CN102495672A - Position judging method in touch control - Google Patents
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Abstract
The invention relates to the technical field of wireless control, aims to overcome shortcomings of the prior art, and provides a simple method, which is used for realizing touch control without a remote controller, greatly reduces control complexity and data calculation and expands the application range of a game platform. Induction is realized by infrared rays emitted by a light source, equidistant infrared signals are distributed in an induction area, and the position of a human body in the induction area is determined according to reflection distances of the infrared signals on a reflected signal image in the induction area. The infrared signals are distributed in the induction area at specific intervals, distances among projection of the infrared signals at different distances are different, and the perpendicular distance from the human body to the light source can be determined by the aid of the distances and transmitting angles of the infrared signals. The method is simple and convenient, coding of each infrared signal is omitted, a calculation procedure is simplified, and data speed is greatly increased.
Description
Technical field
The present invention relates to the controlled in wireless technical field, say so more specifically a kind of need not terminal control device, directly respond to the method for the position judgment in the body sense control of human action.
Background technology
Electronic recreation has had the variation that updates so far from the development seventies, on game mode, has also formed school and characteristics separately.Wherein the sensation that is in the recreation of player more and more receives developer's attention, makes that having higher interaction between player and the recreation experiences, and also develops on this basis the various games platform.
The most distinguished characteristic of Wii that old brand game machine producer releases is its standard controller " Wii Remote ".The external form of WiiRemote is bar-shaped, and is just the same as TV remote controller, one-hand operation.Except controlling with button as telepilot, it also has two functions: point to location and action induction.The former just generally can control the cursor on the screen as light rifle or mouse, and the latter can detect the mobile and rotation in the middle of the three dimensions, can reach so-called " body sense operation " in conjunction with both.Wii Remote can turn to bat, baton, drum rod, fishing rod, bearing circle, sword, rifle, scalpel, pliers in the middle of Games Software ... Deng instrument, the user can brandish, whipping, hack, bur, circle round, shoot ... Use etc. variety of way.The notion of body sense operation occurred in recreation in the past, but they need special-purpose controller usually; List body sense operation in standard and be equipped with, all recreation on the platform can both be used point to location and action induction, the invention of the Wii that then can say so.But the Wii gaming platform also can't leave Wii Remote controller, need carry out game operation through it, to a certain extent the player's of influence body sense.
For this reason, Microsoft has issued its gaming platform XBOX360 body sense periphery peripheral hardware Kinect on June 14th, 2010, and Natal is the exploitation code name.It is a kind of 3D body sense video camera, and it has imported functions such as instant motion capture, image identification, microphone input, speech recognition, community interaction simultaneously.The player can drive in recreation through this technology, with other player interactions, share picture and information etc. with other Xbox players through the internet.The sharpest edges of Kinect are to need not to adopt any telepilot to carry out game control, and the professional vice president Tang Matelike of Microsoft's interaction entertainment (Don Mattrick) says: " this technological let us just can step into new era of an interaction entertainment under the situation that need not sell new main frame." Tang Matelike also says: " and previous, there is kind of obstacle all to separate electronic game player and everyone and opens, " " now, Natal has been arranged, everybody can both add recreation, uses telepilot the most excellent on the invention history---you.”
The principle of work of Natal, camera have played very big effect, the action of its charge capture people limbs, and the slip-stick artist of Microsoft just can design program and teach it how to go identification, memory, these actions of analyzing and processing then.Therefore technically, Natal is senior more a lot of than the body sense of Wii.Natal is not a camera.Though it can catch 30 times in one second, this is the part of total system.In addition, also have a sensor to be responsible for the detection dynamics and the degree of depth, four microphones are responsible for gathering sound.It can form a 3D image with the residing room of player, analyze the motion of player's health then, so total system is to be conceived to your residing whole game environments, and forms a comprehensive control system.
A powerful sensation array is arranged among the Natal, its use be a kind of light coding (light coding) technology.Be different from traditional T oF or structural light measurement technology, what light coding used is continuous illumination (and non-pulse), does not also need special sensitive chip, and only needs common CMOS sensitive chip, and this lets the cost of scheme reduce greatly.Light coding is as the term suggests be exactly to compile with the space that light illumination give to need is measured to go up sign indicating number, after all or structured light technique.But different with traditional method of structured light is, what his light source got out is not the picture coding of the two dimension of a secondary period property variation, but " the body coding " with three-dimensional depth.This light source is called laser speckle (laser speckle), be when laser radiation to rough object or the diffraction spot at random that forms after penetrating frosted glass.
