CN109581936A - A kind of multisensor multi channel signals synchronous and method - Google Patents
A kind of multisensor multi channel signals synchronous and method Download PDFInfo
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- CN109581936A CN109581936A CN201811651371.0A CN201811651371A CN109581936A CN 109581936 A CN109581936 A CN 109581936A CN 201811651371 A CN201811651371 A CN 201811651371A CN 109581936 A CN109581936 A CN 109581936A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims description 24
- 238000005070 sampling Methods 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 210000003205 muscle Anatomy 0.000 claims description 11
- 230000000630 rising effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 210000003141 lower extremity Anatomy 0.000 abstract description 8
- 238000002567 electromyography Methods 0.000 abstract description 4
- 230000000386 athletic effect Effects 0.000 abstract 1
- 230000010354 integration Effects 0.000 abstract 1
- 238000013480 data collection Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003183 myoelectrical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 101100162020 Mesorhizobium japonicum (strain LMG 29417 / CECT 9101 / MAFF 303099) adc3 gene Proteins 0.000 description 1
- 101100434411 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) ADH1 gene Proteins 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 101150102866 adc1 gene Proteins 0.000 description 1
- 101150042711 adc2 gene Proteins 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
Abstract
The invention discloses a kind of multisensor multi channel signals synchronous, including at least two signal sampling channel groups, there are at least two signal sampling channels in same signal sampling channel group, each channel group respectively includes an acquisition control plate, and acquisition control plate is used to control the signal synchronous collection in each channel inside each channel group.And the system comprises a master control borad, the master control borad is used to send synchronous acquisition enabling signal to each acquisition control plate, to control and correct the synchronization of signal acquisition between each channel group.The present invention can be achieved lower extremity movement signal and electromyography signal synchronous transfer to computer carrying out data integration, and eventually for the musculoskeletal biomechanical model of driving human body lower limbs, and careful description and analysis are carried out to the athletic posture of human body lower limbs.
Description
Technical field
The invention belongs to sensor data acquisition fields, and in particular to a kind of multisensor multi channel signals synchronous acquisition is same
Walk control circuit system and method.Present invention can apply to use motion sensor and surface muscle electric signal sensor both
The sensor that sample frequency differs greatly synchronizes acquisition to the data of human body lower limbs.
Background technique
In today that microelectric technique is grown rapidly, data collection system all plays highly important in many fields
Effect, for example in the foundation of the musculoskeletal biomechanical model of human body lower limbs, need the motor message using human body lower limbs
Analyzed with both data of electromyography signal, due to the acquisition mode and sample frequency of two kinds of data have it is significant poor
Different, this requires data collection systems, and branch to be needed to be acquired two kinds of data, meanwhile, only use same instantaneous movement
Data are combined with myoelectricity data could effectively restore true human motion situation, it is therefore desirable to which a large amount of real-times are higher
Signal is analyzed accordingly.To sum up, the foundation of human body lower limbs musculoskeletal model to the accuracy of data collection system, can
The quantity of sampling, net synchronization capability etc. have very high requirement simultaneously, so needing more to data collection system deeper into ground
Channel, synchronization, high-precision, anti-interference can be carried out research.These problems are also always that the emphasis of data collection system research is asked
Topic.The method that traditional multichannel collecting often uses multichannel time-sharing multiplex, although being may be implemented in this way to multiple channels
Real-time sampling, but different channels can not be obtained simultaneously in the measured value of synchronization, and lack there is also acquisition rate is low
Point.
Summary of the invention
Present invention seek to address that traditional multichannel collecting can not obtain different channels in the measured value of synchronization simultaneously,
And there is also the low disadvantages of acquisition rate.
To solve the above problems, the present invention proposes a kind of multisensor multi channel signals synchronous, including at least
Two signal sampling channel groups have at least two signal sampling channels, unlike signal acquisition in same signal sampling channel group
Channel group has different frequency acquisitions, and each channel group respectively includes an acquisition control plate, and acquisition control plate is used
In the signal synchronous collection for controlling each channel inside each channel group；The system comprises a master control borad, the master control borad is used for
Synchronous acquisition enabling signal is sent to each acquisition control plate, to control the synchronization of signal acquisition between each channel group.
According to the preferred embodiment of the present invention, there is a channel for acquiring the synchronization in each channel group
Enabling signal is acquired, the collection result of the synchronous acquisition enabling signal be used to correct adopting between unlike signal acquisition channel group
Collect asynchronous.
