CN103399318B - Finger tip positioning system and method - Google Patents
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- CN103399318B CN103399318B CN201310314920.6A CN201310314920A CN103399318B CN 103399318 B CN103399318 B CN 103399318B CN 201310314920 A CN201310314920 A CN 201310314920A CN 103399318 B CN103399318 B CN 103399318B
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Abstract
The invention provides a kind of finger tip positioning system and method, described finger tip positioning system comprises the first ultrasound emission device, the second ultrasound emission device, ultrasonic reception apparatus array, finger tip reflection peak detection module, finger tip and fist face reflection paths extraction module, finger length extraction module, fist face reflection paths extraction module, finger tip reflection paths estimation module, points cylindrical surface for reflection path extraction module and finger tip coordinate calculation module.Finger tip positioning system provided by the invention and method can realize the remote finger fingertip location of contactless operation.
Description
Technical field
The present invention relates to ultrasonic Gesture Recognition, especially, relate to a kind of finger tip positioning system and method.
Background technology
Ultrasonic Gesture Recognition is a kind of scheme utilizing the motion state (as position, speed, track) of ultrasonic signal to staff to identify, is mainly used in smart machine to realize non-contact type human-machine interaction.User operation is usually using the finger fingertip of user as reference point, and therefore the accurate location of finger tip is for extremely important a contactless operation scheme.In a kind of ultrasonic gesture identification scheme related to the present invention, be used for launching the array of ultrasonic transmitters of ultrasonic signal all towards same dimension, the reflected signal that the ultrasonic signal that ultrasonic receiver receives the transmitting of described ultrasonic transmitter is formed in finger fingertip reflection, described reflected signal just can be used for positioning described finger fingertip.But, because the reflecting surface of finger fingertip is relatively little, when finger is distant, reflected signal may be too weak and cannot be used for carrying out finger tip location, and therefore above-mentioned ultrasonic gesture identification scheme is difficult to realize remote finger fingertip location, and its range of application is subject to larger restriction.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of the finger tip localization method and the system that realize long distance positioning.
A kind of finger tip positioning system, comprise the first ultrasound emission device, the second ultrasound emission device, ultrasonic reception apparatus array, finger tip reflection peak detection module, finger tip and fist face reflection paths extraction module, finger length extraction module, fist face reflection paths extraction module, finger tip reflection paths estimation module, point cylindrical surface for reflection path extraction module and finger tip coordinate calculation module, wherein
Described first ultrasound emission device, for launching the first ultrasonic signal;
Described second ultrasound emission device, for launching the second ultrasonic signal;
Described ultrasonic reception apparatus array, comprises described first ultrasonic reception device and the second ultrasonic reception device, at staff, reflection occurs and the ultrasonic reflection signal that formed for receiving described first ultrasonic signal and the second ultrasonic signal;
Described finger tip reflection peak detection module, for judging whether that receiving the first ultrasonic signal occurs to reflect and the finger tip reflected signal of formation at finger fingertip;
Described finger tip and fist face reflection paths extraction module, for when described finger tip reflected signal being detected, extract described first ultrasonic signal to occur in finger tip and fist face to reflect respectively and the reflection paths time delay of finger tip reflected signal that formed and the reflection paths time delay of fist face reflected signal, and calculate the reflection paths length of described finger tip reflected signal;
Described finger length extraction module, estimates the length of finger for the reflection paths length of finger tip reflected signal that draws according to described finger tip and fist face reflection paths extraction module and the reflection paths length of fist face reflected signal;
Described fist face reflection paths extraction module, for when described finger tip reflected signal not detected, extract described first ultrasonic signal to occur in fist face to reflect and the reflection paths time delay of the fist face reflected signal of formation, and calculate the reflection paths length of described fist face reflected signal;
Described finger tip reflection paths estimation module, for the reflection paths length utilizing finger length to compensate described fist face reflected signal, estimates the reflection paths length of described finger tip reflected signal;
Described finger cylindrical surface for reflection path extraction module, occurs to reflect and the reflection paths time delay of the finger cylindrical surface for reflection signal of formation at finger cylinder for extracting the second ultrasonic signal, and calculates the reflection paths length of described finger cylindrical surface for reflection signal;
Described finger tip coordinate calculation module, for the reflection paths length of the reflection paths length according to described finger tip reflected signal, fist face reflected signal and the reflection paths length of described finger cylindrical surface for reflection signal, calculates the coordinate of finger fingertip.
Preferably, described first ultrasonic signal and described second ultrasonic signal are by the first ultrasound emission device be separately positioned on reference to the mutually orthogonal axis of three-dimensional system of coordinate two and the transmitting of the second ultrasound emission device, and described being also provided with reference to three-dimensional system of coordinate at staff, the ultrasonic reflection signal ultrasonic reception apparatus array of reflection and formation occurs for described first ultrasonic signal of reception and described second ultrasonic signal.