These speckles have the randomness of height, and can be along with the different changing patterns of distance.The speckle pattern that is to say any two places in the space all is different.As long as in the space, stamp such structured light, mark has just all been done in whole space, puts an object into this space, as long as look at the speckle pattern above the object, just can know where this object is.Certainly, to all note the speckle pattern in whole space before this, so will do the demarcation of primary source earlier.The method of its demarcation is such: whenever at a distance from a segment distance, get reference planes, note the speckle pattern on the reference planes.The User Activity space of supposing the Natal regulation is the scope apart from 1 meter to 4 meters of televisor, and every separated 10cm gets reference planes, demarcates us so and has just preserved 30 width of cloth speckle images.When need measure; Take the speckle image of a secondary scene to be measured; This width of cloth image is preserved 30 width of cloth reference pictures that get off with us take turns doing computing cross-correlation; We can obtain 30 width of cloth degree of correlation images like this, and the position that has object to exist in the space will demonstrate peak value on degree of correlation image.Stack these peak values from level to level, pass through some interpolation again, will obtain the 3D shape of whole scene.
Though the technology of Microsoft has solved the problem of telepilot, its defective is each light signal is all carried out specific coding (light coding), and this Technology Need back-end data is at a high speed handled, and needs the calculating that high-speed CPU realizes these feedback data.Because the speed of development of Games Software adopts the control technology of this principle to bring great limitation to the recreation that is applied to this platform considerably beyond the speed of development of hardware, limited the exploitation of recreation.
Summary of the invention
The objective of the invention is to overcome the defective of prior art; Provide a kind of simple method to be used to realize not having the body sense control of telepilot; Reduce the complexity and the operation of data amount of control greatly, expand the application surface of gaming platform, and can further be generalized in the body sense control of other field.
This patent is realized the foregoing invention purpose through following technical scheme.
The invention discloses the method for position judgment in a kind of body sense control, the body perception not in, the most basic identification that comprises the human space position and the identification of human action.And the action recognition of human body is with respect to proven technique; Such as the various human body modeling techniques that are used in now in the production of film and TV technology; Like skeleton modeling technique or the like, so the not middle most critical of body perception is to the locus identification of player in induction region.Technology with respect to the entire space modeling that Microsoft adopted; The technology that the present invention adopts is to respond to through the infrared ray that light source sends; The infrared signal of distribution equidistance in induction region is confirmed the position of human body in induction region according to the spacing or the skew of human body infrared signal on induction region internal reflection signal pattern.The present invention is through the infrared signal of distribution specific distance in induction region; Because on different distances; The spacing of projection is different between the infrared signal; The offset of the signal that reflects is also different, but the spacing of signal is fixed with skew on same position, can confirm the vertical range between human body and the light source as long as therefore known the emission angle of this spacing or skew and infrared signal.This method is simple and convenient, need not each infrared signal is encoded, and the calculating process of simplification has improved data speed greatly.
Above-mentioned induction region is the space over against light source, has X, Y, three directions of Z, and said light source is positioned on the side XY plane of induction region, and the infrared ray that is sent is fan-shaped irradiation, and said method specifically may further comprise the steps:
S1. from light source,, constitute the infrared signal array in a plurality of infrared signals that are equally spaced of directions X or Y direction or X and Y direction in the induction region of light source;
S2. when human body is positioned at said induction region, receive the infrared signal of human body reflection, form the reflected signal image;
S3. confirm the position of human body in inductive spacing according to the spacing or the skew of infrared signal on the said reflected signal image.
It is technological similar that this method and Microsoft are adopted, and is equally in induction region, to form one " sensation array ", but need not signal is encoded, and therefore can not form like micro soft technique described " body coding ".A plurality of infrared signals from light source, are fan-shaped by specific angle and are evenly distributed in the induction region, form so-called sensation array.On each XY plane perpendicular to the Z axle, light source sends the projection progressively diffusion near and far of infrared signal like this, triangular in shape or pyramid or conical distribution on Z-direction, and light source is positioned at vertex position.When the distance of human body and light source not simultaneously; Infrared signal is projected in the sitgnal distancel that human body produced on one's body or the skew that reflects is also different; Therefore can extrapolate the distance between human body and the light source through this spacing or skew, confirm the position of human body in induction region thus.
