CN105136208A - Nine-axis MEMS (Micro Electro Mechanical System) sensor - Google Patents
Nine-axis MEMS (Micro Electro Mechanical System) sensor Download PDFInfo
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- CN105136208A CN105136208A CN201510674331.8A CN201510674331A CN105136208A CN 105136208 A CN105136208 A CN 105136208A CN 201510674331 A CN201510674331 A CN 201510674331A CN 105136208 A CN105136208 A CN 105136208A
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Abstract
The invention discloses a nine-axis MEMS (Micro Electro Mechanical System) sensor, which comprises a lower computer and an upper computer, wherein the lower computer comprises a microcontroller module, a gyroscope module, a power supply module, a memory module and a transmission module, and the gyroscope module, the power supply module, the memory module and the transmission module are respectively connected with the microcontroller module; the upper computer comprises a data transmitting and receiving module, a mode selecting module, a parameter setting module, a data processing module, a data saving module and a graph displaying module, the data transmitting and receiving module provides a data transmission channel for the mode selecting module, the parameter setting module and the data processing module, and the data processing module provides data after treatment for the data saving module and the graph displaying module; and the lower computer and the upper computer communicate in a wired or wireless mode. Thus, reliable acquisition, safe storage and real-time high-speed transmission on the angular velocity, the accelerated velocity and the magnetic field signals in low-frequency and medium-high frequency environment can be realized, the overall MEMS sensor has a small size, and carrying and mounting are facilitated.
Description
Technical field
The present invention relates to the technical field of nine axle MEMS sensor, being related specifically to the nine axle MEMS sensor in a kind of angular velocity for measuring x-axis, y-axis and z-axis, acceleration and magnetic field, can be used for vibration, navigation, posture fields of measurement.
Background technology
Along with the development in Modern Tracking Technology's field, measurement and control area is proposed higher requirement to the acquisition precision of sensor and response speed and frequency band etc., and corresponding needs being the MEMS element of a new generation and also actively catering to technological innovation with it, to multiaxis MEMS element future developments such as integration vibration gauge, accelerometer, magnetometer and pressure sensors.Gyroscope is the core sensor in vibration, navigation and attitude measurement system, by measuring the three-dimensional angular velocity of inertial space, three-dimensional acceleration and three-dimensional magnetic field intensity, exports object attitude angle in space in real time.Along with the fast development of MEMS (MicroElectroMechanicalSystem MEMS (micro electro mechanical system)) technology, the gyro sensor of the type uses more and more extensive, start to infiltrate into the other fields such as medical treatment, amusement, safety, finance, important impact is created on the aspect of society.
The integration survey sensor of angular velocity, acceleration, field signal and data transmission thereof are the important directions of research, will change the developing direction of traditional sensors.Sensor-based system traditional is at present mainly ICP sensor application system, as shown in Figure 1, mainly contain ICP sensor 01, power amplifier 02 and data acquisition unit 03 3 parts compositions, the data obtained by data acquisition unit 03 pair of ICP sensor 01 carry out collection analysis, then pass to computer system 04.The sensing system combined by three often bulky, carries inconvenience, and installation procedure is complicated, and price comparison is expensive, and domestic consumer is difficult to bear.
Summary of the invention
The object of the present invention is to provide a kind of nine axle MEMS sensor, achieve and safe and reliable collection, storage are carried out to angular velocity, acceleration and field signal, and stable data of transmitting at high speed are to host computer, carry out process and the preservation of data.
A kind of nine axle MEMS sensor, comprise slave computer and host computer, described slave computer comprises micro controller module, gyro module, power module, memory module and transport module, and wherein gyro module, power module, memory module, transport module are connected with micro controller module respectively; Described host computer comprises data transmit-receive module, mode selection module, parameter setting module, data processing module, data storage module and image display module, wherein data transmit-receive module is mode selection module, parameter setting module and data processing module provide data transmission channel, and data processing module provides the data after process for data storage module and image display module; Described slave computer is communicated by wired or wireless mode with host computer.
Wherein, described transport module is at least one in USB module, bluetooth module or WIFI module.
Wherein, described transport module is USB module, and described slave computer is connected communication with host computer by usb bus.
Wherein, described transport module is bluetooth module, and described slave computer is connected communication with host computer by Bluetooth technology.
Wherein, described transport module is WIFI module, and described slave computer is connected communication with host computer by WIFI.
Wherein, described micro controller module comprises CPU, SPI controller, A/D converter, I2C controller, and described SPI controller, A/D converter, I2C controller are connected with CPU respectively.
Wherein, described memory module carries out exchanges data by SPI controller and CPU; Described power module by A/D converter by cpu monitor electricity; Data are sent to CPU by I2C controller by described gyro module.
Wherein, described gyro module comprises signal acquisition circuit, A/D change-over circuit, I2C controller, and described signal acquisition circuit is connected with I2C controller after the conversion of A/D change-over circuit.
Wherein, information acquisition circuit comprises angular velocity signal Acquisition Circuit, acceleration signal Acquisition Circuit, field of magnetic forece signal acquisition circuit.
The present invention adopts above technical scheme, utilizes host computer arrange for the pattern to slave computer, parameter and extract accurately the data of slave computer transmission, process and preserve; Slave computer is used for gathering angular velocity, acceleration and field signal, process, storage and transmission, and manages power supply.Produce following beneficial effect: (1) has carried out miniaturization process to whole system, whole system is easy to carry and installs; (2) whole system has carried out low-power consumption process, makes whole system under lithium battery power supply, can work a few hours, and guarantee system, when lacking external power source, can normally work; (3) host computer application program achieves the sending controling instruction and parameter that receive at a high speed slave computer data and high speed by multithreading.
Accompanying drawing explanation
Fig. 1 is ICP sensor application system schematic traditional in prior art.
Fig. 2 is the present invention nine axle MEMS sensor structured flowchart.
Fig. 3 is the present invention nine axle MEMS sensor micro controller module structural drawing.
Fig. 4 is the present invention nine axle MEMS sensor gyro module structural drawing.
Fig. 5 is the structured flowchart of the present invention nine axle MEMS sensor embodiment one.
Fig. 6 is the host computer workflow diagram of the present invention nine axle MEMS sensor embodiment one.
Fig. 7 is the slave computer workflow diagram of the present invention nine axle MEMS sensor embodiment one.
Fig. 8 is the application system schematic diagram of the present invention nine axle MEMS sensor embodiment one.
Fig. 9 is the structured flowchart of the present invention nine axle MEMS sensor embodiment two.
Figure 10 is the host computer workflow diagram of the present invention nine axle MEMS sensor embodiment two.
Figure 11 is the slave computer workflow diagram of the present invention nine axle MEMS sensor embodiment two.
Figure 12 is the application system schematic diagram of the present invention nine axle MEMS sensor embodiment two.
Figure 13 is the structured flowchart of the present invention nine axle MEMS sensor embodiment three.
Figure 14 is the host computer workflow diagram of the present invention nine axle MEMS sensor embodiment three.
Figure 15 is the slave computer workflow diagram of the present invention nine axle MEMS sensor embodiment three.
Figure 16 is the application system schematic diagram of the present invention nine axle MEMS sensor embodiment three.
Figure 17 is the structured flowchart of the present invention nine axle MEMS sensor embodiment four.
Figure 18 is the host computer workflow diagram of the present invention nine axle MEMS sensor embodiment four.
Figure 19 is the slave computer workflow diagram of the present invention nine axle MEMS sensor embodiment four.
Figure 20 is the application system schematic diagram of the present invention nine axle MEMS sensor embodiment four.
Embodiment
In order to make object of the present invention, feature and advantage more clear, below in conjunction with drawings and Examples, explanation is specifically made to the specific embodiment of the present invention, in the following description, set forth a lot of concrete details so that understand the present invention fully, but the present invention can implement in other modes being much different from description.Therefore, the present invention is not by the restriction of the concrete enforcement of following discloses.
A kind of nine axle MEMS sensor, as shown in Figure 2, comprise slave computer and host computer, described slave computer comprises micro controller module, gyro module, power module, memory module and transport module, and wherein gyro module, power module, memory module, transport module are connected with micro controller module respectively; Described host computer comprises data transmit-receive module, mode selection module, parameter setting module, data processing module, data storage module and image display module, wherein data transmit-receive module is mode selection module, parameter setting module and data processing module provide data transmission channel, and data processing module provides the data after process for data storage module and image display module; Described slave computer is communicated by wired or wireless mode with host computer.
Wherein, described transport module is at least one in USB module, bluetooth module or WIFI module.
Wherein, described transport module is USB module, and described slave computer is connected communication with host computer by usb bus.
Wherein, described transport module is bluetooth module, and described slave computer is connected communication with host computer by Bluetooth technology.
Wherein, described transport module is WIFI module, and described slave computer is connected communication with host computer by WIFI.
Wherein, described micro controller module, as shown in Figure 3, comprise CPU, SPI controller, A/D converter, I2C controller, described SPI controller, A/D converter, I2C controller are connected with CPU respectively by internal bus.
Wherein, described memory module carries out exchanges data by SPI controller and CPU; Described power module by A/D converter by cpu monitor electricity; Data are sent to CPU by I2C controller by described gyro module.
Wherein, described gyro module, as shown in Figure 4, comprises signal acquisition circuit, A/D change-over circuit, I2C controller, and described signal acquisition circuit is connected with I2C controller after the conversion of A/D change-over circuit.
Wherein, signal acquisition circuit comprises angular velocity signal Acquisition Circuit, acceleration signal Acquisition Circuit, field of magnetic forece signal acquisition circuit.
Wherein, the data that described micro controller module sends for receiving gyro module, and process, transmission are compensated to data or stores; And collection power supply voltage signal, judge that whether system power supply is normal; Described power module is used for when non real-time data transmission, powers to whole system; Described memory module is for storing parameter and the gyro data of whole system; Described transport module is used for transmission sensor data to host computer; Described mode selection module is used for arranging the duty of slave computer, and slave computer duty comprises: setting, real-time Transmission, non real-time transmission; Described data transmit-receive module is used for from data transmission stream, extracting measurement data and passing a parameter and instruction to slave computer; Described data processing module is used for carrying out certain process to the data received, and rejects undesired signal, makes data more accurate; Described parameter setting module is for arranging sample frequency, measurement range, the Measurement channel number of gyro sensor; Described data storage module is used for the data of measurement to save as the form of specifying, for data analysis software; Described image display module is used for patterned the display sensing data received and the parameter and the state that show slave computer.
Embodiment one
A kind of nine axle MEMS sensor, as shown in Figure 5, comprise slave computer and host computer, described slave computer comprises micro controller module, gyro module, power module, memory module and transport module, and wherein gyro module, power module, memory module, transport module are connected with micro controller module respectively; Described host computer comprises data transmit-receive module, mode selection module, parameter setting module, data processing module, data storage module and image display module, wherein data transmit-receive module is mode selection module, parameter setting module and data processing module provide data transmission channel, and data processing module provides the data after process for data storage module and image display module; Described slave computer is communicated by transport module with host computer; Wherein, transport module is USB module, and described slave computer is connected communication with host computer by usb bus.
Wherein, described micro controller module selects the low-power chip STM8L052R8 of ST Microelectronics, required voltage is between 1.8V to 3.6V, during normal work, institute's power consumption stream is only 5.9uA, frequency of operation is up to 16MHz, and inside is containing 12 A/D converters being, can as the modular converter of supply voltage.
Wherein, the described gyro module gyroscope chip MPU-9250 that selects InvenSense company to release.MPU-9250 is the adjustable gyroscope chip of a high precision, low-power consumption, sample frequency and measurement range.Its inside is integrated with angular-rate sensor, acceleration transducer, magnetometer, temperature sensor, Acquisition Circuit, A/D change-over circuit, fifo buffer, I2C controller, SPI controller.To the sample frequency of angular velocity signal up to 32kHz, to the sample frequency of acceleration signal also up to 4kHz.
Wherein, described memory module is mainly used to preserve data, and whole storer is divided into three parts, and Part I is used for preserving the parameter of system, and system of being convenient to, after opening machine, can be run according to the parameter of last time setting.Part II is used for the sensing data containing how many times collection in record storage, the size of every secondary data, reference position, final position.Part III is used for the sensing data that storage of collected arrives.Memory module selects Winbond company to release the W25Q128BV chip based on spi bus of low-power consumption, and the capacity of this chip is 128Mbit, and electric current during normal work is 4mA, and voltage 2.7V-3.6V, power consumption is very low.
Wherein, described USB module is used for host computer transfer system parameter and sensing data, and accepts the instruction of host computer transmission, powers to system simultaneously.Carry out between USB module and local side computing machine that data communication is driven by bottom hardware, firmware program realizes.USB driver is between application program and device firmware, makes operating system to identify USB device, and sets up the communication between host side and equipment end.Firmware program mainly completes usb protocol process, exchanges data and other logical process, to enumerate and re-enumeration is a very important mechanism between USB device, only complete this two processes, between main frame and USB device, could communication be set up, otherwise between the two just cannot communication.The CY7C68001 chip that described USB module adopts Cypress company to produce, include USB2.0 transceiver, USB2.0 serial interface engine SIE, provide the control port 0 of process USB device request, the end points of 4 shared 4KbFIFO, the buffer size that each end points is corresponding and state etc. are able to programme.
Wherein, described power module is used for when upper and lower computer does not connect, and is system power supply; When being connected to host computer, lithium battery is charged.Lithium battery selects CR2032 lithium coin cells.
If Fig. 6 is host computer application flows figure in the present embodiment, first the systematic parameter that slave computer is sent is received after system cloud gray model, and by region that its graphic software platform is being specified, check for operating personnel, carry out model selection afterwards, according to the parameter of lower computer system, operating personnel determine whether will revise slave computer operational factor and preservation, if the parameter current of slave computer is undesirable, then parameter setting mode can be entered, carry out the setting of slave computer parameter, after being provided with, mode of operation can being entered or exit.If the parameter current of slave computer meets the requirements, then can enter real-time Transmission pattern or non real-time transmission pattern, for real-time Transmission pattern, real-time for the sensing data of collection is sent to host computer by slave computer, carries out Storage and Processing by host computer.For non real-time transmission pattern, the sensing data collected is stored in storer by slave computer, or the data of last stored are sent to host computer.
If Fig. 7 is slave computer application flows figure in the present embodiment, after system cloud gray model, first parameter current for system is sent to host computer by slave computer, then power-on timer, detect primary power source voltage every 500ms, if supply voltage is lower than secondary minimum voltage, warning light is bright, if supply voltage is lower than minimum voltage, shutdown system.The instruction that slave computer wait-receiving mode host computer sends, when the instruction received is optimum configurations, according to the parameter of the parameter change current system that host computer sends, and determine whether be saved in storer by this parameter according to the instruction that host computer issues, so that next time uses, last according to instruction, determine whether enter data transmission state.When after power-on timer, when the instruction received is data transmission, slave computer is loaded into operational factor at once from storer, afterwards, if when the instruction received is real-time Transmission, the sensing data processed directly is sent to host computer by slave computer, if not, then according to instruction, the sensing data processed is stored in storage chip or by the sensing data in storer by slave computer and is sent to host computer.
The present embodiment nine axle MEMS sensor application system, as shown in Figure 8, the data that sensor 11 is measured pass to computing machine 13 by usb bus 12, Cloud Server 15 is passed to finally by Internet14, each mobile phone terminal 16 is passed to again by Internet14, so that each terminal can receive sensing data, thus measurand is monitored or remote monitoring in real time.
Embodiment two
A kind of nine axle MEMS sensor, as shown in Figure 9, comprise slave computer and host computer, described slave computer comprises micro controller module, gyro module, power module, memory module and transport module, and wherein gyro module, power module, memory module, transport module are connected with micro controller module respectively; Described host computer comprises data transmit-receive module, mode selection module, parameter setting module, data processing module, data storage module and image display module, wherein data transmit-receive module is mode selection module, parameter setting module and data processing module provide data channel, and data processing module provides the data after process for data storage module and image display module; Described slave computer is communicated by transport module with host computer; Wherein, transport module is bluetooth module, and described slave computer is communicated by Bluetooth technology with host computer.
Wherein, described micro controller module selects the nRF51822 chip of NORDIC company, and this chip internal is with AD conversion module, the bluetooth module supporting bluetooth 4.0 protocol stack, and wherein, A/D modular converter may be used for the collection to supply voltage; Bluetooth module is used for the interchange between host computer and hardware.This chip is that NORDIC releases for low-power consumption product, and operating voltage is only between 1.8V-3.6V, and working current is only 2.3uA.
Wherein, the described gyro module gyroscope chip MPU-9250 that selects InvenSense company to release.MPU-9250 is the adjustable gyroscope chip of a high precision, low-power consumption, sample frequency and measurement range.Its inside is integrated with angular-rate sensor, acceleration transducer, magnetometer, temperature sensor, Acquisition Circuit, A/D change-over circuit, fifo buffer, I2C controller, SPI controller.To the sample frequency of angular velocity signal up to 32kHz, to the sample frequency of acceleration signal also up to 4kHz.User can select sensor type needed for oneself and signal sampling rate by arranging.
Wherein, described memory module is mainly used to preserve data, and whole storer is divided into three parts, and Part I is used for preserving the parameter of system, and system of being convenient to, at Qi Jihou, can be run according to the parameter of last time setting.Part II is used for the sensing data containing how many times collection in record storage, the size of every secondary data, reference position, final position.Part III is used for the sensing data that storage of collected arrives.Memory module selects Winbond company to release the W25Q128BV chip based on spi bus of low-power consumption, and the capacity of this chip is 128Mbit, and electric current during normal work is 4MA, and voltage 2.7V-3.6V, power consumption is very low.
Wherein, described memory module is mainly used to preserve data, and whole storer is divided into three parts, and Part I is used for preserving the parameter of system, and system of being convenient to, after opening machine, can be run according to the parameter of last time setting.Part II is used for the sensing data containing how many times collection in record storage, the size of every secondary data, reference position, final position.Part III is used for the sensing data that storage of collected arrives.Memory module selects Winbond company to release the W25Q128BV chip based on spi bus of low-power consumption, and the capacity of this chip is 128Mbit, and electric current during normal work is 4MA, and voltage 2.7V-3.6V, power consumption is very low.
Wherein, described power module is used for when upper and lower computer does not connect, and is system power supply; When being connected to host computer, lithium battery is charged.Lithium battery selects CR2032 lithium coin cells.
If Figure 10 is host computer application flows figure in the present embodiment, first the systematic parameter that slave computer is sent is received after system cloud gray model, and be presented at the region of specifying, check for operating personnel, carry out model selection afterwards, according to the parameter of lower computer system, operating personnel determine whether will revise slave computer operational factor and preservation, if the parameter current of slave computer is undesirable, then parameter setting mode can be entered, carry out the setting of slave computer parameter, after being provided with, mode of operation can being entered or exit.If the parameter current of slave computer meets the requirements, then can enter data acquisition scheme or transmission mode, for data acquisition scheme, the sensing data collected is stored in storer by slave computer, and by supply voltage and hardware effort state real-time send to host computer, being shown by host computer, when occurring abnormal, sending the operation that instruction stops hardware.For transmission mode, slave computer sends the sensing data of storer to host computer by Bluetooth technology.
If Figure 11 is slave computer application flows figure in the present embodiment, after system cloud gray model, first parameter current for system is sent to host computer by slave computer, then opening timing device, detect primary power source voltage and hardware state every 500ms, if supply voltage is lower than secondary minimum voltage, warning light is bright, if supply voltage is lower than minimum voltage, shutdown system.The instruction that slave computer wait-receiving mode host computer sends, when the instruction received is optimum configurations, according to the parameter of the parameter change current system that host computer sends, and determine whether be saved in storer by this parameter according to the instruction that host computer issues, so that next time uses, last according to instruction, determine whether enter data acquisition state.When after opening timing device, when the instruction received is data acquisition scheme, slave computer is loaded into operational factor at once from storer, data gyro module transmitted deposit corresponding position in storer, if when the instruction received is transmission mode, the sensing data in storer is directly sent to host computer by slave computer.
The present embodiment nine axle MEMS sensor application system, as shown in figure 12, the data that sensor 11 is measured pass to computing machine 13 or mobile phone terminal 16 by bluetooth 4.0 (BLE) 17, Cloud Server 15 is passed to finally by Internet14, each mobile phone terminal 16 is passed to again by Internet14, so that each terminal can receive sensing data, thus measurand is monitored or remote monitoring in real time.
Embodiment three
A kind of nine axle MEMS sensor, as shown in figure 13, comprise slave computer and host computer, described slave computer comprises micro controller module, gyro module, power module, memory module and transport module, and wherein gyro module, power module, memory module, transport module are connected with micro controller module respectively; Described host computer comprises data transmit-receive module, mode selection module, parameter setting module, data processing module, data storage module and image display module, wherein data transmit-receive module is mode selection module, parameter setting module and data processing module provide data transmission channel, and data processing module provides the data after process for data storage module and image display module; Described slave computer is communicated by transport module with host computer; Wherein, transport module is USB module and bluetooth module, and described slave computer is connected communication with host computer by usb bus or Bluetooth technology.
Wherein, described micro controller module selects the nRF51822 chip of NORDIC company, and this chip internal is with AD conversion module, the bluetooth module supporting bluetooth 4.0 protocol stack, and wherein, A/D modular converter may be used for the collection to supply voltage; Bluetooth module is used for the interchange between mobile phone A PP and hardware.This chip is that NORDIC releases for low-power consumption product, and operating voltage is only between 1.8V-3.6V, and working current is only 2.3uA.
Wherein, the described gyro module gyroscope chip MPU-9250 that selects InvenSense company to release.MPU-9250 is the adjustable gyroscope chip of a high precision, low-power consumption, sample frequency and measurement range.Its inside is integrated with angular-rate sensor, acceleration transducer, magnetometer, temperature sensor, Acquisition Circuit, A/D change-over circuit, fifo buffer, I2C controller, SPI controller.To the sample frequency of angular velocity signal up to 32kHz, to the sample frequency of acceleration signal also up to 4kHz.
Wherein, described memory module is mainly used to preserve data, and whole storer is divided into three parts, and Part I is used for preserving the parameter of system, and system of being convenient to, after opening machine, can be run according to the parameter of last time setting.Part II is used for the sensing data containing how many times collection in record storage, the size of every secondary data, reference position, final position.Part III is used for the sensing data that storage of collected arrives.Memory module selects Winbond company to release the W25Q128BV chip based on spi bus of low-power consumption, and the capacity of this chip is 128Mbit, and electric current during normal work is 4MA, and voltage 2.7V-3.6V, power consumption is very low.
Wherein, described USB module is used for host computer transfer system parameter and sensing data, and accepts the instruction of host computer transmission, powers to system simultaneously.Carry out between USB module and local side computing machine that data communication is driven by bottom hardware, firmware program realizes.USB driver is between application program and device firmware, makes operating system to identify USB device, and sets up the communication between host side and equipment end.Firmware program mainly completes usb protocol process, exchanges data and other logical process, to enumerate and re-enumeration is a very important mechanism between USB device, only complete this two processes, between main frame and USB device, could communication be set up, otherwise between the two just cannot communication.The CY7C68001 chip that described USB module adopts Cypress company to produce, include USB2.0 transceiver, USB2.0 serial interface engine SIE, provide the control port 0 of process USB device request, the end points of 4 shared 4KbFIFO, the buffer size that each end points is corresponding and state etc. are able to programme.
If Figure 14 is host computer application flows figure in the present embodiment, after system cloud gray model, first host computer detects USB device, if found USB device, has then entered USB pattern, otherwise enters bluetooth mode.Afterwards, host computer receives the systematic parameter that slave computer is sent, and by the region that its graphic software platform is being specified, checks for operating personnel, carry out model selection afterwards, according to the parameter of lower computer system, operating personnel determine whether will revise slave computer operational factor and preservation, if the parameter current of slave computer is undesirable, then parameter setting mode can be entered, carry out the setting of slave computer parameter, after being provided with, mode of operation can being entered or exit.If the parameter current of slave computer meets the requirements, then can enter real-time Transmission pattern or non real-time transmission pattern, for real-time Transmission pattern (for USB transmission mode), real-time for the sensing data of collection is sent to host computer by slave computer, carries out Storage and Processing by host computer.For non real-time transmission pattern (USB and bluetooth transmission), the sensing data collected is stored in storer by slave computer, or the data of last stored are sent to host computer.
Figure 15 is slave computer application flows figure in the present embodiment, and after system cloud gray model, whether slave computer first detection system connects USB, if connect USB, then send instruction and confirm to host computer, confirm successfully, transmit data by USB transmission mode, otherwise transmit data by Bluetooth transmission mode.Afterwards, parameter current for system is sent to host computer, then power-on timer, detect primary power source voltage every 500ms, if supply voltage is lower than secondary minimum voltage, warning light is bright, if supply voltage is lower than minimum voltage, and shutdown system.The instruction that slave computer wait-receiving mode host computer sends, when the instruction received is optimum configurations, according to the parameter of the parameter change current system that host computer sends, and determine whether be saved in storer by this parameter according to the instruction that host computer issues, so that next time uses, last according to instruction, determine whether enter data transmission state.When after power-on timer, when the instruction received is data transmission, slave computer is loaded into operational factor at once from storer, afterwards, if when the instruction received is real-time Transmission, the sensing data processed directly is sent to host computer by slave computer, if not, then according to instruction, the sensing data processed is stored in storage chip or by the sensing data in storer by slave computer and is sent to host computer.
The present embodiment nine axle MEMS sensor application system, as shown in figure 16, the data that sensor 11 is measured pass to computing machine 13 by usb bus 12 or bluetooth 4.0 (BLE) 17, Cloud Server 15 is passed to finally by Internet14, each mobile phone terminal 16 is passed to again by Internet14, so that each terminal can receive sensing data, thus measurand is monitored or remote monitoring in real time.
Embodiment four
A kind of nine axle MEMS sensor, as shown in figure 17, comprise slave computer and host computer, described slave computer comprises micro controller module, gyro module, power module, memory module and transport module, and wherein gyro module, power module, memory module, transport module are connected with micro controller module respectively; Described host computer comprises data transmit-receive module, mode selection module, parameter setting module, data processing module, data storage module and image display module, wherein data transmit-receive module is mode selection module, parameter setting module and data processing module provide data transmission channel, and data processing module provides the data after process for data storage module and image display module; Described slave computer is communicated by transport module with host computer; Wherein, transport module is USB module and WIFI module, and described slave computer is connected communication with host computer by usb bus or WIFI.
Wherein, described micro controller module selects the low-power chip STM8L052R8 of ST Microelectronics, required voltage is between 1.8V to 3.6V, during normal work, institute's power consumption stream is only 5.9uA, and frequency of operation is up to 16MHz, and it is inner containing 12 A/D converters being, as the modular converter of supply voltage, I2C bus, spi bus can be supported simultaneously, conveniently communicate with storer and WIFI module.
Wherein, the described gyro module gyroscope chip MPU-9250 that selects InvenSense company to release.MPU-9250 is the adjustable gyroscope chip of a high precision, low-power consumption, sample frequency and measurement range.Its inside is integrated with angular-rate sensor, acceleration transducer, magnetometer, temperature sensor, Acquisition Circuit, A/D change-over circuit, fifo buffer, I2C controller, SPI controller.To the sample frequency of angular velocity signal up to 32kHz, to the sample frequency of acceleration signal also up to 4kHz.
Wherein, described memory module is mainly used to preserve data, and whole storer is divided into three parts, and Part I is used for preserving the parameter of system, and system of being convenient to, after opening machine, can be run according to the parameter of last time setting.Part II is used for the sensing data containing how many times collection in record storage, the size of every secondary data, reference position, final position.Part III is used for the sensing data that storage of collected arrives.Memory module selects Winbond company to release the W25Q128BV chip based on spi bus of low-power consumption, and the capacity of this chip is 128Mbit, and electric current during normal work is 4MA, and voltage 2.7V-3.6V, power consumption is very low.
Wherein, described USB module is used for host computer transfer system parameter and sensing data, and accepts the instruction of host computer transmission, powers to system simultaneously.Carry out between USB module and local side computing machine that data communication is driven by bottom hardware, firmware program realizes.USB driver is between application program and device firmware, makes operating system to identify USB device, and sets up the communication between host side and equipment end.Firmware program mainly completes usb protocol process, exchanges data and other logical process, to enumerate and re-enumeration is a very important mechanism between USB device, only complete this two processes, between main frame and USB device, could communication be set up, otherwise between the two just cannot communication.The CY7C68001 chip that USB module adopts Cypress company to produce, include USB2.0 transceiver, USB2.0 serial interface engine SIE, provide the end points of control port 0,4 shared 4KbFIFO of process USB device request, the buffer size that each end points is corresponding and state etc. are able to programme.
Wherein, described WIFI module is used for by wireless to host computer transfer system parameter and data, receives the instruction that host computer issues simultaneously.WIFI module adopts the ESP8266 module of EspressifSystems company, this module work voltage is 3.3V, working current is only 80mA, support that multiple interfaces communicates with outside, support 802.11b/g wireless communication protocol, because the transfer rate of spi bus is higher, microcontroller is communicated by spi bus with this module, thus ensure can be real-time between upper and lower computer carry out data transmission.
Wherein, described power module is used for when upper and lower computer does not connect, and is system power supply; When being connected to host computer, lithium battery is charged.Lithium battery selects CR2032 lithium coin cells.
If Figure 18 is host computer application flows figure in the present embodiment, after system cloud gray model, first host computer detects USB device, if found USB device, then enters USB pattern, otherwise has entered WIFI pattern.Afterwards, host computer receives the systematic parameter that slave computer is sent, and by the region that its graphic software platform is being specified, checks for operating personnel, carry out model selection afterwards, according to the parameter of lower computer system, operating personnel determine whether will revise slave computer operational factor and preservation, if the parameter current of slave computer is undesirable, then parameter setting mode can be entered, carry out the setting of slave computer parameter, after being provided with, mode of operation can being entered or exit.If the parameter current of slave computer meets the requirements, then can enter real-time Transmission pattern or non real-time transmission pattern, for real-time Transmission pattern (for USB transmission mode), real-time for the sensing data of collection is sent to host computer by slave computer, carries out Storage and Processing by host computer.For non real-time transmission pattern, the sensing data collected is stored in storer by slave computer, or the data of last stored are sent to host computer.
If Figure 19 is slave computer application flows figure in the present embodiment, after system cloud gray model, whether slave computer first detection system connects USB, if connect USB, then send instruction to confirm to host computer, confirm successfully, transmit data by USB transmission mode, otherwise transmit data by WIFI transmission mode.Afterwards, parameter current for system is sent to host computer, then power-on timer, detect primary power source voltage every 500ms, if supply voltage is lower than secondary minimum voltage, warning light is bright, if supply voltage is lower than minimum voltage, and shutdown system.The instruction that slave computer wait-receiving mode host computer sends, when the instruction received is optimum configurations, according to the parameter of the parameter change current system that host computer sends, and determine whether be saved in storer by this parameter according to the instruction that host computer issues, so that next time uses, last according to instruction, determine whether enter data transmission state.When after power-on timer, when the instruction received is data transmission, slave computer is loaded into operational factor at once from storer, afterwards, if when the instruction received is real-time Transmission, the sensing data processed directly is sent to host computer by slave computer, if not, then according to instruction, the sensing data processed is stored in storage chip or by the sensing data in storer by slave computer and is sent to host computer.
The present embodiment nine axle MEMS sensor application system, as shown in figure 20, the data that sensor 11 is measured pass to computing machine 13 by usb bus 12 or WIFI18, Cloud Server 15 is passed to finally by Internet14, each mobile phone terminal 16 is passed to again by Internet14, so that each terminal can receive sensing data, thus measurand is monitored or remote monitoring in real time.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. an axle MEMS sensor, it is characterized in that: comprise slave computer and host computer, described slave computer comprises micro controller module, gyro module, power module, memory module and transport module, and wherein gyro module, power module, memory module, transport module are connected with micro controller module respectively; Described host computer comprises data transmit-receive module, mode selection module, parameter setting module, data processing module, data storage module and image display module, wherein data transmit-receive module is mode selection module, parameter setting module and data processing module provide data transmission channel, and data processing module provides the data after process for data storage module and image display module; Described slave computer is communicated by wired or wireless mode with host computer.
2. a kind of nine axle MEMS sensor according to claim 1, is characterized in that: described transport module is at least one in USB module, bluetooth module or WIFI module.
3. the one nine axle MEMS sensor according to claims 1 or 2, is characterized in that: described transport module is USB module, and described slave computer is connected communication with host computer by usb bus.
4. the one nine axle MEMS sensor according to claims 1 or 2, is characterized in that: described transport module is bluetooth module, and described slave computer is connected communication with host computer by Bluetooth technology.
5. the one nine axle MEMS sensor according to claims 1 or 2, is characterized in that: described transport module is WIFI module, and described slave computer is connected communication with host computer by WIFI.
6. a kind of nine axle MEMS sensor according to claim 1, it is characterized in that: described micro controller module comprises CPU, SPI controller, A/D converter, I2C controller, described SPI controller, A/D converter, I2C controller respectively internal bus are connected with CPU.
7. the one nine axle MEMS sensor according to claim 1 or 6, is characterized in that: described memory module carries out exchanges data by SPI controller and CPU; Described power module by A/D converter by cpu monitor electricity; Data are sent to CPU by I2C controller by described gyro module.
8. a kind of nine axle MEMS sensor according to claim 1, it is characterized in that: described gyro module comprises signal acquisition circuit, A/D change-over circuit, I2C controller, described signal acquisition circuit is connected with I2C controller after the conversion of A/D change-over circuit.
9. a kind of nine axle MEMS sensor according to claim 8, is characterized in that: signal acquisition circuit comprises angular velocity signal Acquisition Circuit, acceleration signal Acquisition Circuit, field of magnetic forece signal acquisition circuit.
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Application publication date: 20151209 |