Preferably, described first ultrasound emission device is arranged on the Z axis forward with reference to three-dimensional system of coordinate, and its ultrasonic signal emission direction is X-axis forward; Described second ultrasound emission device is arranged on the described X-axis forward with reference to three-dimensional system of coordinate, and its ultrasonic signal emission direction is Z axis forward; Described first ultrasonic reception device and described second ultrasonic reception device are arranged on the described Y-axis with reference to three-dimensional system of coordinate.
Preferably, described first ultrasound emission device and the second ultrasound emission device are respectively the first loudspeaker and the second loudspeaker, and described first ultrasonic reception device and the second ultrasonic reception device are respectively the first microphone and second microphone.
A kind of finger tip localization method, comprising: send the first ultrasonic signal and the second ultrasonic signal; Judge whether to detect that the first ultrasonic signal, at finger fingertip, the finger tip reflected signal of reflection and formation occurs; As finger tip reflected signal as described in detecting, then extract described first ultrasonic signal to occur in finger tip and fist face to reflect respectively and the reflection paths time delay of finger tip reflected signal that formed and the reflection paths time delay of fist face reflected signal, calculate the reflection paths length of described finger tip reflected signal, and estimate the length of finger thus; As finger tip reflected signal as described in not detecting, then extract described first ultrasonic signal to occur in fist face to reflect and the reflection paths time delay of the fist face reflected signal of formation, calculate the reflection paths length of described fist face reflected signal, and utilize finger to compensate the reflection paths length estimating described finger tip reflected signal; Extract the second ultrasonic signal to occur to reflect and the reflection paths time delay of the finger cylindrical surface for reflection signal of formation at finger cylinder, and calculate the reflection paths length of described finger cylindrical surface for reflection signal; According to the reflection paths length of the reflection paths length of described finger tip reflected signal, fist face reflection paths length and described finger cylindrical surface for reflection signal, calculate the coordinate of finger fingertip.
Preferably, described first ultrasonic signal and described second ultrasonic signal are by the first ultrasound emission device be separately positioned on reference to the mutually orthogonal axis of three-dimensional system of coordinate two and the transmitting of the second ultrasound emission device, and described being also provided with reference to three-dimensional system of coordinate at staff, the ultrasonic reflection signal ultrasonic reception apparatus array of reflection and formation occurs for described first ultrasonic signal of reception and described second ultrasonic signal.
Preferably, described ultrasonic reception apparatus array comprises the first ultrasound emission device and the second ultrasound emission device, and described first ultrasound emission device is arranged on the Z axis forward with reference to three-dimensional system of coordinate, and its ultrasonic signal emission direction is X-axis forward; Described second ultrasound emission device is arranged on the described X-axis forward with reference to three-dimensional system of coordinate, and its ultrasonic signal emission direction is Z axis forward; Described first ultrasonic reception device and described second ultrasonic reception device are arranged on the described Y-axis with reference to three-dimensional system of coordinate.
Preferably, described judging whether detects that the method for the finger tip reflected signal of formation is described first ultrasonic signal in finger fingertip generation reflection: receive ultrasonic reflection signal according to described first ultrasonic reception device and the second ultrasonic reception device, in conjunction with the first ultrasonic signal that described first ultrasound emission device is launched, computing obtains the reflectivity curve of described first ultrasonic reception device and described second ultrasonic reception device; Whether the reflectivity curve detecting described first ultrasonic reception device and described second ultrasonic reception device comprises two reflection peaks, if, judge that described finger tip reflected signal and described fist face reflected signal are detected simultaneously, otherwise, judge described fist face reflected signal only to be detected.
Finger tip positioning system provided by the invention and method, distant and utilize finger length to compensate the reflection paths information of fist face reflected signal when finger tip reflected signal cannot be detected at staff, thus estimate the reflection paths information of finger tip reflected signal, and the reflection paths information combining finger cylindrical surface for reflection signal calculates the position coordinates of finger fingertip.Therefore, adopt finger tip localization method provided by the invention and system can realize remote finger fingertip location, effectively can expand the range of application of ultrasonic gesture identification scheme.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
The gesture schematic shapes of Fig. 1 when to be general user perform contactless operation by staff.
Fig. 2 is the principle schematic of ultrasonic finger fingertip targeting scheme provided by the invention.
Fig. 3 is the block diagram of a kind of embodiment of finger tip positioning system provided by the invention.
Fig. 4 is the process flow diagram of a kind of embodiment for finger tip localization method provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The problem of remote finger tip location cannot be carried out for solving current ultrasonic gesture identification scheme, the invention provides a kind of the finger tip localization method and the system that realize long distance positioning.For ease of understanding, first simply introduce the know-why of scheme provided by the invention below.