Light source described in the step S1 according to the invention is provided with on directions X or Y direction or XY plane between two parties, and the position of human body described in the step S3 in inductive spacing is human body and the vertical range of light source on the Z direction.The light source purpose that is provided with placed in the middle is further to simplify computing; The infrared signal that light source projected that is provided with placed in the middle is that the center is symmetrical distribution with the light source; When human body is positioned at induction region; Only need find out the distance between the infrared signal that is symmetrically distributed in the light source both sides on the human body,, then can directly obtain the distance between human body and the light source through triangle trigonometric function relation in conjunction with its emission angle.When there is certain distance the position of camera and light source; The side-play amount of the infrared signal that reflects on the diverse location that camera photographs is then different; In conjunction with its emission angle, then can directly obtain the distance between human body and the light source through triangle trigonometric function relation.
In order further to improve arithmetic speed, confirm that according to the spacing of said reflective infrared signal the method for the position of human body in inductive spacing is the matches criteria table matched position through position and spacing among the said step S3.Said matches criteria table is through the standard flat on a plurality of XY of being parallel to plane is set in induction region, infrared signal is formed in the distance of the spacing of projection on the Different Plane and plane and light source or with the skew of infrared signal reflection position on Different Plane and plane and light source apart from formation.。Through a plurality of standard flats induction region is divided into a plurality of intervals; The spacing of infrared signal or skew are corresponding one by one with the distance between the light source with the plane on each plane; Form matching list; Can obtain human body through spacing between any infrared signal or skew fast through matching list and be positioned at which interval, thereby obtain the vertical range of human body and light source.
A kind of in addition method is to confirm that according to the spacing of said reflective infrared signal the method for the position of human body in inductive spacing is that spacing and the emission angle between two infrared signals through two infrared signals calculates human body and the distance of light source on the Z direction through trigonometric function among the said step S3; Or, calculate human body and the vertical range of light source on the Z direction through trigonometric function in conjunction with its emission angle according to the skew of the reflection position of infrared signal.Though this real-time calculated feedback speed is slower than last a kind of method, can confirms the distance between human body and the light source more accurately, and need not to store lot of data and compare.
The infrared signal that forms indifference the present invention passes grating with same light source in said step S1 after is arranged the homology infrared signal array that constitutes.Grating can be divided into a plurality of somes signals or row signal with light source, and penetrates with certain direction, forms the infrared signal array.This grating need not infrared signal is carried out specific coding, and a plurality of infrared signals after cutting apart all are indifferences, so this grating is made simply much for the encode grating that Microsoft adopted, cost also descends a lot.
Infrared signal array of the present invention can have two kinds of basic models at least; Promptly put signal and row signal; Put signal specifically and be said infrared signal array in directions X or Y direction or equidistance distributes on the XY direction simultaneously infrared point signal matrix, the row signal is the infrared capable signal ranks that are equally spaced in directions X or Y direction.
When the infrared capable signal ranks of said infrared signal array, can further confirm the degree of depth of human body through the distortion of infrared capable signal for being equally spaced in directions X or Y direction.After the locus that obtains human body, can also further obtain the shape facility of human body like this, concrete method is to confirm that through the distortion of infrared capable signal the method for the degree of depth of human body is the matches criteria table coupling degree of depth through position and distortion.This matches criteria table can be through being provided with the different standard curved surface of some curvature on the same position in induction region, record the torsional deformation image of infrared capable signal of the standard curved surface of different curvature, obtains matching list.
Compared with prior art; The invention has the beneficial effects as follows: can find out from above-mentioned description; The present invention improves on the body sense control method of existing Microsoft, locus identification and action recognition is separated, and come the implementation space location recognition through the infrared signal array of a simplification; Action recognition technology through existing maturation realizes action recognition, has significantly reduced data operation quantity.Help improving the arithmetic speed of system, reduced the restriction to game design, make gaming platform have more widely and use, the inventive method also can be applied to other body sense control fields except that gaming platform, like display platform, and electrical equipment control or the like.Have outstanding substantive distinguishing features and obvious improvement with respect to prior art.
Description of drawings
Fig. 1 is the synoptic diagram of the induction region of the embodiment of the invention 1;
Fig. 2 is an infrared signal distribution schematic diagram in the induction region;
Fig. 3 is an infrared signal perspective view in the induction region;
Fig. 4 is another perspective view of infrared signal in the induction region;
Fig. 5 is a standard flat synoptic diagram in the induction region;
Fig. 6 is embodiment 1 a function calculation synoptic diagram;
Fig. 7 is induction region acceptance of the bid director surface synoptic diagram;
Fig. 8 is the perspective view of infrared signal on the standard curved surface in the induction region;
Fig. 9 is the interior infrared signal distribution schematic diagram of the induction region of embodiment 2;
Figure 10 is embodiment 2 function calculation synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further argumentation.
