CN108622176B - Multifunctional steering wheel human-vehicle interaction system based on TOF gesture recognition - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
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Abstract
本发明公开一种基于TOF手势识别的多功能方向盘人车交互系统，涉及人车交互接口领域。它包括近红外照明光源单元、TOF成像阵列传感器单元、透镜模组单元、TOP控制单元、三维点云图像处理单元和汽车方向盘，近红外照明光源单元对手势识别区域进行照明；TOP控制单元对近红外照明光源单元进行调制，同时控制TOF成像阵列传感器单元测量手势照明和反射之间的相移并转换为手势识别的距离深度信息，经由三维点云图像处理单元完成解析，通过CAN/LIN总线输出对应的方向盘多功能控制信号至车身控制器。本发明有效提高手势操作在车内应用的灵活性，可进行远距离、非接触的控制，使人车交互方式更自然、便捷。
The present invention discloses a multifunctional steering wheel human-vehicle interaction system based on TOF gesture recognition, which relates to the field of human-vehicle interaction interface. It includes a near-infrared lighting source unit, a TOF imaging array sensor unit, a lens module unit, a TOP control unit, a three-dimensional point cloud image processing unit and a car steering wheel. The near-infrared lighting source unit illuminates the gesture recognition area; the TOP control unit modulates the near-infrared lighting source unit, and at the same time controls the TOF imaging array sensor unit to measure the phase shift between gesture illumination and reflection and converts it into distance depth information for gesture recognition, completes the analysis via the three-dimensional point cloud image processing unit, and outputs the corresponding steering wheel multifunctional control signal to the vehicle body controller via the CAN/LIN bus. The present invention effectively improves the flexibility of gesture operation in the application of the vehicle, can perform long-distance, non-contact control, and makes the human-vehicle interaction more natural and convenient.
Description
技术领域Technical Field
本发明涉及人车交互接口领域，尤其是一种基于TOF手势识别的多功能方向盘人车交互系统。The present invention relates to the field of human-vehicle interaction interface, and in particular to a multifunctional steering wheel human-vehicle interaction system based on TOF gesture recognition.
背景技术Background Art
目前多功能方向盘上的人车交互方式以机械按键、拨杆以及旋钮为主。这些输入设备都存在一定的不足，输入习惯和人本身的自然交流习惯存在差异。At present, the human-vehicle interaction methods on the multi-function steering wheel are mainly mechanical buttons, levers and knobs. These input devices have certain shortcomings, and the input habits are different from people's natural communication habits.
发明内容Summary of the invention
为解决多功能方向盘上传统的机械按键、拨杆以及旋钮存在的不足，本发明提供一种基于TOF手势识别的多功能方向盘人车交互系统，采用非接触手势方式有效提高了手势操作在汽车内部应用的灵活性，可以对车身相关功能进行远距离、非接触的控制，使得人车交互方式更自然更便捷，符合未来智能汽车人车交互的发展趋势。In order to solve the shortcomings of traditional mechanical buttons, levers and knobs on the multi-function steering wheel, the present invention provides a multi-function steering wheel human-vehicle interaction system based on TOF gesture recognition, which adopts non-contact gesture mode to effectively improve the flexibility of gesture operation in the application of automobile interior, and can perform long-distance and non-contact control of vehicle body related functions, making the human-vehicle interaction mode more natural and convenient, which is in line with the development trend of human-vehicle interaction of future smart cars.
为实现上述目的，本发明采用下述技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种基于TOF手势识别的多功能方向盘人车交互系统，该多功能方向盘人车交互系统包括近红外照明光源单元、TOF成像阵列传感器单元、TOP控制单元、三维点云图像处理单元和汽车方向盘，近红外照明光源单元和TOF成像阵列传感器单元分别设置在汽车方向盘的两侧；近红外照明光源单元对手势识别区域进行照明；TOP控制单元对近红外照明光源单元进行调制，同时控制TOF成像阵列传感器单元测量手势照明和反射之间的相移，并将其转换成为手势识别的距离深度信息，经由三维点云图像处理单元完成解析，通过CAN总线或LIN总线输出对应的方向盘多功能控制信号至车身控制器。A multifunctional steering wheel human-vehicle interaction system based on TOF gesture recognition, the multifunctional steering wheel human-vehicle interaction system comprising a near-infrared lighting source unit, a TOF imaging array sensor unit, a TOP control unit, a three-dimensional point cloud image processing unit and a car steering wheel, wherein the near-infrared lighting source unit and the TOF imaging array sensor unit are respectively arranged on both sides of the car steering wheel; the near-infrared lighting source unit illuminates a gesture recognition area; the TOP control unit modulates the near-infrared lighting source unit, and controls the TOF imaging array sensor unit to measure the phase shift between gesture illumination and reflection, and converts it into distance depth information for gesture recognition, completes analysis via the three-dimensional point cloud image processing unit, and outputs a corresponding steering wheel multifunctional control signal to a body controller via a CAN bus or a LIN bus.
