Gesture recognition system, method and smart home device based on one-dimensional TOF sensor

Abstract

The embodiment of the present application discloses a gesture recognition system, method and smart home device based on a one-dimensional TOF sensor. The gesture recognition system includes: a microcontroller and a one-dimensional TOF sensor. The one-dimensional TOF sensor measures the distance between the target hand and the one-dimensional TOF sensor in the target area once every preset time period, and the microcontroller reads the distance data of the one-dimensional TOF sensor; the microcontroller includes a timing module, a counting module and a signal generation module. The timing module calculates the waiting time between the latest distance data read and the next distance data read; the counting module counts the number of distance data in the sensor data group; the signal generation module determines the target gesture result input by the target hand according to the number of distance data and the corresponding distance data change characteristics. Through the above technical means, the technical shortcomings of infrared recognition technology such as short recognition distance and high power consumption are overcome.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of recognition technology, and in particular to a gesture recognition system, method and smart home device based on a one-dimensional TOF sensor. Background Art

[0002] With the development of science and technology, more and more smart homes are entering people's lives. Rich interactive functions are one of the characteristics of smart homes. Some smart homes can now control switches or working modes through gestures. In order to achieve different gestures corresponding to different working modes, gestures need to be recognized and the working mode of the smart home needs to be controlled according to the gesture recognition results. Therefore, gesture recognition technology is one of the technical focuses of smart homes or other interactive smart devices.

[0003] Traditional gesture recognition technology is mainly implemented through infrared recognition technology, which emits infrared light through infrared emitting lamps. After the infrared light encounters the target object, it returns to the infrared receiving area. The infrared receiving area receives the infrared light and converts it into an electrical signal. Generally, the receiving area is divided into four areas. The order of the electrical signals in the four areas is analyzed, and the corresponding gestures are recognized through algorithms, such as waving up, down, left, and right. Although infrared recognition technology has been widely used, it has technical problems such as short recognition distance and high power consumption. Summary of the invention

[0004] The embodiments of the present application provide a gesture recognition system, method and smart home device based on a one-dimensional TOF sensor, which overcome the technical shortcomings of infrared recognition technology, such as short recognition distance and high power consumption.

[0005] In a first aspect, an embodiment of the present application provides a gesture recognition system based on a one-dimensional TOF sensor, comprising: a microcontroller and a one-dimensional TOF sensor, wherein the microcontroller is connected to the one-dimensional TOF sensor, wherein:

[0006] The one-dimensional TOF sensor measures the distance between the target hand and the one-dimensional TOF sensor in the target area once every preset time period, and the microcontroller reads the distance data of the one-dimensional TOF sensor;

[0007] The microcontroller includes a timing module, a counting module and a signal generating module. The timing module starts timing when the microcontroller reads the distance data most recently, calculates the waiting time between the most recently read distance data and the next time the distance data is read, and sends a reset instruction to the counting module when the waiting time exceeds the time period. If the waiting time does not exceed the preset time period, the counting instruction is sent to the counting module; the counting module receives the counting instruction sent by the timing module, calculates the number of distance data according to the counting instruction, or receives the reset instruction sent by the timing module, sends the number of currently stored distance data to the signal generating module according to the reset instruction, and sets the number of currently stored distance data to zero; the signal generating module receives the number of distance data and obtains the corresponding distance data, determines the target gesture result input by the target hand according to the change characteristics of the number of distance data and the corresponding distance data, and generates a corresponding control signal according to the target gesture result to trigger the corresponding working mode.

[0008] Further, the one-dimensional TOF sensor includes a control unit and a detection unit, and the detection unit is connected to the control unit, wherein:

[0009] The detection unit is used to emit photons through a VCSEL light source, receive photons reflected after hitting the target hand through a photon receiver, and calculate the distance between the target hand and the detection unit according to the photon emission time, the photon reception time and the speed of light;

[0010] The control unit is used to read the distance data measured by the detection unit, compare the distance data with a preset distance threshold, and if the distance data is less than or equal to the distance threshold, store the corresponding distance data so that the microcontroller reads the distance data, otherwise delete the corresponding distance data.

