CN108108016A - Gesture perceptron - Google Patents
Gesture perceptron Download PDFInfo
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- CN108108016A CN108108016A CN201711285304.7A CN201711285304A CN108108016A CN 108108016 A CN108108016 A CN 108108016A CN 201711285304 A CN201711285304 A CN 201711285304A CN 108108016 A CN108108016 A CN 108108016A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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Abstract
The invention discloses a kind of gesture perceptrons, it includes flesh electrical dry electrode, electromyography signal conditioning module, microprocessor, Inertial Measurement Unit IMU, tactile vibrations module, power module and bluetooth module, gesture perceptron can be worn at the belly of muscle portion of the left hand of operator or the forearm of the right hand, the electromyography signal that forearm is gathered by flesh electrical dry electrode is then issued to electromyography signal conditioning module, the exercise data of forearm is gathered by Inertial Measurement Unit IMU, host computer or other intelligent terminals are sent to by bluetooth module after A/D is converted into digital signal and does filter preprocessing, electromyography signal and IMU Data Fusions are so as to judging gesture that operator makes instantly.The man-machine interactive system for perceiving and manipulating present invention can apply to gesture, easy to operate, experience sense is strong.
Description
Technical field
The present invention relates to gesture perceptrons, particularly relate to the perception finger movement of mating surface myoelectricity and IMU senses
Know the gesture perceptron of arm motion.
Background technology
Field is perceived and manipulates in gesture at present, most product is all by camera or other substantial amounts of hardware
Identify gesture, such product not only weight it is big, it is of high cost, visually seem heavy, but also use environment is limited,
It is difficult to promote the use of in life.
The content of the invention
Against the above deficiency, the present invention provides a kind of gesture perceptron, can be worn at the left hand or the right hand of operator
The belly of muscle portion of forearm, weight is light and handy, using surface muscle electric signal identification technology, is surveyed by built-in myoelectric sensor and inertia
It unit IMU acquisition signal is measured, accurately identifies the gesture of operator, for example arm is moved up, moved down, moving to left, moving to right and finger
It clenches fist, open, the action such as left swing, right pendulum and combinations thereof, for controlling the intelligent terminals such as computer, smart mobile phone, tablet computer real
Some existing functions.
To achieve the above object, the invention is realized by the following technical scheme：Gesture perceptron, it does including N number of myoelectricity
Electrode, N number of electromyography signal conditioning module, microprocessor, Inertial Measurement Unit IMU, tactile vibrations module, power module and bluetooth
Module, wherein N are more than or equal to 4, and each flesh electrical dry electrode is connected with a corresponding electromyography signal conditioning module, electromyography signal tune
Reason module, Inertial Measurement Unit IMU, bluetooth module, tactile vibrations module, power module are connected with microprocessor.
Further, the power module includes the first power supply chip U4, second source chip U5, capacitance C1-C9, resistance
R1, resistance R4-R7, Light-emitting diode LED 1-LED2, diode D1, inductance L3, the power input of the first power supply chip U4 are drawn
Foot, enabled pin, one end of capacitance C1 are connected with VDD5V, and another termination of capacitance C1 is digitally；Grounding pin connects number
Ground；The adjustment input pin of first power supply chip U4 is connected with one end of capacitance C2, and another termination of capacitance C2 is digitally；First
The modulator output pin output+2.5V voltages of power supply chip U4, respectively with the anode of capacitance C3 and Light-emitting diode LED 1
Anode is connected, and the cathode of capacitance C3 connects digitally, and the cathode of Light-emitting diode LED 1 is connected with one end of resistance R1, resistance R1's
Another termination is digitally；
The comparison pin of second source chip U5 is connected with one end of capacitance C4；Another termination number of grounding pin and capacitance
Word；The power input pin of second source chip U5, one end of enabled pin, one end of resistance R8 and capacitance C5 are connected in one
Place, another termination of capacitance C5 digitally, another termination VDD5V of resistance R8；The input pin and electricity of second source chip U5
The one end for holding C6 is connected with VDD5V, and another termination of capacitance C6 is digitally；The switching pin of second source chip U5 respectively with
One end of inductance L3 is connected with the cathode of diode D1, and another termination of inductance L3 is digitally；The output of second source chip U5
Pin conduct -2.5V voltage outputs, output pin respectively with the anode of diode D1, one end of resistance R6, capacitance C9 one end,
One end of resistance R5 is connected with one end of resistance R4, and the other end of resistance R4 is connected with the cathode of Light-emitting diode LED 2, shines
The anode of diode (LED) 2 and the other end of capacitance C9 connect digitally；The feedback pin of second source chip U5 respectively with resistance
One end of R7 is connected with one end of capacitance C8, and the other end of capacitance C8 is connected with the other end of resistance R5；Second source chip U5
One end respectively with the other end of resistance R7 and capacitance C7 of reference voltage output pin be connected, another termination number of capacitance C7
Ground.
Further, the microprocessor 3 include processing chip U1, capacitance C10-C13, capacitance C34, resistance R9-R11,
Resistance R23-R25, clock chip Y1, the power pins of processing chip U1 are connected with+2.5V, the USB regulator of processing chip U1
Input pin is connected with VDD5V, and the grounding pin of processing chip U1 and minimum reference voltage pin all connect digitally, processing chip
The power supply output pin of U1 is connected with one end of capacitance C11, another termination of capacitance C11 digitally, the reset of processing chip U1
The one end of pin respectively with one end of resistance R23 and capacitance C34 is connected, and the other end of resistance R23 is connected with+2.5V, capacitance C34
Another termination digitally, the enabled controlling switch of clock chip Y1 respectively with the crystal-driven output pin of processing chip U1 and
One end of capacitance C12 is connected, another termination of capacitance C12 digitally, the output pin of clock chip Y1 respectively with processing chip
The external clock input pin of U1 is connected with one end of capacitance C13, another termination of capacitance C13 digitally, clock chip Y1's
An indirect resistance R11 for enabled controlling switch and output pin, the grounding pin and power pins of clock chip Y1 all connect number
Word；The input and output pin of processing chip U1 is connected with one end of capacitance C10, and another termination of capacitance C10 digitally, is handled
The first data wire pin of chip U1 is connected with one end of resistance R10, the first clock wire pin and resistance R9 of processing chip U1
One end be connected, the other end of resistance R10, another termination+2.5V of resistance R9；The second clock wire pin of processing chip U1 and
One end of resistance R25 is connected, and the second data wire pin of processing chip U1 is connected with one end of resistance R24, and resistance R25's is another
The other end of end and resistance R24 meet+2.5V.
Further, the electromyography signal conditioning module includes operational amplifier U1, resistance R13-R22, capacitance C28-
C32, the positive pin of power supply, the power supply of operational amplifier bear pin and are connected respectively with+2.5V, -2.5V, and the first of operational amplifier is anti-
Turn the one end of input pin respectively with one end of resistance R13 and resistance R14 to be connected, another termination of resistance R13 digitally, computing
The one end of first output pin of amplifier respectively with the other end of resistance R14, one end of resistance R15 and resistance R17 is connected；Fortune
It calculates the one end of the second reversion input pin of amplifier respectively with the other end of resistance R15 and resistance R16 to be connected, operational amplifier
One end respectively with the other end of resistance R16 and capacitance C30 of the second output pin be connected, the other end of capacitance C30 respectively with
One end of capacitance C31, one end of resistance R22 are connected with one end of resistance R21, and the other end of resistance R21 is respectively with capacitance C32's
One end, one end of resistance R19 are connected with one end of resistance R20, the other end of capacitance C31, the other end and capacitance of resistance R22
The other end of C32 connects digitally；3rd reversion input pin of operational amplifier is connected with one end of capacitance C29, capacitance C29
The other end be connected with the other end of resistance R20；ADC of 3rd output pin of operational amplifier respectively with processing chip U1 draws
Foot is connected with the other end of resistance R19；3rd non-inverting input pin of operational amplifier and the 4th non-inverting input pin are equal
It connects digitally；Operational amplifier the 4th reversion input pin respectively with the other end of resistance R17, one end of resistance R18 and electricity
The one end for holding C28 is connected；4th output pin of operational amplifier is another with the other end of resistance R18 and capacitance C28 respectively
End is connected；The two poles of the earth of the flesh electrical dry electrode 1 respectively with the first non-inverting input pin of operational amplifier and the second non-inverted
Input pin is connected.
Further, the Inertial Measurement Unit IMU includes nine axis sensing chip U2, capacitance C14-C16, nine axis sensing core
The power supply of piece U2 retains pin and power pins are connected with+2.5V；The power pins of nine axis sensing chip U2 also respectively with electricity
The one end for holding C16 is connected with one end of capacitance C14, and the other end of capacitance C16 and the other end of capacitance C14 connect digitally；Nine
The adjuster output pin of axis sensing chip U2 is connected with one end of capacitance C15, and the other end of capacitance C15 senses respectively with nine axis
The slave address pin of chip U2 be digitally connected；The frame synchronization digital input pins of nine axis sensing chip U2, grounding pin connect
Ground retains pin and connects digitally；The input and output of the interruption digital output pin and processing chip U1 of nine axis sensing chip U2 are drawn
Foot is connected, and the data wire pin of nine axis sensing chip U2 is connected with the second data wire pin of processing chip U1；Nine axis sense core
The clock wire pin of piece U2 is connected with the second clock wire pin of processing chip U1.
Further, the bluetooth module includes Bluetooth chip U3, capacitance C17-C27, crystal oscillator X1-X2, resistance R12, electricity
Sense L4-L7, the clock wire pin of antenna A1, Bluetooth chip U3 are connected with the first clock wire pin of processing chip U1；Bluetooth core
The data wire pin of piece U3 is connected with the first data wire pin of processing chip U1；The digital input pins of Bluetooth chip U3 and place
The input and output pin of reason chip U1 is connected；The power pins of Bluetooth chip U3 are connected with+2.5V；The simulation of Bluetooth chip U3 is defeated
Enter the one end of output pin respectively with the first pin of crystal oscillator X2 and capacitance C17 to be connected；The simulation input output of Bluetooth chip U3
The one end of pin respectively with the second pin of crystal oscillator X2 and capacitance C18 is connected；The grounding pin of Bluetooth chip U3, capacitance C17
The other end, the other end of capacitance C18 connect signal ground；The simulation input output pin of Bluetooth chip U3 and one end of resistance R12
It is connected, another termination signal ground of resistance R12；The power pins of Bluetooth chip U3 are connected with one end of capacitance C27, capacitance C27
Another termination signal ground；The simulation input output pin of Bluetooth chip U3 respectively with the output pin of crystal oscillator X1 and capacitance C26
One end be connected；The simulation input output pin of Bluetooth chip U3 respectively with the enabled controlling switch of crystal oscillator X1 and capacitance C25
One end is connected；The power pins of crystal oscillator X1, the other end of capacitance C26, the other end of the grounding pin of crystal oscillator X1 and capacitance C25 are equal
Connect signal ground；The radio frequency output pin of Bluetooth chip U3 is connected with one end of capacitance C19, the other end of capacitance C19 respectively with electricity
One end of sense L5 is connected with one end of capacitance C21, another termination signal ground of inductance L5；The radio frequency output pin of Bluetooth chip U3
It is connected with one end of capacitance C20, the one end of the other end of capacitance C20 respectively with one end of capacitance C22 and inductance L4 is connected, capacitance
Another termination signal ground of C22；One end of the other end of capacitance C21, the other end of inductance L4 and inductance L6 is connected at one, electricity
Feel the one end of the other end of L6 respectively with one end of capacitance C23 and inductance L7 to be connected, another termination signal ground of capacitance C23, electricity
Feel input pin of the other end of L7 respectively with one end of capacitance C24 and antenna A1 to be connected, another termination signal of capacitance C24
Ground, two grounding pins of antenna A1 connect signal ground.
Further, the tactile vibrations module includes vibrating motor B1, driving chip U6 and capacitance C33, driving chip
The power pins of U6 and one end of capacitance C33 are connected with+2.5V；The other end of ground connection and capacitance C33 connect digitally；Driving
The sleep pin of chip U6 is connected with the input and output pin of processing chip U1；The first output pin of driving chip U6 and second
Both ends of the output pin respectively with vibrating motor B1 are connected.
Compared with prior art, beneficial effects of the present invention are as follows：
1. present apparatus weight is light and handy, low in energy consumption, accuracy of identification is high, can recognize that 8 kinds or more finger movements and 6 kinds of arm fortune
It is dynamic, for example, the moving up, move down, moving to left of arm, move to right with the clenching fist of finger, open, the action such as left swing, right pendulum and combinations thereof.
2. being with the addition of the feedback system of this hommization of tactile vibrations module, pass through different durations and the vibration mode of intensity
It is prompted to operator's device to have been switched on, can start to operate；Or shut down, operation terminates；Or action has been completed, and can loosen flesh
Meat or the operation for carrying out next gesture.
3. the present apparatus is convenient for control intelligent terminal, and fast response time, breakthrough gesture manipulate the limitation in field of play,
Teaching, training, medical treatment, office etc. are expanded to, makes it in the equipment such as computer, smart mobile phone, tablet computer, game machine
Ample scope for abilities can be played.
Description of the drawings
Fig. 1 is the structure diagram of the gesture perceptron of the present invention；
Fig. 2 is the power module circuitry figure of the present invention；
Fig. 3 is the microcontroller circuit figure of the present invention；
Fig. 4 is the electromyography signal conditioning module circuit diagram of the present invention；
Fig. 5 is the Inertial Measurement Unit circuit diagram of the present invention；
Fig. 6 is the bluetooth module circuit diagram of the present invention；
Fig. 7 is the tactile vibrations module circuit diagram of the present invention.
Specific embodiment
The implementation of the present invention is specifically described with specific example below in conjunction with the accompanying drawings.
As shown in Figure 1, the present embodiment provides a kind of gesture perceptron, which includes N number of flesh electrical dry electrode 1, N number of myoelectricity
Signal-regulated kinase 2, microprocessor 3, Inertial Measurement Unit IMU4, tactile vibrations module 6, power module 7 and bluetooth module 5,
Wherein N is more than or equal to 4, and each flesh electrical dry electrode 1 is connected with a corresponding electromyography signal conditioning module 2, electromyography signal conditioning
Module 2, Inertial Measurement Unit IMU4, bluetooth module 5, tactile vibrations module 6, power module 7 are connected with microprocessor 3；
The gesture perceptron is worn on the left hand of operator or the antebrachial muscle abdomen of the right hand；
The electromyography signal that the flesh electrical dry electrode 1 gathers antebrachial muscle abdomen is then issued to corresponding electromyography signal conditioning module；
The exercise data of the Inertial Measurement Unit IMU acquisitions forearm；
The processor 3 receives the data of electromyography signal conditioning module and the exercise data of Inertial Measurement Unit IMU acquisitions,
A/D is carried out to data and is converted into digital signal, and bluetooth module and tactile vibrations module 6 are passed to after doing filter preprocessing；
The power module provides operating voltage for microprocessor 3；
The bluetooth module is sent to host computer or other intelligent terminals, electromyography signal and IMU Data Fusions so as to
Judge the gesture that operator makes instantly, for example, the moving up, move down, moving to left of arm, move to right with the clenching fist of finger, open, left swing,
Actions such as right pendulum and combinations thereof, for the intelligent terminals such as computer, smart mobile phone, tablet computer to be controlled to realize some functions.
As shown in Fig. 2, being a kind of power module provided in an embodiment of the present invention, the power supply 1 of the power module 7 is to use
SPX3819 chips are depressured to+2.5V from voltage 5V, and power supply 2 is to be depressured to -2.5V from voltage 5V with tps63700 chips.
The power input pin Vin (pin 1) of SPX3819 and its enabled pin EN (pin 3), capacitance C1 one end with VDD5V phases
Even, another termination of capacitance C1 is digitally；Grounding pin GND (pin 2) connects digitally；Adjust input pin BYP (pin 4) with
One end of capacitance C2 is connected, and another termination of capacitance C2 is digitally；The modulator output pin Vout (pin 5) of SPX3819 points
Anode not with the anode of capacitance C3, Light-emitting diode LED 1 is connected, and provides+2.5V voltages, and the cathode of capacitance C3 connects number
Ground, the cathode of Light-emitting diode LED 1 are connected with one end of resistance R1, and another termination of resistance R1 is digitally.
The comparison pin COMP (pin 1) of tps63700 is connected with one end of capacitance C4；Grounding pin GND (pin 2) and
Another termination of capacitance is digitally；Power input pin VIN (pin 3), enabled pin EN (pin 4), resistance R8 one end and
One end of capacitance C5 is connected at one, another termination of capacitance C5 digitally, another termination VDD5V of resistance R8；Input pin
One end of IN (pin 5) and capacitance C6 is connected with power vd D5V, and another termination of capacitance C6 is digitally；Switching pin SW (draws
Foot 6) cathode respectively with one end of inductance L3 and diode D1 is connected, and another termination of inductance L3 is digitally；Output pin OUT
(pin 8) conduct -2.5V voltage outputs, output pin OUT (pin 8) respectively with the anode of diode D1, resistance R6 one end,
One end of capacitance C9, one end of resistance R5 are connected with one end of resistance R4, the other end of resistance R4 and Light-emitting diode LED 2
Cathode is connected, and the anode of Light-emitting diode LED 2 and the other end of capacitance C9 connect digitally；Feedback pin FB (pin 9) is respectively
It is connected with one end of resistance R7 and one end of capacitance C8, the other end of capacitance C8 is connected with the other end of resistance R5；Reference voltage
The one end of output pin VREF (pin 10) respectively with the other end of resistance R7 and capacitance C7 is connected, another termination number of capacitance C7
Word；Grounding pin GND (pin 7) connects digitally.
As shown in figure 3, as the embodiment of the present invention, microprocessor 3 chooses Freescale companies
MKL26Z256VLH4 microcontrollers as the core of system, for controlling the normal operation of remaining module, ensure the fortune of system
Row, the electromyography signal that groundwork has the amplification to the output of electromyography signal conditioning module carry out A/D conversions and filtering, pass through I2C
It receives the exercise data of Inertial Measurement Unit output, pass through I2C is connected with bluetooth module, controls tactile vibrations module.Microcontroller
Power pins VDD (pin 3), VDDA (pin 13), VREFH (pin 14), VDD (pin 30), the VDD (pins of device MKL26
48) all it is connected with+2.5V, USB regulator input pin VREGIN (pin 8) is connected with power vd D5V.The grounding lead of MKL26
Foot VSS (pin 4), minimum reference voltage pin VREFL (pin 15), grounding pin VSSA (pin 16), grounding pin VSS
(pin 31), grounding pin VSS (pin 47) connect digitally.The power supply output pin VOUT33 (pin 7) and capacitance of MKL26
One end of C11 is connected, and another termination of capacitance C11 is digitally.The reset pin RESET (pin 34) of MKL26 respectively with resistance
One end of R23 is connected with one end of capacitance C34, and the other end of resistance R23 is connected with+2.5V, another termination number of capacitance C34
Ground.Clock using 8M without source crystal oscillator, its enabled controlling switch (No. 1 foot) the crystal-driven output pin with MKL26 respectively
XTAL0 (pin 33) is connected with one end of capacitance C12, and another termination of capacitance C12 is digitally；Its output pin (No. 3 feet)
One end with the external clock input pin EXTAL (pin 32) and capacitance C13 of MKL26 is connected respectively, the other end of capacitance C13
It connects digitally；Its enabled controlling switch (No. 1 foot) and an indirect resistance R11 for output pin (No. 3 feet)；Its grounding lead
Foot (No. 2 feet) and power pins (No. 4 feet) all connect digitally；The input and output pin PTD4 (pin 61) and capacitance C10 of MKL26
One end be connected, another termination of capacitance C10 is digitally；The I of MKL262C1 data wire pin I2C1_SDA (pin 45) and electricity
One end of resistance R10 is connected, the I of MKL262C1 clocks wire pin (pin 44) is connected with one end of resistance R9, and resistance R10's is another
End, another termination+2.5V of resistance R9；The I of MKL262C0 clocks wire pin (pin 20) is connected with one end of resistance R25,
The I of MKL262C0 data wire pin (pin 21) is connected with one end of resistance R24, and the other end of resistance R25 and resistance R24's is another
One end meets+2.5V.
It as shown in figure 4, will differentially acquisition tables facial muscle after the forearm muscle surface of the 1 operating of contacts person of flesh electrical dry electrode
Meat electric signal, be transferred to respectively the amplifier OPA4140 of electromyography signal conditioning module amplifier A non-inverting input pin+InA and
Non-inverting input pin+the InB of amplifier B, it is desirable that the resistance value of resistance R13 and resistance R16 are equal and larger, resistance R14 and resistance
The resistance value of R15 is equal and smaller, so as to achieve the purpose that the differential signal to input carries out differential amplification.Amplifier D is used for common mode
Feedback amplification is connected to the output pin of amplifier A the reversion input pin-InD of amplifier D, is being transported with amplifier D reverse phases and gain
The common-mode voltage on A output pins is put, by inverting common-mode signal and its refoulement human body being offset common-mode signal.Amplifier C is used
In filter and amplification, the output pin of amplifier B is connected to reversion the input pin-InC, intermediate capacitance C32 and resistance of amplifier C
R21 carries out low-pass filtering, and the resistance value of resistance R29 specific resistances R20 is big, so as to achieve the purpose that again reverse phase is amplified.Amplifier C's
The ADC0_SE13 pins that output is coupled to the ADC0 modules of microcontroller MKL26 carry out A/D conversions.The physical circuit of the module
Connection relation is as follows：The two poles of the earth of the flesh electrical dry electrode 1 are non-anti-with the amplifier OPA4140 of electromyography signal conditioning module 2 respectively
Turn input pin+InA (pin 3) with+InB (pin 5) to be connected.Power pins V+ (pin 4), the V- (pins of amplifier OPA4140
11) it is connected respectively with+2.5V, -2.5V；Invert input pin-InA (pin 2) respectively with one end of resistance R13 and resistance R14
One end be connected, another termination of resistance R13 is digitally；Output pin OutA (pin 1) respectively with the other end of resistance R14,
One end of resistance R15 is connected with one end of resistance R17；Invert input pin-InB (pin 6) other ends with resistance R15 respectively
It is connected with one end of resistance R16；Output pin OutB (pin 7) one end phases with the other end of resistance R16 and capacitance C30 respectively
Even；The one end of the other end of capacitance C30 respectively with one end of capacitance C31, one end of resistance R22 and resistance R21 is connected, resistance
The one end of the other end of R21 respectively with one end of capacitance C32, one end of resistance R19 and resistance R20 is connected, and capacitance C31's is another
The other end at end, the other end of resistance R22 and capacitance C32 connects digitally；Invert input pin-InC (pin 9) and capacitance
One end of C29 is connected, and the other end of capacitance C29 is connected with the other end of resistance R20；Output pin OutC (pin 8) respectively with
The ADC pins ADC0_SE13 (pin 38) of MKL26 is connected with the other end of resistance R19；Non-inverting input pin+InC (pins
10) connect digitally with+InD (pin 12)；Invert input pin-InD (pin 13) respectively with the other end of resistance R17, electricity
One end of resistance R18 is connected with one end of capacitance C28；Output pin OutD (pin 14) other ends and electricity with resistance R18 respectively
The other end for holding C28 is connected.
As shown in figure 5, Inertial Measurement Unit IMU measurement object three-axis attitude angle (or angular speed) and acceleration
Situation passes through I2C is transferred to microcontroller MKL26.Inertial Measurement Unit IMU (3-axis acceleration sensor, the three axis accelerometer
Instrument, three axis magnetic sensing) 4 selection MPU9250 chips, the power supply reservation pin RESV (pin 1) of MPU9250 chips, power pins
VDDIO (pin 8) and power pins VDD (pin 13) are connected with+2.5V；Power pins VDDIO (pin 8) is gone back and capacitance
One end of C16 is connected, and another termination of capacitance C16 is digitally；Power pins VDD (pin 13) is gone back and one end phase of capacitance C14
Even, another termination of capacitance C14 is digitally；Adjuster output pin REGOUT (pin 10) is connected with one end of capacitance C15, electricity
Hold C15 the other end respectively with I2C from address pin AD0/SDO (pin 9) be digitally connected；Frame synchronization digital input pins
FSYNC (pin 11), grounding pin GND (pin 18), ground connection retain pin RESV (pin 20) and connect digitally；Interrupt number
Output pin INT (pin 12) is connected with the PTD4 (pin 61) of MKL26, I2C data wire pin SDA/SDI (pin 24) with
The I of MKL262C1 data wire pin I2C1_SDA (pin 45) are connected；I2C clock wire pin SCL/SCLK (pin 23) and MKL26
I2C1 clock wire pin I2C_SCL (pin 44) are connected.
As shown in fig. 6, the bluetooth module 5 passes through I2C and microcontroller MKL26 transmission data, it is then defeated by radio frequency
Go out pin be connected with antenna A1 send data.The bluetooth module 5 selects CC2541 chips, the I of CC2541 chips2C clock lines
The I of pin SCL (pin 2) and MKL262C0 clocks wire pin (pin 20) is connected；I2C data wire pin (pin 3) and MKL26
I2C0 data wire pin (pin 21) is connected；The input and output pin of digital input pins nRESET (pin 20) and MKL26
RESET_N (pin 23) is connected；Power pins AVDD1, power pins AVDD2, power pins AVDD3, power pins AVDD4,
Power pins AVDD5, power pins AVDD6, power pins DVDD1, power pins DVDD2 are connected with+2.5V；Simulation input is defeated
Go out the one end of pin P2_3/XOSC32K_Q2 (pin 33) respectively with one of pin of crystal oscillator X2 and capacitance C17 to be connected；Mould
Intend input and output pin P2_4/XOSC32K_Q1 (pin 32) one end with another pin of crystal oscillator X2 and capacitance C18 respectively
It is connected；Grounding pin GND/EGP (pin 41), the other end of capacitance C17, the other end of capacitance C18 connect signal ground；It simulates defeated
Enter output pin RBIAS (pin 30) with one end of resistance R12 to be connected, another termination signal ground of resistance R12；Power pins
DCOUPL (pin 40) is connected with one end of capacitance C27, another termination signal ground of capacitance C27；Simulation input output pin
XOSC_Q2 (pin 23) is connected respectively with the output pin of crystal oscillator X1 (No. 3 feet) and one end of capacitance C26；Simulation input exports
Pin XOSC_Q1 (pin 22) is connected respectively with the enabled controlling switch of crystal oscillator X1 (No. 1 foot) and one end of capacitance C25；Crystal oscillator
Power pins (No. 4 feet), the other end of capacitance C26, the grounding pin (No. 2 feet) of crystal oscillator X1 and the other end of capacitance C25 of X1
Connect signal ground；Radio frequency output pin RF_P (pin 25) is connected with one end of capacitance C19, the other end of capacitance C19 respectively with
One end of inductance L5 is connected with one end of capacitance C21, another termination signal ground of inductance L5；Radio frequency output pin RF_N (pins
26) one end with capacitance C20 is connected, and the one end of the other end of capacitance C20 respectively with one end of capacitance C22 and inductance L4 is connected,
Another termination signal ground of capacitance C22；One end of the other end of capacitance C21, the other end of inductance L4 and inductance L6 is connected in one
Place, the one end of the other end of inductance L6 respectively with one end of capacitance C23 and inductance L7 are connected, another termination signal of capacitance C23
Ground, No. 1 foot of input pin of the other end of inductance L7 respectively with one end of capacitance C24 and antenna A1 are connected, and capacitance C24's is another
Termination signal, two grounding pins (No. 2 feet and No. 3 feet) of antenna A1 connect signal ground.
As shown in fig. 7, the tactile vibrations module includes vibrating motor B1, driving chip A1442 and capacitance C33, when micro-
After controller MKL26 receives the electromyography signal of operator's forearm and IMU signal certain times t1, microcontroller MKL26 passes through
Control driving chip A1442~SLEEP pins drive vibrating motor B1, operator's gesture is prompted by way of vibration
It has been completed that, can relax one's muscles or carry out the operation of next gesture.Power pins VDD (the pins of driving chip A1442
1) it is connected with one end of capacitance C33 with+2.5V；The other end of grounding pin GND (pin 4) and capacitance C33 connects digitally；
Sleep pin (pin 2) is connected with the input and output pin PTA12 (pin 28) of MKL26；VOUT1 and VOUT2 points of output pin
Both ends not with vibrating motor B1 are connected.
Claims (7)
1. gesture perceptron, which is characterized in that it includes N number of flesh electrical dry electrode (1), N number of electromyography signal conditioning module (2), micro-
Processor (3), Inertial Measurement Unit IMU (4), tactile vibrations module (6), power module (7) and bluetooth module (5) etc., wherein N
More than or equal to 4, each flesh electrical dry electrode (1) is connected with a corresponding electromyography signal conditioning module (2), electromyography signal conditioning mould
Block (2), Inertial Measurement Unit IMU (4), bluetooth module (5), tactile vibrations module (6), power module (7) and microprocessor (3)
It is connected.
2. gesture perceptron according to claim 1, which is characterized in that the power module includes the first power supply chip
U4, second source chip U5, capacitance C1-C9, resistance R1, resistance R4-R7, Light-emitting diode LED 1-LED2, diode D1, electricity
Feel L3,
The power input pin of first power supply chip U4, enabled pin, one end of capacitance C1 are connected with VDD5V, capacitance C1's
Another termination is digitally；Grounding pin connects digitally；One end phase of the adjustment input pin and capacitance C2 of first power supply chip U4
Even, another termination of capacitance C2 is digitally；The modulator output pin output+2.5V voltages of first power supply chip U4, respectively with
The anode of capacitance C3 is connected with the anode of Light-emitting diode LED 1, and the cathode of capacitance C3 connects digitally, Light-emitting diode LED 1
Cathode is connected with one end of resistance R1, and another termination of resistance R1 is digitally；
The comparison pin of second source chip U5 is connected with one end of capacitance C4；Another termination of grounding pin and capacitance number
Ground；The power input pin of second source chip U5, one end of enabled pin, one end of resistance R8 and capacitance C5 are connected in one
Place, another termination of capacitance C5 digitally, another termination VDD5V of resistance R8；The input pin and electricity of second source chip U5
The one end for holding C6 is connected with VDD5V, and another termination of capacitance C6 is digitally；The switching pin of second source chip U5 respectively with
One end of inductance L3 is connected with the cathode of diode D1, and another termination of inductance L3 is digitally；The output of second source chip U5
Pin conduct -2.5V voltage outputs, output pin respectively with the anode of diode D1, one end of resistance R6, capacitance C9 one end,
One end of resistance R5 is connected with one end of resistance R4, and the other end of resistance R4 is connected with the cathode of Light-emitting diode LED 2, shines
The anode of diode (LED) 2 and the other end of capacitance C9 connect digitally；The feedback pin of second source chip U5 respectively with resistance
One end of R7 is connected with one end of capacitance C8, and the other end of capacitance C8 is connected with the other end of resistance R5；Second source chip U5
One end respectively with the other end of resistance R7 and capacitance C7 of reference voltage output pin be connected, another termination number of capacitance C7
Ground.
3. gesture perceptron according to claim 2, which is characterized in that the microprocessor 3 includes processing chip U1, electricity
Hold C10-C13, capacitance C34, resistance R9-R11, resistance R23-R25, clock chip Y1,
The power pins of processing chip U1 are connected with+2.5V, and the USB regulator input pin of processing chip U1 is connected with VDD5V,
The grounding pin of processing chip U1 and minimum reference voltage pin all connect digitally, power supply output pin and the electricity of processing chip U1
The one end for holding C11 is connected, another termination of capacitance C11 digitally, the reset pin of processing chip U1 respectively with resistance R23 one
End be connected with one end of capacitance C34, the other end of resistance R23 is connected with+2.5V, another termination of capacitance C34 digitally, clock
The one end of the enabled controlling switch of chip Y1 respectively with the crystal-driven output pin of processing chip U1 and capacitance C12 is connected, electricity
Hold another termination of C12 digitally, the output pin of the clock chip Y1 external clock input pin with processing chip U1 respectively
It is connected with one end of capacitance C13, another termination of capacitance C13 digitally, draw by the enabled controlling switch of clock chip Y1 and output
An indirect resistance R11 for foot, the grounding pin and power pins of clock chip Y1 all connect digitally；The input of processing chip U1
Output pin is connected with one end of capacitance C10, and digitally, the first data cable of processing chip U1 draws another termination of capacitance C10
Foot is connected with one end of resistance R10, and the first clock wire pin of processing chip U1 is connected with one end of resistance R9, resistance R10's
Another termination+2.5V of the other end, resistance R9；The second clock wire pin of processing chip U1 is connected with one end of resistance R25, place
The second data wire pin of reason chip U1 is connected with one end of resistance R24, the other end of resistance R25 and the other end of resistance R24
Meet+2.5V.
4. gesture perceptron according to claim 3, which is characterized in that the electromyography signal conditioning module 2 includes computing
Amplifier U1, resistance R13-R22, capacitance C28-C32,
The positive pin of power supply, the power supply of operational amplifier bear pin and are connected respectively with+2.5V, -2.5V, and the first of operational amplifier is anti-
Turn the one end of input pin respectively with one end of resistance R13 and resistance R14 to be connected, another termination of resistance R13 digitally, computing
The one end of first output pin of amplifier respectively with the other end of resistance R14, one end of resistance R15 and resistance R17 is connected；Fortune
It calculates the one end of the second reversion input pin of amplifier respectively with the other end of resistance R15 and resistance R16 to be connected, operational amplifier
One end respectively with the other end of resistance R16 and capacitance C30 of the second output pin be connected, the other end of capacitance C30 respectively with
One end of capacitance C31, one end of resistance R22 are connected with one end of resistance R21, and the other end of resistance R21 is respectively with capacitance C32's
One end, one end of resistance R19 are connected with one end of resistance R20, the other end of capacitance C31, the other end and capacitance of resistance R22
The other end of C32 connects digitally；3rd reversion input pin of operational amplifier is connected with one end of capacitance C29, capacitance C29
The other end be connected with the other end of resistance R20；ADC of 3rd output pin of operational amplifier respectively with processing chip U1 draws
Foot is connected with the other end of resistance R19；3rd non-inverting input pin of operational amplifier and the 4th non-inverting input pin are equal
It connects digitally；Operational amplifier the 4th reversion input pin respectively with the other end of resistance R17, one end of resistance R18 and electricity
The one end for holding C28 is connected；4th output pin of operational amplifier is another with the other end of resistance R18 and capacitance C28 respectively
End is connected；The two poles of the earth of the flesh electrical dry electrode 1 respectively with the first non-inverting input pin of operational amplifier and the second non-inverted
Input pin is connected.
5. gesture perceptron according to claim 4, which is characterized in that the Inertial Measurement Unit IMU4 is passed including nine axis
Sense chip U2, capacitance C14-C16,
The power supply of nine axis sensing chip U2 retains pin and power pins are connected with+2.5V；The power supply of nine axis sensing chip U2
The one end of pin also respectively with one end of capacitance C16 and capacitance C14 is connected, the other end of capacitance C16 and the other end of capacitance C14
It connects digitally；The adjuster output pin of nine axis sensing chip U2 is connected with one end of capacitance C15, the other end of capacitance C15
Respectively with the slave address pin of nine axis sensing chip U2 and being digitally connected；The frame synchronization numeral input of nine axis sensing chip U2 is drawn
Foot, grounding pin, ground connection retain pin and connect digitally；The interruption digital output pin and processing chip of nine axis sensing chip U2
The input and output pin of U1 is connected, the data wire pin of nine axis sensing chip U2 and the second data wire pin phase of processing chip U1
Even；The clock wire pin of nine axis sensing chip U2 is connected with the second clock wire pin of processing chip U1.
6. gesture perceptron according to claim 5, which is characterized in that the bluetooth module 5 includes Bluetooth chip U3, electricity
Hold C17-C27, crystal oscillator X1-X2, resistance R12, inductance L4-L7, antenna A1,
The clock wire pin of Bluetooth chip U3 is connected with the first clock wire pin of processing chip U1；The data cable of Bluetooth chip U3
Pin is connected with the first data wire pin of processing chip U1；The digital input pins of Bluetooth chip U3 are defeated with processing chip U1's
Enter output pin to be connected；The power pins of Bluetooth chip U3 are connected with+2.5V；The simulation input output pin point of Bluetooth chip U3
One end not with the first pin of crystal oscillator X2 and capacitance C17 is connected；The simulation input output pin of Bluetooth chip U3 respectively with crystalline substance
The second pin of X2 of shaking is connected with one end of capacitance C18；The grounding pin of Bluetooth chip U3, the other end of capacitance C17, capacitance
The other end of C18 connects signal ground；The simulation input output pin of Bluetooth chip U3 is connected with one end of resistance R12, resistance R12
Another termination signal ground；The power pins of Bluetooth chip U3 are connected with one end of capacitance C27, another termination letter of capacitance C27
Number ground；The one end of the simulation input output pin of Bluetooth chip U3 respectively with the output pin of crystal oscillator X1 and capacitance C26 is connected；It is blue
The one end of the simulation input output pin of tooth chip U3 respectively with the enabled controlling switch of crystal oscillator X1 and capacitance C25 is connected；Crystal oscillator
The power pins of X1, the other end of capacitance C26, the other end of the grounding pin of crystal oscillator X1 and capacitance C25 connect signal ground；Bluetooth
The radio frequency output pin of chip U3 is connected with one end of capacitance C19, the other end of capacitance C19 respectively with one end of inductance L5 and electricity
The one end for holding C21 is connected, another termination signal ground of inductance L5；The radio frequency output pin of Bluetooth chip U3 and the one of capacitance C20
End is connected, and the one end of the other end of capacitance C20 respectively with one end of capacitance C22 and inductance L4 is connected, another termination of capacitance C22
Signal ground；One end of the other end of capacitance C21, the other end of inductance L4 and inductance L6 is connected at one, the other end of inductance L6
One end with one end of capacitance C23 and inductance L7 is connected respectively, another termination signal ground of capacitance C23, the other end of inductance L7
The input pin with one end of capacitance C24 and antenna A1 is connected respectively, another termination signal ground of capacitance C24, and the two of antenna A1
A grounding pin connects signal ground.
7. gesture perceptron according to claim 6, which is characterized in that the tactile vibrations module includes vibrating motor
B1, driving chip U6 and capacitance C33, the power pins of driving chip U6 and one end of capacitance C33 are connected with+2.5V；Ground connection
It is connect digitally with the other end of capacitance C33；The sleep pin of driving chip U6 and the input and output pin phase of processing chip U1
Even；Both ends of the first output pin and the second output pin of driving chip U6 respectively with vibrating motor B1 are connected.
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