进一步地，近红外照明光源单元发出的近红外光经过识别手势反射后，通过TOF成像阵列传感器单元对反射的近红外光进行接收。Furthermore, after the near-infrared light emitted by the near-infrared illumination light source unit is reflected by the recognized gesture, the reflected near-infrared light is received by the TOF imaging array sensor unit.
进一步地，近红外照明光源单元包含多个照明单体；TOF成像阵列传感器单元一次同时测量多个照明单体，每个照明单体之间间隔与照明单体数对应的相位，利用照明和反射之间的相位差异来计算手势识别的距离深度信息。Furthermore, the near-infrared illumination light source unit includes a plurality of illumination monomers; the TOF imaging array sensor unit measures the plurality of illumination monomers at a time, and the phase interval between each illumination monomer corresponds to the number of illumination monomers, and the phase difference between illumination and reflection is used to calculate the distance depth information of gesture recognition.
进一步地，TOP控制单元采用多频技术对近红外照明光源单元进行调制，兼顾了测量精度和测量距离问题，即添加一个或多个调制频率来工作，使得在足够的测量距离条件下获得最佳的检测精度。每个调制频率都将计算得到一个对应的测量距离，实际手势深度位置由这些调制频率所测得多个距离共同决定。Furthermore, the TOP control unit uses multi-frequency technology to modulate the near-infrared illumination light source unit, taking into account both the measurement accuracy and the measurement distance, that is, adding one or more modulation frequencies to work, so as to obtain the best detection accuracy under sufficient measurement distance conditions. Each modulation frequency will calculate a corresponding measurement distance, and the actual gesture depth position is determined by the multiple distances measured by these modulation frequencies.
进一步地，TOP控制单元对近红外照明光源单元进行调制，同时控制TOF成像阵列传感器单元接收反射回来的近红外光，生成三维点云图像，可以提供每个像素点距离深度信息，并以灰度形式进行展现，灰度值越高，手势越接近TOF成像阵列传感器单元。Furthermore, the TOP control unit modulates the near-infrared illumination light source unit, and controls the TOF imaging array sensor unit to receive the reflected near-infrared light to generate a three-dimensional point cloud image, which can provide the distance and depth information of each pixel point and display it in grayscale. The higher the grayscale value, the closer the gesture is to the TOF imaging array sensor unit.
进一步地，三维点云图像处理单元根据TOF成像阵列传感器单元获得的距离深度信息(作为手势识别的一个重要特征)，将手势部位与图像的其他背景分割开。Furthermore, the three-dimensional point cloud image processing unit separates the gesture part from other backgrounds of the image based on the distance depth information (as an important feature of gesture recognition) obtained by the TOF imaging array sensor unit.
进一步地，多功能方向盘人车交互系统还包括透镜模组单元，透镜模组单元调节TOF成像阵列传感器单元拾取手势图像的焦距，使得手势识别区域范围符合实际应用场景的需要。Furthermore, the multi-function steering wheel human-vehicle interaction system also includes a lens module unit, which adjusts the focal length of the TOF imaging array sensor unit to pick up the gesture image, so that the gesture recognition area range meets the needs of actual application scenarios.
有益效果：Beneficial effects:
1.本发明通过手势控制方式替代多功能方向盘上传统的机械按键、拨杆以及旋钮，实现灯光功能控制、音频功能控制、影音功能控制、雨刮器功能控制、仪表盘功能控制以及定速巡航和电话功能控制。1. The present invention replaces the traditional mechanical buttons, levers and knobs on the multi-function steering wheel with gesture control to achieve lighting function control, audio function control, video function control, wiper function control, instrument panel function control, cruise control and telephone function control.
2.本发明采用视频输入的形式可以进行远距离和非接触的控制，实现手势控制车身相关功能；与传统方式相比，手势识别在弱光和强光环境下都能实现较高的正确率，使人车之间的交互更加自然便捷。2. The present invention adopts the form of video input to perform long-distance and non-contact control, and realize gesture control of vehicle body related functions; compared with traditional methods, gesture recognition can achieve a higher accuracy rate in both low-light and strong-light environments, making the interaction between people and vehicles more natural and convenient.