According to the preferred embodiment of the present invention, the acquisition between the amendment unlike signal acquisition channel group is nonsynchronous
Step are as follows: the rising edge of the synchronous acquisition enabling signal of detection unlike signal acquisition channel group acquisition or the address of failing edge are inclined
It moves, which is obtained needing the modified time difference divided by sample rate.
According to the preferred embodiment of the present invention, the sampling clock in each signal sampling channel group passes through clock fan-out circuit
It is sent to each signal sampling channel.
According to the preferred embodiment of the present invention, the signal sampling channel group be people's body movement signal acquisition channel group and
Human muscle's electrical signal collection channel group.
The present invention also proposes a kind of multisensor multi channel signals synchronous collection method, is applied at least two signal acquisitions
The signal synchronous collection of channel group, has at least two signal sampling channels in same signal sampling channel group, and unlike signal is adopted
Collecting channel group has different frequency acquisitions, which comprises provides an acquisition control plate, the acquisition for each channel group
Control panel is used to control the signal synchronous collection in each channel inside each channel group；A master control borad is provided, the master control borad is used for
Synchronous acquisition enabling signal is sent to each acquisition control plate, to control the synchronization of signal acquisition between each channel group.
Multisensor multi channel signals synchronous proposed by the invention and method can make up time-sharing multiplex side
The deficiency of method can be advantageously applied in modeling and motion analysis, and also have the research of data collection system than heavier
The meaning wanted.
Detailed description of the invention
Fig. 1 is the architecture diagram of one embodiment of multisensor multi channel signals synchronous of the invention；
Fig. 2 is that the ADC clock of one embodiment of multisensor multi channel signals synchronous of the invention is fanned out to
Circuit divides schematic diagram；
Fig. 3 is that the different channel groups of one embodiment of multisensor multi channel signals synchronous of the invention are same
Step acquisition overall control flow figure；
Fig. 4 is the addition synchronization signal of one embodiment of multisensor multi channel signals synchronous of the invention
Acquisition scheme schematic diagram；
Fig. 5 is that the different channel groups of one embodiment of multisensor multi channel signals synchronous of the invention connect
Receive synchronization signal schematic diagram；
Fig. 6 be multisensor multi channel signals synchronous of the invention one embodiment synchronization signal with just
Regular data samples schematic diagram；
Fig. 7 is same between the multichannel group of one embodiment of multisensor multi channel signals synchronous of the invention
It walks signal and stores schematic diagram.
Specific embodiment
This bright exemplary embodiment is more fully described below with reference to accompanying drawings.Although being shown in attached drawing of the invention
Exemplary embodiment, it being understood, however, that the present invention may be realized in various forms, and embodiment is not intended to limit the invention
Range.On the contrary, purpose of providing these embodiments is in order to make those skilled in the art thoroughly understand the present invention.
Term "and/or" herein is only a kind of incidence relation for describing affiliated partner, indicates may exist three kinds
Relationship, for example, " A and/or B " can be indicated: individualism A exists simultaneously A and B, these three situations of individualism B.In addition,
Character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Under the data collection system acquisition human body to be combined by using motion sensor and muscle electric signal sensor
The all data of limb during exercise can capture the movement of human body lower limbs, and drive musculoskeletal model that will move
Real-time replay.However, there are many port number for acquiring data, if accurate synchronous acquisition can not be realized, in channel and lead to
Occur the signal acquisition time difference between road, then will affect model to the real-time replay of movement；In addition, above two sensor acquisition
Sample frequency difference when data is at 10 times or so, and the collected data volume of institute inherently has differences within the same period,
If the intact host computer that is transmitted to is analyzed, it will cause exercise datas and muscle electricity data to be aligned in time
The case where, it equally will affect the real-time of driving manikin.
Therefore, the present invention is in view of the above-mentioned problems, propose a kind of multisensor multi channel signals synchronous acquisition and transmission
All channels are divided into multiple channel groups according to number of sensors, on the one hand realized inside the group of channel for data by method
On the other hand synchronous acquisition will be realized for the synchronous acquisition of data between different channel groups and be sent to computer terminal is synchronous
Data, at the same time, due to that in real use process, may face many unexpected situations, the present invention is also mentioned
A kind of method for correcting the synchronous acquisition time is gone out, maximumlly to realize the accuracy of synchronous acquisition.