Refer to Fig. 1, its gesture schematic shapes when to be general user perform contactless operation by staff.When performing contactless operation, one of them can be pointed that (Fig. 1 is for forefinger) stretches by usual user and other fingers are rolled up, and described in the finger tip of finger that stretches as anchor point to the operating area that aims at the mark.In above-mentioned staff state, three reflector spaces are defined, i.e. finger tip echo area 10, finger cylindrical surface for reflection district 20 and echo area, fist face 30 at ultrasonic finger fingertip targeting scheme provided by the invention.Finger tip is usually used as default location reference point, and therefore described finger tip echo area 10 is most important echo areas; Finger cylinder vertically extends along finger tip, and therefore the positional information of described finger tip also partly can be reflected in described cylindrical surface for reflection district 20; And fist face relative with the distance between finger tip fixing (being substantially equivalent to finger length), therefore the positional information of described finger tip also partly can be reflected in echo area, described fist face 30.Ultrasonic finger fingertip targeting scheme provided by the invention, by extracting above-mentioned finger tip echo area 10, pointing the ultrasonic reflection information of cylindrical surface for reflection district 20 and echo area, fist face 30, is accurately located finger fingertip.
Referring to Fig. 2, is the principle schematic of ultrasonic finger fingertip targeting scheme provided by the invention.In principle, user's reference three-dimensional system of coordinate that its finger fingertip can be equivalent to shown in Fig. 2 when performing contactless operation moves, and the particular location of finger fingertip can pass through its three-dimensional coordinate at described three-dimensional system of coordinate (x, y, z) determines.
Scheme provided by the invention needs in the definition of contactless smart electronic installation described with reference to three-dimensional system of coordinate, and at the described ultrasonic reception apparatus array being equipped with at least two ultrasound emission devices 101,102 with reference to three-dimensional system of coordinate and being made up of at least two ultrasonic reception devices 201,202.Wherein, described ultrasound emission device and described ultrasonic reception apparatus array can be respectively loudspeaker (Speaker) and microphone (Microphone).For ease of describing, below respectively by described two ultrasound emission devices 101,102 called after first loudspeaker 101 and the second loudspeaker 102 respectively, and by described two ultrasonic reception devices 201,202 called after first microphone 201 and second microphone 202 respectively.
Described first loudspeaker 101 can be arranged on the Z axis forward perpendicular to described XY plane, and its ultrasonic signal emission direction is X-axis forward; Described second loudspeaker 102 can be arranged on X-axis forward, and its ultrasonic signal emission direction is Z axis forward.Described first microphone 201 and described second microphone 202 can be arranged on Y-axis, it can accept directive ultrasonic signal, particular location is not limit, and in the present embodiment, described first microphone 201 and described second microphone 202 are separately positioned on Y-axis negative sense and Y-axis forward.And, in the reference three-dimensional system of coordinate shown in Fig. 2, staff zone of action can be defined in x coordinate and z coordinate be all greater than 0 (namely the three-dimensional coordinate of finger fingertip meets x>0 in region, thus ensure that the ultrasonic signal that described first loudspeaker 101 and the second loudspeaker 102 are launched can arrive staff z>0).
Due to described staff finger cylindrical surface for reflection district 20 for described second loudspeaker 102 launch ultrasonic signal reflection strongly, therefore, can detect by described first microphone 201 and described second microphone 202 the reflection paths information of ultrasonic signal in described cylindrical surface for reflection district 20 that described second loudspeaker 102 is launched respectively.When finger fingertip is far away apart from described first loudspeaker 101, reflecting surface due to described finger tip echo area 10 less may being difficult to detects the coordinate of described finger fingertip in X-axis, therefore can detect by described first microphone 201 and described second microphone 202 the reflection paths information of ultrasonic signal in echo area, described fist face 30 that described first loudspeaker 101 is launched respectively, then using finger length as compensating the reflection paths information of ultrasound wave in described finger tip echo area 10 that just can calculate described first loudspeaker 101 and launch.Finally, based on described reflection paths information, the three-dimensional coordinate of described finger fingertip can just be calculated by many ellipses intersect location algorithm.
Based on above-mentioned principle, the invention provides a kind of finger tip positioning system, refer to Fig. 3, it is the block diagram of a kind of embodiment of finger tip positioning system provided by the invention.Described finger tip positioning system 100 can be applied in contactless smart electronic installation, and described contactless smart electronic installation can define reference three-dimensional system of coordinate as shown in Figure 2.Described finger tip positioning system 100 can comprise the first loudspeaker 101, second loudspeaker 102 as above, ultrasonic reception apparatus array and perform the processor 300 of information analysis calculating, and ultrasonic reception device comprises the first microphone 201 and second microphone 202.Wherein, the particular location of described first loudspeaker 101, described second loudspeaker 102, described first microphone 201 and described second microphone 202 can refer to shown in Fig. 2.The ultrasonic reflection signal that described first loudspeaker 101 in staff different echo area, reflection occurs with the ultrasonic signal that described second loudspeaker 102 sends and formed can be received by described first microphone 201 and described second microphone 202; Further, described first microphone 201 and described second microphone 202 are connected to described processor 300.