The present invention only relates to the determination methods of position in the body sense control; Its principle is to respond to through the infrared ray that light source sends; Be the infrared signal of distribution equidistance in induction region, confirm the position of human body in induction region according to the distance of human body infrared signal on induction region internal reflection signal pattern.
As shown in Figure 1, induction region is the space over against light source 1, has X, Y, three directions of Z, and said light source is positioned on the side XY plane of induction region, and light source 1 is positioned at the same side with camera 2 and display 3.As shown in the figure, look up overlooking with side-looking side, the infrared ray that light source 1 is sent is fan-shaped irradiation, forms the induction region of a taper.Camera 2 is taken and is positioned at the projection of induction region infrared signal on human body 4, and in projected image, the spacing of infrared signal is calculated the distance between human body 4 and the light source 1.
The side-looking that Fig. 2 distributes for the induction region infrared signal or overlook the synoptic diagram of direction; As can be seen from the figure at plane L1 and L2 apart from light source 1 different distance; The density that infrared signal distributes is different, and the spacing between the infrared signal is also different, and is far away more apart from light source 1; Infrared signal distributes thin more, and the spacing between the infrared signal is big more.
The distribution of infrared signal in induction region can have various ways; Like directions X or Y direction or X and Y direction a plurality of infrared signals that are equally spaced; Constitute the infrared signal array, said array can be in directions X or Y direction or equidistance distributes on the XY direction simultaneously infrared point signal matrix, and is as shown in Figure 3; Or the infrared capable signal ranks that are equally spaced in directions X or Y direction, as shown in Figure 4.
The principle of this patent is when human body 4 is positioned at said induction region, receives the infrared signal of human body reflection, forms the reflected signal image; Further confirm the position of human body in inductive spacing according to the spacing of infrared signal on the said reflected signal image.
As shown in Figure 1, said light source 1 is provided with on directions X between two parties, owing to be the top that places display 3, therefore places higher position in the Y direction, according to the difference of coordinate system, can be arranged on the middle position of Y direction or the middle position of XY screen.The position of said human body 4 in inductive spacing is human body 4 and the vertical range of light source 1 on the Z direction.
The definite of above-mentioned position can realize through following several method:
First method is to confirm that according to the spacing of said reflective infrared signal the method for the position of human body in inductive spacing is the matches criteria table matched position through position and spacing.The matches criteria table is to be built in intrasystem both given data correspondence table lattice; The formation of form is through the standard flat on a plurality of XY of being parallel to plane is set in induction region, and the distance of the spacing of infrared signal projection on Different Plane and plane and light source is formed.As shown in Figure 5; 1～n standard flat that is parallel to the XY plane is set; Each standard flat identical apart from d; After the distance of each standard flat and light source 1 was confirmed, the spacing of infrared signal projection was above that also just decided, and therefore can process the matches criteria table according to the spacing of infrared signal projection on Different Plane and the distance of standard flat and light source.When human body is arranged in induction region, be the reversible distance that is converted between human body and the light source in the spacing and the comparison of matches criteria table of projection on the human body according to infrared signal on the image of camera acquisition.The quantity that standard flat is provided with is many more, and promptly d is more little, and the precision of matches criteria table is just high more, and the spacing of d is between 1～5cm generally speaking, and concrete numerical value can design according to required precision.
Second method is to adopt direct Calculation Method, and promptly the emission angle between the spacing through two infrared signals and two infrared signals calculates human body and the vertical range of light source on the Z direction through trigonometric function.As shown in Figure 6; For two plane L1 in the induction region and L2; Only need to obtain infrared signal S1 and the spacing d1 between the S2 and the d2 of projection two symmetries above that through camera; Can calculate vertical range l1 and l2 between plane L1 and L2 and the light source through the infrared signal S1 of two symmetries and the angle a of S2.Though this method need be passed through certain conversion with respect to last a kind of method, can calculate the actual range between human body and the light source accurately.
The present invention can also further combine the advantage of above-mentioned two kinds of methods, and two kinds of methods are combined, and under the situation that can't adopt second method, when can't find two symmetric signals, adopts first method to replenish; Perhaps adopt second method that first method is verified or the like.Organically combine two kinds of methods, accomplish flexible Application, improve human space position constant speed degree and precision really.