The present invention is a multisensor multi channel signals synchronous, and system is logical including at least two signal acquisitions
Road group has at least two signal sampling channels in same signal sampling channel group.Also, usually, unlike signal acquires
Channel group has different sample frequencys.
The present invention is that each channel group is respectively provided with an acquisition control plate, and acquisition control plate is for controlling each channel group
The signal synchronous collection in internal each channel；And system includes a master control borad, the master control borad is used to send out to each acquisition control plate
Synchronous acquisition enabling signal is sent, to control the synchronization of signal acquisition between each channel group.There is one in each channel group
For acquiring the synchronous acquisition enabling signal, the collection result of the synchronous acquisition enabling signal be used to correct different letters in channel
Acquisition between number acquisition channel group is asynchronous.The nonsynchronous step of acquisition between the amendment unlike signal acquisition channel group
It is preferred that are as follows: the rising edge of the synchronous acquisition enabling signal of detection unlike signal acquisition channel group acquisition or the address of failing edge are inclined
It moves, which is obtained needing the modified time difference divided by sample rate.
Fig. 1 is the architecture diagram of one embodiment of multisensor multi channel signals synchronous of the invention.Here,
The multisensor syste comprising 15 channels that we are formed with motion sensor and muscle electric signal sensor as an example, fortune
Dynamic sensor (being made of three axis accelerometer, gyroscope and magnetometer) and muscle electric signal sensor (myoelectric sensor) group
At being respectively intended to real-time measurement and estimate the activity situation of three-dimensional position angle and muscle.It can also estimate three-D displacement,
Velocity and acceleration.But sensor applied by the present invention also may include the sensors such as ultrasound, pressure, temperature, it can also be with
Data acquisition is carried out using more channels.
As shown in Figure 1, since motor message acquisition and the sample frequency of electromyographic signal collection have very big difference, by this two
Kind signal is divided into two channel groups and is acquired, and 7 acquisition channels are shared in motor message acquisition channel group, and 2 pieces of ADC acquire cores
Piece (analog-digital converter, ADC1 and ADC2)；8 acquisition channels, 2 pieces of ADC acquisition chips are shared in the group of electromyographic signal collection channel
(ADC3 and ADC4), each channel group are controlled by the control panel that one piece of kernel is STM32F103 family chip, control panel
On be provided with WIFI module, meanwhile, computer terminal by USB interface be connected to one piece of kernel be STM32F103 family chip
Master control borad carry out the instruction transmission and reception of data for realizing by control panel of the WIFI module to two channel groups, and
And has data storage and be sent to the function of computer terminal by window.
ADC sampling clock synchronization scheme in same channel group
In motor message and muscle electrical signal collection channel group, there are 7 channels and 8 channels respectively, two channel groups
Sample frequency is different, the synchronous data sampling in the group of the channel Yao Shixian, just has to realize that the sampling time in the group of channel is synchronous.
2 pieces of ADC acquisition chips are used in motor message acquisition channel group in the embodiment, are each responsible for 1 waist sensor and are added 3
The acquisition of the data of left leg sensor and 3 right leg sensors, muscle electrical signal paths group use 2 pieces of ADC acquisition chips, respectively
It is responsible for the data acquisition of 4 myoelectric sensors.Every ADC requires differential clocks all the way, in circuit work, using it is homologous when
Clock may not can guarantee the frequency of clock and phase does not deviate, and if after sampling clock will lead to quantization there are phase difference
Data also have corresponding time interval, influence the synchronization of system, therefore, it is necessary to select suitable clock fan out buffer come
It realizes to the processing in view, as shown in Figure 2.The design for having selected MC100E210 chip to realize that clock is fanned out to herein.The chip
Maximum input frequency is 700MHz, is far longer than the clock input requirements of this system, its maximum clock deflection is 25ps, representative value
For 9ps, the requirement in design to net synchronization capability can achieve.The design can be very good to realize the phase difference of control output clock
Problem export the clock signal in each channel group can almost with the slave buffer of phase.
The synchronous realization that different channel group control chip acquisition startings are transmitted with data
In the present system, computer sends the order of starting acquisition by WIFI module to control chip, and control chip exists
It receives instruction and enters working condition later.For two pieces of control chips of different channel groups, Yao Chongdian considers how to allow them
The order of acquisition starting can be received simultaneously to realize that two channel groups work at the same time.As shown in figure 3, computer passes through USB first
Interface sends acquisition start command to main control chip, and since each control chip has individual address, main control chip is received
Pass through WIFI module after the order and send order to the control chip of two channel groups, the WIFI module on master control borad is at this time
Sending mode, the WIFI module on two pieces of control panels are reception pattern, control panel receive master control borad sending acquisition it
Afterwards, a ready signal issuing to master control borad, master control borad and two control panels convert WIFI module state simultaneously later,
At the same time, the system timer starting of main control chip, entering interruption at regular intervals, (this time can be logical by two
Lesser sample frequency determines in road group), receive two collected data of channel group simultaneously in interruption, and be sent to
Computer.
Synchronous amendment scheme
In view of there are also other factors will affect net synchronization capability, so must be repaired accordingly to the synchronization time of acquisition
Just, to realize requirement of the invention.As shown in figure 4, synchronization signal is used to control two channel groups by what main control chip issued
The synchronization signal that acquires jointly of main control chip, following two be two different channels groups should received by the control chip
Signal.Because the control signal has certain time-delay, control chip 1 Δ t after main control chip sends instruction in transmission process1When
Synchronization signal, control chip 2 Δ t after main control chip sends instruction are received indirectly2Time has received synchronization signal, then connects
Receive the time presence for starting acquisition | Δ t1-Δt2| time difference, so the two channel groups can also exist when acquiring data
Corresponding time difference, the sampled data that this will lead to two channel groups are asynchronous.So in order to realize that multi-channel synchronous is adopted
Collection, it is necessary to eliminate the influence of this time difference.In collection process, a channel can be chosen to each channel group to adopt
Collecting synchronization signal, the normal data that its collection result and other channels acquire is sent to control chip together and carries out subsequent processing,
As shown in figure 5, because influence of the starting time to it is not present in same channel group, for different channel groups,
The time difference of synchronization signal just should be identical as the time difference of the data of normal acquisition, i.e. Δ t in Fig. 6dWith Δ tsIt is worth equal.
That is, acquisition starts asynchronous, different channel group sampling clocks not between different channel groups in collection process
It is asynchronous between difference channel group caused by the factors such as transmission time difference of synchronous, the different channels group in data channel
It can be embodied by the time difference stored to tested synchronization signal.So in order to solve the nonsynchronous feelings of interchannel
Condition can carry out the amendment to net synchronization capability according to following method: while system acquisition normal signal, each channel group
All a channel is selected to acquire synchrodata, calculate through the data to each channel group and analyzes its available time difference
Δts, and by Δ tsIt may be implemented to Δ tdIt is adjusted, so as to complete the synchronization in entire 15 channels of acquisition module.For
The time difference Δ t of the different channel group synchronization signals of measurements, it can discuss respectively from software and hardware, it is reasonable to obtain
Detect Δ tsMethod.
The present invention calculates Δ t using the method for softwaresIf two logical there are asynchronous between different channels groups
The leading edge position for the synchronization signal that road group receives will have differences, as shown in Figure 7.Detection can be realized by software
The position that the rising edge of the synchronization signal of different channel groups occurs, further according to the difference of address | Δ N | to calculate Δ ts。
Δ t is calculated using this methodsThe step of it is as follows: acquisition system is while acquiring normal signal, each channel group
Also synchronization signal all the way can be acquired.Synchronization signal carries out the transmission to computer as normal signal, upon completion of the transmission may be used
To calculate the position of the rising edge of the synchronization signal of each channel group with software, and respectively will acquisition motor message and acquisition flesh
The channel group of electric signal is named as N1、N2.Later, with one in two channel groups for basic point, acquisition movement letter can be used here
Number channel group be basic point, then calculate acquisition electromyography signal channel group relative to acquisition motor message channel group address offset
|ΔN2|.So in known systematic sampling rate S2In the case where, so that it may calculate the time Δ t of offsets=| Δ N2|/S2, so
Afterwards again by the Data correction of acquisition electromyography signal channel group to the position of reference channel group, that is, plus or minus accordingly
The Δ t of channel groups.It is may be implemented with this method to channel group Δ tdMeasurement, finally realize the same of entire acquisition system
Step.
It should be appreciated that in order to simplify the present invention and help it will be understood by those skilled in the art that various aspects of the invention,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is retouched in a single embodiment sometimes
It states, or is described referring to single figure.But should not be by the feature that the present invention is construed to include in exemplary embodiment
The essential features of patent claims.
It should be appreciated that can be to progress such as module, unit, the components for including in the equipment of one embodiment of the present of invention certainly
It adaptively changes so that they are arranged in equipment unlike this embodiment.The difference that can include the equipment of embodiment
Module, unit or assembly are combined into module, a unit or assembly, also they can be divided into multiple submodule, subelement or
Sub-component.
Module, unit or assembly in the embodiment of the present invention can realize in hardware, can also with one or
The software mode run on multiple processors is realized, or is implemented in a combination thereof.It will be understood by those of skill in the art that
Microprocessor or digital signal processor (DSP) can be used in practice to realize according to embodiments of the present invention.The present invention
It is also implemented as some or all computer program products or computer for executing method as described herein
On readable medium.
Claims (10)
1. a kind of multisensor multi channel signals synchronous, including at least two signal sampling channel groups, same signal
There are at least two signal sampling channels in acquisition channel group, it is characterised in that:
Each channel group respectively includes an acquisition control plate, and acquisition control plate is each logical inside each channel group for controlling
The signal synchronous collection in road；
The system comprises a master control borad, the master control borad is used to send synchronous acquisition enabling signal to each acquisition control plate,
To control the synchronization of signal acquisition between each channel group.
2. multisensor multi channel signals synchronous as described in claim 1, which is characterized in that each channel
Have a channel for acquiring the synchronous acquisition enabling signal in group, the collection result of the synchronous acquisition enabling signal by with
Acquisition between amendment unlike signal acquisition channel group is asynchronous.
3. multisensor multi channel signals synchronous as claimed in claim 2, which is characterized in that the amendment is different
The nonsynchronous step of acquisition between signal sampling channel group are as follows: the synchronous acquisition of detection unlike signal acquisition channel group acquisition opens
The address offset is obtained needing the modified time by the rising edge of dynamic signal or the address offset of failing edge divided by sample rate
Difference.
4. multisensor multi channel signals synchronous as described in claim 1, which is characterized in that each signal acquisition is logical
Sampling clock in road group is sent to each signal sampling channel by clock fan-out circuit.
5. multisensor multi channel signals synchronous according to any one of claims 1 to 4, which is characterized in that
The signal sampling channel group is people's body movement signal acquisition channel group and human muscle's electrical signal collection channel group.
6. a kind of multisensor multi channel signals synchronous collection method, the signal applied at least two signal sampling channel groups is same
Step acquires, and has at least two signal sampling channels in same signal sampling channel group, which is characterized in that the described method includes:
An acquisition control plate is provided for each channel group, which is used to control the letter in each channel inside each channel group
Number synchronous acquisition；
A master control borad is provided, the master control borad is used to send synchronous acquisition enabling signal to each acquisition control plate, each to control
The synchronization of signal acquisition between the group of channel.
7. multisensor multi channel signals synchronous collection method as claimed in claim 6, which is characterized in that each channel
Have a channel for acquiring the synchronous acquisition enabling signal in group, the collection result of the synchronous acquisition enabling signal by with
Acquisition between amendment unlike signal acquisition channel group is asynchronous.
8. multisensor multi channel signals synchronous as claimed in claim 6, which is characterized in that the amendment is different
The nonsynchronous step of acquisition between signal sampling channel group are as follows: the synchronous acquisition of detection unlike signal acquisition channel group acquisition opens
The address offset is obtained needing the modified time by the rising edge of dynamic signal or the address offset of failing edge divided by sample rate
Difference.
9. multisensor multi channel signals synchronous as claimed in claim 6, which is characterized in that each signal acquisition is logical
Sampling clock in road group is sent to each signal sampling channel by clock fan-out circuit.
10. the multisensor multi channel signals synchronous as described in any one of claim 6 to 9, which is characterized in that
The signal sampling channel group is people's body movement signal acquisition channel group and human muscle's electrical signal collection channel group.
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| CN113434456A (en) * | 2021-06-22 | 2021-09-24 | 上海新致华桑电子有限公司 | Time-sharing multiplexing data transmission device, method and system |
| CN113726466A (en) * | 2021-07-21 | 2021-11-30 | 歌尔股份有限公司 | Wearable device and signal acquisition method thereof |
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