Described processor 300 ultrasonic reflection signal that receives of described first microphone 201 and described second microphone 202 can carry out information extraction and analyzes with the three-dimensional coordinate calculating described finger fingertip.Particularly, described processor 300 can comprise the software modules such as finger cylindrical surface for reflection path extraction module 310, finger tip reflection peak detection module 320, finger tip reflection paths extraction module 330, fist face reflection paths extraction module 340, finger length extraction module 350, finger tip reflection paths estimation module 360 and finger tip coordinate calculation module 370.
Please refer to Fig. 4, it is the process flow diagram of a kind of embodiment of finger tip localization method provided by the invention.Described finger tip localization method can comprise:
The first ultrasonic signal launched by step S1, described first loudspeaker 101, and described first ultrasonic signal forms finger tip reflected signal and fist face reflected signal after finger tip echo area 10 and the reflection of echo area 30, fist face.
Particularly, described with reference in three-dimensional system of coordinate, the first loudspeaker 101 being positioned at YZ plane can along X-axis forward direction transmission first ultrasonic signal under the control of described processor 300, described first ultrasonic signal propagates into the finger tip echo area 10 of staff and echo area, fist face 30 occurs reflect and form ultrasonic reflection signal respectively, described reflected signal is called finger tip reflected signal and fist face reflected signal respectively below.
Step S2, described finger tip reflection peak detection module 320 judge whether described first microphone 201 and described second microphone 202 can detect finger tip reflected signal, if passable, perform step S3; Otherwise, perform step S5.
The ultrasonic reflection signal that described finger tip reflection peak detection module 320 can receive according to described first microphone 201 and described second microphone 202, the first ultrasonic signal sent in conjunction with described first loudspeaker 101 also passes through computing cross-correlation, obtain the reflectivity curve of the reflected signal that described first microphone 201 and described second microphone 202 receive, wherein said reflectivity curve can be specially ultrasonic reflection path intensity curve, and its reflection strength changes in time and changes.
Specifically, when staff and described first loudspeaker 101 close together, because described finger tip reflecting surface 10 and described fist face reflecting surface 30 are strong near field reflections, therefore described first microphone 201 and described second microphone 202 all will detect described finger tip reflected signal and described fist face reflected signal simultaneously.Therefore, described finger tip reflection peak detection module 320 can all extract two reflection peaks at the described reflectivity curve of the first microphone 201 and the reflectivity curve of described second microphone 202, i.e. finger tip reflection peak PA and fist face reflection peak PB.
Along with the distance between staff and described first loudspeaker 101 increases, because the reflecting surface of described finger tip echo area 10 is less, therefore finger tip reflection weakens gradually, and this weakens corresponding for the finger tip reflected signal causing described first microphone 201 and described second microphone 202 to receive; When distance increases to a certain degree, described finger tip reflected signal may be too weak and cannot be detected; And due to the reflecting surface of echo area, described fist face 30 comparatively large, therefore the reflection strength of described fist face reflected signal enough can be detected.In this case, described finger tip reflection peak detection module 320 all can only extract single reflection peak at the described reflectivity curve of the first microphone 201 and the reflectivity curve of described second microphone 202, i.e. described fist face reflection peak PB.
As can be seen here, described finger tip reflection peak detection module 320 can extract described finger tip reflection peak PA according to whether from the reflectivity curve of the first microphone 201 and described second microphone 202, judges whether described first microphone 201 and described second microphone 202 can receive described finger tip reflected signal.
In addition, when user performs contactless operation, its staff is likely motion continuously, now the peak change of the reflectivity curve of described first microphone 201 and described second microphone 202 is also continuous print, therefore described finger tip reflection peak detection module 320 can, according to the continuity degree of the change curve of finger tip reflection peak PA, judge whether described finger tip reflected signal to be detected equally.
Step S3, described finger tip and fist face reflection paths extraction module 330 extract finger tip reflection paths time delay D A
11and DA
12and calculate finger tip reflection paths length S
11and S
12, and extract fist face reflection paths time delay D B
11and DB
12.
Particularly, if described finger tip reflection peak detection module 320 can extract described finger tip reflection peak PA and described fist face reflection peak PB at the reflectivity curve of described first microphone 201 and described second microphone 202 in step s 2 simultaneously, the then finger tip reflected signal that receives of described finger tip and fist face reflection paths extraction module 330 first ultrasonic signal that can send according to described first loudspeaker 101 and described first microphone 201 and described second microphone 202, pass through Time Delay Estimation Algorithms, extract the reflection paths time delay D A of described finger tip reflected signal at described first microphone 201
11with its reflection paths time delay D A at described second microphone 202
12.
