Palm position posture guiding method, device and equipment and storage medium

Abstract

The invention discloses a palm position posture guiding method, device and equipment and a storage medium. The method comprises the following steps: in response to a palm recognition request for a target user, acquiring first distance data of each distance sensor in a first preset acquisition period, second distance data of each distance sensor in a second preset acquisition period, and a reference palm image acquired by an image acquisition sensor; determining a reference tilt threshold value according to the first distance data, determining a to-be-detected distance mean value according to the second distance data, and determining a reference vertical distance range interval according to the reference palm image; generating a first position attitude guiding result based on the reference vertical distance range interval according to the to-be-detected distance mean value, and generating a second position attitude guiding result based on the reference inclination threshold according to the second distance data; and generating a target position posture guide result including the first position posture guide result and the second position posture guide result, so that the target user can perform palm position posture adjustment.

Description

Technical Field

[0001] This invention relates to the field of biometric recognition technology, and in particular to a method, apparatus, device, and storage medium for guiding hand position and posture. Background Technology

[0002] Palm vein recognition technology has advantages such as high security and strong liveness detection capability, but its imaging quality is highly dependent on the positional accuracy and posture stability of the palm in three-dimensional space.

[0003] However, existing technologies do not take into account the tilt of the user's hand during palm vein recognition. If the user tilts their hand during the palm vein image acquisition process, it will seriously affect the imaging quality of the palm vein, thereby affecting the accurate detection of the palm vein biometric features.

[0004] Therefore, there is an urgent need to propose a method for guiding the palm position and posture before palm vein recognition, so as to ensure the positional accuracy and posture stability of the user's palm in three-dimensional space, thereby ensuring the recognition and detection accuracy in the subsequent palm vein recognition and detection process. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for guiding the palm position and posture, so as to guide the palm position and posture of the user before the user performs palm vein recognition and detection, to ensure the position accuracy and posture stability of the user in three-dimensional space, and to ensure the recognition and detection accuracy in the subsequent palm vein image acquisition process.

[0006] According to one aspect of the present invention, a hand position and posture guidance method is provided, applied to a hand position and posture guidance system, the hand position and posture guidance system including an image acquisition sensor, four distance sensors, and a controller; the four distance sensors are respectively deployed in four included-angle regions within a rectangular area with the center of the sensing surface of the image acquisition sensor as the midpoint; the controller is communicatively connected to the image acquisition sensor and each of the distance sensors, and the method is executed by the controller, including:

[0007] In response to a palm recognition request from a target user, the system acquires first distance data collected by each of the distance sensors under a first preset acquisition period, and second distance data collected under a second preset acquisition period, as well as a reference palm image acquired by the image acquisition sensor.

[0008] Based on each of the first distance data, a reference tilt threshold is determined; based on each of the second distance data, the average distance to be detected is determined; and based on the reference palm image, a reference vertical distance range is determined.

[0009] Based on the average distance to be detected and the reference vertical distance range, a first position attitude guidance result is generated; and based on each of the second distance data and the reference tilt threshold, a second position attitude guidance result is generated.

[0010] Generate a target position posture guidance result that includes the first position posture guidance result and the first position posture guidance result, so that the target user can adjust the hand position posture based on the target position posture guidance result.

[0011] According to another aspect of the present invention, a hand position and posture guidance device is provided, applied to a hand position and posture guidance system, the hand position and posture guidance system including an image acquisition sensor, four distance sensors, and a controller; the four distance sensors are respectively deployed in four included-angle regions within a rectangular area with the center of the sensing surface of the image acquisition sensor as the midpoint; the controller is communicatively connected to the image acquisition sensor and each of the distance sensors, and the device is configured in the controller, including:

[0012] The identification request response module is used to respond to the palm recognition request of the target user, acquire the first distance data collected by each of the distance sensors in the first preset acquisition period, the second distance data collected in the second preset acquisition period, and acquire the reference palm image collected by the image acquisition sensor.

[0013] The reference threshold determination module is used to determine a reference tilt threshold based on each of the first distance data, to determine the average distance to be detected based on each of the second distance data, and to determine a reference vertical distance range based on the reference palm image.

[0014] The guidance result generation module is used to generate a first position and attitude guidance result based on the average distance to be detected and the reference vertical distance range, and to generate a second position and attitude guidance result based on each of the second distance data and the reference tilt threshold.

[0015] The target result generation module is used to generate a target position and posture guidance result including the first position and posture guidance result and the first position and posture guidance result, so that the target user can adjust the hand position and posture based on the target position and posture guidance result.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the hand position and posture guidance method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the hand position and posture guidance method according to any embodiment of the present invention.

[0021] The technical solution of this invention acquires first and second distance data collected by various distance sensors, obtains a reference palm image collected by an image acquisition sensor, determines a reference tilt threshold based on the first distance data, determines the average distance to be detected based on the second distance data, and determines a reference vertical distance range based on the reference palm image. Based on the average distance to be detected, a first position posture guidance result is generated based on the reference vertical distance range, and a second position posture guidance result is generated based on the second distance data and the reference tilt threshold. A target position posture guidance result, including the first position posture guidance result and the first position posture guidance result, is generated for the target user to adjust their palm position posture based on the target position posture guidance result. This technical solution achieves dynamic determination of threshold parameters involved in the user's palm posture guidance process. The determination process comprehensively considers the different biometric characteristics of different users' palms, improving the accuracy of judging parameters such as tilt and offset during the user's palm posture guidance process. It realizes palm position posture guidance before the user performs palm vein recognition and detection, improving the user's position accuracy and posture stability in three-dimensional space, thereby further improving the recognition and detection accuracy during palm vein image acquisition.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1AThis is a schematic diagram of a hand position and posture guidance system according to Embodiment 1 of the present invention;

[0025] Figure 1B This is a schematic diagram illustrating the relative positional relationship between a distance sensor and an image acquisition sensor according to Embodiment 1 of the present invention;

[0026] Figure 1C This is a flowchart of a hand position and posture guidance method provided in Embodiment 1 of the present invention;

[0027] Figure 1D This is a positional arrangement diagram of four distance sensors based on a preset coordinate system provided in Embodiment 1 of the present invention;

[0028] Figure 2A This is a flowchart of a hand position and posture guidance method according to Embodiment 2 of the present invention;

[0029] Figure 2B This is a reference diagram of a preset coordinate system under different system equipment installation methods according to Embodiment 2 of the present invention;

[0030] Figure 3 This is a schematic diagram of a hand position and posture guiding device according to Embodiment 3 of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the hand position and posture guidance method of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Example 1

[0035] Figure 1A This is a schematic diagram of a hand position and posture guidance system provided in Embodiment 1 of the present invention. The hand position and posture guidance system 10 includes an image acquisition sensor 11, four distance sensors 12 and a controller 13. The four distance sensors 12 are respectively deployed in the four included corner areas within a rectangular area with the center of the sensing surface of the image acquisition sensor 11 as the midpoint. The controller 13 is communicatively connected to the image acquisition sensor 11 and each distance sensor 12.

[0036] The image acquisition sensor 11 is used to acquire images of the user's palm. For example, the image acquisition sensor can be a near-infrared imaging sensor, which can acquire palm vein images by emitting infrared light during subsequent palm vein acquisition. The distance sensor is used to acquire the distance between the user and the palm. For example, it can be an infrared ranging sensor. The controller 13 is used to receive the acquired data sent by the image acquisition sensor 11 and the distance sensor 12 and process the data, that is, to execute the palm position and posture guidance method.

[0037] Four distance sensors 12 are respectively deployed in the four included corner areas within a rectangular area centered on the sensing surface of the image acquisition sensor 11. This rectangular area can be a rectangle, a square, or a rhombus. Taking a rectangular area as an example... Figure 1B This is a schematic diagram illustrating the relative positional relationship between a distance sensor and an image acquisition sensor. The distance sensor 12 and the image acquisition sensor 11 are located on the same horizontal plane, and four distance sensors are non-linearly deployed at the four included corners within the rectangular area of ​​the image acquisition sensor's sensing surface. It should be noted that... Figure 1B The rectangular area is only an example of a rectangle, but it can also be a rhombus, a square, or a parallelogram, etc.

[0038] Figure 1CThis is a flowchart of a hand position and posture guidance method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where precise guidance of hand position and posture is required in the pre-stage of hand vein image recognition. This method can be executed by a hand position and posture guidance device, which can be implemented in hardware and / or software and can be configured in an electronic device, such as a controller. Figure 1C As shown, the method includes:

[0039] S110. In response to the palm recognition request of the target user, acquire the first distance data collected by each distance sensor in the first preset acquisition period, and the second distance data collected in the second preset acquisition period, and acquire the reference palm image collected by the image acquisition sensor.

[0040] S120. Based on each first distance data, determine the reference tilt threshold, based on each second distance data, determine the average distance to be detected, and based on the reference palm image, determine the reference vertical distance range.

[0041] S130. Based on the average distance to be detected and the reference vertical distance range, generate a first position attitude guidance result, and based on each second distance data and the reference tilt threshold, generate a second position attitude guidance result.

[0042] S140. Generate a target position posture guidance result including the first position posture guidance result and the first position posture guidance result, so that the target user can adjust the hand position posture based on the target position posture guidance result.

[0043] The target users can be those who require palm vein recognition, such as those in contactless authentication terminals for access control, attendance, or financial payments. Therefore, the target users can be those requiring authentication in the corresponding scenarios, and the palm recognition request can be initiated by the authentication device in that scenario. Alternatively, the target users can also be those who desire a relatively accurate palm vein recognition image; in this case, the palm recognition request can be initiated proactively by the target user.

[0044] It should be noted that after responding to the target user's palm recognition request, the system can send a message to the target user stating "Please place your palm directly below the image acquisition sensor" to ensure the accuracy of recognition and detection during the subsequent palm position and posture guidance process.

[0045] The first and second preset acquisition periods can be pre-set by relevant technical personnel according to actual needs. It should be noted that, to further ensure accurate guidance of the user's hand position and posture, the distance sensor can continuously capture frames of the hand. Therefore, the first preset acquisition period can be set to 10ms, and the acquisition frequency to 500Hz. This means that under the first preset acquisition period, each distance sensor can acquire five sets of distance data, which are then defined as the first distance data. The second preset acquisition period can be set to 2ms, meaning that each distance sensor acquires one set of distance data at a acquisition frequency of 500Hz, which is the second distance data.

[0046] The reason why the first preset acquisition cycle and the second preset acquisition cycle are set differently is that the first distance data and the second distance data have different functions. The second distance data is used as a theoretical reference for the subsequent adjustment of dynamic parameter thresholds, and provides a reference basis for the subsequent judgment of whether the palm position and posture are accurate.

[0047] During the second preset acquisition cycle, in addition to the second distance data acquired by the four distance sensors, a reference palm image acquired by the image acquisition sensor during this second preset acquisition cycle also needs to be obtained. The reference palm image data serves the same purpose as the first distance data, providing a theoretical reference for subsequent adjustments to the dynamic parameter thresholds.

[0048] It should be noted that the reference tilt threshold and reference vertical distance range can be preset by relevant technical personnel, specifically set to fixed parameters, such as a reference request threshold of 0.5 mm and a reference vertical distance range of 700 mm to 140 mm. However, in actual hand position and posture guidance, different target users, such as children, adults, or the elderly, have different hand biometric characteristics, for example, different hand widths, heights, and curvatures. Therefore, setting the reference tilt threshold and reference vertical distance range to fixed parameters will affect the accuracy of hand position and posture guidance.

[0049] Therefore, in this embodiment, the tilt threshold of the parameter is dynamically adjusted based on the first distance data, and the range of the reference vertical distance is dynamically adjusted based on the reference palm image, so as to adapt to the biometrics of different palms of different people.

[0050] For example, a reference tilt threshold is determined based on each first distance data point. For example, a tilt threshold prediction model for predicting the reference tilt threshold can be pre-trained. Specifically, this can be done by using distance data from distance sensors over historical time periods and standard tilt thresholds manually labeled with distance data, to pre-train a pre-defined network model. During model training, the loss value for the corresponding iteration period is determined based on the predicted tilt threshold and the standard tilt threshold output by the network model; based on the loss value and a pre-defined model training iteration termination condition, the tilt threshold prediction model is obtained. The model training iteration termination condition can be that the loss value reaches a set threshold, the loss value stabilizes, or the number of iterations reaches a set threshold. The network model can be a convolutional neural network model or a support vector machine, etc.

[0051] By inputting the first distance data corresponding to each distance sensor collected into the tilt threshold prediction model, the reference tilt threshold predicted by the model can be obtained.

[0052] To further improve the efficiency of dynamically determining the reference tilt threshold while maintaining accuracy, in one optional embodiment, determining the reference tilt threshold based on each first distance data includes: determining the mean and minimum reference distances based on each first distance data; determining the target user's hand curvature reference based on the mean and minimum reference distances; and determining the reference tilt threshold based on the target user's hand curvature reference.

[0053] Specifically, each set of first distance data includes 10 consecutive frames of distance data d1~d4 collected by four distance sensors. The average distance of the 10 consecutive frames of distance data d1~d4 is calculated to obtain a reference average distance. The minimum value is selected from the distance data d1~d4 of 10 consecutive frames as the reference distance minimum. Based on the mean and minimum reference distances, the inherent curvature of the target user's palm, such as the palm concavity depth, can be fitted, and this depth is used as the palm curvature reference. For example, the palm curvature reference H is determined as follows:

[0054]

[0055] in, The average distance is used as a reference. This is the minimum reference distance.

[0056] The reference tilt threshold is dynamically determined based on the palm curvature reference of the target user. For example, if the palm curvature reference H is greater than 3mm, it indicates that the target user's palm is deeply concave, and the reference tilt threshold is set to 0.8mm, allowing for a larger tilt error to avoid misjudgment. If the palm curvature reference H is less than 1mm, it indicates that the target user's palm is flat, and the reference tilt threshold is set to 0.3mm, thereby improving posture accuracy. If the palm curvature reference H is not less than 1mm and not greater than 3mm, the reference tilt threshold can be set to 0.5mm.

[0057] The above technical solution considers the palm curvature benchmark of the target user during the dynamic determination of the reference tilt threshold, thereby realizing the dynamic determination of the reference tilt threshold corresponding to target users with different palm biometrics. This improves the flexibility of setting the reference tilt threshold, and the determination process does not require the use of a pre-trained model. While ensuring the accuracy of the determined reference tilt threshold, it also improves the efficiency of the determination process.

[0058] Based on the second distance data, the average distance to be detected is determined. Specifically, the second distance data consists of a set of distance data d1~d4 collected by each distance sensor, and the average of this set of distance data collected by each distance sensor can be determined as the average distance to be detected.

[0059] Based on a reference hand image, a reference vertical distance range is determined. It's understandable that users of different ages (children, teenagers, adults, and the elderly), as well as users of the same age but different heights, have varying hand widths and lengths. Therefore, determining the reference vertical distance range requires dynamic and flexible adjustments based on the target user's hand biometrics to accommodate different hand characteristics, thereby improving the accuracy of subsequent guidance on the target user's hand position and posture.

[0060] In one optional embodiment, determining a reference vertical distance range based on a reference palm image includes: determining the user's palm length based on the reference palm image; and determining the reference vertical distance range based on the user's palm length.

[0061] The reference vertical distance range is also the Z-axis distance range. Specifically, image recognition algorithms or models can be used to extract the edges of the palm contour in the reference palm image, obtaining the palm contour edges. The distance from the fingertips to the wrist is then determined based on these edges, which is the user's palm length. For example, if the user's palm length is less than 150mm, it may be a child's palm; if the user's palm length is not less than 150mm and not more than 200mm, it may be an adult's palm; if the user's palm length is greater than 200mm, it may be a large palm. If the user's palm length is less than 150mm, the reference vertical distance range can be set to [50, 120]mm; if the user's palm length is not less than 150mm and not more than 200mm, the reference vertical distance range can be set to [55, 135]mm; if the user's palm length is greater than 200mm, the reference vertical distance range can be set to [60, 150]mm.

[0062] The above technical solution improves the flexibility and accuracy of determining the reference vertical distance range by considering the user's hand length during the dynamic determination of the reference vertical distance range and dynamically determining the reference vertical distance range based on different users' hand lengths. This adapts to the different hand characteristics of different users and thus improves the accuracy of subsequent guidance on the target user's hand position and posture.

[0063] Based on the average detected distance and a reference vertical distance range, a first position attitude guidance result is generated. Specifically, if the average detected distance is less than the reference vertical distance range... The first position orientation guidance result is the generation of a text or voice prompt message saying "Please move away from the image acquisition sensor". If the average distance to be detected is greater than the reference vertical distance range... If the average distance to be detected is within the reference vertical distance range, the first position posture guidance result will be the generation of a text or voice prompt message such as "Please move closer to the image acquisition sensor". If the average distance to be detected is within the reference vertical distance range, the first position posture guidance result will be the generation of a text or voice prompt message such as "The current distance between the palm and the image acquisition sensor is optimal, please maintain it".

[0064] Based on the second distance data and a reference tilt threshold, a second position attitude guidance result is generated. To further describe the relative positions between the distance sensors, in an optional embodiment, the distance sensors are arranged sequentially in four included-angle regions along a clockwise direction, namely, a first distance sensor, a second distance sensor, a third distance sensor, and a fourth distance sensor. Therefore, based on this relative positional relationship, it can be seen that the first and third distance sensors are two distance sensors diagonally positioned within a rectangular region; the second and fourth distance sensors are also two distance sensors diagonally positioned within a rectangular region.

[0065] Accordingly, based on the second distance data and a reference tilt threshold, a second position and attitude guidance result is generated, including: determining a first distance difference based on the second distance data corresponding to the first and third distance sensors respectively; determining a second distance difference based on the second distance data corresponding to the second and fourth distance sensors respectively; determining a first absolute value of the first distance difference and a second absolute value of the second distance difference; and generating a second position and attitude guidance result based on the reference tilt threshold and the first distance difference, the second distance difference, the first absolute value of the first difference, and the second absolute value of the second difference.

[0066] Specifically, the second distance data corresponding to the first distance sensor Second distance data corresponding to the third distance sensor Distance difference between As the first distance difference Similarly, the second distance data corresponding to the second distance sensor... Second distance data corresponding to the fourth distance sensor Distance difference between As the second distance difference The absolute value of the first distance difference is the absolute value of the first difference. The absolute value of the difference between the second distances is the absolute value of the second difference. .

[0067] Assuming the positional arrangement of four distance sensors based on a preset coordinate system is as follows: Figure 1D As shown, if the absolute value of the first difference Greater than the reference tilt threshold And the first distance difference If the value is greater than zero, the second position posture guidance result is the generation of a voice or text prompt message such as "Please press down the left side of your palm"; if the absolute value of the first difference is greater than zero, the result is the generation of a voice or text prompt message such as "Please press down the left side of your palm". Greater than the reference tilt threshold And the first distance difference If the absolute value of the second positional posture guidance is less than zero, the result is the generation of a voice or text prompt message such as "Please press down the right side of your palm"; if the absolute value of the second difference is less than zero, the result is the generation of a voice or text prompt message such as "Please press down the right side of your palm". Greater than the reference tilt threshold And the second distance difference If the value is greater than zero, the second position posture guidance result is the generation of voice or text prompts such as "Please raise your palm and fingertips" or "Please lower your wrist"; if the absolute value of the second difference is greater than zero, the result is the generation of voice or text prompts such as "Please raise your palm and fingertips" or "Please lower your wrist". Greater than the reference tilt threshold And the second distance difference If the value is less than zero, the second position posture guidance result will be the generation of voice or text prompts such as "Please press down your palm and fingertips" or "Please raise your wrist".

[0068] The above technical solution combines the second distance data corresponding to two distance sensors that are diagonally positioned to determine the first distance difference and the absolute value of the first distance difference. Based on the first distance difference and the absolute value of the first distance difference, and combined with a reference tilt threshold, the second position posture guidance result is determined. This improves the accuracy of determining the second position posture guidance result, thereby further enhancing the accuracy of subsequent guidance of the target user's hand position and posture.

[0069] Understandably, to further improve the accuracy of guiding the hand position and posture of the target user, in an optional embodiment, the three-dimensional position coordinates of each distance sensor in a preset coordinate system are obtained; the origin of the preset coordinate system is the center point of the sensing surface of the image acquisition sensor, and the direction perpendicular to the sensing surface of the image acquisition sensor is the Z-axis of the preset coordinate system; the direction parallel to any side of the rectangular area on the sensing surface is the X-axis; the direction perpendicular to the X-axis on the sensing surface is the Y-axis; a local plane is generated based on the three-dimensional position coordinates of each distance sensor; the target angle between the normal vector of the local plane and the Z-axis of the preset coordinate system is determined; a third position and posture guidance result is generated based on the target angle; correspondingly, a target position and posture guidance result including a first position and posture guidance result and a third position and posture guidance result is generated, including: generating a target position and posture guidance result including a first position and posture guidance result, a third position and posture guidance result.

[0070] Specifically, the preset coordinate system can be pre-constructed by relevant technical personnel. Specifically, a right-handed rectangular coordinate system can be defined, with the center of the sensing surface of the image acquisition sensor as the origin, the direction perpendicular to the sensing surface as the Z-axis, which can point in the direction of the user's palm; the direction parallel to any side of the rectangular area on the sensing surface as the X-axis. If the rectangular area is a rectangular area, then the direction along the long side of the rectangular area of ​​the sensing surface is defined as the X-axis, and the direction along the short side of the rectangular area of ​​the sensing surface is defined as the Y-axis.

[0071] The system acquires the 3D position coordinates of each distance sensor in a preset coordinate system and generates a local plane based on these coordinates. It then determines the normal vector of this local plane and the target angle between the normal vector and the Z-axis in the preset coordinate system. If the target angle is less than or equal to a preset angle threshold, the third position posture guidance result generates a voice or text prompt message: "Hand tilted too much, please adjust." The first position posture guidance result, the third position posture guidance result, and all three are then fed back to the target user as the target position posture guidance result.

[0072] The above technical solution determines the target angle between the normal vector of the local plane obtained by fusing the three-dimensional coordinate positions of each distance sensor and the Z-axis of the preset coordinate system, and judges whether the target user's palm is tilted too much by using the target angle, thereby achieving precise guidance of the target user's palm position and precise adjustment of the palm posture.

[0073] Understandably, to further improve the accuracy of guiding the hand position and posture of the target user, in one optional embodiment, the geometric center position of the target user's hand is determined based on a reference hand image; based on the geometric center position of the hand, the X-axis offset and Y-axis offset are determined based on a preset coordinate system; based on the X-axis offset and Y-axis offset, a fourth position and posture guidance result is generated based on preset X-axis offset thresholds and preset Y-axis offset thresholds; correspondingly, a target position and posture guidance result including a first position and posture guidance result and a third position and posture guidance result is generated, including: generating a target position and posture guidance result including a first position and posture guidance result, a third position and posture guidance result, and a fourth position and posture guidance result.

[0074] Specifically, based on a reference hand image, the centroid of the hand contour is determined. This can be achieved by extracting the edges of the hand contour from the reference image using image recognition tools or models, and then determining the centroid based on the extracted hand edge contours. The X / Y coordinates of the geometric center of the hand corresponding to the centroid of the hand contour are the geometric center position of the hand, denoted as […]. Determine based on the geometric center of the palm. X-axis offset relative to the origin of the preset coordinate system ; and, determine Y-axis offset relative to the origin of the preset coordinate system The X-axis offset threshold is preset by relevant technical personnel based on actual needs or practical experience, and is denoted as... And set the Y-axis offset threshold, which is denoted as .For example, It can be set to ±20mm. It can be set to ±25mm.

[0075] If the X-axis offset The absolute value is greater than the X-axis offset threshold. The fourth position posture guidance result can generate a voice or text prompt message such as "hand palm left and right offset exceeds the standard"; if the Y-axis offset is... The absolute value is greater than the Y-axis offset threshold. The fourth position posture guidance result can generate a voice or text prompt message such as "Palm forward and backward offset exceeds the standard"; if the X-axis offset is... The absolute value is not greater than the X-axis offset threshold. And Y-axis offset The absolute value is not greater than the Y-axis offset threshold. If the target user's hand position is within acceptable limits in the X and Y axes, then the target user's hand position can be considered compliant. Target position posture guidance results are generated, including first position posture guidance results, third position posture guidance results, and fourth position posture guidance results.

[0076] The above technical solution determines the geometric center position of the target user's palm based on a reference palm image, and determines the X-axis offset and Y-axis offset by combining the origin position of the preset coordinate system. Based on the absolute values ​​of the offsets corresponding to the X-axis offset and Y-axis offset, it can be further determined whether the target user's palm is offset in the X-axis and Y-axis directions, thereby further realizing the precise guidance of the target user's palm position and the precise adjustment of the palm posture.

[0077] It should be noted that during the process of guiding the target user's hand position and posture, the distance data acquired by the distance sensor is easily affected by environmental interference, such as strong direct sunlight causing distance measurement deviation, or sweaty or oily hands causing reflection interference, which can lead to certain deviations in the distance data collected by the distance sensor.

[0078] Therefore, to further mitigate the impact of the aforementioned environmental factors on the error of distance data collected by the distance sensor, in an optional embodiment, the hand position and posture guidance system further includes an ambient light sensor, which is communicatively connected to the controller; the method further includes: acquiring the ambient infrared intensity collected by the ambient light sensor; if the ambient infrared intensity is greater than a preset strong light interference intensity threshold, determining distance calibration parameters based on the ambient infrared intensity; and updating the first distance data and the second distance data based on the distance calibration parameters.

[0079] The ambient light sensor is used to detect the intensity of infrared or visible light. The strong light interference intensity threshold can be preset by relevant technicians based on actual needs or experience; for example, the strong light interference intensity threshold can be set to 50 μW / cm².

[0080] Specifically, the ambient infrared intensity obtained from ambient light acquisition is monitored in real time. If the ambient infrared intensity is greater than a preset strong light interference intensity threshold, the distance calibration parameter is determined based on the ambient infrared intensity. The distance calibration parameter M can be determined as follows:

[0081]

[0082] Where I represents the ambient infrared intensity obtained from ambient light acquisition; K is a calibration coefficient, which can be specifically calibrated experimentally, such as K being set to 0.002 mm / (μW / cm²).

[0083] The first and second distance data are updated based on distance calibration parameters. For example, for any first or second distance data acquired by any distance sensor, the distance data acquired by the distance sensor is denoted as... Then the distance data is corrected based on the distance calibration parameters. This is to eliminate ranging errors caused by strong light.

[0084] The above technical solution deploys an ambient light sensor and determines the distance calibration parameters based on the ambient infrared intensity collected by the ambient light sensor. It then updates the distance data collected by each distance sensor based on the distance calibration parameters, thereby further eliminating the ranging deviation caused by strong light and eliminating the error influence of the distance data collected by the distance sensor in the subsequent hand position and posture guidance calculation process, thus improving the accuracy of guiding the hand position and posture.

[0085] During the process of adjusting the hand position and posture of the target user based on the target position and posture guidance results, the target user's hand position and posture are monitored in real time. When the hand position and posture reach a compliant state, a text or voice message prompt is given to ensure that the target user's hand position and posture remain static or unchanged. When the target user's hand meets all the judgment conditions for position and posture within a continuous time T, such as the degree of hand tilt being less than a preset tilt threshold, the image acquisition sensor is triggered to acquire the target user's palm vein image.

[0086] The technical solution of this invention acquires first and second distance data collected by various distance sensors, obtains a reference palm image collected by an image acquisition sensor, determines a reference tilt threshold based on the first distance data, determines the average distance to be detected based on the second distance data, and determines a reference vertical distance range based on the reference palm image. Based on the average distance to be detected, a first position posture guidance result is generated based on the reference vertical distance range, and a second position posture guidance result is generated based on the second distance data and the reference tilt threshold. A target position posture guidance result, including the first position posture guidance result and the first position posture guidance result, is generated for the target user to adjust their palm position posture based on the target position posture guidance result. This technical solution achieves dynamic determination of threshold parameters involved in the user's palm posture guidance process. The determination process comprehensively considers the different biometric characteristics of different users' palms, improving the accuracy of judging parameters such as tilt and offset during the user's palm posture guidance process. It realizes palm position posture guidance before the user performs palm vein recognition and detection, improving the user's position accuracy and posture stability in three-dimensional space, thereby further improving the recognition and detection accuracy during palm vein image acquisition.

[0087] Example 2

[0088] Figure 2A This is a schematic flowchart of a hand position and posture guidance method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment provides a preferred example. Figure 2A As shown, the method, applied to and executed by the controller in the hand position and attitude guidance system, includes the following steps:

[0089] A preset coordinate system is established, specifically a right-handed Cartesian coordinate system with the center of the image acquisition sensor's sensing surface as the origin; and assuming the four distance sensors are located at the four corners of the rectangular area containing the sensing surface. Then, the Z-axis points perpendicular to the sensing surface towards the user's palm; the X-axis points along the long side of the rectangular area of ​​the sensing surface towards the right side of the palm position and posture guidance system; and the Y-axis points along the short side of the rectangular area of ​​the sensing surface towards the front of the palm position and posture guidance system. These three axes constitute a local coordinate system fixed to the system device itself, and their definitions do not change with the installation method of the system device. A reference diagram of the preset coordinate system under different system device installation methods is shown below. Figure 2B As shown.

[0090] Furthermore, to enhance the user's visual experience during operation, the hand position and posture guidance system in this embodiment also includes a ring-shaped light strip and a speaker. The ring-shaped light strip can contain both yellow and green LEDs (light-emitting diodes).

[0091] S21. In response to the palm recognition request of the target user, acquire the first distance data collected by each distance sensor in the first preset acquisition period, the second distance data collected in the second preset acquisition period, and acquire the reference palm image collected by the image acquisition sensor.

[0092] S22. Based on each first distance data, determine the reference tilt threshold, based on each second distance data, determine the average distance to be detected, and based on the reference palm image, determine the reference vertical distance range.

[0093] S23A. Based on the average distance to be detected and the reference vertical distance range, generate the first position attitude guidance result.

[0094] If the mean distance to be detected is less than the reference vertical distance range The first position posture guidance result is the generation of a text or voice prompt message "Please lower your palm," simultaneously controlling the speaker to play the voice message and illuminating the yellow LED in the ring light strip. If the average detection distance is greater than the reference vertical distance range... If the first position posture guidance result is to generate a text or voice prompt message "Please raise your palm". Simultaneously, the speaker is controlled to play the voice message, and the yellow LED in the ring light strip is controlled to flash. If the average distance to be detected is within the reference vertical distance range, the first position posture guidance result is to generate a text or voice prompt message "The current distance between the palm and the image acquisition sensor is optimal, please maintain it".

[0095] S23B. Based on the second distance data and the reference tilt threshold, generate the second position attitude guidance result.

[0096] Specifically, the second distance data corresponding to the first distance sensor Second distance data corresponding to the third distance sensor Distance difference between As the first distance difference Similarly, the second distance data corresponding to the second distance sensor... Second distance data corresponding to the fourth distance sensor Distance difference between As the second distance difference The absolute value of the first distance difference is the absolute value of the first difference. The absolute value of the difference between the second distances is the absolute value of the second difference. .

[0097] If the absolute value of the first difference Greater than the reference tilt threshold And the first distance difference If the value is greater than zero, the second position posture guidance result is the generation of a voice or text prompt message, "Please press down the left side of your palm." Simultaneously, the speaker is controlled to play the voice message, and the left half of the ring-shaped light strip's yellow light flashes. If the absolute value of the first difference is... Greater than the reference tilt threshold And the first distance difference If the value is less than zero, the second position posture guidance result is the generation of a voice or text prompt message, "Please press down the right side of your palm." Simultaneously, the speaker is controlled to play the voice message, and the right half of the ring light in the circular light strip is controlled to flash yellow. If the absolute value of the second difference is... Greater than the reference tilt threshold And the second distance difference If the value is greater than zero, the second position posture guidance result will be the generation of a voice or text prompt message such as "Please raise your palm and fingertips" or "Please lower your wrist." Simultaneously, the speaker will play the voice message, and the first half of the yellow light in the ring-shaped light strip will flash. If the absolute value of the second difference is... Greater than the reference tilt threshold And the second distance difference If the value is less than zero, the second position posture guidance result will generate a voice or text prompt message such as "Please press down your palm and fingertips" or "Please raise your wrist". At the same time, the speaker will play the voice message, and the second half of the yellow light in the ring light strip will flash.

[0098] S23C: Based on the three-dimensional position coordinates of each distance sensor, generate a local plane, determine the target angle between the normal vector of the local plane and the Z-axis of the preset coordinate system, and generate the third position attitude guidance result based on the target angle.

[0099] The system acquires the 3D position coordinates of each distance sensor in a preset coordinate system and generates a local plane based on these coordinates. It then determines the normal vector of this local plane and the target angle between the normal vector and the Z-axis in the preset coordinate system. If the target angle is less than or equal to a preset angle threshold, the third position posture guidance result is the generation of a voice or text prompt message: "Hand tilted too far, please flatten your hand." Simultaneously, the system controls the speaker to play the voice message and controls the yellow-green lights in the ring-shaped light strip to flash alternately.

[0100] S23D: Based on the reference palm image, determine the geometric center position of the target user's palm. Based on the geometric center position of the palm and a preset coordinate system, determine the X-axis offset and Y-axis offset. Based on the X-axis offset and Y-axis offset, and a preset X-axis offset threshold and a preset Y-axis offset threshold, generate the fourth position posture guidance result.

[0101] Specifically, based on a reference hand image, the centroid of the hand contour is determined. This can be achieved by extracting the edges of the hand contour from the reference image using image recognition tools or models, and then determining the centroid based on the extracted hand edge contours. The X / Y coordinates of the geometric center of the hand corresponding to the centroid of the hand contour are the geometric center position of the hand, denoted as […]. Determine based on the geometric center of the palm. X-axis offset relative to the origin of the preset coordinate system ; and, determine Y-axis offset relative to the origin of the preset coordinate system The X-axis offset threshold is preset by relevant technical personnel based on actual needs or practical experience, and is denoted as... And set the Y-axis offset threshold, which is denoted as .For example, It can be set to ±20mm. It can be set to ±25mm.

[0102] If the X-axis offset The absolute value is greater than the X-axis offset threshold. The fourth position posture guidance result can generate a voice or text prompt message such as "Please move your palm to the left / right". Simultaneously, it controls the speaker to play the voice message and controls the left / right yellow lights within the ring light strip to illuminate. If the Y-axis offset... The absolute value is greater than the Y-axis offset threshold. The fourth position posture guidance result can generate a voice or text prompt message such as "Please move your palm forward / backward". Simultaneously, it controls the speaker to play the voice message and controls the front / rear yellow lights within the ring light strip to illuminate. If the X-axis offset... The absolute value is not greater than the X-axis offset threshold. And Y-axis offset The absolute value is not greater than the Y-axis offset threshold. If the position of the target user's palm in the X-axis and Y-axis directions is compliant, then it can be considered that the position is compliant.

[0103] S24. Generate a target position posture guidance result including the first position posture guidance result, the third position posture guidance result, and the fourth position posture guidance result, so that the target user can adjust the hand position posture based on the target position posture guidance result.

[0104] S25. Monitor the position and posture of the target user's hand during the adjustment process in real time. When the hand meets all position and posture conditions within a continuous time T, trigger the acquisition of vein images.

[0105] Example 3

[0106] Figure 3 This is a schematic diagram of a hand position and posture guidance device provided in Embodiment 3 of the present invention. The hand position and posture guidance device provided in this embodiment of the present invention is applicable to situations where precise guidance of hand position and posture is required in the pre-recognition stage of hand vein image recognition. This hand position and posture guidance device can be implemented in hardware and / or software. The device can be applied to a hand position and posture guidance system, specifically configured in the controller of the hand position and posture guidance system, such as... Figure 3 As shown, the device includes: a request-response identification module 301, a reference threshold determination module 302, a guidance result generation module 303, and a target result generation module 304. Among them,

[0107] The identification request response module 301 is used to respond to the palm recognition request of the target user, acquire the first distance data collected by each of the distance sensors in the first preset acquisition period, the second distance data collected in the second preset acquisition period, and acquire the reference palm image collected by the image acquisition sensor.

[0108] The reference threshold determination module 302 is used to determine a reference tilt threshold based on each of the first distance data, to determine the average distance to be detected based on each of the second distance data, and to determine a reference vertical distance range based on the reference palm image.

[0109] The guidance result generation module 303 is used to generate a first position and attitude guidance result based on the average distance to be detected and the reference vertical distance range, and to generate a second position and attitude guidance result based on each of the second distance data and the reference tilt threshold.

[0110] The target result generation module 304 is used to generate a target position and posture guidance result including the first position and posture guidance result and the first position and posture guidance result, so that the target user can adjust the hand position and posture based on the target position and posture guidance result.

[0111] The technical solution of this invention acquires first and second distance data collected by various distance sensors, obtains a reference palm image collected by an image acquisition sensor, determines a reference tilt threshold based on the first distance data, determines the average distance to be detected based on the second distance data, and determines a reference vertical distance range based on the reference palm image. Based on the average distance to be detected, a first position posture guidance result is generated based on the reference vertical distance range, and a second position posture guidance result is generated based on the second distance data and the reference tilt threshold. A target position posture guidance result, including the first position posture guidance result and the first position posture guidance result, is generated for the target user to adjust their palm position posture based on the target position posture guidance result. This technical solution achieves dynamic determination of threshold parameters involved in the user's palm posture guidance process. The determination process comprehensively considers the different biometric characteristics of different users' palms, improving the accuracy of judging parameters such as tilt and offset during the user's palm posture guidance process. It realizes palm position posture guidance before the user performs palm vein recognition and detection, improving the user's position accuracy and posture stability in three-dimensional space, thereby further improving the recognition and detection accuracy during palm vein image acquisition.

[0112] Optionally, the reference threshold determination module 302 includes:

[0113] The parameter mean determination unit is used to determine the reference distance mean and the reference distance minimum based on each of the first distance data.

[0114] The curvature reference determination unit is used to determine the palm curvature reference of the target user based on the average reference distance and the minimum reference distance.

[0115] The reference tilt threshold determination unit is used to determine the reference tilt threshold based on the palm curvature reference of the target user.

[0116] Optionally, the reference threshold determination module 302 includes:

[0117] A palm length determination unit is used to determine the user's palm length based on the reference palm image;

[0118] The reference range interval determination unit is used to determine the reference vertical distance range interval based on the length of the user's palm.

[0119] Optionally, the distance sensors are arranged sequentially in four included-angle regions in a clockwise direction, namely a first distance sensor, a second distance sensor, a third distance sensor, and a fourth distance sensor; the guidance result generation module 303 includes:

[0120] The first difference determination unit is configured to determine a first distance difference based on the second distance data corresponding to the first distance sensor and the third distance sensor, respectively; and,

[0121] The second difference determination unit is used to determine a second distance difference based on the second distance data corresponding to the second distance sensor and the fourth distance sensor respectively.

[0122] The difference absolute value determination unit is used to determine the first difference absolute value of the first distance difference and the second difference absolute value of the second distance difference;

[0123] The second guidance result generation unit is used to generate a second position and attitude guidance result based on the reference tilt threshold, according to the first distance difference, the second distance difference, the absolute value of the first difference, and the absolute value of the second difference.

[0124] Optionally, the device further includes:

[0125] A three-dimensional position coordinate acquisition module is used to acquire the three-dimensional position coordinates of each distance sensor in a preset coordinate system; the origin of the preset coordinate system is the center point of the sensing surface of the image acquisition sensor, the direction perpendicular to the sensing surface of the image acquisition sensor is the Z-axis of the preset coordinate system; the direction parallel to any side of the rectangular area on the sensing surface is the X-axis; and the direction perpendicular to the X-axis on the sensing surface is the Y-axis.

[0126] A local plane generation module is used to generate a local plane based on the three-dimensional position coordinates of each distance sensor.

[0127] The target angle determination module is used to determine the target angle between the normal vector of the local plane and the Z-axis of the preset coordinate system;

[0128] The third guidance result generation module is used to generate a third position and attitude guidance result based on the target angle.

[0129] Accordingly, the target result generation module 304 includes:

[0130] The first target result generation unit is used to generate a target position and attitude guidance result including the first position and attitude guidance result, the first position and attitude guidance result and the third position and attitude guidance result.

[0131] Optionally, the device further includes:

[0132] The geometric center position determination module is used to determine the geometric center position of the target user's palm based on the reference palm image.

[0133] The offset determination module is used to determine the X-axis offset and Y-axis offset based on the geometric center position of the palm and the preset coordinate system.

[0134] The fourth guidance result generation module is used to generate a fourth position and attitude guidance result based on the X-axis offset and the Y-axis offset, and based on a preset X-axis offset threshold and a preset Y-axis offset threshold.

[0135] Accordingly, the target result generation module 304 includes:

[0136] The second target result generation unit is used to generate a target position and attitude guidance result including the first position and attitude guidance result, the third position and attitude guidance result, and the fourth position and attitude guidance result.

[0137] Optionally, the hand position and posture guidance system further includes an ambient light sensor, which is communicatively connected to the controller; the device also includes:

[0138] An infrared intensity acquisition module is used to acquire the ambient infrared intensity collected by the ambient light sensor;

[0139] The calibration parameter determination module is used to determine the distance calibration parameters based on the ambient infrared intensity if the ambient infrared intensity is greater than a preset strong light interference intensity threshold.

[0140] The distance data update module is used to update the first distance data and the second distance data based on the distance calibration parameters.

[0141] The hand position and posture guidance device provided in the embodiments of the present invention can execute the hand position and posture guidance method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0142] Example 4

[0143] Figure 4 A schematic diagram of an electronic device 40 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0144] like Figure 4 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded from storage unit 48 into the RAM 43. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0145] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0146] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as the hand position and pose guidance method.

[0147] In some embodiments, the palm position and pose guidance method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the palm position and pose guidance method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the palm position and pose guidance method by any other suitable means (e.g., by means of firmware).

[0148] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0149] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0150] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0151] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0152] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0153] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0154] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0155] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A palm position posture guiding method characterized by comprising: The application is applied to a palm position posture guiding system, the palm position posture guiding system comprises an image acquisition sensor, four distance sensors and a controller; the four distance sensors are respectively arranged in four angle regions within a rectangular region with the center of the sensing surface of the image acquisition sensor as a midpoint; The controller is in communication connection with the image acquisition sensor and each distance sensor, the method is executed by the controller, comprising: In response to a palm recognition request of a target user, first distance data collected by each distance sensor in a first preset acquisition period and second distance data collected by each distance sensor in a second preset acquisition period are obtained, and a reference palm image collected by the image acquisition sensor is obtained; According to each first distance data, a reference inclination threshold is determined, and according to each second distance data, a to-be-detected distance mean value is determined, and according to the reference palm image, a reference vertical distance range interval is determined; According to the to-be-detected distance mean value, a first position posture guiding result is generated based on the reference vertical distance range interval, and according to each second distance data, a second position posture guiding result is generated based on the reference inclination threshold; A target position posture guiding result including the first position posture guiding result and the first position posture guiding result is generated, so that the target user adjusts the palm position posture based on the target position posture guiding result.

2. The method of claim 1, wherein, According to each first distance data, a reference distance mean value and a reference distance minimum value are determined; According to the reference distance mean value and the reference distance minimum value, a palm curvature reference of the target user is determined; According to the palm curvature reference of the target user, a reference inclination threshold is determined. According to the reference palm image, a user palm length is determined; 3. The method of claim 1, wherein, According to the user palm length, a reference vertical distance range interval is determined. Each distance sensor is arranged in the four angle regions in a clockwise direction, respectively a first distance sensor, a second distance sensor, a third distance sensor and a fourth distance sensor; according to each second distance data, based on the reference inclination threshold, a second position posture guiding result is generated, comprising: According to the second distance data corresponding to the first distance sensor and the third distance sensor respectively, a first distance difference value is determined; and, 4. The method of claim 1, wherein, According to the second distance data corresponding to the second distance sensor and the fourth distance sensor respectively, a second distance difference value is determined; A first difference absolute value of the first distance difference value and a second difference absolute value of the second distance difference value are determined; According to the first distance difference value, the second distance difference value, the first difference absolute value and the second difference absolute value, based on the reference inclination threshold, a second position posture guiding result is generated. The method further comprises: ​ 5. The method of claim 1, wherein, ​ acquire three-dimensional position coordinates of each distance sensor in a preset coordinate system; a coordinate origin of the preset coordinate system is a center point of a sensing surface of the image acquisition sensor, a direction perpendicular to the sensing surface of the image acquisition sensor is a Z axis of the preset coordinate system, a direction parallel to any side in the rectangular region on the sensing surface is an X axis, and a direction perpendicular to the X axis on the sensing surface is a Y axis; generate a local plane according to the three-dimensional position coordinates of each distance sensor; determine a target included angle between a normal vector of the local plane and the Z axis of the preset coordinate system; generate a third position and posture guiding result according to the target included angle; correspondingly, the target position and posture guiding result including the first position and posture guiding result and the first position and posture guiding result includes: the target position and posture guiding result including the first position and posture guiding result, the first position and posture guiding result and the third position and posture guiding result.

6. The method of claim 5, wherein, The method further includes: determine a palm geometric center position of the target user according to the reference palm image; determine an X axis offset and a Y axis offset based on the preset coordinate system according to the palm geometric center position; generate a fourth position and posture guiding result based on a preset X axis offset threshold and a preset Y axis offset threshold according to the X axis offset and the Y axis offset; correspondingly, the target position and posture guiding result including the first position and posture guiding result and the first position and posture guiding result includes: the target position and posture guiding result including the first position and posture guiding result, the first position and posture guiding result, the third position and posture guiding result and the fourth position and posture guiding result.

7. The method of claim 1, wherein, The palm position and posture guiding system further includes an ambient light sensor, which is in communication connection with the controller; the method further includes: acquire an ambient infrared intensity collected by the ambient light sensor; if the ambient infrared intensity is greater than a preset strong light interference intensity threshold, determine a distance calibration parameter according to the ambient infrared intensity; update the first distance data and the second distance data based on the distance calibration parameter.

8. A palm position posture guiding device characterized by comprising: Applied to a palm position and posture guiding system, the palm position and posture guiding system includes an image acquisition sensor, four distance sensors and a controller; the four distance sensors are respectively arranged in four corner regions within a rectangular region with a center point of a sensing surface of the image acquisition sensor as a center point; the controller is in communication connection with the image acquisition sensor and each distance sensor, and the device is configured in the controller and includes: an identification request response module, configured to acquire first distance data respectively collected by each distance sensor in a first preset collection period and second distance data respectively collected by each distance sensor in a second preset collection period, and acquire a reference palm image collected by the image acquisition sensor in response to a palm identification request of a target user; The reference threshold determination module is configured to determine a reference tilt threshold according to the first distance data, determine a to-be-detected distance mean according to the second distance data, and determine a reference vertical distance range interval according to the reference palm image; The guidance result generation module is configured to generate a first position and posture guidance result based on the reference vertical distance range interval according to the to-be-detected distance mean, and generate a second position and posture guidance result based on the reference tilt threshold according to the second distance data; The target result generation module is configured to generate a target position and posture guidance result including the first position and posture guidance result and the second position and posture guidance result, so that the target user adjusts a palm position and posture based on the target position and posture guidance result.

9. An electronic device, comprising: The electronic device includes: at least one processor; and a memory connected with the at least one processor in communication; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the palm position and posture guidance method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the palm position and posture guidance method in any one of claims 1-7 when executed.

Images