[0011] Furthermore, the one-dimensional TOF sensor further includes a light source driver, a VCSEL light source, a first optical cover plate, a second optical cover plate, a photon receiver and an optical filter, wherein:

[0012] The light source driver drives the VCSEL light source to continuously emit photons to the front area according to a preset modulation frequency, the photons pass through the first optical cover plate to generate first reflected light and transmitted light, the first reflected light is received by the photon receiver, the transmitted light hits the target hand in the front area to generate second reflected light that passes through the second optical cover plate to reach the optical filter, and the second reflected light that passes through the optical filter is received by the photon receiver;

[0013] The detection unit calculates the distance between the target hand and the detection unit according to the reception time of the first reflected light and the second reflected light received by the photon receiver.

[0014] Furthermore, the microcontroller also includes controlling the one-dimensional TOF sensor to collect distance data between the target hand and the one-dimensional TOF sensor once in a time period of 33 ms.

[0015] In a second aspect, an embodiment of the present application provides a gesture recognition method based on a one-dimensional TOF sensor, which is applied to the gesture recognition system as described in the first aspect, including:

[0016] Starting from the time when the latest distance data is read, calculating the waiting time between the latest distance data read and the next distance data read, and determining whether the waiting time exceeds a preset time period;

[0017] If the waiting time exceeds the preset time period, then when the waiting time exceeds the preset time period, the sensing data group corresponding to the most recently read distance data is obtained, and the number of distance data in the sensing data group is counted;

[0018] Determining a target gesture result corresponding to the sensor data group according to the amount of distance data and a data change characteristic of the sensor data group;

[0019] According to the target gesture result, a corresponding control signal is generated to trigger a corresponding working mode;

[0020] If the waiting time does not exceed the preset time period, the latest read distance data is stored in the sensor data group corresponding to the distance data read last time, and the next distance data is read continuously.

[0021] Further, determining the target gesture result corresponding to the sensor data group according to the amount of distance data and the data change characteristics of the sensor data group includes:

[0022] If the number of distance data is greater than 9 and less than 30, and the distance data in the middle of the sensor data group is the minimum distance data of the sensor data group, the distance data at both ends of the sensor data group is the maximum distance data of the sensor data group, and the absolute distance difference between the minimum distance data and the maximum distance data is greater than 30 mm, it is determined that the target gesture corresponding to the sensor data group is clapping.

[0023] Further, determining the target gesture result corresponding to the sensor data group according to the amount of distance data and the data change characteristics of the sensor data group includes:

[0024] If the number of distance data is greater than 1 and less than 15, and the absolute distance difference between the first distance data and the middle distance data of the sensor data group is less than 20 mm, it is determined that the target gesture corresponding to the sensor data group is waving.

[0025] Further, determining the target gesture result corresponding to the sensor data group according to the amount of distance data and the data change characteristics of the sensor data group includes:

[0026] If the number of the distance data is greater than 30, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensing data group is greater than or equal to 10 mm, it is determined that the target gesture corresponding to the sensing data group is telescoping.

[0027] Further, determining the target gesture result corresponding to the sensor data group according to the amount of distance data and the data change characteristics of the sensor data group includes:

[0028] If the number of distance data is greater than 30, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensor data group is less than 10 mm, determine whether the number of distance data is greater than 70;

[0029] If the number of distance data is greater than 70, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensor data group is less than 10 mm, it is determined that the target gesture corresponding to the sensor data group is hovering; otherwise, it is determined that the target gesture corresponding to the sensor data group is retraction.

[0030] In a third aspect, an embodiment of the present application provides a smart home device, including the gesture recognition system as described in the first aspect.

[0031] The embodiment of the present application uses a one-dimensional TOF sensor to collect the distance data of the target hand at fixed time periods, and determines the corresponding gesture action based on the experience of gesture actions and corresponding distance data change characteristics and distance data quantity accumulated in advance, so as to trigger different working modes of the smart device through different gestures. The distance measurement range of the one-dimensional TOF sensor is larger than the distance measurement range of the infrared sensor. The distance measurement range can be expanded by using a one-dimensional TOF sensor, and this solution only uses one one-dimensional TOF sensor. Compared with the traditional infrared recognition technology that uses four infrared receivers, the one-dimensional TOF sensor has low power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a structural diagram of a gesture recognition system based on a one-dimensional TOF sensor provided in Example 1 of the present application;

[0033] Figure 2It is a structural schematic diagram of a one-dimensional TOF sensor provided in Example 1 of the present application;

[0034] Figure 3 is a photon information histogram obtained after statistical processing of photon information detected by the one-dimensional TOF sensor provided in the first embodiment of the present application;

[0035] Figure 4 A gesture recognition method based on a one-dimensional TOF sensor is provided in the first embodiment of the present application;

[0036] In the figure, 10, one-dimensional TOF sensor; 11, light source driver; 12, VSECL light source; 13, first optical cover plate; 14, photon receiver; 15, optical filter; 16, second optical cover plate; 20, microcontroller. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0038] The gesture recognition system, method and smart home device based on a one-dimensional TOF sensor provided in the present application are intended to collect the distance data of the target hand at fixed time periods through a one-dimensional TOF sensor, and determine the corresponding gesture action based on the experience of gesture actions and corresponding distance data change characteristics and distance data quantity accumulated in advance, so as to realize gesture recognition. The distance measurement range of a one-dimensional TOF sensor is larger than that of an infrared sensor. The distance measurement range can be expanded by using a one-dimensional TOF sensor, and this solution only uses one one-dimensional TOF sensor. Compared with the traditional infrared recognition technology using four infrared receivers, the one-dimensional TOF sensor has low power consumption.

[0039] Embodiment 1:

[0040] Figure 1 Schematic diagram of the structure of a gesture recognition system based on a one-dimensional TOF sensor provided in the first embodiment of the present application. Figure 1 The serial port server includes: a one-dimensional TOF sensor 10 measures the distance between the target hand and the one-dimensional TOF sensor 10 in the target area every preset time, and the microcontroller 20 reads the distance data of the one-dimensional TOF sensor 10. The microcontroller 20 includes a timing module, a counting module and a signal generating module. The timing module starts timing when the microcontroller 20 reads the distance data for the latest time, calculates the waiting time between the latest distance data read and the next distance data read, and sends a reset instruction to the counting module when the waiting time exceeds the time period. If the waiting time does not exceed the preset time period, the counting instruction is sent to the counting module; the counting module receives the counting instruction sent by the timing module, calculates the number of distance data according to the counting instruction, or receives the reset instruction sent by the timing module, sends the number of currently stored distance data to the signal generating module according to the reset instruction, and sets the number of currently stored distance data to zero; the signal generating module receives the number of distance data, obtains the corresponding distance data, determines the target gesture result input by the target hand according to the number of distance data and the change characteristics of the corresponding distance data, and generates a corresponding control signal according to the target gesture result to trigger the corresponding working mode.

[0041] TOF technology, namely time-of-flight ranging technology, mainly uses the flight time of a flying medium (such as photons) flying out of a transmitter and hitting a target object and then returning to a receiver in a TOF sensor to measure the distance between the receiver and the target object. A one-dimensional TOF sensor 10 refers to a TOF sensor that only provides one depth point for ranging. Specifically, the one-dimensional TOF sensor 10 includes a control unit and a detection unit, and the detection unit is connected to the control unit, wherein: the detection unit is used to emit photons through a VCSEL light source, and receive photons reflected back after hitting a target hand through a photon receiver 14, and calculate the distance between the target hand and the detection unit according to the photon emission time, the photon reception time and the speed of light; the control unit is used to read the distance data measured by the detection unit, and compare the distance data with a preset distance threshold. If the distance data is greater than the distance threshold, the corresponding distance data is stored so that the microcontroller 20 reads the distance data, otherwise the corresponding distance data is deleted. Exemplarily, the detection unit calculates the distance between the target hand and the one-dimensional TOF sensor 10 at the current moment according to the emission time and reflection time of each photon and the speed of light, and the control unit screens out the distance data between the target hand and the one-dimensional TOF sensor 10 in the target area according to the preset distance threshold. It can be understood that if the target hand is in the target area, it indicates that the distance between the target hand and the one-dimensional TOF sensor 10 is within the distance threshold range, and if the target hand is not in the target area, it indicates that the distance between the target hand and the one-dimensional TOF sensor 10 exceeds the distance threshold range. In order to ensure the validity and reliability of the distance data, the distance data between the target hand and the one-dimensional TOF sensor 10 in the target area is saved, so that the microcontroller 20 reads and subsequently processes the distance data, and deletes the distance data between the target hand and the one-dimensional TOF sensor 10 outside the target area to avoid such invalid data interfering with subsequent data analysis.

[0042] Figure 2 Schematic diagram of the structure of a one-dimensional TOF sensor provided in Example 1 of the present application. Figure 2As shown, the one-dimensional TOF sensor 10 also includes a light source driver 11, a VCSEL light source, a first optical cover plate 13, a photon receiver 14, a second optical cover plate 16 and an optical filter 15, wherein: the light source driver 11 drives the VCSEL light source to continuously emit photons to the front area according to a preset modulation frequency, the photons pass through the first optical cover plate 13 to generate a first reflected light and a transmitted light, the first reflected light is received by the photon receiver 14, the second reflected light generated by the transmitted light hitting the target hand in the front area passes through the second optical cover plate 16 to reach the optical filter 15, and the second reflected light passing through the optical filter 15 is received by the photon receiver 14; the detection unit calculates the distance between the target hand and the detection unit according to the receiving time of the first reflected light and the second reflected light received by the photon receiver 14. Exemplarily, the light source driver 11 drives the VCSEL light source to continuously emit a large number of photons (940nm wavelength) to the front area according to a preset modulation frequency. The photons pass through the first optical cover plate 13 to generate a first reflected light and a transmitted light. When the first reflected light is received by the photon receiver 14, the detection unit starts timing. After the photons of the transmitted light hit the target hand in front, the second reflected light generated passes through the second optical front plate to reach the optical filter 15. The optical filter 15 only receives infrared light with a wavelength of 940nm to eliminate interference from ambient light. After the second reflected light passing through the optical filter 15 is received by the photon receiver 14, the detection unit stops timing. The detection unit measures the distance between the target hand and the one-dimensional TOF sensor 10 based on the number of photons received by the photon receiver 14 and the corresponding reception time based on the statistical histogram technology. Exemplarily, Figure 3 It is a photon information histogram obtained after statistical processing of the photon information detected by the one-dimensional TOF sensor 10 provided in the first embodiment of the present application. The horizontal axis of the histogram is the receiving time, and the vertical axis is the number of photons. When there is a target hand in the target area, two peaks will be displayed in the histogram. The first peak is the peak signal when the first reflected light is received, and the second peak is the peak signal when the second reflected light is received. Therefore, by extracting the peak data, the time difference between the first reflected light and the second reflected light received by the photon receiver 14 can be accurately fitted based on the fitting algorithm, and the distance between the target hand and the one-dimensional TOF sensor 10 can be calculated according to the speed of light.

[0043] Specifically, in one embodiment, the microcontroller 20 sends a collection instruction to the one-dimensional TOF sensor 10 every 33ms to control the one-dimensional TOF sensor 10 to collect the distance data between the target hand and the one-dimensional TOF sensor 10 once in a time period of 33ms. Among them, the microcontroller 20 controls the light source driver 11 of the one-dimensional TOF sensor 10 to drive the VCSEL light source to emit photons every 33ms. Exemplarily, the one-dimensional TOF sensor 10 collects distance data at the current moment, and determines whether the distance data meets the distance threshold range. If the distance data is less than or equal to the distance threshold, the one-dimensional TOF sensor 10 stores the distance data, and the microcontroller 20 reads the distance data from the one-dimensional TOF sensor 10, and starts timing from the time the distance data is read, and calculates the waiting time between the microcontroller 20 reading two distance data continuously. After 33ms, the one-dimensional TOF sensor 10 collects distance data again and determines whether the distance data meets the distance threshold range. If the distance data is greater than the distance threshold, the one-dimensional TOF sensor 10 does not store the distance data. At this time, the reading operation of the microcontroller 20 is bye, and the microcontroller 20 needs to continue to wait for the next round of reading. At this time, the waiting time has exceeded the preset time period, indicating that there has been invalid action-triggered distance data between the distance data most recently read by the microcontroller 20 and the distance data read next time, then these two distance data do not belong to the same gesture action trigger, which further indicates that the distance data most recently read by the microcontroller 20 is the distance data triggered by the last gesture action currently input. At this time, the sensor data group corresponding to the most recently read distance data completely records all the distance data corresponding to the trigger of the currently input gesture action, so the sensor data group can be analyzed to determine the corresponding gesture action.

[0044] Figure 4 A gesture recognition method based on a one-dimensional TOF sensor is provided in the first embodiment of the present application. The gesture recognition method is applied to a microcontroller, such as Figure 4 As shown, the gesture recognition method includes:

[0045] S110, start timing from the time when the latest distance data is read, calculate the waiting time between the latest distance data read and the next distance data read, and determine whether the waiting time exceeds the preset time period. If the waiting time exceeds the preset time period, execute step S120; if the waiting time does not exceed the preset time period, execute step S150.

[0046] Exemplarily, a one-dimensional TOF sensor measures the distance between the target hand and itself. If the distance is less than or equal to a preset distance threshold, the corresponding distance data is stored so that the microcontroller reads the distance data. If the distance is greater than the preset distance threshold, the corresponding distance data is not stored. At this time, the microcontroller's reading operation is bye, waiting for the next round of data reading. The microcontroller starts timing from the latest distance data read, and calculates the waiting time between two consecutive readings of distance data. If the waiting time exceeds the preset time period, it indicates that the microcontroller cannot continuously read the distance data from the one-dimensional TOF sensor at intervals of the time period, that is, the one-dimensional TOF sensor has collected invalid distance data. Therefore, the waiting time exceeds the preset time period, indicating that invalid action-triggered distance data has appeared between the two distance data, that is, the two distance data do not belong to the same gesture action trigger. The waiting time does not exceed the preset time period, indicating that the two distance data belong to the same gesture action trigger.

[0047] S120: When the waiting time exceeds a preset time period, obtain a sensor data group corresponding to the most recently read distance data, and count the number of distance data in the sensor data group.

[0048] Exemplarily, since the distance data read by the microcontroller the latest and the distance data read the next time are not triggered by the same gesture action, the distance data read the latest is the distance data triggered by the current gesture action for the last time. The sensor data group corresponding to the distance data read the latest completely records all the distance data corresponding to the trigger of the current gesture action input, so the sensor data group corresponding to the distance data read the latest can be analyzed to determine the corresponding gesture action.

[0049] Furthermore, in order to count the number of distance data in the sensing data group corresponding to the most recently read distance data, the number of distance data can be counted by a counter. Exemplarily, if the waiting time does not exceed the time period, the counter is controlled to set the number of currently stored distance data to zero. When it is determined that the waiting time exceeds the time period, the number of distance data currently stored in the counter is used as the number of distance data in the sensing data group corresponding to the most recently read distance data, and the number of distance data currently stored in the counter is cleared to indicate that the sensing data group corresponding to the next gesture action does not yet contain distance data, that is, the next gesture action has not yet been input.

[0050] S130: Determine a target gesture result corresponding to the sensor data group according to the amount of distance data and data change characteristics of the sensor data group.

[0051] Specifically, if the number of distance data is greater than 9 and less than 30, and the distance data in the middle of the sensor data group is the minimum distance data of the sensor data group, and the distance data at both ends of the sensor data group is the maximum distance data of the sensor data group, and the absolute distance difference between the minimum distance data and the maximum distance data is greater than 30mm, it is determined that the target gesture corresponding to the sensor data group is clapping. Exemplarily, experiments have shown that if the currently input gesture is clapping, when the clapping action is faster, the number of distance data corresponding to the clapping action will be greater than 9, and when the clapping action is slower, the number of distance data corresponding to the clapping action will be less than 30. The data change characteristics of the sensor data group corresponding to the clapping action are that the middle value is the smallest, the two ends are the largest, and the movement amplitude is not less than 30mm.

[0052] Specifically, if the number of distance data is greater than 1 and less than 15, and the absolute distance difference between the first distance data and the middle distance data of the sensor data group is less than 20 mm, it is determined that the target gesture corresponding to the sensor data group is waving. Exemplarily, experiments have shown that if the currently input gesture is waving, when the waving action is fast, the number of distance data corresponding to the waving action will be greater than 1, and when the waving action is slow, the number of distance data corresponding to the waving action will be less than 15. The data change feature of the sensor data group corresponding to the waving action is that the absolute difference between the value of the middle distance data and the value of the first distance data is less than 20 mm.

[0053] Specifically, if the number of distance data is greater than 30, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensor data group is greater than or equal to 10 mm, it is determined that the target gesture corresponding to the sensor data group is telescoping. Exemplarily, experiments have shown that if the currently input gesture action is a hovering action or a telescoping action, the number of distance data triggered by the corresponding gesture is at least greater than 30. The data change feature of the sensor data group corresponding to the telescoping action is that the absolute difference between the value of the first distance data and the value of the thirty-first distance data is greater than 10 mm.

[0054] If it is determined that the number of distance data is greater than 30, and the absolute difference between the value of the first distance data and the value of the thirty-first distance data is less than 10mm, further determine whether the currently inputted hovering action or telescopic action. Specifically, if the number of distance data is greater than 30, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensor data group is less than 10mm, determine whether the number of distance data is greater than 70; if the number of distance data is greater than 70, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensor data group is less than 10mm, determine that the target gesture corresponding to the sensor data group is hovering, otherwise determine that the target gesture corresponding to the sensor data group is telescopic. Exemplarily, experiments have shown that if the currently inputted gesture action is a hovering action, the number of distance data triggered by it is at least greater than 70. The data change characteristic of the sensor data group corresponding to the hovering action is that the absolute difference between the value of the first distance data and the value of the seventy-first distance data is less than 10mm.

[0055] It can be seen from the above embodiments that the corresponding gesture action can be determined based on the experimental data and the amount of distance data and data change characteristics of the sensor data group.

[0056] S140. Generate a corresponding control signal according to the target gesture result to trigger a corresponding working mode.

[0057] Specifically, in one embodiment, the gesture recognition system can be applied to smart home devices, and each gesture action triggers a working mode of the smart home device. Therefore, when the currently input gesture action is recognized, the smart home device is controlled to enter the corresponding working mode according to the pre-set correspondence between the gesture action and the working mode, so as to achieve an intelligent control effect.

[0058] S150, storing the most recently read distance data into the sensor data group corresponding to the distance data read last time, and continuing to read the next distance data.

[0059] Exemplarily, if the waiting time does not exceed the preset time period, it indicates that the two distance data continuously read by the microcontroller are triggered by the same gesture action, so the latest distance data read is stored in the sensor data group corresponding to the distance data read last time. It can be understood that the latest distance data read does not specifically refer to a certain distance data, but the distance data latest read by the microcontroller. When the microcontroller reads the distance data, the distance data becomes the latest distance data read. If the latest distance data read and the distance data read last time are distance data triggered by the same gesture action, there may be subsequent distance data triggered by the gesture action. Therefore, continue to read the distance data in the next round to collect all the distance data triggered by the gesture action into the same sensor data group, so as to perform data analysis on the complete sensor data group to determine the gesture action currently input.

[0060] The embodiment of the present application uses a one-dimensional TOF sensor to collect the distance data of the target hand at fixed time periods, and determines the corresponding gesture action based on the experience of gesture actions and corresponding distance data change characteristics and distance data quantity accumulated in advance, so as to trigger different working modes of the smart device through different gestures. The distance measurement range of the one-dimensional TOF sensor is larger than the distance measurement range of the infrared sensor. The distance measurement range can be expanded by using a one-dimensional TOF sensor, and this solution only uses one one-dimensional TOF sensor. Compared with the traditional infrared recognition technology that uses four infrared receivers, the one-dimensional TOF sensor has low power consumption.

[0061] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A gesture recognition system based on a one-dimensional TOF sensor, characterized in that: include: A microcontroller and a one-dimensional TOF sensor, wherein the microcontroller is connected to the one-dimensional TOF sensor, and the one-dimensional TOF sensor includes a detection unit, wherein: The one-dimensional TOF sensor measures the distance between the target hand and the one-dimensional TOF sensor in the target area once every preset time period, and the microcontroller reads the distance data of the one-dimensional TOF sensor; The microcontroller includes a timing module, a counting module and a signal generating module. The timing module starts timing when the microcontroller reads the distance data most recently, calculates the waiting time between the most recently read distance data and the next time the distance data is read, and sends a reset instruction to the counting module when the waiting time exceeds the time period. If the waiting time does not exceed the preset time period, the counting instruction is sent to the counting module; the counting module receives the counting instruction sent by the timing module, calculates the number of distance data according to the counting instruction, or receives the reset instruction sent by the timing module, sends the number of currently stored distance data to the signal generating module according to the reset instruction, and sets the number of currently stored distance data to zero; the signal generating module receives the number of distance data and obtains the corresponding distance data, determines the target gesture result input by the target hand according to the number of distance data and the change characteristics of the corresponding distance data, and generates a corresponding control signal according to the target gesture result to trigger the corresponding working mode; The one-dimensional TOF sensor further includes a light source driver, a VCSEL light source, a first optical cover plate, a second optical cover plate, a photon receiver and an optical filter, wherein: The light source driver drives the VCSEL light source to continuously emit photons to the front area according to a preset modulation frequency, the photons pass through the first optical cover plate to generate first reflected light and transmitted light, the first reflected light is received by the photon receiver, the transmitted light hits the target hand in the front area to generate second reflected light that passes through the second optical cover plate to reach the optical filter, and the second reflected light that passes through the optical filter is received by the photon receiver; The detection unit calculates the distance between the target hand and the detection unit according to the reception time of the first reflected light and the second reflected light received by the photon receiver.

2. The system according to claim 1, characterized in that The one-dimensional TOF sensor comprises a control unit, and the detection unit is connected to the control unit, wherein: The detection unit is used to emit photons through a VCSEL light source, receive photons reflected after hitting the target hand through a photon receiver, and calculate the distance between the target hand and the detection unit according to the photon emission time, the photon reception time and the speed of light; The control unit is used to read the distance data measured by the detection unit, compare the distance data with a preset distance threshold, and if the distance data is less than or equal to the distance threshold, store the corresponding distance data so that the microcontroller reads the distance data, otherwise delete the corresponding distance data.

3. The system according to claim 1, characterized in that The microcontroller also includes controlling the one-dimensional TOF sensor to collect distance data between the target hand and the one-dimensional TOF sensor once in a time period of 33 ms.

4. A gesture recognition method based on a one-dimensional TOF sensor, applied to the gesture recognition system according to any one of claims 1 to 3, characterized in that: include: Starting from the time when the latest distance data is read, calculating the waiting time between the latest distance data read and the next distance data read, and determining whether the waiting time exceeds a preset time period; If the waiting time exceeds the preset time period, then when the waiting time exceeds the preset time period, the sensing data group corresponding to the most recently read distance data is obtained, and the number of distance data in the sensing data group is counted; Determining the target gesture result corresponding to the sensor data group according to the number of distance data and the data change characteristics of the sensor data group, including: if the number of distance data is greater than 9 and less than 30, and the distance data in the middle of the sensor data group is the minimum distance data of the sensor data group, and the distance data at both ends of the sensor data group is the maximum distance data of the sensor data group, and the absolute distance difference between the minimum distance data and the maximum distance data is greater than 30 mm, determining that the target gesture corresponding to the sensor data group is clapping; According to the target gesture result, a corresponding control signal is generated to trigger a corresponding working mode; If the waiting time does not exceed the preset time period, the latest read distance data is stored in the sensor data group corresponding to the distance data read last time, and the next distance data is read continuously.

5. The method according to claim 4, characterized in that Determining the target gesture result corresponding to the sensor data group according to the amount of distance data and the data change characteristics of the sensor data group includes: If the number of distance data is greater than 1 and less than 15, and the absolute distance difference between the first distance data and the middle distance data of the sensor data group is less than 20 mm, it is determined that the target gesture corresponding to the sensor data group is waving.

6. The method according to claim 4, characterized in that Determining the target gesture result corresponding to the sensor data group according to the amount of distance data and the data change characteristics of the sensor data group includes: If the number of the distance data is greater than 30, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensing data group is greater than or equal to 10 mm, it is determined that the target gesture corresponding to the sensing data group is telescoping.

7. The method according to claim 4, characterized in that Determining the target gesture result corresponding to the sensor data group according to the amount of distance data and the data change characteristics of the sensor data group includes: If the number of distance data is greater than 30, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensor data group is less than 10 mm, determine whether the number of distance data is greater than 70; If the number of distance data is greater than 70, and the absolute distance difference between the first distance data and the thirty-first distance data of the sensor data group is less than 10 mm, it is determined that the target gesture corresponding to the sensor data group is hovering; otherwise, it is determined that the target gesture corresponding to the sensor data group is retraction.

8. A smart home device, characterized in that: Comprising the gesture recognition system as described in any one of claims 1-3.

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