CN111580640A - Two-direction gesture tracking device and method based on charge induction - Google Patents
Two-direction gesture tracking device and method based on charge induction Download PDFInfo
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Abstract
The invention provides a two-direction gesture tracking device and method based on charge induction. Two metal polar plates with a certain distance are placed in the direction and the position of gesture waving to serve as main polar plates to obtain gesture waving signals, one metal polar plate is placed at a certain distance below the two main polar plates to serve as a reference polar plate to remove non-gesture waving interference signals, the three metal polar plates are respectively connected into three charge sensors, the electric charge quantity sensed on the polar plates is converted into voltage quantity and is subjected to differential processing, and the voltage waveform zero crossing point sequence corresponding to the two main polar plates is compared through a single chip microcomputer acquisition and processing unit to realize two-direction gesture tracking. The invention is characterized in that: the non-gesture waving interference signals are removed through the reference polar plate, the electric charge change caused by the hands waving in sequence is sensed through the two main polar plates, the sequence of the zero crossing points of the corresponding voltage waveforms is detected, the gesture tracking in two directions is realized, the amplitude and the time of the zero crossing point of each channel do not need to be accurately measured, and the method has the remarkable advantages of strong anti-interference capability, good secrecy, simple algorithm, easiness in realization, low cost, strong anti-shielding capability and the like.
Description
Technical Field
The invention relates to a device and a method for tracking gestures in two directions, in particular to a device and a method for tracking gestures in two directions by sensing charge quantity change.
Background
At present, three implementation modes of gesture recognition mainly comprise a computer vision based mode, an ultrasonic wave based mode and an inertial sensor based mode. The gesture recognition method based on computer vision generally comprises three processes of data processing, gesture analysis and recognition classification. In the data processing stage, gesture data are collected through a camera, and preprocessing such as smoothing and sharpening is carried out on the data; in the gesture analysis stage, estimating corresponding characteristic parameters of the gesture through the selected gesture model; and in the stage of identification and classification, information identification is realized through feature extraction and model parameter estimation. The method has high algorithm requirement, complicated calculation, poor real-time performance and certain requirements on background color and brightness, and has poor privacy and high cost due to the adoption of the camera shooting technology. The gesture recognition method based on the ultrasonic waves estimates gesture movement by using reflected signals of the ultrasonic waves, recognizes movement in the direction perpendicular to the gesture through the Doppler effect, and increases the frequency when a hand approaches an ultrasonic transmitter and decreases when the hand leaves the ultrasonic transmitter. The method requires time-frequency domain analysis and has a complex algorithm. The gesture recognition method based on the inertial sensor has a great deal of research, for example, the gesture input device of a magic wand developed by Sung-JungCho and the like of the samsung technical research institute obtains the acceleration and the angular velocity of the hand moving in a three-dimensional space by obtaining an accelerometer signal and a gyroscope signal, then obtains the track of the hand moving in a two-dimensional plane by applying a track estimation algorithm, further models the obtained gesture track by using a Bayesian network, and finally recognizes the gesture by using a matching model. This mode needs loaded down with trivial details complicated artifical feature processing process, and the calculated amount is great, and needs human wearing equipment discernment gesture. For this reason, a gesture tracking method with simple algorithm and low cost is needed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a device and a method for realizing two-direction gesture tracking by sensing charge quantity change.
In order to achieve the purpose of the invention, the technical scheme provided by the invention is as follows:
a two-direction gesture tracking device based on charge induction comprises three metal polar plates, three charge sensors and a single chip microcomputer acquisition and processing unit, and is characterized in that the three metal polar plates are the same in size and material and are used for inducing charge signals caused by waving hands; the input ends of the three charge sensors are respectively connected with the three metal polar plates, and charge signals sensed on the polar plates are converted into voltage signals and subjected to differential processing; the single chip microcomputer acquisition processing unit is connected with the output ends of the three charge sensors, judgment of two-direction gesture tracking is achieved by comparing the sequence of voltage waveform zero crossing points corresponding to the two main pole plates, and gesture directions are output. The three metal polar plates are arranged in the gesture waving direction and the gesture waving position at a certain interval, two metal polar plates are arranged at a certain interval to serve as main polar plates and used for acquiring waving signals, and a third metal polar plate is arranged below the two main polar plates at a certain distance and serves as a reference polar plate and used for removing non-gesture waving interference signals. The position distance between the two main polar plates is at least 2 times larger than the width of the polar plates. The distance between the reference polar plate and any two main polar plates is at least 4 times larger than the height of the metal polar plate. The three metal plates can be circles with the radius of 2-10 cm or squares with the side length of 2-10 cm.
The two-direction gesture tracking method based on charge induction comprises the following steps:
1) respectively connecting three metal polar plates to input ends of three charge sensors, wherein output ends of the three charge sensors are connected with a single chip microcomputer acquisition and processing unit;
2) placing three metal plates, so that the two main plates are positioned in a direction and a position suitable for being swung by a human hand, the distance between the two main plates is at least 2 times larger than the width of the metal plates, the distance between the reference plate and any two main plates is at least 4 times larger than the height of the metal plates, and the three metal plates are vertically placed in a direction facing the human hand;
3) when a human hand swings in a direction parallel to the two main polar plates and the swinging range of the hand covers the areas of the two main polar plates, the sampling processing module respectively measures peak values F1 and F2, valley values G1 and G2 and zero-crossing points t of output waveforms of corresponding charge sensors connected with the two main polar plates1、t2Measuring the maximum fluctuation value MAX of the output waveform of the charge sensor connected with the reference polar plate;
4) when MAX is small relative to F1, G1, F2, G2, the group signal is considered to be a valid signal;
5) when MAX is large relative to F1, G1, F2, G2, the group signal is considered to be an invalid signal;
6) when the signal is active, the gesture direction is t1、t2Relative size determination of (1), t1＞t2When the hand is swung, the hand swings in the direction from the main pole plate 2 to the main pole plate 1, t1＜t2In time, the hand is swung in a direction from the main pole plate 1 to the main pole plate 2.
The invention is characterized in that: non-gesture waving interference signals are removed through the reference polar plate, electric charge changes when hands wave in sequence are induced through the two main polar plates, the sequence of corresponding voltage waveform zero crossing points is detected, and two-direction gesture tracking is achieved without accurately measuring the amplitude and the time of each channel zero crossing point. In addition, because the low-frequency electric field generated by hand waving has strong penetrability to shields such as glass, plastics, wall tiles and the like, the method can still realize the tracking of gestures in two directions even if objects shield the low-frequency electric field. The method has the remarkable advantages of strong anti-interference capability, good secrecy, simple algorithm, easy realization, low cost, strong anti-shielding capability and the like.
Drawings
FIG. 1 is a block diagram of an apparatus for two-direction gesture tracking.
Fig. 2 is a block diagram of a charge sensor circuit.
Fig. 3 is a frequency response graph of a charge sensor.
Fig. 4 is a schematic diagram of a charge sensor output waveform.
Fig. 5 is a waveform diagram of the output of the charge sensor in the embodiment.
FIG. 6 is a schematic diagram of output gesture directions in an example.
Detailed description and examples
The following describes an embodiment of the two-direction gesture tracking apparatus and method according to the present invention by taking the recognition of a left-right two-direction gesture swing as an example.
1. A two-direction gesture tracking device based on charge induction is shown in figure 1 and comprises three metal polar plates, three charge sensors and a single chip microcomputer acquisition and processing unit, wherein the input ends of the three charge sensors are respectively connected with the three metal polar plates, and charge signals induced on the polar plates are converted into voltage signals and are subjected to differential processing; the single chip microcomputer acquisition and processing unit is connected with the output ends of the three charge sensors.
2. The three metal polar plates are made of tin materials and are all square with the side length of 6 cm. The block diagram of the charge sensor is shown in figure 2, a high-resistance circuit acquires signals, a high-pass circuit filters direct current drift, a trap circuit removes power frequency interference, a differential circuit corrects waveforms, a low-pass amplifying circuit filters high-frequency interference and further amplifies the signals, and the signals are finally output to a single chip microcomputer acquisition and processing unit. The input capacitance of the charge sensor is 10pF, the frequency response is shown in figure 3, the charge sensor has a low-pass characteristic, the maximum gain is about 31dB at the frequency of 1Hz, the signal is attenuated at a high frequency band, and particularly, the obvious power frequency interference suppression characteristic is realized at 50 Hz.
3. Placing three metal polar plates, placing two metal polar plates as main polar plates at a distance of 30cm in the direction and the position of gesture waving for obtaining waving signals, and placing a third metal polar plate as a reference polar plate at a position of about 50cm below the two main polar plates for removing non-gesture waving interference signals.
4. The data acquisition and processing part is mainly divided into the following three steps:
1) data acquisition, namely acquiring data output by charge sensors connected with three channels at 1500Hz sampling frequency through a 12-bit AD sampling module based on STM32 series single-chip microcomputer, storing the acquired data into a buffer area through a DMA module, and finally separating the data of the three channels so as to process the data of each channel subsequently;
2) locating the feature points of each channel signal, as shown in fig. 4, the main board signal has the feature point which is increasing before the point and decreasing after the point as the peak point, and the peak points of the main boards 1 and 2 are respectively marked as F1 and F2; the main board signal hasThe characteristic point before the point is a decreasing trend, the characteristic point after the point is an increasing trend is a valley point, and the valley points of the main boards 1 and 2 are respectively marked as G1 and G2; the mainboard signal has a peak-valley interval, the characteristic point of which the amplitude is closest to that of the signal without waving is a zero crossing point, and the zero crossing points of the mainboards 1 and 2 are respectively marked as t1、t2(ii) a The maximum peak point in the reference signal is identified as MAX.
3) Judging gesture direction, and respectively measuring peak values F1, F2, valley values G1, G2 and zero-crossing point t of output waveform of corresponding charge sensors connected with the two main pole plates1、t2And measuring the maximum fluctuation value MAX of the output waveform of the charge sensor connected with the reference plate, and as shown in figure 5, when MAX is smaller than F1, G1, F2 and G2, considering the segment signal as an effective signal, and when MAX is larger than F1, G1, F2 and G2, considering the segment signal as an ineffective signal. When the signal is effective, the zero crossing point time of the main polar plate 2 in the period of time is prior to the zero crossing point time of the main polar plate 1, namely t1＞t2The hand is swung in a direction from the main pole plate 2 to the main pole plate 1, i.e., from the right to the left.
4) And outputting the gesture direction, as shown in fig. 6, indicating the determined gesture direction through an rgbd screen, that is, displaying a small red block on the left side, indicating that the hand is swung from the right to the left direction.
The above results are consistent with the actual results, and illustrate the feasibility of the proposed posture tracking device and method.
Claims (6)
1. A two-direction gesture tracking device based on charge induction comprises three metal polar plates, three charge sensors and a single chip microcomputer acquisition and processing unit, and is characterized in that the three metal polar plates are the same in size and material and are used for inducing charge signals caused by waving hands; the input ends of the three charge sensors are respectively connected with the three metal polar plates, and charge signals sensed on the polar plates are converted into voltage signals and subjected to differential processing; the single chip microcomputer acquisition processing unit is connected with the output ends of the three charge sensors, judgment of two-direction gesture tracking is achieved by comparing the sequence of voltage waveform zero crossing points corresponding to the two main pole plates, and gesture directions are output.
2. The two-direction gesture tracking device based on charge induction as claimed in claim 1, wherein the three metal plates are placed with two metal plates as main plates at a certain distance in the direction and position of the gesture waving for obtaining waving signal, and a third metal plate as reference plate placed at a certain distance below the two main plates for removing non-gesture waving interference signal.
3. The two-direction gesture tracking device based on charge induction as claimed in claim 1 or 2, wherein the distance between the two main plates is at least 2 times larger than the width of the plates.
4. The two-direction gesture tracking device based on charge induction as claimed in claim 1 or 2, wherein the distance between the reference plate and any two main plates is at least 4 times larger than the height of the metal plate.
5. The two-direction gesture tracking device based on charge induction as claimed in claim 1 or 2, wherein the three metal plates can be a circle with a radius of 2 to 10cm or a square with a side length of 2 to 10 cm.
6. A two-direction gesture tracking method based on charge induction is characterized by comprising the following steps:
1) respectively connecting three metal polar plates to input ends of three charge sensors, wherein output ends of the three charge sensors are connected with a single chip microcomputer acquisition and processing unit;
2) placing three metal plates, so that the two main plates are positioned in a direction and a position suitable for being swung by a human hand, the distance between the two main plates is at least 2 times larger than the width of the metal plates, the distance between the reference plate and any two main plates is at least 4 times larger than the height of the metal plates, and the three metal plates are vertically placed facing the human direction;
3) when a human hand swings in a direction parallel to the two main polar plates and the swinging range of the hand covers the areas of the two main polar plates, the sampling processing unit respectively detects peak values F1 and F2, valley values G1 and G2 and zero-crossing points t of output waveforms of corresponding charge sensors connected with the two main polar plates1、t2Measuring the maximum fluctuation value MAX of the output waveform of the charge sensor connected with the reference polar plate;
4) when MAX is small relative to F1, G1, F2, G2, the group signal is considered to be a valid signal;
5) when MAX is large relative to F1, G1, F2, G2, the group signal is considered to be an invalid signal;
6) when the signal is active, the gesture direction is t1、t2When t is determined by the relative magnitude of1＞t2When the hand swings from the main pole plate 2 to the main pole plate 1, when t is1＜t2In time, the hand is swung in a direction from the main pole plate 1 to the main pole plate 2.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112287810A (en) * | 2020-10-27 | 2021-01-29 | 南京大学 | Device and method capable of dynamically increasing motion recognition gestures |
| CN113495300A (en) * | 2021-06-16 | 2021-10-12 | 南京大学 | Underground cable detection method based on charge induction |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054256A (en) * | 2016-07-04 | 2016-10-26 | 北京理工大学 | Method for detecting moving speed and moving direction of mobile charge source |
| CN107677846A (en) * | 2017-09-26 | 2018-02-09 | 南京大学 | It is a kind of that the method to test the speed is realized by charge inducing change |
| CN108871321A (en) * | 2017-05-09 | 2018-11-23 | 南京大学 | A kind of detecting and positioning method of moving target |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054256A (en) * | 2016-07-04 | 2016-10-26 | 北京理工大学 | Method for detecting moving speed and moving direction of mobile charge source |
| CN108871321A (en) * | 2017-05-09 | 2018-11-23 | 南京大学 | A kind of detecting and positioning method of moving target |
| CN107677846A (en) * | 2017-09-26 | 2018-02-09 | 南京大学 | It is a kind of that the method to test the speed is realized by charge inducing change |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112287810A (en) * | 2020-10-27 | 2021-01-29 | 南京大学 | Device and method capable of dynamically increasing motion recognition gestures |
| CN113495300A (en) * | 2021-06-16 | 2021-10-12 | 南京大学 | Underground cable detection method based on charge induction |
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