 | 2013-09-11 | 鹦鹉股份有限公司 | Method for intuitive piloting of drone by means of remote control |
| CN106510719A (en) * | 2016-09-30 | 2017-03-22 | 歌尔股份有限公司 | User posture monitoring method and wearable equipment |
| CN107458382A (en) * | 2017-08-22 | 2017-12-12 | 京东方科技集团股份有限公司 | Controller of vehicle, control method and head-up display |
| CN107883951A (en) * | 2017-10-19 | 2018-04-06 | 福建海图智能科技有限公司 | A kind of computational methods and terminal of underwater robot 3 d pose |
| CN109240305A (en) * | 2018-10-19 | 2019-01-18 | 广州大学华软软件学院 | Coaxial two wheels robot kinetic control system and method based on complementary filter |
| CN109724602A (en) * | 2018-12-17 | 2019-05-07 | 南京理工大学 | A kind of attitude algorithm system and its calculation method based on hardware FPU |
| CN109823270A (en) * | 2019-03-22 | 2019-05-31 | 哈尔滨理工大学 | A kind of head for automobile rearview mirror moves controlling and regulating system and method |
| CN110134240A (en) * | 2019-05-14 | 2019-08-16 | 南京邮电大学 | Robot wheel chair control system based on brain electricity Yu head appearance hybrid interface |
-
2019
- 2019-08-29 CN CN201910808855.XA patent/CN110515465A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076045A (en) * | 2011-10-25 | 2013-05-01 | 上海新世纪机器人有限公司 | Head posture sensing device and method |
| CN102411440A (en) * | 2011-12-27 | 2012-04-11 | 上海大学 | Wireless head-controlled mouse based on accelerometer and gyro sensor |
| CN103285599A (en) * | 2012-01-04 | 2013-09-11 | 鹦鹉股份有限公司 | Method for intuitive piloting of drone by means of remote control |
| CN103170962A (en) * | 2013-03-08 | 2013-06-26 | 北京工业大学 | Desktop type double-wheel self-balancing robot |
| CN106510719A (en) * | 2016-09-30 | 2017-03-22 | 歌尔股份有限公司 | User posture monitoring method and wearable equipment |
| CN107458382A (en) * | 2017-08-22 | 2017-12-12 | 京东方科技集团股份有限公司 | Controller of vehicle, control method and head-up display |
| CN107883951A (en) * | 2017-10-19 | 2018-04-06 | 福建海图智能科技有限公司 | A kind of computational methods and terminal of underwater robot 3 d pose |
| CN109240305A (en) * | 2018-10-19 | 2019-01-18 | 广州大学华软软件学院 | Coaxial two wheels robot kinetic control system and method based on complementary filter |
| CN109724602A (en) * | 2018-12-17 | 2019-05-07 | 南京理工大学 | A kind of attitude algorithm system and its calculation method based on hardware FPU |
| CN109823270A (en) * | 2019-03-22 | 2019-05-31 | 哈尔滨理工大学 | A kind of head for automobile rearview mirror moves controlling and regulating system and method |
| CN110134240A (en) * | 2019-05-14 | 2019-08-16 | 南京邮电大学 | Robot wheel chair control system based on brain electricity Yu head appearance hybrid interface |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102635868B1 (en) | Electronic device and controlling method thereof | |
| CN109726771B (en) | Abnormal driving detection model building method, device and storage medium | |
| CN109643499B (en) | System and method for swimming analysis | |
| EP2952403B1 (en) | Driver monitoring system | |
| EP3264211A1 (en) | Driving assistance apparatus and driving assistance method | |
| CN111166357A (en) | Fatigue monitoring device system with multi-sensor fusion and monitoring method thereof | |
| CN106156564B (en) | Driver identification method based on smart phone | |
| US20180229654A1 (en) | Sensing application use while driving | |
| CN106339083B (en) | Method and system for automatically switching to driving mode based on intelligent wearable device | |
| CN108135514B (en) | Heart rate correction | |
| KR102057705B1 (en) | A smart hand device for gesture recognition and control method thereof | |
| CN104484570B (en) | Electronic terminal and information processing method | |
| CN110584898B (en) | Brain-controlled wheelchair automatic obstacle avoidance method based on multiple sensors | |
| WO2017043101A1 (en) | Information processing device, information processing method, and program | |
| CN107662613B (en) | A kind of extreme driving behavior recognition methods and system based on mobile intelligent perception | |
| Park et al. | Automatic identification of driver’s smartphone exploiting common vehicle-riding actions | |
| KR20210052874A (en) | An electronic device for recognizing gesture of user using a plurality of sensor signals | |
| KR101741074B1 (en) | Automatic recording device and method for car accident | |
| CN106525024B (en) | A kind of reminding method of mobile terminal, device and mobile terminal | |
| CA3087592A1 (en) | Wearable computing apparatus with movement sensors and methods therefor | |
| CN110515465A (en) | Control method and device based on brain wave and gesture recognition | |
| CN106020364A (en) | Smart bracelet with searching function of mute mobile phone and hand gesture recognition method | |
| CN111221420B (en) | 2D movement track identification method and system based on smart watch | |
| CN114926896A (en) | Control method for automatic driving vehicle | |
| KR102246539B1 (en) | Asynchronous eye-character recognition method and apparatus using electromyogram data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |