CN109901539A

CN109901539A - A kind of man-machine interactive system and its control method applied to smart home

Info

Publication number: CN109901539A
Application number: CN201910238579.8A
Authority: CN
Inventors: 王丹玲; 王昭淮
Original assignee: Eastern Liaoning University
Current assignee: Eastern Liaoning University
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2019-06-18

Abstract

The embodiment of the present invention provides a kind of man-machine interactive system and its control method applied to smart home.Data collection station carries out signal processing in the action signal of the human body positioning signal and each target site obtained in real time to each wearable device, is sent to server terminal after generating corresponding human body location information and the motion information of each target site.Motion information of the server based on the corresponding target site information of each wearable device and each target site carries out posture trajectory predictions to human body, corresponding posture trace information is generated, and is sent to household equipment after lookup in the control instruction database of the household equipment and the matched target control instruction of posture information of each target site after determining household equipment to be controlled.Household equipment is based on the corresponding operating mode of target control instruction execution.Thereby, it is possible to provide more intelligent smart home experience for user, the experience sense of human-computer interaction is greatly improved.

Description

A kind of man-machine interactive system and its control method applied to smart home

Technical field

The present invention relates to smart home field more particularly to a kind of man-machine interactive systems and its control applied to smart home Method processed.

Background technique

Smart home (Smart Home, Hhome Automation) be using house as platform, using comprehensive wiring technology, Network communication technology, security precautions technology, automatic control technology, audio and video technology integrate the related facility of home life, structure The management system of efficient housing facilities and family's schedule affairs is built, house security, convenience, comfort, artistry are promoted, And realize the living environment of environmental protection and energy saving.Smart home is the embodiment of the instrumentation under the influence of internet.Smart home passes through Technology of Internet of things is by various equipment (such as the control of audio & video equipment, lighting system, curtain, airconditioning control, the security protection system in family System, Digital Theater System, video server, shadow cabinet system, network home appliance etc.) it connects together, home wiring control, illumination control are provided System, remote control using telephone, indoor and outdoor remote control, burglar alarm, environmental monitoring, HVAC control, infrared forwarding and programmable Timer Multiple functions and the means such as control.

Human-computer interaction (Human-Computer Interaction, write a Chinese character in simplified form HCI): refer to and used between people and computer Certain conversational language, the information exchanging process between people and computer with certain interactive mode, to complete to determine task.Have Human-computer interaction is being studied by many leading companies and academic institution.In development of computer history, people seldom pay attention to computer Ease for use.Now, many computer users complain how computer maker makes its product " user friendly " this respect Enough energy is not put into.And in turn, these computer system developments quotient is also complaining, they the reasons why be: design As soon as be very complicated work with manufacture computer, light be study how frontier can appliance computer the problem of Their most of energy is occupied, is not extra energy really to study the ease for use for how improving computer, As pattern-recognition, such as speech recognition, the development of Chinese Character Recognition input equipment, operator and computer are being similar to nature Interaction is carried out on language or restricted natural language this level-one to be possibly realized, through retrieving, application number 201510742871.5 Patent document is disclosed applied to the man-machine interaction method and system in smart home, which includes: A. system Initialization；B. equipment identification and space orientation；C. device location information is stored；D. equipment selects action recognition；E. equipment controls Action recognition；F. equipment executes corresponding control instruction.The invention proposes a kind of human-computer interaction system applied in smart home Complete design solution of uniting introduces depth camera to setting using the television set and network lamp in two computers simulation domestic environment It is standby to be identified and positioned, human motion skeleton is extracted using depth camera identified that (including selection is set to user action Standby and control equipment action command), the instruction of end-use device modeling interface response control.This approach simplify system controls, can To be applied in the environment such as smart home, make man-machine interaction mode more intelligence and convenient, but this man-machine interaction method and System is not easy to match instruction and stored, therefore we have proposed a kind of human-computer interaction sides applied in smart home Method and system, for solving the above problems.

Summary of the invention

In order to overcome above-mentioned deficiency in the prior art, the purpose of the present invention is to provide a kind of human-computer interactive control sides Method, device, system and readable storage medium storing program for executing enable household equipment to execute corresponding Working mould automatically according to user's posture track Formula can provide more intelligent smart home experience for user, greatly improve the experience sense of human-computer interaction.

To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:

A kind of man-machine interactive system applied to smart home, including be arranged in human body by multiple for data parameter acquisition Data collection station constitute wireless sensor network, with each data collection station communicate to connect aggregation node, with it is described The server terminal of aggregation node communication connection and the multiple household equipments communicated to connect with the server terminal, and it is each The corresponding position in home area is arranged in household equipment；

Data collection station, for obtaining action signal and human body positioning signal on corresponding target site in real time respectively, and The action signal of the positioning signal and each target site is handled, and then is sent to aggregation node；

Aggregation node, the action signal of the human body positioning signal and each target site for volume will to be received, and to described Human body positioning signal and the action signal of each target site carry out signal and carry out aggregation process, generate corresponding human body positioning letter The motion information of breath and each target site, and the motion information of the human body location information and each target site is sent to The server；

The server terminal, for being based on the corresponding target site information of each wearable device and each target portion The motion information of position carries out posture trajectory predictions to human body, generates corresponding posture trace information, wherein the posture track letter Breath includes the posture information of trace information and each target site；It is also used to according to each household equipment in the Home Zone The location information in domain, the posture trace information and human body location information determine household equipment to be controlled；It is also used to from described It searches in the control instruction database of household equipment and is instructed with the matched target control of the posture information of each target site； It is also used to instruct the target control found and is sent to the household equipment；

The household equipment, for being based on the corresponding operating mode of the target control instruction execution；

Wherein, the data collection station includes acquisition module, data preprocessing module, processor module, contrast module, data Transmission module, identification module, confirmation module, logging modle and execution module and power module, the acquisition module and data are pre- Processing module connection, the data preprocessing module are connect with processor module, and the processor module is connect with identification module, Identification module is connect with contrast module, and the contrast module is connect with data transmission module and execution module respectively, transmission module It is connect with confirmation module, the confirmation module is connect with logging modle, and logging modle connects with contrast module and execution module respectively It connects；The power module transmits mould with acquisition module, data preprocessing module, processor module, contrast module, data respectively Block, identification module, confirmation module, logging modle are connected with execution module；

Wherein, the acquisition module is transmitted to processing mould for being acquired to command information, and by the command information of acquisition Block；

Data preprocessing module, for being pre-processed to received instruction；

Processor module, for handling the pretreated model of progress, and instruction is transmitted to identification mould by treated Block；

Identification module identifies received instruction, and this instruction is transmitted to contrast module；

Contrast module is matched for storing to received instruction, and by received instruction with the instruction of itself storage, This instruction is transmitted to execution module by successful match, and execution module instructs executed based on the received, will when matching unsuccessful Phonetic order is transmitted to data transmission module, and received phonetic order is transmitted to confirmation module by data transmission module；

Confirmation module, for sending confirmation prompt to user, after user issues confirmation message, confirmation module is by this phonetic order It is transmitted to logging modle；

Logging modle is transmitted separately to contrast module and execution module for recording to received instruction, and by this instruction, Contrast module stores new phonetic order, and execution module executes received instruction；

The power module includes rechargeable battery, and charging control circuit, control of discharge electricity are equipped on the rechargeable battery Road, charging current detection module, terminal voltage detecting module, micro controller module, discharge current detection module, human-computer interaction mould Block, pwm driver；

Alternating current connects rechargeable battery by charging control circuit, and the rechargeable battery connects charge/discharge control circuit；

The charging current detection module, terminal voltage detecting module, discharge current detection module connect with micro controller module respectively Connect, for distinguishing the charging current of real-time detection rechargeable battery, in rechargeable battery voltage, rechargeable battery electric discharge electricity Stream, and the electric signal of acquisition is uploaded to micro controller module；

Human-computer interaction module is connect with micro controller module, for checking the voltage status and charging and discharging currents shape of rechargeable battery State, and for setting microcontroller parameter threshold；

The pwm driver is connected with micro controller module, charging control circuit, charge/discharge control circuit respectively, is adopted for basis The voltage and current parameter of collection, and then drive the pwm signal of charging control circuit and charge/discharge control circuit field-effect tube.

As a kind of further preferred scheme of the man-machine interactive system applied to smart home of the present invention, the voltage turns Circuit is changed, including prime voltage conversion circuit and rear class voltage conversion circuit coupled thereto；The prime voltage conversion circuit Include: first voltage protective module, is coupled to supply voltage and internal conversion voltage is provided；First voltage conversion module, coupling To first voltage protective module, input signal is converted to by prime output signal according to internal conversion voltage；

The rear class voltage conversion circuit includes: second voltage protective module, generates the first reversed-phase output signal, the first output letter Number, the second reversed-phase output signal and the second output signal, wherein prime voltage conversion circuit and rear class voltage conversion circuit have Multiple transistors, when the voltage value of supply voltage is greater than the breakdown voltage of transistor, voltage conversion circuit protects transistor Pressure difference is less than breakdown voltage, and when the voltage value of supply voltage is less than breakdown voltage, voltage conversion circuit full width output first is anti- Phase output signal, the first output signal, the second reversed-phase output signal and the second output signal.

As a kind of further preferred scheme of the man-machine interactive system applied to smart home of the present invention, the charging control Circuit processed includes signal control terminal, charge power supply end, equipment feeder ear, battery-end, triode, the first metal-oxide-semiconductor and the 2nd MOS Pipe；Wherein, the charge power supply end is grounded by concatenated first resistor and second resistance；The base stage of the triode connects respectively The signal control terminal and charge power supply end are connect, the collector of the triode connects second metal-oxide-semiconductor by the 4th resistance Grid, also connect the source electrode of first metal-oxide-semiconductor by 3rd resistor, the emitter ground connection of the triode；Described second The source electrode of metal-oxide-semiconductor connects the charge power supply end by first diode, and drain electrode connects the equipment feeder ear；Described first The source electrode of metal-oxide-semiconductor connects the charge power supply end by first diode, and grid connects the first resistor and second resistance Tie point, drain electrode connect the battery-end.

As a kind of further preferred scheme of the man-machine interactive system applied to smart home of the present invention, the convergence section Point includes WiFi module, SD card, microprocessor module, ZiGBee chip and RF circuit module, the WiFi module, SD card point It is not connect with microprocessor module, the microprocessor module connects RF circuit module by ZiGBee chip.

As a kind of further preferred scheme of the man-machine interactive system applied to smart home of the present invention, the data are adopted Collecting terminal also includes Beidou positioning module, signal modulation module, signal demodulation module, interface module, data memory module, clock Module；The Beidou positioning module passes sequentially through signal modulation module, signal demodulation module connection processor module, the interface Module, data memory module, clock module are connected on the corresponding port of processor module；

The signal modulation module includes RF power amplification circuit and baseband circuit, the RF power amplification circuit and Beidou positioning module Connection is transferred to base band electricity for amplifying to the positioning signal received, and by the positioning signal of the amplification of generation Road；The baseband circuit is used to the positioning signal of the amplification received being transferred to signal demodulation module.

As a kind of further preferred scheme of the man-machine interactive system applied to smart home of the present invention, the comparison mould Block includes storage unit, matching unit and judging unit, and the storage unit is connect with matching unit, matching unit and judgement Unit connection.

As a kind of further preferred scheme of the man-machine interactive system applied to smart home of the present invention, the acquisition mould Block include multi-channel surface myoelectric sensor, Inertial Measurement Unit, microprocessor measuring and controlling, data interface unit, Kinect somatosensory device, vibrational feedback equipment；

Wherein, the multi-channel surface myoelectric sensor is arranged on operator's arm forearm, for acquiring electromyography signal；

The Inertial Measurement Unit is arranged on operator's arm forearm, is used for measurement arm forearm attitude angle；

The microprocessor measuring and controlling is for reading and converting multi-channel surface myoelectric sensor and Inertial Measurement Unit Collected data；

The data communication equipment is used to receive the data of microprocessor measuring and controlling output, and passes through data interface unit It is transmitted to data preprocessing module；

The vibrational feedback equipment, which is arranged on operator's body, gives operator's operation indicating by vibrational feedback, and vibrational feedback is set It is standby to be connect with microprocessor measuring and controlling；

The Kinect somatosensory device is used to measure the joint position information of manpower arm and is transmitted by data preprocessing module To processor module；

The data preprocessing module includes data disaply moudle, arm motion resolving module, hand motion recognition module, movement It is inverse to resolve module and virtual scene rendering module；

The arm motion resolves module according to the brachiocubital Eulerian angles of collected hand and the position in each joint of arm, passes through Attitude algorithm goes out the attitude angle in each joint of arm, obtains the arm attitudes vibration situation of operator；

The hand motion recognition module carries out feature extraction by the electromyography signal acquired to multi-channel surface myoelectric sensor And using the method for pattern-recognition, operator's palm opening and closing situation is identified；

The motion profile is mapped in the kinetic coordinate system of people by the inverse module that resolves of the movement, calculates people by inverse resolving Joint angle, be used for controlling；

The virtual scene rendering module constructs the three-dimensional virtual scene of people, according to the movement of operator's arm and hand motion With the joint angle of the inverse calculated people of resolving module, the motion state of real-time rendering people is receiving the inverse resolving module of people's movement After each joint target angle provided, virtual machine people turns to corresponding angle.

As a kind of further preferred scheme of the man-machine interactive system applied to smart home of the present invention, the multichannel Surface myoelectric sensor is myoelectricity armlet；The Inertial Measurement Unit is 9 axis MEMS sensors；

The vibrational feedback equipment grabs the offer of the moment such as article accordingly beyond opereating specification and mechanical paw in operator Vibrational feedback；

The vibrational feedback equipment is small-size vibration motor；

The inverse module that resolves of the movement is using KDL robot kinematics calculating library, according to each joint of people in actual use Size and its connection relationship construct corresponding mathematical model, carry out inverse resolved by providing people's terminal position and attitude angle Journey obtains the target angle in each joint；The virtual scene rendering module uses the three-dimensional of Unity3D game engine building Scene.

A kind of control method based on human-computer interactive control system, specifically includes the following steps:

Step 1, each data collection station obtains action signal and human body positioning letter on corresponding target site in real time respectively Number, and the action signal of the positioning signal and each target site is sent to the aggregation node；

Step 2, aggregation node receives the human body positioning signal and the action signal of each target site is summarized, and to institute The action signal for stating human body positioning signal and each target site carries out signal processing, generates corresponding human body location information and each The motion information of a target site, and the motion information of the human body location information and each target site is sent to the clothes Business device terminal；

Step 3, server terminal is based on the corresponding target site information of each wearable device and each target site Motion information to human body carry out posture trajectory predictions, generate corresponding posture trace information, wherein the posture trace information Posture information including trace information and each target site；

Step 4, according to each data collection station the location information of the home area, the posture trace information and Human body location information determines household equipment to be controlled；It is searched from the control instruction database of the household equipment and described each The matched target control instruction of the posture information of a target site；

Step 5, the target control found instruction is sent to the household equipment；

The household equipment is based on the corresponding operating mode of the target control instruction execution.

As a kind of further preferred scheme of the control method based on human-computer interactive control system of the present invention, feature exists In the step 1 specifically includes the following steps:

Intelligent terminal responds configuration-direct, configures location information, Mei Geke of each household equipment in the home area The control instruction database of the corresponding target site information of wearable device and each household equipment, and each family is set The standby corresponding target site information of location information, each wearable device in the home area and each household equipment Control instruction database is sent to the server and is stored；

The step 3 is specific as follows:

Step 3.1, server terminal is based on the corresponding target site information of each wearable device and each target portion The step of motion information of position carries out posture trajectory predictions to human body, generates corresponding posture trace information, comprising:

Step 3.2, server terminal is based on the corresponding target site information of each wearable device and each target portion The motion information of position determines the real-time direction of motion information of each target site and acceleration information；

Step 3.3, the direction of motion information and acceleration information are handled, obtains acceleration on multiple reference axis Output component；

Step 2.4, the output component according to the acceleration on multiple reference axis obtains the multiple reference axis and gravity side To angle；

Step 3.5, the trace information of human body during the motion is generated according to the angle of the multiple reference axis and gravity direction With the posture information of each target site, to obtain the real-time posture trace information of human body；

The step 4 is specific as follows:

Step 4.1, according to each household equipment the home area location information, the posture trace information and people Body location information calculates the Prediction distance between human body and each household equipment；

Step 4.2, the Prediction distance between calculated human body and each household equipment is ranked up, obtains dynamic order knot Fruit；

Step 4.3, it is selected with the smallest household equipment of human body Prediction distance according to the dynamic order result as the family Equipment；

The step 5 specifically includes the following steps:

Step 5.1, by the posture information of each target site with it is every in the control instruction database of the household equipment The standard posture information of a matched each target site of control instruction carries out similarity comparison, generates similarity comparison result；

Step 5.2, according to the posture information similarity highest of similarity comparison result selection and each target site Each target site the corresponding control instruction of standard posture information as the posture information with each target site The target control instruction matched.

In terms of existing technologies, the invention has the following advantages:

Man-machine interaction control method, device, system and readable storage medium storing program for executing provided in an embodiment of the present invention, by each wearable Equipment can obtain the action signal of positioning signal and each target site of the user in home area in real time, then by setting Set the motion information of the intelligent terminal processing corresponding human body location information of generation and each target site in home area again It is uploaded to server.Then, server is real-time according to the motion information of the human body location information and each target site that receive Posture trace information of the human body in home area is monitored so that it is determined that user needs the household equipment controlled, and searches matched The household equipment is controlled after control instruction, so that the household equipment is executed automatically according to user's posture track corresponding Operating mode can provide more intelligent smart home experience for user, greatly improve man-machine

Using metal-oxide-semiconductor as power device, power-efficient is high；In device battery charging, battery power supply can be cut off, is changed It is that equipment power supply extends battery life to protect battery for power supply；The switching on and shutting down of equipment can be controlled by hardware and software, It can also be resetted by hardware reset mouth, to make the experience sense of equipment shutdown interaction.System is using PWM mode realization pair The unified management of accumulator charging/discharging process].According to the C-V characteristic of field-effect tube it is found that in the saturation region of metal-oxide-semiconductor, work as VGS When fixed, influence of the variation of VDS to IDS is little, has constant-current source characteristic.Therefore, it is adaptively adjusted by digital PI controller The constant current output of the available setting of the gate source voltage of whole field-effect tube realizes the management of multisection type modified constant-voltage charge.It discharged Cheng Zhong, accumulator voltage can gradually decrease down 10.5 V of work blanking voltage from 13.1 V, so that the output of battery is unstable It is fixed.Therefore, DC load is powered by the way of PWM pulsewidth modulation, battery is made to stablize output.

To prevent battery after disconnecting due to AC power source from utilizing the unidirectional of diode to switching power circuit back discharge On state characteristic prevents battery from inversely discharging by concatenating Schottky diode MBR20100 in the loop.Simultaneously, it is contemplated that store Battery is likely to occur reversal connection when accessing, and circuit board component is caused to damage, and design uses metal-oxide-semiconductor reverse-connection protection circuit, passes through resistance R9 and zener diode D2 provides the gate source voltage of field-effect tube.When reverse connection of accumulator, gate source voltage VGS=0, field-effect tube Cut-off, charge circuit are disconnected

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.

Fig. 1 is a kind of interaction schematic diagram of the man-machine interactive system applied to smart home of the present invention；

Fig. 2 is a kind of structure principle chart of the man-machine interactive system data collection station applied to smart home of the present invention；

Fig. 3 is a kind of man-machine interactive system power module structure schematic diagram applied to smart home of the present invention；

Fig. 4 is a kind of man-machine interactive system charging control circuit circuit diagram applied to smart home of the present invention；

Fig. 5 is a kind of man-machine interactive system aggregation node structure principle chart applied to smart home of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Usually herein The component of the embodiment of the present invention described and illustrated in place's attached drawing can be arranged and be designed with a variety of different configurations.

Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common Technical staff's all other embodiment obtained without creative efforts belongs to the model that the present invention protects It encloses.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.

As shown in Figure 1, a kind of man-machine interactive system applied to smart home, which is characterized in that including being arranged in human body The wireless sensor network being made of multiple data collection stations for data parameter acquisition, with each data collection station The aggregation node of communication connection is communicated with the server terminal of aggregation node communication connection and with the server terminal Multiple household equipments of connection, and the corresponding position in home area is arranged in each household equipment；

Wherein, as shown in Fig. 2, the data collection station include acquisition module, it is data preprocessing module, processor module, right Than module, data transmission module, identification module, confirmation module, logging modle, execution module and power module, the acquisition mould Block is connect with data preprocessing module, and the data preprocessing module is connect with processor module, the processor module and knowledge Other module connection, identification module are connect with contrast module, and the contrast module connects with data transmission module and execution module respectively Connect, data transmission module is connect with confirmation module, and the confirmation module is connect with logging modle, logging modle respectively with comparison mould Block is connected with execution module；The power module respectively with acquisition module, data preprocessing module, processor module, comparison mould Block, data transmission module, identification module, confirmation module, logging modle are connected with execution module；

Data preprocessing module, for being pre-processed to received instruction；

Contrast module is matched for storing to received instruction, and by received instruction with the instruction of itself storage, This instruction is transmitted to execution module by successful match, and execution module instructs executed based on the received, will when matching unsuccessful Phonetic order is transmitted to data transmission module, and received phonetic order is transmitted to confirmation module by data transmission module.

Confirmation module, for sending confirmation prompt to user, after user issues confirmation message, confirmation module is by this voice Instruction is transmitted to logging modle.

Logging modle is transmitted separately to contrast module and execution for recording to received instruction, and by this instruction Module, contrast module store new phonetic order, and execution module executes received instruction；

As shown in figure 3, the power module include rechargeable battery, on the rechargeable battery be equipped with charging control circuit, Charge/discharge control circuit, charging current detection module, terminal voltage detecting module, micro controller module, discharge current detection module, people Machine interactive module, pwm driver；

The power module also includes voltage conversion circuit, and alternating current connects charging control circuit by voltage conversion circuit, The voltage conversion circuit includes prime voltage conversion circuit and rear class voltage conversion circuit coupled thereto；The preceding step voltage Conversion circuit includes: first voltage protective module, is coupled to supply voltage and provides internal conversion voltage；First voltage modulus of conversion Block is coupled to first voltage protective module, and input signal is converted to prime output signal according to internal conversion voltage；

As shown in figure 4, the charging control circuit includes signal control terminal, charge power supply end, equipment feeder ear, battery End, triode, the first metal-oxide-semiconductor and the second metal-oxide-semiconductor；Wherein, the charge power supply end passes through concatenated first resistor and the second electricity Resistance ground connection；The base stage of the triode is separately connected the signal control terminal and charge power supply end, the collector of the triode The grid of second metal-oxide-semiconductor is connected by the 4th resistance, and the source electrode of first metal-oxide-semiconductor, institute are also connected by 3rd resistor State the emitter ground connection of triode；The source electrode of second metal-oxide-semiconductor connects the charge power supply end by first diode, drain electrode Connect the equipment feeder ear；The source electrode of first metal-oxide-semiconductor connects the charge power supply end by first diode, and grid connects The tie point of the first resistor and second resistance is connect, drain electrode connects the battery-end.

As shown in figure 5, the aggregation node includes WiFi module, SD card, microprocessor module, ZiGBee chip and radio frequency Circuit module, the WiFi module, SD card are connect with microprocessor module respectively, and the microprocessor module passes through ZiGBee core Piece connects RF circuit module.

The data collection station also includes Beidou positioning module, signal modulation module, signal demodulation module, interface mould Block, data memory module, clock module；The Beidou positioning module passes sequentially through signal modulation module, signal demodulation module connects Processor module is connect, the interface module, data memory module, clock module are connected to the corresponding port of processor module On；

The contrast module includes storage unit, matching unit and judging unit, and the storage unit and matching unit connect It connects, matching unit is connect with judging unit.

The acquisition module includes multi-channel surface myoelectric sensor, Inertial Measurement Unit, microprocessor measurement control dress It sets, data interface unit, Kinect somatosensory device, vibrational feedback equipment；

The multi-channel surface myoelectric sensor is myoelectricity armlet；The Inertial Measurement Unit is 9 axis MEMS sensors；

The vibrational feedback equipment is small-size vibration motor；

In embodiments of the present invention, the wearable device can be set multiple, and be separately positioned on each mesh of human body For acquiring the motion information of corresponding target site on mark position (for example, wrist, leg etc.).For convenience between limbs Connection, the wearable device can be provided with the Intelligent bracelet of watchband for both sides, with consolidating between realization and target site It is fixed.In addition, locating module is also provided in the wearable device, with the location information for obtaining user.

In embodiments of the present invention, the corresponding position in home area is arranged in each household equipment, and the family sets Standby 400 namely smart home device, such as audio & video equipment, lighting apparatus, intelligent curtain, air-conditioning, security device, digital camera Equipment, video server 300, shadow cabinet equipment, network home appliance etc..

In embodiments of the present invention, the intelligent terminal 200 can be sent by modes such as wired or wireless networks Or signal is received, or by signal processing or physical store state can be stored as in such as memory.Each intelligent terminal 200 It can be the combined electronic device including hardware, software or embedded logic element or this two or more class component, and energy Enough execute the suitable function of being implemented or supported by intelligent terminal 200.Optionally, the intelligent terminal 200 can be a kind of tool There are equipment of radio transmission-receiving function, including indoor or outdoors, hand-held, wearing or mobile unit etc., embodiments herein pair Application scenarios are without limitation.Alternatively, the intelligent terminal 200 is also possible to intelligent router, home voice gateway etc..

In embodiments of the present invention, the server 300 should be understood offer processing, data bank, the industry of communications service Business point.For example, server 300 can refer at the single physics with related communication and data storage and document library facility Reason device or it can refer to the aggregate of networking or the processor gathered, related network and storing unit, and to software and one Or the application software serviced provided by multiple document library systems and support server 300 is operated.Server 300 can be It is widely different in configuration or performance, but server 300 generally may include that one or more central processing unit and storage are single Member.Server 300 can also be wired including one or more large-scale storage area equipment, one or more power supplys, one or more Or wireless network components, one or more input output assemblies or one or more operating systems, such as, Windows Server、Mac OS X、Unix、Linux、FreeBSD。

Each household equipment 400 is stored in the server 300 in the location information, each of the home area The control instruction database of the corresponding target site information of wearable device 100 and each household equipment 400, the control refer to It enables and being stored in database and the standard posture information of the matched each target site of different control instructions.For example, if family sets Standby 400 be bedroom door, then when one arm of human body is stretched out close to the bedroom door, can be expressed as needing to open the bedroom door, When one arm of human body is stretched out far from the bedroom door, can be expressed as needing to close the bedroom door.It should be noted that above-mentioned It is merely illustrative, it matches which kind of posture specifically which kind of control instruction realized, can be carried out according to the habit of different user personalized Setting.

It should be noted that man-machine interaction control method provided in an embodiment of the present invention specific order as described below is limited System.The detailed process of the method is as follows:

Each wearable device obtains action signal and human body positioning signal on corresponding target site in real time respectively, and by institute The action signal for stating positioning signal and each target site is sent to the intelligent terminal.

In the present embodiment, each wearable device can change in the movement of real-time monitoring user and position variation, namely The action signal and human body positioning signal on corresponding target site are obtained in real time.The motor message may include acceleration letter Number.The movement of limbs is finally embodied with the variation of limbs posture and position in space, for the storage multi information of motion process There is certain connections between (for example, acceleration, speed, displacement, pose, power etc.), as long as collecting acceleration signal, Its parameter information can be by integrating to obtain to it.

Specifically, since acceleration is a space vector, on the one hand, accurately to understand the motion state of limbs, it is necessary to survey Obtain the component in three of them reference axis；On the other hand, under the occasion for not knowing limb motion direction in advance, three axis are only applied Acceleration transducer detects acceleration signal, and as an embodiment of the present embodiment, the acceleration transducer can be with Using the 3-axis acceleration sensor for the kinetic property that can accurately reflect limbs comprehensively.

Since collected acceleration signal is faint, the present embodiment also need to collected faint acceleration signal into Row enhanced processing with prevent faint acceleration signal in transmittance process failure to which stable acceleration letter cannot be got Number.Then, the amplified acceleration signal is subjected to signal filtering processing, obtains filtered acceleration signal.Specifically Ground, amplified acceleration signal is in addition to there is also other interference signals from outside for effective acceleration signal, if right The output of the acceleration transducer without it is any reason and directly carry out analysis application, it is clear that be unable to get accurately as a result, So corresponding noise reduction filtering processing must be carried out to the signal that sensor exports, it is described to obtain correct acceleration signal Acceleration signal namely the motor message.

