Gesture recognition method and system and storage medium

Abstract

The invention relates to a gesture recognition method and system and a storage medium. The method comprises the following steps: acquiring a first included angle and a first gravitational acceleration of first wearable equipment; acquiring a second included angle and a second gravitational acceleration of a second wearable device; determining a target angle difference between the first included angle and the second included angle according to the first included angle and the second included angle; and determining a target gesture instruction according to the target angle difference and at least one of the first included angle, the second included angle, the first gravitational acceleration and the second gravitational acceleration. According to the invention, the accuracy of the indication operation of the target gesture instruction is improved.

Description

Technical Field

[0001] The present application relates to the field of smart devices, and in particular to a gesture recognition method, system and storage medium. Background Art

[0002] At present, AR and VR applications are becoming increasingly popular. AR and VR are two different virtual technologies. AR (Augmented Reality) is an augmented reality technology, which is a combination of virtual digital images and naked eye reality images. VR (ViRtual Reality) is a virtual reality technology, which consists of pure virtual digital images.

[0003] Users can experience AR or VR through wearable devices, such as smart watches or smart bracelets, but this will be affected by the position of the arm. For example, the user does not want to make an instruction, but after the arm moves, the smart watch mistakenly thinks that a certain instruction needs to be made, resulting in an erroneous instruction. In other words, the arm position will interfere with the operation instructions, resulting in low operation accuracy. Summary of the invention

[0004] The present application provides a gesture recognition method, system and storage medium to solve the problem of low accuracy of operation.

[0005] In a first aspect, the present application provides a gesture recognition method, the method comprising:

[0006] Obtaining a first angle and a first gravitational acceleration of a first wearable device;

[0007] Acquire a second angle and a second gravitational acceleration of a second wearable device;

[0008] Determine a target angle difference between the first angle and the second angle according to the first angle and the second angle;

[0009] A target gesture instruction is determined according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration.

[0010] Optionally, the first angle is an angle between a z-axis direction of a first device surface of the first wearable device and a gravity direction, the first gravitational acceleration is a gravitational acceleration in an x-axis direction or a y-axis direction of the first device surface of the first wearable device, and the z-axis direction is a vertical direction of the first device surface;

[0011] The obtaining of the first angle comprises:

[0012] When the first device surface of the first wearable device is in a horizontal state, acquiring a standard gravity acceleration in a gravity direction through a first gravity acceleration sensor of the first wearable device;

[0013] When the first device surface of the first wearable device is in a non-horizontal state, acquiring a third gravity acceleration in the z-axis direction of the first device surface of the first wearable device through the first gravity acceleration sensor;

[0014] The first angle is determined according to the third gravitational acceleration and the standard gravitational acceleration.

[0015] Optionally, the second angle is an angle between a z-axis direction of a second device surface of the second wearable device and a gravity direction, the second gravitational acceleration is a gravitational acceleration in an x-axis direction or a y-axis direction of the second device surface of the second wearable device, and the z-axis direction is a vertical direction or a radial direction of the second device surface;

[0016] The obtaining of the second angle comprises:

[0017] When the second device surface of the second wearable device is in a horizontal state, acquiring a standard gravity acceleration in the gravity direction through a second gravity acceleration sensor of the second wearable device;

[0018] When the second device surface of the second wearable device is in a non-horizontal state, acquiring a fourth gravity acceleration in a z-axis direction of the second device surface of the second wearable device through the second gravity acceleration sensor;

[0019] The second angle is determined according to the fourth gravitational acceleration and the standard gravitational acceleration.

[0020] Optionally, the first wearable device is a smart ring, the second wearable device is a smart watch or a smart bracelet, the x-axis direction of the first device surface of the first wearable device is along the length direction of the finger, the y-axis direction of the first device surface of the first wearable device is along the width direction of the finger, the x-axis direction of the second device surface of the second wearable device is along the length direction of the wrist, and the y-axis direction of the second device surface of the second wearable device is along the width direction of the wrist.

[0021] Optionally, determining a target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes:

[0022] When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, and the first gravitational acceleration of the first wearable device in the y-axis direction is greater than or equal to a preset first y-axis gravitational acceleration threshold, the target gesture instruction is determined to be a stop instruction.

[0023] Optionally, determining a target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes:

[0024] When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, the first gravity acceleration of the first wearable device in the y-axis direction is greater than or equal to a preset first y-axis gravity acceleration threshold, and the second gravity acceleration of the second wearable device in the x-axis direction exceeds a preset first x-axis gravity acceleration range, the target gesture instruction is determined to be an exit instruction.

[0025] Optionally, determining a target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes:

[0026] When the target angle difference is less than or equal to a preset second angle difference threshold, the first angle is greater than or equal to a preset angle threshold, the second angle is greater than or equal to the preset angle threshold, and the second gravitational acceleration of the second wearable device in the y-axis direction is greater than or equal to a preset first y-axis gravitational acceleration threshold, the target gesture instruction is determined to be an interface upward movement instruction.

[0027] Optionally, determining a target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes:

[0028] When the target angle difference is less than or equal to a preset second angle difference threshold, the first angle is greater than or equal to a preset angle threshold, the second angle is greater than or equal to the preset angle threshold, and the second gravitational acceleration of the second wearable device in the y-axis direction is less than or equal to a preset second y-axis gravitational acceleration threshold, the target gesture instruction is determined to be an interface downward movement instruction.

[0029] Optionally, determining a target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes:

[0030] When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, and the first gravity acceleration of the first wearable device in the y-axis direction is less than or equal to a preset second y-axis gravity acceleration threshold, the target gesture instruction is determined to be an interface zoom-in instruction.

[0031] Optionally, determining a target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes:

[0032] When the first angle and the second angle are both within a preset angle range, the target angle difference is less than or equal to a preset second angle difference threshold, and the second gravitational acceleration of the second wearable device in the x-axis direction exceeds a preset second x-axis gravitational acceleration range, the target gesture instruction is determined to be an interface left-right movement instruction.

[0033] Optionally, acquiring the first angle, the second angle, the first gravitational acceleration, and the second gravitational acceleration includes:

[0034] The first angle, the second angle, the first gravitational acceleration and the second gravitational acceleration are detected by a gravity sensor and / or a magnetic sensor and / or a gyroscope of the first wearable device and / or the second wearable device.

[0035] In a second aspect, the present application further provides a gesture recognition system, the system comprising a first wearable device, a second wearable device and a terminal device,

[0036] The first wearable device is used to obtain a first angle and a first gravitational acceleration of the first wearable device;

[0037] The second wearable device is connected to the first wearable device and is used to obtain a second angle and a second gravitational acceleration of the second wearable device;

[0038] The terminal device is connected to the first wearable device and the second wearable device, and is used to determine a target angle difference between the two based on the first angle and the second angle, and determine a target gesture instruction based on the target angle difference and at least one of the first angle, the second angle, the first gravitational acceleration, and the second gravitational acceleration.

[0039] In a third aspect, the present application further provides a computer storage medium storing computer executable instructions, wherein the computer executable instructions are used to execute any of the gesture recognition methods described above in the present application.

[0040] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art: different wearable devices are worn on the fingers and wrists respectively, the vertical direction of the first device surface of the first wearable device forms a first angle with the gravity direction, the vertical direction of the second device surface of the second wearable device forms a second angle with the gravity direction, and a target angle difference is formed between the first angle and the second angle. As long as the relative angle between the finger and the wrist does not change, the target angle difference will not change even if the arm moves, thereby eliminating the influence of the arm on the measurement result and improving the accuracy of the target gesture instruction indication operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0044] Figure 1 A flowchart of a method for gesture recognition provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of a usage scenario provided for an embodiment of the present application;

[0046] Figure 3 A schematic diagram of fingers, palms and wrists provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of the relative positions of the palm and wrist provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of three-dimensional rectangular coordinates of a first wearable device provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of a first angle of a first wearable device in a non-horizontal state provided in an embodiment of the present application;

[0050] Figure 7A schematic diagram of three-dimensional rectangular coordinates of a second wearable device provided in an embodiment of the present application;

[0051] Figure 8 A schematic diagram of a second angle of the second device provided in an embodiment of the present application when in a non-horizontal state;

[0052] Fig. 9 Another schematic diagram of fingers, palms and wrists provided in an embodiment of the present application;

[0053] Fig.10 Another schematic diagram of the relative position of the palm and wrist provided in an embodiment of the present application;

[0054] Fig.11 A product structure diagram provided for an embodiment of the present application;

[0055] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0057] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0058] The present application provides a gesture recognition method, which is applied to a terminal device that can be connected to a wearable device. The terminal device can be an AR device, a VR device, a smart TV or a smart projector, etc. Figure 1 As shown, the method includes:

[0059] Step 101: Obtain a first angle and a first gravitational acceleration of a first wearable device.

[0060] Among them, the first angle is the angle between the z-axis direction of the first device surface of the first wearable device and the gravity direction, the first gravitational acceleration is the gravitational acceleration in the x-axis direction or the y-axis direction of the first device surface of the first wearable device, and the z-axis direction is the vertical direction of the first device surface.

[0061] The first wearable device can detect the first angle and the first gravitational acceleration through at least one of a gravity sensor, a magnetic sensor, and a gyroscope.

[0062] The detection method of the first angle and the first gravitational acceleration is similar to the detection method of the second angle and the second gravitational acceleration, which will be described together below and will not be discussed in detail here.

[0063] Step 102: Obtain a second angle and a second gravitational acceleration of a second wearable device.

[0064] Among them, the second angle is the angle between the z-axis direction of the second device surface of the second wearable device and the gravity direction, the second gravitational acceleration is the gravitational acceleration in the x-axis direction or the y-axis direction of the second device surface of the second wearable device, and the z-axis direction is the vertical direction of the second device surface.

[0065] The second wearable device can detect the second angle and the second gravitational acceleration through at least one of a gravity sensor, a magnetic sensor, and a gyroscope.

[0066] Exemplarily, the first wearable device may be a smart ring, and the second wearable device may be a smart watch or a smart bracelet, or the first wearable device may be a smart ring, and the second wearable device may be a wearable device on the back of the hand, or the first wearable device may be a smart ring on one finger, and the second wearable device may be a smart ring on another finger. The present application is not limited to the specific wearing positions of the first wearable device and the second wearable device on the hand.

[0067] If the first wearable device is a smart ring, it can be worn on the index finger, middle finger or ring finger. The second wearable device is a smart watch or a smart bracelet, and the second wearable device is worn on the wrist of the user. Figure 2 This is a schematic diagram of a usage scenario of the present invention, in which a user wears a smart watch on his wrist and a smart ring on his finger.

[0068] The following is a detailed explanation assuming that the first wearable device may be a smart ring and the second wearable device may be a smart watch.

[0069] Figure 3 A schematic diagram of fingers, palms and wrists provided in an embodiment of the present application. Figure 3 As shown, the three large boxes from left to right represent fingers, palms, and wrists respectively.

[0070] A three-dimensional rectangular coordinate system is established for the first wearable device, and the surface of the first device has corresponding x-axis direction, y-axis direction and z-axis direction in the three-dimensional rectangular coordinate system. If the first wearable device is a ring, the length direction of the finger is the y-axis direction of the surface of the first device, the width direction of the finger is the x-axis direction of the surface of the first device, and the vertical direction of the finger is the z-axis direction of the surface of the first device.

[0071] Figure 4 It is a relative position diagram of the palm and wrist. OR is the center point of the smart ring, OR-GR is the gravity line sensed by the gravity sensor of the smart ring, and OR-Z1R is the vertical line on the surface of the smart ring. ∠Z1R-OR-GR is the angle between the vertical line of the smart ring (the straight line in the z-axis direction) and the gravity line, that is, the first angle, for example, 45°.

[0072] The following explains the first angle of the surface of the first device, and the process of obtaining the first gravity acceleration in the x-axis direction or the y-axis direction, taking the gravity acceleration sensor as an example. The terminal device can obtain the gravity acceleration values ​​in the three directions of x-axis, y-axis, and z-axis. The standard gravity acceleration needs to be detected in advance. Specifically: when the first device surface of the first wearable device is in a horizontal state, the first gravity acceleration sensor of the first wearable device is also in a horizontal position. The first gravity acceleration sensor detects that the components in the x-axis direction and the y-axis direction are close to 0, the component in the z-axis direction is the largest, and Z1R coincides with the gravity line GR. The data detected in the x-, y-, and z-axis directions are as follows:

[0073] X=-0.062238887m / s^2; Y=1.5137814m / s^2; z=9.613813m / s^2,

[0074] Z1R_max=GR=9.7765m / s^2, that is, the standard gravitational acceleration GR=9.7765m / s^2.

[0075] A schematic diagram of the three-dimensional rectangular coordinates of the first wearable device when the first device surface of the first wearable device is in a non-horizontal state. Figure 5 OR is the origin, X1R and X2R indicate the x-axis direction, Y1R and Y2R indicate the y-axis direction, Z1R and Z2R indicate the z-axis direction, MR indicates the horizontal direction, and GR indicates the gravity direction.

[0076] It can be seen that when the fingertip is in the oblique upward direction, the first gravity acceleration sensor obtains the first gravity acceleration Y2R of the first device surface in the y-axis direction and the third gravity acceleration Z1R in the z-axis direction, and obtains Y2R=7.5830m / s^2; Z1R=6.0429m / s^2.

[0077] Change Y2R, Z1R and GR from Figure 5 The first angle diagram of the first wearable device in a non-horizontal state is obtained by separating the first angle diagram of the first wearable device in a non-horizontal state, as shown in FIG. Figure 6 As shown, the projection of GR on Z1R is 6.043m / s^2, the projection on Y2R is 7.583m / s^2, and ∠Z1R-OR-Y2R is 90°.

[0078] Y2R is the first gravity acceleration in the y-axis direction of the first device surface, X1R and X2R are the first gravity acceleration in the x-axis direction of the first device surface, and the detection method of X1R and X2R is the same as that of Y2R, which will not be repeated here.

[0079] The calculation of ∠Z1R-OR-GR uses Z1R and GR. In essence, a right triangle is constructed with the third gravity acceleration as the right-angled side and the standard gravity acceleration as the hypotenuse. The arccosine function is used to determine the first angle between the third gravity acceleration Z1R and the standard gravity acceleration GR in the right triangle. The process of calculating the first angle ∠Z1R-OR-GR is shown in the following formula.

[0080] cos∠Z1R-OR-GR=Z1R / GR

[0081] ∠Z1R-OR-GR=arccos(cos∠Z1R-OR-GR)

[0082] =arccos(Z1R / GR)

[0083] =arccos(6.0429 / 9.7765)

[0084] =arccos(0.6181)

[0085] Looking up the cosine table, the angle corresponding to 0.6181 is 51°82'.

[0086] Therefore, the first angle is 51°82'.

[0087] like Figure 4 As shown, OW is the center point of the smart watch, OW-GW is the gravity line sensed by the gravity sensor of the smart watch, and OW-Z1W is the vertical line on the surface of the smart watch. ∠Z1W-OW-GW is the angle between the vertical line of the smart watch and the gravity line, that is, the second angle, for example, 0°.

[0088] The calculation process of the second angle is similar to that of the first angle. Figure 7OW is the origin, X1W and X2W indicate the x-axis direction, Y1W and Y2W indicate the y-axis direction, Z1W and Z2W indicate the z-axis direction, GW indicates the gravity direction, and MW indicates the horizontal direction.

[0089] A three-dimensional rectangular coordinate system is established according to the second wearable device, and the surface of the second device has corresponding x-axis direction, y-axis direction and z-axis direction in the three-dimensional rectangular coordinate system. If the second wearable device is a watch, the length direction of the wrist is the y-axis direction of the surface of the second device, the width direction of the wrist is the x-axis direction of the surface of the second device, and the vertical direction of the wrist is the z-axis direction of the surface of the second device.

[0090] When the second device surface of the second wearable device is in a non-horizontal state, that is, in Figure 7 When the wrist is in the oblique upward direction, the second gravity acceleration sensor of the second wearable device obtains the second gravity acceleration Y2W of the second device surface in the y-axis direction and the fourth gravity acceleration Z1W in the z-axis direction, and obtains Y2W=1.5137m / s^2; Z1W=9.6138m / s^2.

[0091] Convert Y2W, Z1W and GW from Figure 7 The second angle diagram of the second wearable device when it is in a non-horizontal state is obtained by separating it from the second angle diagram, such as Figure 8 As shown, then, the projection of GW on Z1W is 9.6138m / s^2, the projection on Y2W is 1.5137m / s^2, and ∠Z1W-OW-Y2W is 90°.

[0092] Y2W is the second gravitational acceleration of the second device surface in the y-axis direction, X1W and X2W are the second gravitational acceleration of the second device surface in the x-axis direction, and the detection method of X1W and X2W is the same as that of Y2W, which will not be repeated here.

[0093] The process of calculating ∠Z1W-OW-GW is shown in the following formula.

[0094] cos∠Z1W-OW-GW=Z1W / GW

[0095] ∠Z1W-OW-GW=arccos(cos∠Z1W-OW-GW

[0096] =arccos(Z1W / GW)

[0097] =arccos(9.6138 / 9.7765)

[0098] =arccos(0.9833)

[0099] Looking up the cosine table, the angle corresponding to 0.983 is 10°37'.

[0100] Therefore, the second angle is 10°37'.

[0101] Step 103: Determine a target angle difference between the first angle and the second angle according to the first angle and the second angle.

[0102] Figure 3 In the pose, the fingers, fingers and wrist are in the same plane, but the whole is horizontal. Fig. 9 Another schematic diagram of fingers, palms and wrists provided in the embodiment of the present application is as follows: Fig. 9 As shown, the fingers, fingers and wrist are in the same plane but the whole is tilted, that is, although the arm is tilted, the fingers, fingers and wrist are in the same plane. Fig. 9 The relative position of smart ring and smart watch Figure 3 No changes have occurred.

[0103] Figure 4 This is a diagram of the relative position of the palm and wrist. Since the gravity line OR-GR and the gravity line OW-GW always point to the center of the earth and are always parallel, we can know the angle between the extension line Z1R-OR and the extension line Z1W-OW. This angle is defined as ∠Z1ROR-Z1WOW(1).

[0104] Fig.10 Another diagram of the relative position of the palm and wrist is shown in Figure 2. Fig.10 The wrist is relative to Figure 4 When the wrist is tilted upward, as long as the angle between the fingers and palm relative to the wrist does not change, even if the arm is raised upward, although ∠Z1W-OW-GW will increase, ∠Z1R-OR-GR will also increase at the same time. Therefore, when the hand gesture does not change, the change in the position of the arm will not affect the angle of ∠Z1ROR-Z1WOW(2). In other words, by measuring ∠Z1R-OR-GR and ∠Z1W-OW-GW, the angle between the fingers and the wrist can be calculated, regardless of the specific position of the arm, thus eliminating the influence of the arm on the measurement results.

[0105] ∠Z1ROR-Z1WOW(1)=∠Z1ROR-Z1WOW(2).

[0106] Therefore, the target angle difference between the first angle (finger) and the first angle (wrist) is:

[0107] ∠Z1R-OR-OW-Z1W=∠Z1R-OR-GR-∠Z1W-OW-GW

[0108] =51°82'-10°37'

[0109] =41°45'.

[0110] Step 104: Determine a target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration.

[0111] The target angle difference indicates the angle between the first device surface and the second device surface, the first angle and the second angle indicate that the hand makes a flipping motion in various directions, and the first gravity acceleration and the second gravity acceleration indicate that the hand swings up and down or left and right.

[0112] The terminal device determines the target gesture instruction based on the target angle difference and in combination with at least one of the first angle, the second angle, the first gravitational acceleration, and the second gravitational acceleration.

[0113] In the present application, a target angle difference is formed between the first angle of the first wearable device and the second angle of the second wearable device. As long as the relative angle between the first wearable device and the second wearable device does not change, the target angle difference will not change even if the arm moves, thereby eliminating the influence of the arm on the measurement result and improving the accuracy of the target gesture instruction operation. The target angle difference is combined with at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration to determine the target gesture instruction.

[0114] The terminal device acquires data in the following manners: the first angle and the first gravity acceleration are sent by the first wearable device to the terminal device, and the second angle and the second gravity acceleration are sent by the second wearable device to the terminal device; or, the first angle and the first gravity acceleration are sent by the first wearable device to the second wearable device, and the second wearable device sends the first angle, the first gravity acceleration, the second angle and the second gravity acceleration to the terminal device; or, the second angle and the second gravity acceleration are sent by the second wearable device to the first wearable device, and the first wearable device sends the first angle, the first gravity acceleration, the second angle and the second gravity acceleration to the terminal device.

[0115] For example, the first wearable device is a smart ring, the second wearable device is a smart watch, and the terminal device is an AR terminal. Fig.11This is a product structure block diagram in the embodiment of the present application. It can be seen that the smart ring, the smart watch and the AR terminal are connected wirelessly, the smart ring is connected to the smart watch, the smart ring transmits the first angle and the first gravity acceleration to the smart watch, the smart watch is connected to the AR terminal, and the first angle, the first gravity acceleration, the second angle and the second gravity acceleration are transmitted to the AR terminal in real time. The AR terminal performs calculation analysis on the angle difference between the finger and the wrist, and combines at least one of the first angle, the second angle, the first gravity acceleration and the second gravity acceleration to obtain the target gesture instruction.

[0116] The determination of the gesture instruction includes the following six embodiments, which correspond to the satisfying conditions of the six gestures in the gesture definition example table below.

[0117] The correspondence between the nouns in the six embodiments and the symbols and numerical values ​​in the gesture definition example table is as follows:

[0118] The first wearable device is a ring, and the second wearable device is a watch.

[0119] The first gravity acceleration of the first wearable device in the y-axis direction is Y2R, the second gravity acceleration of the second wearable device in the y-axis direction is Y2W, the preset first y-axis gravity acceleration threshold is 5m / s^2, and the preset second y-axis gravity acceleration threshold is -5m / s^2;

[0120] The second gravitational acceleration of the second wearable device in the x-axis direction is X1W and X2W, the preset range of the first x-axis gravitational acceleration is (-3m / s^2, 3m / s^2), and the preset range of the second x-axis gravitational acceleration is (-5m / s^2, 5m / s^2);

[0121] The first angle is ∠Z1R-OR-OW-Z1W, the second angle is ∠Z1W-OW-GW, the preset angle threshold is 15°, and the preset angle range is 85°~95°;

[0122] The target angle difference is ∠Z1R-OR-OW-Z1W, the preset first angle difference threshold is 30°, and the preset second angle difference threshold is 15°.

[0123] Example 1: When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, and the first gravitational acceleration of the first wearable device in the y-axis direction is greater than or equal to a preset first y-axis gravitational acceleration threshold, the target gesture instruction is determined to be a stop instruction, wherein the stop instruction indicates that the wrist is in a horizontal state facing the ground and the palm is raised.

[0124] For example, ∠Z1ROR-Z1WOW>30°, that is, the user raises his palm with the back of his hand facing himself, and this gesture action is defined as “stop”.

[0125] Example 2: When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, the first gravity acceleration of the first wearable device in the y-axis direction is greater than or equal to a preset first y-axis gravity acceleration threshold, and the second gravity acceleration of the second wearable device in the x-axis direction exceeds the preset first x-axis gravity acceleration range, the target gesture instruction is determined to be an exit instruction, wherein the exit instruction indicates that the wrist is in a horizontal state facing the ground, and the palm is raised to make a left-right swinging motion.

[0126] For example, based on the gesture action of "stop", if you swing your palm left and right at this time, it is defined as "negative". When you swing your palm left and right, for the smart ring, GR will have projection components on X1R and X2R, that is, the second gravity acceleration in the x-axis direction. When the second gravity acceleration is greater than the first x-axis gravity acceleration range, the gesture swing is determined to be valid. The number of swings can also be defined, for example, greater than or equal to 2 times and less than or equal to 4 times is valid.

[0127] In summary, when the palm is detected to be turned up and swung twice, this gesture can be defined as negation, or giving up, or exiting.

[0128] Example 3: When the target angle difference is less than or equal to a preset second angle difference threshold, the first angle is greater than or equal to the preset angle threshold, the second angle is greater than or equal to the preset angle threshold, and the second gravity acceleration of the second wearable device in the y-axis direction is greater than or equal to the preset first y-axis gravity acceleration threshold, the target gesture instruction is determined to be an interface upward movement instruction, wherein the interface upward movement instruction indicates that the fingers and wrist are on a horizontal line, and the arm rotates upward without moving the elbow joint.

[0129] Exemplarily, the user extends his palm with the palm facing downward, and rotates his arm upward, that is, the wrist and fingers are in a straight line, the elbow joint rotates, and the arm is raised, which can be defined as moving the interface upward.

[0130] Example 4: When the target angle difference is less than or equal to a preset second angle difference threshold, the first angle is greater than or equal to the preset angle threshold, the second angle is greater than or equal to the preset angle threshold, and the second gravity acceleration of the second wearable device in the y-axis direction is less than or equal to the preset second y-axis gravity acceleration threshold, the target gesture instruction is determined to be an interface downward movement instruction, wherein the interface downward movement instruction indicates that the fingers and wrist are on a horizontal line, and the arm rotates downward without moving the elbow joint.

[0131] For example, the user extends his palm, with the palm facing downward, and rotates his arm downward, that is, the wrist and fingers are in a straight line, the elbow joint rotates, and the arm tilts downward, which can be defined as moving the interface downward.

[0132] Example 5: When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, and the first gravity acceleration of the first wearable device in the y-axis direction is less than or equal to a preset second y-axis gravity acceleration threshold, the target gesture command is determined to be an interface zoom-in command, wherein the interface zoom-in command indicates that the wrist is horizontally facing the ground, and the palm moves toward the wrist.

[0133] For example, the wrist and fingers are in a straight line, and the palm is swung downward and inward. This gesture has the meaning of greeting and can be defined as bringing the interface closer.

[0134] Example 6: When the first angle and the second angle are both within the preset angle range, the target angle difference is less than or equal to the preset second angle difference threshold, and the second gravitational acceleration of the second wearable device in the x-axis direction exceeds the preset second x-axis gravitational acceleration range, the target gesture command is determined to be an interface left-right movement command, wherein the interface left-right movement command indicates that the fingers and wrists are in a straight line, the palms are facing each other, and the arms are swinging left and right.

[0135] Exemplarily, the wrist, palm and fingers are perpendicular to the ground (taking the right hand as an example, the thumb is on top), and the fingers, wrist and arm are swung left and right. This gesture can be defined as the interface moving left and right.

[0136] Table 1 is a table of gesture definition examples for embodiments 1-6.

[0137]

[0138]

[0139] Table 1

[0140] The embodiment of the present application can test the position of the smart ring on the finger of the same hand relative to the smart watch, for example, the finger palm is upturned relative to the wrist, the finger palm is straight relative to the wrist, the finger palm is downward relative to the wrist, the finger is closed and clenched into a fist, etc.

[0141] like Fig.12 As shown, an embodiment of the present application provides an air conditioner control device, including a processor 121, a communication interface 122, a memory 123 and a communication bus 124, wherein the processor 121, the communication interface 122, and the memory 123 communicate with each other through the communication bus 124.

[0142] The memory 123 is used to store computer programs.

[0143] In one embodiment of the present application, the processor 121 is used to execute the program stored in the memory 123 to implement the gesture recognition method provided by any of the above method embodiments, including:

[0144] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method provided in any of the aforementioned method embodiments are implemented.

[0145] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0146] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0147] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0148] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A gesture recognition method, characterized in that: The method comprises: Obtaining a first angle and a first gravitational acceleration of a first wearable device; Acquire a second angle and a second gravitational acceleration of a second wearable device; Determine a target angle difference between the first angle and the second angle according to the first angle and the second angle; A target gesture instruction is determined according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration.

2. The method according to claim 1, characterized in that The first angle is an angle between the z-axis direction of the first device surface of the first wearable device and the gravity direction, the first gravity acceleration is the gravity acceleration in the x-axis direction or the y-axis direction of the first device surface of the first wearable device, and the z-axis direction is a vertical direction of the first device surface; The obtaining of the first angle comprises: When the first device surface of the first wearable device is in a horizontal state, acquiring a standard gravity acceleration in a gravity direction through a first gravity acceleration sensor of the first wearable device; When the first device surface of the first wearable device is in a non-horizontal state, acquiring a third gravity acceleration in the z-axis direction of the first device surface of the first wearable device through the first gravity acceleration sensor; The first angle is determined according to the third gravitational acceleration and the standard gravitational acceleration.

3. The method according to claim 1, characterized in that The second angle is an angle between the z-axis direction of the second device surface of the second wearable device and the gravity direction, the second gravity acceleration is the gravity acceleration in the x-axis direction or the y-axis direction of the second device surface of the second wearable device, and the z-axis direction is a vertical direction or a radial direction of the second device surface; The obtaining of the second angle comprises: When the second device surface of the second wearable device is in a horizontal state, acquiring a standard gravity acceleration in the gravity direction through a second gravity acceleration sensor of the second wearable device; When the second device surface of the second wearable device is in a non-horizontal state, acquiring a fourth gravity acceleration in a z-axis direction of the second device surface of the second wearable device through the second gravity acceleration sensor; The second angle is determined according to the fourth gravitational acceleration and the standard gravitational acceleration.

4. The method according to claim 1, characterized in that: The first wearable device is a smart ring, the second wearable device is a smart watch or a smart bracelet, the x-axis direction of the first device surface of the first wearable device is along the length direction of the finger, the y-axis direction of the first device surface of the first wearable device is along the width direction of the finger, the x-axis direction of the second device surface of the second wearable device is along the length direction of the wrist, and the y-axis direction of the second device surface of the second wearable device is along the width direction of the wrist.

5. The method according to claim 4, characterized in that The determining the target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes: When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, and the first gravitational acceleration of the first wearable device in the y-axis direction is greater than or equal to a preset first y-axis gravitational acceleration threshold, the target gesture instruction is determined to be a stop instruction.

6. The method according to claim 4, characterized in that The determining the target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes: When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, the first gravity acceleration of the first wearable device in the y-axis direction is greater than or equal to a preset first y-axis gravity acceleration threshold, and the second gravity acceleration of the second wearable device in the x-axis direction exceeds a preset first x-axis gravity acceleration range, the target gesture instruction is determined to be an exit instruction.

7. The method according to claim 4, characterized in that The determining the target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes: When the target angle difference is less than or equal to a preset second angle difference threshold, the first angle is greater than or equal to a preset angle threshold, the second angle is greater than or equal to the preset angle threshold, and the second gravitational acceleration of the second wearable device in the y-axis direction is greater than or equal to a preset first y-axis gravitational acceleration threshold, the target gesture instruction is determined to be an interface upward movement instruction.

8. The method according to claim 4, characterized in that The determining the target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes: When the target angle difference is less than or equal to a preset second angle difference threshold, the first angle is greater than or equal to a preset angle threshold, the second angle is greater than or equal to the preset angle threshold, and the second gravitational acceleration of the second wearable device in the y-axis direction is less than or equal to a preset second y-axis gravitational acceleration threshold, the target gesture instruction is determined to be an interface downward movement instruction.

9. The method according to claim 4, characterized in that The determining the target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes: When the second angle is less than or equal to a preset angle threshold, the target angle difference is greater than or equal to a preset first angle difference threshold, and the first gravity acceleration of the first wearable device in the y-axis direction is less than or equal to a preset second y-axis gravity acceleration threshold, the target gesture instruction is determined to be an interface zoom-in instruction.

10. The method according to claim 4, characterized in that The determining the target gesture instruction according to the target angle difference and at least one of the first angle, the second angle, the first gravity acceleration, and the second gravity acceleration includes: When the first angle and the second angle are both within a preset angle range, the target angle difference is less than or equal to a preset second angle difference threshold, and the second gravitational acceleration of the second wearable device in the x-axis direction exceeds a preset second x-axis gravitational acceleration range, the target gesture instruction is determined to be an interface left-right movement instruction.

11. The method according to claim 1, characterized in that: Acquiring the first angle, the second angle, the first gravitational acceleration, and the second gravitational acceleration includes: The first angle, the second angle, the first gravitational acceleration and the second gravitational acceleration are detected by a gravity sensor and / or a magnetic sensor and / or a gyroscope of the first wearable device and / or the second wearable device.

12. A gesture recognition system, characterized in that: The system includes a first wearable device, a second wearable device and a terminal device. The first wearable device is used to obtain a first angle and a first gravitational acceleration of the first wearable device; The second wearable device is connected to the first wearable device and is used to obtain a second angle and a second gravitational acceleration of the second wearable device; The terminal device is connected to the first wearable device and the second wearable device, and is used to determine a target angle difference between the two based on the first angle and the second angle, and determine a target gesture instruction based on the target angle difference and at least one of the first angle, the second angle, the first gravitational acceleration, and the second gravitational acceleration.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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