Except judging the position of human body in induction region, can also further confirm the spatial form of human body through the present invention, this method mainly realizes through infrared capable signal.As shown in Figure 7, confirm that according to the distortion of infrared capable signal the method for the degree of depth of human body is the matches criteria table coupling degree of depth through position and distortion.This matches criteria table can be provided with a plurality of different curved surfaces on same distance, as shown in Figure 8 according to the different degree of depth of confirming human body of torsion resistance of the projection of infrared capable signal on curved surface, thereby reaches the identification of human space shape.
As shown in Figure 9, camera 2 is arranged on a side of light source 1, with light source 1 at a distance of certain distance, the shooting area of camera 2 covers the major part of whole induction region.A formed image and a last embodiment have the certain position skew in the infrared signal reflection meeting camera 2 like this.And but human body when being positioned on different plane L1 or the L2, the offset distance that is produced is different.Specifically shown in figure 10, infrared signal S3 reflects on plane L1 and L2, and when getting into camera 2, the offset d 3 that is produced is different with d4, cause the skew of entire emission image thus, and the vertical range of side-play amount and plane L1 and L2 and light source 1 is one to one.Therefore all can confirm the position of human body in induction region through the form of embodiment 1 described matches criteria table or the form of functional operation, repeat no more at this.
Claims (10)
1. the method for position judgment during a body sense is controlled; Infrared ray through light source sends is responded to; The infrared signal that it is characterized in that distribution equidistance in induction region is confirmed the position of human body in induction region according to the spacing or the skew of human body infrared signal on induction region internal reflection signal pattern.
2. method according to claim 1; It is characterized in that induction region is the space over against light source, have X, Y, three directions of Z, said light source is positioned on the side XY plane of induction region; The infrared ray that is sent is fan-shaped irradiation, and said method specifically may further comprise the steps:
S1. from light source,, constitute the infrared signal array in a plurality of infrared signals that are equally spaced of directions X or Y direction or X and Y direction in the induction region of light source;
S2. when human body is positioned at said induction region, receive the infrared signal of human body reflection, form the reflected signal image;
S3. confirm the position of human body in inductive spacing according to the spacing or the skew of infrared signal on the said reflected signal image.
3. method according to claim 2 is characterized in that light source described in the said step S1 is provided with between two parties on directions X or Y direction or XY plane, the position of human body described in the step S3 in inductive spacing is human body and the distance of light source on the Z direction.
4. method according to claim 3 is characterized in that confirming that according to the spacing of said reflective infrared signal the method for the position of human body in inductive spacing is the matches criteria table matched position through position and spacing or skew among the said step S3.
5. method according to claim 4 is characterized in that said matches criteria table is through the standard flat on a plurality of XY of being parallel to plane is set in induction region, the distance of the spacing of infrared signal projection on Different Plane and plane and light source is formed; Or the distance of the skew of infrared signal reflection position on Different Plane and plane and light source is formed.
6. method according to claim 3 is characterized in that among the said step S3 confirming that according to the spacing of said reflective infrared signal the method for the position of human body in inductive spacing is that spacing and the emission angle between two infrared signals through two infrared signals calculates human body and the vertical range of light source on the Z direction through trigonometric function; Or, calculate human body and the vertical range of light source on the Z direction through trigonometric function in conjunction with its emission angle according to the skew of the reflection position of infrared signal.
7. according to each described method of claim 1～6, it is characterized in that among the said step S1 that same light source is passed the infrared signal that forms indifference behind the grating arranges the homology infrared signal array that constitutes.
8. method according to claim 7 is characterized in that said infrared signal array in directions X or Y direction or equidistance distributes on the XY direction simultaneously infrared point signal matrix, or the infrared capable signal ranks that are equally spaced in directions X or Y direction.
9. method according to claim 7 is characterized in that the infrared capable signal ranks of said infrared signal array for being equally spaced in directions X or Y direction, further confirms the degree of depth of human body through the distortion of infrared capable signal.
10. according to method according to claim 9, it is characterized in that said distortion through infrared capable signal confirms that the method for the degree of depth of human body is the matches criteria table coupling degree of depth through position and distortion.
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| CN113296117A (en) * | 2020-04-22 | 2021-08-24 | 追创科技(苏州)有限公司 | Obstacle recognition method, obstacle recognition device and storage medium |
| CN114433262A (en) * | 2022-01-26 | 2022-05-06 | 合肥工业大学 | Multi-particle rapid capturing system and operation method thereof |
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Application publication date: 20120613 |