3.本发明的TOF手势识别集成度高、结构紧凑，由识别算法所带来的计算强度可以在嵌入式系统中实现，同时在车内环境下兼顾检测距离和测量精度两个要求，响应时间也是视觉系统中最快的，符合未来智能汽车人车交互的发展趋势。3. The TOF gesture recognition of the present invention has high integration and compact structure. The computing intensity brought by the recognition algorithm can be implemented in embedded systems. At the same time, it takes into account both the detection distance and measurement accuracy in the in-vehicle environment. The response time is also the fastest in the visual system, which is in line with the development trend of human-vehicle interaction in the future smart cars.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明一实施例的基于TOF手势识别的多功能方向盘人车交互系统的正视图；FIG1 is a front view of a multi-function steering wheel human-vehicle interaction system based on TOF gesture recognition according to an embodiment of the present invention;
图2是本发明一实施例的基于TOF手势识别的多功能方向盘人车交互系统的左视图；FIG2 is a left view of a multi-function steering wheel human-vehicle interaction system based on TOF gesture recognition according to an embodiment of the present invention;
图3是本发明一实施例的透镜模组单元的示意图；FIG3 is a schematic diagram of a lens module unit according to an embodiment of the present invention;
图4是本发明一实施例的照明和反射之间的相位差测量波形图；FIG4 is a waveform diagram showing a phase difference measurement between illumination and reflection according to an embodiment of the present invention;
图5是本发明一实施例的三维点云图；FIG5 is a three-dimensional point cloud diagram according to an embodiment of the present invention;
图6是本发明一实施例的手势部位与图像其他背景的分割示意图；FIG6 is a schematic diagram of segmentation of a gesture portion and other image backgrounds according to an embodiment of the present invention;
图中：1-红外照明光源单元，2-TOF成像阵列传感器单元，3-透镜模组单元，4-TOP控制单元，5-三维点云图像处理单元，6-汽车方向盘。In the figure: 1-infrared lighting source unit, 2-TOF imaging array sensor unit, 3-lens module unit, 4-TOP control unit, 5-three-dimensional point cloud image processing unit, 6-car steering wheel.
具体实施方式DETAILED DESCRIPTION
下面结合附图和实施例对本发明进一步说明。The present invention is further described below in conjunction with the accompanying drawings and embodiments.
本实施例提出一种基于TOF手势识别的多功能方向盘人车交互系统，如图1-2所示，它包括近红外照明光源单元1、TOF成像阵列传感器单元2、透镜模组单元3、TOP控制单元4、三维点云图像处理单元5和汽车方向盘6，近红外照明光源单元1和TOF成像阵列传感器单元2分别设置在汽车方向盘6的两侧；近红外照明光源单元1对手势识别区域进行照明；透镜模组单元3(图3)调节TOF成像阵列传感器单元2拾取手势图像的焦距，使得手势识别区域范围符合实际应用场景的需要；TOP控制单元4对近红外照明光源单元1进行调制，同时控制TOF成像阵列传感器单元2测量手势照明和反射之间的相移，并将其转换成为手势识别的距离深度信息，经由三维点云图像处理单元5完成解析，通过CAN总线或LIN总线输出对应的方向盘多功能控制信号至车身控制器。The present embodiment proposes a multifunctional steering wheel human-vehicle interaction system based on TOF gesture recognition, as shown in Figure 1-2, it includes a near-infrared lighting source unit 1, a TOF imaging array sensor unit 2, a lens module unit 3, a TOP control unit 4, a three-dimensional point cloud image processing unit 5 and a car steering wheel 6, the near-infrared lighting source unit 1 and the TOF imaging array sensor unit 2 are respectively arranged on both sides of the car steering wheel 6; the near-infrared lighting source unit 1 illuminates the gesture recognition area; the lens module unit 3 (Figure 3) adjusts the focal length of the TOF imaging array sensor unit 2 to pick up the gesture image, so that the gesture recognition area range meets the needs of the actual application scenario; the TOP control unit 4 modulates the near-infrared lighting source unit 1, and at the same time controls the TOF imaging array sensor unit 2 to measure the phase shift between gesture illumination and reflection, and converts it into distance depth information for gesture recognition, completes the analysis through the three-dimensional point cloud image processing unit 5, and outputs the corresponding steering wheel multifunctional control signal to the body controller through the CAN bus or LIN bus.
在本实施例中，近红外照明光源单元1(型号：Lumentum 350mW,854nm TO-56Packaged Laser Diode 22045504)发出的近红外光经过识别手势反射后，通过TOF成像阵列传感器单元2(型号：320×240 Array OPT8241)对反射的近红外光进行接收。In this embodiment, the near-infrared light emitted by the near-infrared illumination light source unit 1 (model: Lumentum 350mW, 854nm TO-56 Packaged Laser Diode 22045504) is reflected by the recognized gesture, and then the reflected near-infrared light is received by the TOF imaging array sensor unit 2 (model: 320×240 Array OPT8241).
在本实施例中，近红外照明光源单元1包含多个照明单体；TOF成像阵列传感器单元2一次同时测量多个照明单体，每个照明单体之间间隔与照明单体数对应的相位，利用照明和反射之间的相位差异来计算手势识别的距离深度信息。具体地：如图4所示，利用照明和反射之间的相位角φ(下式(1))计算手势识别的距离深度d(下式(2))。In this embodiment, the near-infrared illumination light source unit 1 includes a plurality of illumination units; the TOF imaging array sensor unit 2 measures a plurality of illumination units at a time, and the interval between each illumination unit corresponds to the phase of the number of illumination units, and the phase difference between illumination and reflection is used to calculate the distance depth information of gesture recognition. Specifically, as shown in FIG4 , the distance depth d (the following formula (2)) of gesture recognition is calculated using the phase angle φ between illumination and reflection (the following formula (1)).
其中，c为光速；Q1、Q2、Q3和Q4为TOF成像阵列传感器单元2采样得到的电荷量。Wherein, c is the speed of light; Q1, Q2, Q3 and Q4 are the charges sampled by the TOF imaging array sensor unit 2.
在本实施例中，TOP控制单元4采用多频技术对近红外照明光源单元1进行调制，兼顾了测量精度和测量距离问题，即添加一个或多个调制频率来工作，使得在足够的测量距离条件下获得最佳的检测精度。每个调制频率都将计算得到一个对应的测量距离，实际手势深度位置是由这些调制频率所测得多个距离共同决定。具体地：连续方波光源调制检测手势识别的距离测量方差可以表示为下式(3)：In this embodiment, the TOP control unit 4 uses multi-frequency technology to modulate the near-infrared illumination light source unit 1, taking into account both the measurement accuracy and the measurement distance, that is, adding one or more modulation frequencies to work, so as to obtain the best detection accuracy under the condition of sufficient measurement distance. Each modulation frequency will calculate a corresponding measurement distance, and the actual gesture depth position is determined by the multiple distances measured by these modulation frequencies. Specifically: the distance measurement variance of gesture recognition detected by continuous square wave light source modulation can be expressed as the following formula (3):
其中，cd为调制对比度，描述了TOF成像阵列传感器单元2分离和收集光电子的能力。Where c d is the modulation contrast, which describes the ability of the TOF imaging array sensor unit 2 to separate and collect photoelectrons.
其中，反射光亮度L是光功率的函数，可以表示为下式(4)：The reflected light brightness L is a function of the optical power and can be expressed as the following formula (4):
其中，偏移量S是环境光和系统偏移量的函数，可以表示为下式(5)：The offset S is a function of the ambient light and the system offset, and can be expressed as follows (5):
从式(3)中可以推断出反射光亮度，调制频率和调制对比度是影响距离测量精度三大因素。From formula (3), it can be inferred that the reflected light brightness, modulation frequency and modulation contrast are the three major factors affecting the distance measurement accuracy.
在本实施例中，TOP控制单元4(型号：3D ToF Controller OPT9221)对近红外照明光源单元1进行调制，同时控制TOF成像阵列传感器单元2接收反射回来的近红外光，生成三维点云图像，可以提供每个像素点距离深度信息，如图5所示，并以灰度形式进行展现，灰度值越高，手势越接近TOF成像阵列传感器单元2。In this embodiment, the TOP control unit 4 (model: 3D ToF Controller OPT9221) modulates the near-infrared illumination light source unit 1, and controls the TOF imaging array sensor unit 2 to receive the reflected near-infrared light to generate a three-dimensional point cloud image, which can provide the distance depth information of each pixel point, as shown in Figure 5, and is displayed in grayscale. The higher the grayscale value, the closer the gesture is to the TOF imaging array sensor unit 2.
在本实施例中，三维点云图像处理单元5(型号：高性能ARMAM437x)根据TOF成像阵列传感器单元2获得的距离深度信息(作为手势识别的一个重要特征)，将手势部位与图像的其他背景分割开，如图6所示。In this embodiment, the three-dimensional point cloud image processing unit 5 (model: high performance ARM AM437x) separates the gesture part from other backgrounds of the image based on the distance depth information (as an important feature for gesture recognition) obtained by the TOF imaging array sensor unit 2, as shown in FIG6 .
对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Regarding the limitation of the protection scope of the present invention, those skilled in the art should understand that, based on the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the protection scope of the present invention.
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| CN110822719A (en) * | 2019-10-08 | 2020-02-21 | 广东万博电气有限公司 | Gesture-controlled electric water heater |
| CN112748583B (en) * | 2020-08-11 | 2022-05-13 | 上海鲲游光电科技有限公司 | Optical field modulator and modulation method thereof |
| CN112818857A (en) * | 2021-02-02 | 2021-05-18 | 深圳市汇春科技股份有限公司 | Method, device and equipment for recognizing air gesture and storage medium |
| CN116009275B (en) * | 2022-12-30 | 2024-07-19 | 福州大学 | Naked eye 3D display device capable of recognizing dynamic gestures |
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