The intelligent terminal receives the action signal of the human body positioning signal and each target site, and to the human body Positioning signal and the action signal of each target site carry out signal processing, generate corresponding human body location information and each target The motion information at position, and the motion information of the human body location information and each target site is sent to the server.

The server is based on the corresponding target site information of each wearable device and each target site Motion information carries out posture trajectory predictions to human body, generates corresponding posture trace information.

In the present embodiment, the server can be based on the corresponding target site information of each wearable device and described The motion information of each target site determines the real-time direction of motion information of each target site and acceleration information.Then, The direction of motion information and acceleration information are handled, output component of the acceleration on multiple reference axis is obtained. Then, the output component according to the acceleration on multiple reference axis obtains the folder of the multiple reference axis and gravity direction Angle finally generates human body trace information during the motion and each according to the angle of the multiple reference axis and gravity direction The posture information of target site, to obtain the real-time posture trace information of human body.

The technical solution of the present embodiment is described in detail so that the limbs are forearm as an example below.

In the present embodiment, since human body forearm is during the motion always with vertical direction (or horizontal direction) Cheng Yiding's Angular relationship, by being fixed between each axis of the 3-axis acceleration sensor on forearm and gravity direction (straight down) Angle can detect the athletic posture of human body forearm.When carrying out forearm motion detection, as the motion profile of forearm changes Become, sensor output variable signal after processing available forearm motion profile change parameter.It is transported with simple flat surface For dynamic, the elbow joint of user is fixed, and forearm does the elbow in the wrong movement of perpendicular, the wearable device peace around elbow joint Loaded on wrist joint, during the motion, keep the position of the wearable device constant.Under the conditions of constraints above, work as forearm When motionless, the angle of current acceleration sensor each sensitive axes and gravity direction need to be only detected, the movement of forearm can be analyzed Track.When the acceleration transducer keeps opposing stationary, will receive the effect of gravity, such acceleration transducer output with Acceleration of gravity is contrary, equal-sized acceleration signal, and output component of this acceleration signal on three axis depends on In the angle of three sensitive axes and gravity direction.Assuming that each sensitive axes and gravity when the acceleration transducer is opposing stationary The angle in direction is respectively θ, φ, γ, and the size of acceleration of gravity is g, three axis outputs of the acceleration transducer at this time Voltage signal components are respectively as follows:

Vx=kgcosθ+V0

Vy=kgcosφ+V0

Vz=kgcosγ+V0

In above formula,Vx、Vy、VzThe acceleration transducer is respectively indicated to existxAxis,yAxis,zThe voltage signal of axis output,kIt indicates The sensitivity of the acceleration transducer,V0When indicating that acceleration is 0, the voltage of the acceleration transducer output.According to upper Formula can be found outθ、φ、γ, so as to obtain the posture trace information of forearm, the posture trace information includes trace information With the posture information of each target site.It similarly, can also be according to the above method when limbs are other positions The posture trace information of corresponding target site is obtained, details are not described herein.

It is fixed in the location information, the posture trace information and human body of the home area according to each household equipment Position information determines household equipment to be controlled.

In the present embodiment, user can be pre-configured with each household equipment in the location information, every of the home area The control instruction database of a corresponding target site information of wearable device and each household equipment.Optionally, the intelligence Energy terminal, which can pass through, responds configuration-direct, configures location information, Mei Geke of each household equipment in the home area The control instruction database of the corresponding target site information of wearable device and each household equipment, and each family is set The standby corresponding target site information of location information, each wearable device in the home area and each household equipment Control instruction database is sent to the server and is stored.

On the basis of the above, the server can be believed according to each household equipment in the position of the home area Breath, the posture trace information and human body location information calculate the Prediction distance between human body and each household equipment.Then, right Prediction distance between calculated human body and each household equipment is ranked up, and obtains dynamic order as a result, finally according to institute Dynamic order result is stated to select with the smallest household equipment of human body Prediction distance as the household equipment.

It is worth noting that since the posture track of user is there are randomness, when user changes motion profile suddenly When, the above method may have error in judgement.In consideration of it, the server also needs dynamic order result described in real-time monitoring Whether change, if changing, reselects the family of the smallest last selection of household equipment replacement of Prediction distance Equipment.Thereby, it is possible to avoid the problem that the judgement error of household equipment caused by the randomness of user's posture track.

It searches from the control instruction database of the household equipment and is matched with the posture information of each target site Target control instruction.

In the present embodiment, the server is in real time by the posture information of each target site and the household equipment The standard posture information of the matched each target site of each control instruction in control instruction database carries out similarity comparison, Generate similarity comparison result.Then, believed according to similarity comparison result selection and the posture of each target site Cease the highest each target site of similarity the corresponding control instruction of standard posture information as with each target site Posture information matched target control instruction.

In addition, in one embodiment, the server can also judge above-mentioned matched highest similarity, If above-mentioned matched highest similarity is less than preset value, target control instruction is mismatched.Thus, it is possible to prevent the feelings accidentally controlled Condition.

The target control found instruction is sent to the household equipment.

In the present embodiment, the server makes by searching for controlling after matched control instruction the household equipment The household equipment can execute corresponding operating mode automatically according to user's posture track, and more intelligent intelligence can be provided for user Energy household experience, greatly improves the experience sense of human-computer interaction.

Based on the above method, the present embodiment can obtain user in home area by each wearable device in real time The action signal of positioning signal and each target site, then the intelligent terminal processing generation pair by being arranged in home area The motion information of the human body location information and each target site answered is uploaded to server again.Then, server is according to receiving Human body location information and each target site posture trace information of the motion information real-time monitoring human body in home area So that it is determined that user needs the household equipment controlled, and the household equipment is controlled after searching matched control instruction, is made The household equipment can execute corresponding operating mode automatically according to user's posture track, and more intelligent intelligence can be provided for user Energy household experience, greatly improves the experience sense of human-computer interaction.