Further, according to the reflection paths time delay D A of described finger tip reflected signal
11and DA
12, described finger tip reflection paths extraction module 330 can calculate the reflection paths length S at described first microphone 201 of described finger tip reflected signal further by following formula (1) and (2)
11with its reflection paths length S at described second microphone 202
12:
S
11=DA
11*c(1)
S
12=DA
12*c(2)
Wherein, c represents the velocity of sound of current environment.Described finger tip reflection paths time delay D A
11and DA
12refer to respectively from described first loudspeaker 101 and send described first ultrasonic signal to receive described finger tip reflected signal time delay to described first microphone 201 and described second microphone 202; Described finger tip reflection paths length S
11the distance sum of finger fingertip and described first loudspeaker 101 and described first microphone 201, described reflection paths length S
12it is the distance sum of finger fingertip and described first loudspeaker 101 and described second microphone 202.
Meanwhile, the fist face reflected signal that the first ultrasonic signal that described finger tip and fist face reflection paths extraction module 330 can send according to described first loudspeaker 101 and described first microphone 201 and described second microphone 202 receive, by Time Delay Estimation Algorithms, extract the reflection paths time delay D B of current described fist face reflected signal at described first microphone 201
11with its reflection paths time delay D B at described second microphone 202
12.Described fist face reflection paths time delay D B
11and DB
12refer to respectively from described first loudspeaker 101 and send described first ultrasonic signal to receive described fist face reflected signal time delay to described first microphone 201 and described second microphone 202.
Step S4, described finger length extraction module 350 estimates finger length F
11and F
12.
Because fingertip is relative with the position relationship in fist face fixing and compact, therebetween namely distance can be equivalent to finger length, therefore, the half of the difference of the reflection paths length of the reflection paths length of described finger tip reflected signal and described fist face reflected signal can be estimated as described finger length by described finger length extraction module 350.Because described reflection paths length can be obtained by reflection paths time-delay calculation, therefore in a particular embodiment, described finger length extraction module 350 also can directly by the reflection paths time delay D A of described finger tip reflected signal and fist face reflected signal
11, DB
11, DA
12and DB
12calculate described finger length.
Because described finger tip positioning system 100 is configured with described first microphone 201 and described second microphone 202 simultaneously, therefore, according to described finger tip reflected signal and the described fist face reflected signal reflection paths time delay D A at described first microphone 201
11and DB
11, and the two is at the reflection paths time delay D A of described second microphone
12and DB
12, can estimate respectively and obtain two finger length value F
11and F
12, concrete Ru shown in following formula (5) and (6):
F
11=(DB
11-DA
11)*c/2(5)
F
12=(DB
12-DA
12)*c/2(6)
In step s 4 which, described finger length F
11and F
12estimation obtain after, can first preserve, follow-up described finger tip reflected signal cannot be detected time, described finger length F
11and F
12can be used for compensating to estimate described finger tip reflection paths length S to the reflection paths length of fist face reflected signal
11and S
12.
Step S5, described fist face reflection paths extraction module 340 extracts fist face reflection paths time delay D B
11and DB
12and calculate punch face reflection paths length SB
11and SB
12.
Particularly, if described finger tip reflection peak detection module 320 only can extract described fist face reflection peak PB at the reflectivity curve of described first microphone 201 and described second microphone 202 in step s 2, the fist face reflected signal that the first ultrasonic signal that described fist face reflection paths extraction module 340 can send according to described first loudspeaker 101 and described first microphone 201 and described second microphone 202 receive, by Time Delay Estimation Algorithms, extract the reflection paths time delay D B of described fist face reflected signal at described first microphone 201
11with its reflection paths time delay D B at described second microphone 202
12.
Further, according to the reflection paths time delay D B of described fist face reflected signal
11and DB
12, described fist face reflection paths extraction module 340 can calculate the reflection paths length SB of described fist face reflected signal at described first microphone 201 further by following formula (3) and (4)
11with its reflection paths length SB at described second microphone 202
12:
SB
11=DB
11*c(3)
SB
12=DB
12*c(4)
Wherein, described reflection paths length SB
11the distance sum of fist face and described first loudspeaker 101 and described first microphone 201, described reflection paths length SB
12it is the distance sum of fist face and described first loudspeaker 101 and described second microphone 202.
Step S6, described finger tip reflection paths estimation module 360 utilizes described finger length F
11and F
12come described fist face reflection paths length SB
11and SB
12compensate, and estimate described finger tip reflection paths length S
11and S
12.
Such as, described finger tip reflection paths estimation module 360 can with described fist face reflection paths length SB
11and SB
12deduct described finger length F
11and F
12twice, estimate described finger tip reflection paths length S
11and S
12.Specifically, on the one hand, the described finger tip reflection paths estimation module 360 described fist face reflected signal that can calculate according to described fist face reflection paths extraction module 340 is at the reflection paths length SB of described first microphone 201
11, and the finger length F that described finger length extraction module 350 goes out from the reflection paths time-delay calculation of described first microphone 201
11, estimate the reflection paths length S of described finger tip reflected signal at described first microphone 201
11; On the other hand, the described finger tip reflection paths estimation module 360 described fist face reflected signal that can also calculate according to described fist face reflection paths extraction module 340 is at the reflection paths length SB of described second microphone 202
12, and the finger length F that described finger length extraction module 350 goes out from the reflection paths time-delay calculation of described second microphone 202
12, estimate the reflection paths length S of described finger tip reflected signal at described second microphone 202
12, concrete Ru shown in following formula (7) and (8):
S
11=SB
11–F
11*2(7)
S
12=SB
12–F1
2*2(8)
Thus, in step S1 ~ S6, no matter whether because staff is apart from too far away and described finger tip reflected signal cannot be detected, adopt such scheme can obtain described finger tip reflection paths length S
11and S
12.
Step S7, the second ultrasonic signal launched by described second loudspeaker 102, and described second ultrasonic signal forms finger cylindrical surface for reflection signal after finger cylindrical surface for reflection district 20 is reflected.
Particularly, described with reference in three-dimensional system of coordinate, the second loudspeaker 102 being positioned at XY plane can launch the second ultrasonic signal to Z-direction, the finger cylindrical surface for reflection district 20 that described second ultrasonic signal propagates into staff occurs reflect and form ultrasonic reflection signal, referred to here as finger cylindrical surface for reflection signal.Described finger cylindrical surface for reflection signal can be received by described first microphone 201 and described second microphone 202.
Step S8, described finger cylindrical surface for reflection path extraction module 310 extracts finger cylindrical surface for reflection D in the path delay of time
21and D
22and calculate finger cylindrical surface for reflection path S
21and S
22.
Particularly, the finger cylindrical surface for reflection signal that the second ultrasonic signal that described finger cylindrical surface for reflection path extraction module 310 can send according to described second loudspeaker 102 and described first microphone 201 and described second microphone 202 receive, by Time Delay Estimation Algorithms, extract the reflection paths time delay D of described finger cylindrical surface for reflection signal at described first microphone 201
21with its reflection paths time delay D at described second microphone 202
22.
Further, according to the reflection paths time delay D of described finger cylindrical surface for reflection signal
21and DA
22, described finger cylindrical surface for reflection path extraction module 310 can calculate the reflection paths length S at described first microphone 201 of described finger cylindrical surface for reflection signal further by following formula (9) and (10)
21with its reflection paths length S at described second microphone 202
22:
S
21=D
21*c(9)
S
22=D
22*c(10)
Wherein, when staff moves in the region of specifying, finger cylindrical surface for reflection is to be close to the part of fingertip area.Described finger cylindrical surface for reflection D in the path delay of time
21and DA
22refer to respectively from described second loudspeaker 102 and send described second ultrasonic signal to receive described finger cylindrical surface for reflection signal time delay to described first microphone 201 and described second microphone 202; Described reflection paths length S
21the distance sum of finger cylinder and described second loudspeaker 102 and described first microphone 201, described reflection paths length S
22it is the distance sum of finger cylinder and described second loudspeaker 102 and described second microphone 202.
Step S9, described finger tip coordinate calculation module 370 is according to described finger tip reflection paths length S
11and S
12and described finger cylindrical surface for reflection path S
21and S
22, calculate the three-dimensional coordinate (x, y, z) of described finger fingertip.
Wherein, the reflection paths length S of described finger tip reflected signal
11and S
12can obtain from described finger tip reflection paths extraction module 330 or described finger tip reflection paths estimation module 360.Due to the reflection paths length S of described finger tip reflected signal
11for the distance sum of described finger fingertip and described first loudspeaker 101 and described first microphone 201, the reflection paths length S of described finger tip reflected signal
12for the distance sum of described finger fingertip and described second loudspeaker 102 and described second microphone 202, and the reflection paths length S of described finger cylindrical surface for reflection signal
21the distance sum of described finger fingertip and described second loudspeaker 102 and described first microphone 201 can be regarded as, the reflection paths length S22 of described finger cylindrical surface for reflection signal can be regarded as the distance sum of described finger fingertip and described second loudspeaker 102 and described second microphone 202, therefore, according to three ellipses intersect in space in the geometrical principle of a bit, based on S
11, S
12, S
21and S
22just the three-dimensional coordinate (x, y, z) of described finger fingertip can be calculated.
Particularly, described finger tip coordinate calculation module 370 can first from S
11, S
12, S
21and S
22in appoint get three values respectively as S
ab, S
cd, S
ef, such as can choose S
ab=S
11, S
cd=S
12, S
ef=S
21, substitute into following three-dimensional elliptical system of equations, solve and obtain three oval joining coordinate (x
1, y
1, z
1):
Wherein, (m, n, p) represents the focus of described ellipse, is also be exactly the volume coordinate of certain unit in described first loudspeaker 101, second loudspeaker 102, first microphone 201, second microphone 202.
Consider that finger fingertip is an object, instead of an ideal point, therefore, for improving the accuracy of the coordinate of finger fingertip further, described finger tip coordinate calculation module 370 is calculating described coordinate (x
1, y
1, z
1) after, S can be chosen further
11, S
12, S
21and S
22carry out other array modes and be used as S
ab, S
cd, S
efand substituting into above-mentioned three-dimensional elliptical system of equations, four kinds of combinations can calculate four joining coordinate (x altogether
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3), (x
4, y
4, z
4).Finally, arithmetic mean is asked to be used as the three-dimensional coordinate (x, y, z) of described finger fingertip to described four joining coordinates, namely
x=(x
1+x
2+x
3+x
4)/4
y=(y
1+y
2+y
3+y
4)/4
z=(z
1+z
2+z
3+z
4)/4
Should be appreciated that at specific embodiment, the ordinal relation that each step of above-mentioned finger tip localization method is strict, such as, step S7 and S8 can perform or synchronously perform with step S1 ~ S6 before step S1 ~ S6.On the other hand, although in the above-described embodiments, described finger cylindrical surface for reflection path extraction module 310, finger tip reflection peak detection module 320, finger tip reflection paths extraction module 330, fist face reflection paths extraction module 340, finger length extraction module 350, finger tip reflection paths estimation module 360 and finger tip coordinate calculation module 370 etc. are the software modules as described processor 300, in other alternate embodiments, above-mentioned module 310-370's also can be partly or entirely hardware module.
Finger tip localization method provided by the invention and system, distant and finger length can be utilized to compensate the reflection paths information of fist face reflected signal when finger tip reflected signal cannot be detected at staff, thus estimate the reflection paths information of finger tip reflected signal, and the reflection paths information combining finger cylindrical surface for reflection signal calculates the position coordinates of finger fingertip.Therefore, adopt finger tip localization method provided by the invention and system can realize remote finger fingertip location, effectively can expand the range of application of ultrasonic gesture identification scheme.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (8)
1. a finger tip positioning system, it is characterized in that, comprise the first ultrasound emission device, the second ultrasound emission device, ultrasonic reception apparatus array, finger tip reflection peak detection module, finger tip and fist face reflection paths extraction module, finger length extraction module, fist face reflection paths extraction module, finger tip reflection paths estimation module, point cylindrical surface for reflection path extraction module and finger tip coordinate calculation module, wherein
Described first ultrasound emission device, for launching the first ultrasonic signal;
Described second ultrasound emission device, for launching the second ultrasonic signal;
Described ultrasonic reception apparatus array, comprises described first ultrasonic reception device and the second ultrasonic reception device, at staff, reflection occurs and the ultrasonic reflection signal that formed for receiving described first ultrasonic signal and the second ultrasonic signal;
Described finger tip reflection peak detection module, for judging whether that receiving the first ultrasonic signal occurs to reflect and the finger tip reflected signal of formation at finger fingertip;
Described finger tip and fist face reflection paths extraction module, for when described finger tip reflected signal being detected, extract described first ultrasonic signal to occur in finger tip and fist face to reflect respectively and the reflection paths time delay of finger tip reflected signal that formed and the reflection paths time delay of fist face reflected signal, and calculate the reflection paths length of described finger tip reflected signal;
Described finger length extraction module, estimates the length of finger for the reflection paths length of finger tip reflected signal that draws according to described finger tip and fist face reflection paths extraction module and the reflection paths length of fist face reflected signal;
Described fist face reflection paths extraction module, for when described finger tip reflected signal not detected, extract described first ultrasonic signal to occur in fist face to reflect and the reflection paths time delay of the fist face reflected signal of formation, and calculate the reflection paths length of described fist face reflected signal;
Described finger tip reflection paths estimation module, for the reflection paths length utilizing finger length to compensate described fist face reflected signal, estimates the reflection paths length of described finger tip reflected signal;
Described finger cylindrical surface for reflection path extraction module, occurs to reflect and the reflection paths time delay of the finger cylindrical surface for reflection signal of formation at finger cylinder for extracting the second ultrasonic signal, and calculates the reflection paths length of described finger cylindrical surface for reflection signal;
Described finger tip coordinate calculation module, for according to the reflection paths length of described finger tip reflected signal and the reflection paths length of described finger cylindrical surface for reflection signal, calculates the coordinate of finger fingertip.
2. finger tip positioning system as claimed in claim 1, it is characterized in that, described first ultrasonic signal and described second ultrasonic signal are by the first ultrasound emission device be separately positioned on reference to the mutually orthogonal axis of three-dimensional system of coordinate two and the transmitting of the second ultrasound emission device, and described being also provided with reference to three-dimensional system of coordinate at staff, the ultrasonic reflection signal ultrasonic reception apparatus array of reflection and formation occurs for described first ultrasonic signal of reception and described second ultrasonic signal.
3. finger tip positioning system as claimed in claim 2, is characterized in that, described first ultrasound emission device is arranged on the Z axis forward with reference to three-dimensional system of coordinate, and its ultrasonic signal emission direction is X-axis forward; Described second ultrasound emission device is arranged on the described X-axis forward with reference to three-dimensional system of coordinate, and its ultrasonic signal emission direction is Z axis forward; Described first ultrasonic reception device and described second ultrasonic reception device are arranged on the described Y-axis with reference to three-dimensional system of coordinate.
4. finger tip positioning system as claimed in claim 3, it is characterized in that, described first ultrasound emission device and the second ultrasound emission device are respectively the first loudspeaker and the second loudspeaker, and described first ultrasonic reception device and the second ultrasonic reception device are respectively the first microphone and second microphone.
5. a finger tip localization method, is characterized in that, comprising:
Send the first ultrasonic signal and the second ultrasonic signal;
Judge whether to detect that the first ultrasonic signal, at finger fingertip, the finger tip reflected signal of reflection and formation occurs;
As finger tip reflected signal as described in detecting, then extract described first ultrasonic signal to occur in finger tip and fist face to reflect respectively and the reflection paths time delay of finger tip reflected signal that formed and the reflection paths time delay of fist face reflected signal, calculate the reflection paths length of described finger tip reflected signal, and estimate the length of finger thus;
As finger tip reflected signal as described in not detecting, then extract described first ultrasonic signal to occur in fist face to reflect and the reflection paths time delay of the fist face reflected signal of formation, calculate the reflection paths length of described fist face reflected signal, and utilize finger to compensate the reflection paths length estimating described finger tip reflected signal;
Extract the second ultrasonic signal to occur to reflect and the reflection paths time delay of the finger cylindrical surface for reflection signal of formation at finger cylinder, and calculate the reflection paths length of described finger cylindrical surface for reflection signal;
According to the reflection paths length of described finger tip reflected signal and the reflection paths length of described finger cylindrical surface for reflection signal, calculate the coordinate of finger fingertip.
6. finger tip localization method as claimed in claim 5, it is characterized in that, described first ultrasonic signal and described second ultrasonic signal are by the first ultrasound emission device be separately positioned on reference to the mutually orthogonal axis of three-dimensional system of coordinate two and the transmitting of the second ultrasound emission device, and described being also provided with reference to three-dimensional system of coordinate at staff, the ultrasonic reflection signal ultrasonic reception apparatus array of reflection and formation occurs for described first ultrasonic signal of reception and described second ultrasonic signal.
7. finger tip localization method as claimed in claim 6, it is characterized in that, described ultrasonic reception apparatus array comprises the first ultrasound emission device and the second ultrasound emission device, described first ultrasound emission device is arranged on the Z axis forward with reference to three-dimensional system of coordinate, and its ultrasonic signal emission direction is X-axis forward; Described second ultrasound emission device is arranged on the described X-axis forward with reference to three-dimensional system of coordinate, and its ultrasonic signal emission direction is Z axis forward; Described first ultrasonic reception device and described second ultrasonic reception device are arranged on the described Y-axis with reference to three-dimensional system of coordinate.
8. finger tip localization method as claimed in claim 5, is characterized in that, described in judge whether to detect that described first ultrasonic signal, at finger fingertip, reflection occurs and the method for finger tip reflected signal that formed is:
Ultrasonic reflection signal is received according to described first ultrasonic reception device and the second ultrasonic reception device, in conjunction with the first ultrasonic signal that described first ultrasound emission device is launched, computing obtains the reflectivity curve of described first ultrasonic reception device and described second ultrasonic reception device;
Whether the reflectivity curve detecting described first ultrasonic reception device and described second ultrasonic reception device comprises two reflection peaks, if, judge that described finger tip reflected signal and described fist face reflected signal are detected simultaneously, otherwise, judge described fist face reflected signal only to be detected.
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| CN112603275B (en) * | 2020-12-28 | 2022-07-29 | 中科彭州智慧产业创新中心有限公司 | Double-hand cunkou pulse wave detection equipment and method based on ultrasonic sensor |
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