The embodiment of the present invention also provides a kind of man-machine interaction control method, unlike above example, this man-machine friendship Mutual control method is executed by server, it is to be understood that step involved in the man-machine interaction control method next to be described Suddenly it having been noted above in the examples above, the exhaustive of specific each step can refer to above embodiment description, below Only step is executed to server to be briefly described.

The motion information of human body location information and each target site that intelligent terminal described in real-time reception is sent, wherein The human body location information and the motion information of each target site are the intelligent terminal by sending out each wearable device The action signal on corresponding target site and human body positioning signal sent generate after signal processing obtaining.

Motion information pair based on the corresponding target site information of each wearable device and each target site Human body carries out posture trajectory predictions, generates corresponding posture trace information, wherein the posture trace information includes trace information With the posture information of each target site.

The target control found instruction is sent to the household equipment, so that the household equipment is based on described The corresponding operating mode of target control instruction execution.

The embodiment of the invention also provides a kind of readable storage medium storing program for executing, computer journey is stored on the readable storage medium storing program for executing The step of sequence, which executes above-mentioned man-machine interaction control method when being run by processor.

Specifically, which can be general storage medium, such as mobile disk, hard disk, which is situated between When computer program in matter is run, it is able to carry out above-mentioned man-machine interaction control method, to solve current smart home It is controlled still through remote controler, man-machine interaction experience is poor, the problem of not meeting intelligent trend, can provide for user more intelligent Smart home experience, greatly improve the experience sense of human-computer interaction.

It is understood that the concrete operation method of each functional module in the present embodiment can refer to above method embodiment The detailed description of middle corresponding steps, it is no longer repeated herein.

In conclusion man-machine interaction control method provided in an embodiment of the present invention, device, system and readable storage medium storing program for executing, The movement of positioning signal and each target site of the user in home area can be obtained in real time by each wearable device Signal then generates corresponding human body location information and each target portion by the intelligent terminal processing being arranged in home area The motion information of position is uploaded to server again.Then, server is according to the human body location information and each target site received Posture trace information of the motion information real-time monitoring human body in home area so that it is determined that user needs the family controlled to set It is standby, and the household equipment is controlled after searching matched control instruction, enable the household equipment automatically according to user's appearance State track executes corresponding operating mode, and more intelligent smart home experience can be provided for user, greatly improves man-machine friendship Mutual experience sense.

In embodiment provided by the present invention, it should be understood that disclosed device and method, it can also be by other Mode realize.Device and method embodiment described above is only schematical, for example, flow chart and frame in attached drawing Figure shows the system frame in the cards of the system of multiple embodiments according to the present invention, method and computer program product Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code A part, a part of the module, section or code includes one or more for implementing the specified logical function Executable instruction.It should also be noted that function marked in the box can also be with not in some implementations as replacement It is same as the sequence marked in attached drawing generation.For example, two continuous boxes can actually be basically executed in parallel, they have When can also execute in the opposite order, this depends on the function involved.It is also noted that in block diagram and or flow chart Each box and the box in block diagram and or flow chart combination, can function or movement as defined in executing it is dedicated Hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.

It can replace, can be realized wholly or partly by software, hardware, firmware or any combination thereof.When When using software realization, can entirely or partly it realize in the form of a computer program product.The computer program product Including one or more computer instructions.It is all or part of when loading on computers and executing the computer program instructions Ground is generated according to process or function described in the embodiment of the present invention.The computer can be general purpose computer, special purpose computer, Computer network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or Person is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction Wired (such as coaxial cable, optical fiber, digital subscriber can be passed through from a web-site, computer, server or data center Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or data It is transmitted at center.The computer readable storage medium can be any usable medium that computer can access and either wrap The data storage devices such as server, the data center integrated containing one or more usable mediums.The usable medium can be magnetic Property medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid State Disk (SSD)) etc.

It should be noted that, in this document, term " including ", " including " or its any other variant are intended to non-exclusionism Include so that include a series of elements process, method, article or equipment not only include those elements, but also Including the other elements being not explicitly listed, or further include for this process, method, article or equipment intrinsic want Element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that including described want There is also other identical elements in the process, method, article or equipment of element.

Embodiment

The present embodiment includes acquisition module, processing module, contrast module, transmission module, identification module, confirmation mould Block, logging modle and execution module, acquisition module are connect with processing module, and processing module is connect with identification module, identification Module is connect with contrast module, and contrast module is connect with transmission module and execution module, and transmission module is connect with confirmation module, Confirmation module is connect with logging modle, and logging modle is connect with contrast module and execution module.

In the present embodiment, contrast module includes storage unit, matching unit and judging unit, storage unit with match Unit connection, matching unit connect with judging unit, and acquisition module is acquired phonetic order information, and by acquisition Phonetic order information is transmitted to processing module, and processing module handles the phonetic order of receiving, and will treated language Sound instruction is transmitted to identification module, and identification module identifies received phonetic order, and this phonetic order is transmitted to Contrast module, contrast module store the phonetic order of receiving, and the language that received phonetic order is stored with itself Sound instruction is matched, this phonetic order is transmitted to execution module by successful match, execution module phonetic order based on the received It is executed, phonetic order is transmitted to transmission module when matching unsuccessful, transmission module transmits received phonetic order To confirmation module, confirmation module sends confirmation prompt to user, and after user issues confirmation message, confirmation module is by this voice Instruction is transmitted to logging modle, and logging modle records received phonetic order, and this phonetic order is transmitted respectively To contrast module and execution module, contrast module stores new phonetic order, and execution module executes received voice Instruction is matched the beneficial effects of the invention are as follows by matching to by the phonetic order of acquisition with the phonetic order of storage The i.e. executable phonetic order of success, matching is unsuccessful to confirm phonetic order, and stores to new phonetic order, The present invention is convenient for matching the phonetic order of acquisition with the phonetic order of storage, the i.e. executable phonetic order of successful match, Simultaneously convenient for being stored to newly-generated phonetic order, convenient matching next time.

In the present embodiment, in use, user issues phonetic order, the language issued by acquisition module to user Sound instruction be acquired, the phonetic order of acquisition is then transmitted to processing module, by processing module to phonetic order into Row processing, eliminates interference sound, this phonetic order is then transmitted to identification module, by identification module to phonetic order Phoneme, syllable or word are identified that the phonetic order identified is transmitted to contrast module, by contrast module to received Phonetic order is stored, and this phonetic order is matched with phonetic order pre-stored in contrast module, works as language If the success of sound instructions match, this phonetic order is directly transmitted to by execution module by contrast module, passes through execution module Phonetic order is executed, when matching unsuccessful, received phonetic order is transmitted to by transmission module by contrast module, Received phonetic order is transferred to confirmation module by transmission module, is broadcast by confirmation module by phonetic order is received It puts, and issues confirmation prompt to user, user confirms the phonetic order of broadcasting, when the language that robot plays When the command information difference that sound instruction is issued with user, user can cancel confirmation, pass through confirmation mould after confirming successfully This phonetic order is transmitted to logging modle by block, and logging modle records received phonetic order, while by record Phonetic order is transmitted to contrast module and execution module, and contrast module stores received new phonetic order, executes Module stores received phonetic order.

The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited to This, anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention And its inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.

Claims

1. a kind of man-machine interactive system applied to smart home, which is characterized in that including being used for by multiple for human body is arranged in The remittance of wireless sensor network and the communication connection of each data collection station that the data collection station of data parameter acquisition is constituted Poly- node, multiple families with the server terminal of aggregation node communication connection and with server terminal communication connection Front yard equipment, and the corresponding position in home area is arranged in each household equipment；

Wherein, the data collection station includes acquisition module, data preprocessing module, processor module, contrast module, data Transmission module, identification module, confirmation module, logging modle, execution module and power module, the acquisition module are located in advance with data Module connection is managed, the data preprocessing module is connect with processor module, and the processor module is connect with identification module, is known Other module is connect with contrast module, and the contrast module is connect with data transmission module and execution module respectively, and data transmit mould Block is connect with confirmation module, and the confirmation module is connect with logging modle, logging modle respectively with contrast module and execution module Connection；The power module transmits mould with acquisition module, data preprocessing module, processor module, contrast module, data respectively Block, identification module, confirmation module, logging modle are connected with execution module；

Data preprocessing module, for being pre-processed to received instruction；

2. a kind of man-machine interactive system applied to smart home according to claim 1, it is characterised in that: the power supply Module also includes voltage conversion circuit, and alternating current connects charging control circuit, the voltage conversion circuit by voltage conversion circuit Including prime voltage conversion circuit and rear class voltage conversion circuit coupled thereto；The prime voltage conversion circuit includes: One voltage protection module is coupled to supply voltage and provides internal conversion voltage；First voltage conversion module is coupled to the first electricity Protective module is pressed, input signal is converted to by prime output signal according to internal conversion voltage；

3. a kind of man-machine interactive system applied to smart home according to claim 1, it is characterised in that: the charging Control circuit includes signal control terminal, charge power supply end, equipment feeder ear, battery-end, triode, the first metal-oxide-semiconductor and the 2nd MOS Pipe；Wherein, the charge power supply end is grounded by concatenated first resistor and second resistance；The base stage of the triode connects respectively The signal control terminal and charge power supply end are connect, the collector of the triode connects second metal-oxide-semiconductor by the 4th resistance Grid, also connect the source electrode of first metal-oxide-semiconductor by 3rd resistor, the emitter ground connection of the triode；Described second The source electrode of metal-oxide-semiconductor connects the charge power supply end by first diode, and drain electrode connects the equipment feeder ear；Described first The source electrode of metal-oxide-semiconductor connects the charge power supply end by first diode, and grid connects the first resistor and second resistance Tie point, drain electrode connect the battery-end.

4. a kind of man-machine interactive system applied to smart home according to claim 1, which is characterized in that the convergence Node includes WiFi module, SD card, microprocessor module, ZiGBee chip and RF circuit module, the WiFi module, SD card It is connect respectively with microprocessor module, the microprocessor module connects RF circuit module by ZiGBee chip.

5. a kind of man-machine interactive system applied to smart home according to claim 1, the data collection station is also Include Beidou positioning module, signal modulation module, signal demodulation module, interface module, data memory module, clock module；Institute It states Beidou positioning module and passes sequentially through signal modulation module, signal demodulation module connection processor module, the interface module, number It is connected on the corresponding port of processor module according to memory module, clock module；

6. a kind of man-machine interactive system applied to smart home according to claim 1, which is characterized in that the comparison Module includes storage unit, matching unit and judging unit, and the storage unit is connect with matching unit, matching unit with sentence Disconnected unit connection.

7. a kind of man-machine interactive system applied to smart home according to claim 1, which is characterized in that the acquisition Module include multi-channel surface myoelectric sensor, Inertial Measurement Unit, microprocessor measuring and controlling, data interface unit, Kinect somatosensory device, vibrational feedback equipment；

8. a kind of man-machine interactive system applied to smart home according to claim 7, which is characterized in that the multi-pass Road surface myoelectric sensor is myoelectricity armlet；The Inertial Measurement Unit is 9 axis MEMS sensors；

The vibrational feedback equipment is small-size vibration motor；

9. a kind of control method based on the human-computer interactive control system described in claim 1 to 8, it is characterised in that: specific packet Containing following steps:

10. man-machine interaction control method according to claim 9, which is characterized in that the step 1 is specifically comprising following step It is rapid:

The step 3 is specific as follows:

The step 4 is specific as follows:

The step 5 specifically includes the following steps: