CN113031761A - Multi-sensor data high-speed synchronous sampling method of data glove - Google Patents
Multi-sensor data high-speed synchronous sampling method of data glove Download PDFInfo
- Publication number
- CN113031761A CN113031761A CN202110243831.1A CN202110243831A CN113031761A CN 113031761 A CN113031761 A CN 113031761A CN 202110243831 A CN202110243831 A CN 202110243831A CN 113031761 A CN113031761 A CN 113031761A
- Authority
- CN
- China
- Prior art keywords
- data
- sensor
- microprocessor
- sensor node
- glove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention relates to a multi-sensor data high-speed synchronous sampling method for a data glove, and belongs to the field of data gloves in the human-computer interaction technology. The method comprises the following steps: the microprocessor sends synchronous signals to the sensor nodes; each sensor node starts to collect sensor data; storing the collected multiple groups of sensor data in a cache region of the sensor node; when the data number in the cache region of the sensor node reaches the size of the cache region, the sensor node sends an interrupt request to the microprocessor; after receiving the interrupt request, the microprocessor responds to the interrupt request; the microprocessor establishes high-speed communication with the sensor node and receives cache region data of the sensor node; the microprocessor stores the received sensing data in real time; and after the data transmission module of the microprocessor finishes data transmission, the control scheduling module of the microprocessor responds to the interrupt requests from other sensor nodes and continues to receive the data of other sensors. The multi-sensor data of the data glove can be sampled in real time.
Description
Technical Field
The invention relates to the field of data gloves in the human-computer interaction technology, in particular to a multi-sensor data high-speed synchronous sampling method for the data gloves.
Background
In recent years, the human-computer interaction technology is developed rapidly, and various behaviors, body postures and the like of people are identified through related equipment to interact with computer equipment, so that natural, visual and convenient interaction experience is provided for users. The data glove is a common means of human-computer interaction, realizes the capture of human hand actions through optical fibers, bending resistors or inertia devices, and further provides data support for research subjects and application fields such as augmented reality, intelligent driving, teleoperation or medical rehabilitation.
However, the research and production of the current data gloves have some problems in data sampling, such as: the sampling data of the multiple sensors are not synchronous, the sampling rate is greatly reduced due to the increase of the number of the sensors, and the like. Furthermore, certain limitations are brought to related research and product experience: errors exist among multiple sensing data, more hand motion characteristics cannot be captured within the same time interval, interaction experience with higher response speed cannot be provided, and related research cannot be conducted more meticulously and deeply, and user experience of products is poor.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a multi-sensor data high-speed synchronous sampling method for a data glove, which can improve the sampling speed of the multi-sensor data of the data glove and ensure that the acquired multi-sensor data of the data glove is synchronous data.
Technical scheme
A multi-sensor data synchronous high-speed sampling method of a data glove comprises a microprocessor and N sensor nodes carried on the data glove, wherein the microprocessor comprises a control scheduling module, a data transmission module and a data cache module; the method is characterized by comprising the following steps:
step 1: a control scheduling module of the microprocessor sends synchronous signals to the plurality of sensor nodes;
step 2: after each sensor node receives the synchronous signal sent by the microprocessor, the sensor node starts to acquire sensor data;
and step 3: each sensor node stores the collected multiple groups of sensor data in a cache region of the sensor node;
and 4, step 4: when the data number in the cache region of the sensor node reaches the size of the cache region, the sensor node sends an interrupt request to the microprocessor;
and 5: after receiving the interrupt request, a control scheduling module of the microprocessor starts a data transmission module of the microprocessor to respond to the interrupt request;
step 6: the data transmission module of the microprocessor establishes high-speed communication with the sensor node and receives the data of the cache region of the sensor node;
and 7: the data transmission module of the microprocessor stores the received sensing data in a data cache module of the microprocessor in real time;
and 8: and after the data transmission module of the microprocessor finishes data transmission, responding to interrupt requests from other sensor nodes by the control scheduling module of the microprocessor, and repeating the steps 5-8.
The technical scheme of the invention is further that: the N value satisfies the condition: n is more than or equal to 2 and less than or equal to 18, and N is a positive integer.
The technical scheme of the invention is further that: the sensor node carried on the data glove comprises a first-in first-out buffer area with the size of 512 bytes.
The technical scheme of the invention is further that: the sensor nodes carried on the data glove comprise sensors formed by packaging MEMS inertial sensors and magnetometers.
The technical scheme of the invention is further that: the sensor data is a group of data comprising triaxial acceleration measurement data, triaxial angular velocity measurement data and triaxial magnetometer measurement data.
The technical scheme of the invention is further that: the data transmission is carried out by adopting a mode of combining an SPI high-speed serial communication protocol and DMA hardware.
Advantageous effects
Compared with the existing data glove data sampling method, the method has the beneficial effects that:
(1) the frame synchronization signals are sent to all the sensor nodes through the control scheduling module of the microprocessor, so that synchronous sampling of a plurality of sensor nodes on the data glove is ensured, and errors caused by different sampling time among a plurality of sensing data are avoided;
(2) the overhead of communication itself is present due to each data transfer process of the sensor node and the microcontroller. The sensor node is provided with the cache region, the sensing data of the sensor node at continuous time are stored, and the stored multiple groups of sensing data are integrally sent, so that the communication times of the sensor node and the microcontroller are reduced to one time, thereby reducing part of communication overhead and reducing the processing time delay of the multi-sensing data in the sensor node and a data transmission module of the microprocessor; an SPI communication bus with high transmission rate is adopted, and the propagation delay of data on a communication channel is reduced; and DMA transmission is adopted in the microprocessor, so that the processing of the CPU of the microprocessor is avoided, and the queuing time delay and the processing time delay of the multi-sensor data on the microprocessor are reduced. Based on the technical means, the multi-sensor data transmission method can complete the transmission of multi-sensor data from the multi-sensor node to the microprocessor at high speed;
(3) the invention can complete the transmission of multi-sensor data from the multi-sensor node to the microprocessor at high speed, and reduce the time delay caused by data transmission, therefore, the invention can sample the multi-sensor data of the data glove with higher frequency and better real-time property.
Drawings
FIG. 1 is a schematic block diagram of a multi-sensor data synchronous high-speed sampling method of the data glove of the present invention.
FIG. 2 is a flow chart of the multi-sensor data synchronous high-speed sampling method of the data glove of the invention.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the invention provides a multi-sensor data synchronous high-speed sampling method of a data glove aiming at the problems of the existing data glove data sampling method, and the multi-sensor synchronous data of the data glove can be transmitted to a microprocessor at high speed by designing a data acquisition, storage and transmission method.
As shown in FIG. 1, the multi-sensor data synchronous high-speed sampling method of the data glove comprises a microprocessor and N sensor nodes carried on the data glove. The microprocessor comprises a control scheduling module, a data transmission module and a data caching module; the sensor node includes a first-in-first-out buffer and a sensor packaged by a MEMS inertial sensor and a magnetometer.
The FIFO buffer of the sensor node is a storage area with the size of 512 bytes. Each sensor node of the data glove stores the acquired sensor data in a first-in first-out cache region of each sensor node according to a fixed format. The data format of the group of sensor data includes three-axis acceleration measurement data, three-axis angular velocity measurement data and three-axis magnetometer measurement data, which are shown in table 1. When the sensor data stored in the FIFO buffer reaches 512 bytes, the sensor node triggers a buffer overflow interrupt, and the interrupt signal can be transmitted to the microprocessor.
The sensor node can receive a frame synchronization signal sent by the microprocessor, and the sensor node starts the sensor to sample when receiving the frame synchronization signal.
TABLE 1 format of a set of sensor data
The microprocessor control scheduling module is responsible for scheduling and controlling the whole method, and specifically processes the following two events: firstly, sending a frame synchronization signal to a multi-sensor node of a data glove; second, buffer overflow interrupts from multiple sensors are processed.
The microprocessor data transmission module receives the sensor data stored in the sensor node first-in first-out cache region in a mode of combining an SPI high-speed communication protocol and DMA transmission.
The I2C and the SPI are two common serial communication protocols in an embedded system, the I2C protocol is an official standard serial communication protocol, is suitable for remote communication, is not easily interfered by noise, is convenient to use, and has good compatibility due to the official standard; the SPI protocol is a fact protocol, has a short transmission distance, is easy to understand and implement, provides great flexibility for extension and variation, and can provide higher data transmission performance and almost complete freedom. The sensor node supports two communication protocols of I2C and SPI, wherein the fastest rate of the I2C communication mode is 400KHz, and the fastest rate of the SPI communication mode can reach 1 MHz. In contrast, the data glove using SPI communication ensures faster data transfer from the sensor nodes to the microprocessor.
DMA is an abbreviation for Direct Memory Access (Direct Memory Access). The DMA transmission mode does not need a CPU to directly control transmission, the CPU only initializes transmission action, and the transmission action is realized and completed by a DMA controller, so that the transmission speed of data can be greatly improved. The microprocessor data transmission module adopts DMA transmission, so that the occupation of the CPU of the microprocessor by data transmission can be reduced, and the CPU of the microprocessor can execute other data dump or operation operations in the data transmission process.
The microprocessor data cache module comprises a double cache area. The double cache area comprises two storage areas which are both 512 bytes in size. Since the data transfer module uses DMA transfer, which requires a target storage space for transfer specification, the target storage space used by the data transfer module is defined as any storage area in the double cache area. Further, in order to improve the data transmission efficiency and avoid data overwriting, the target storage space of the data transmission module is replaced by one storage area in the double cache area to the other storage area in the double cache area before a new DMA transmission transaction is started. Furthermore, two storage pointers are set and respectively point to the first addresses of the two storage areas of the double-cache area, and before a new DMA transmission transaction begins, the exchange data transmission module points to the storage pointer of the target storage space, so that the target storage space of the data transmission module is replaced. In a new DMA transfer transaction, one storage area in the double buffer areas is used for receiving the data transferred by the data transfer module, while the other storage area is used for storing all the data received in the last DMA transfer transaction, and the data are timely transferred to a central processing device such as a PC by the microprocessor for further analysis and processing. By setting the double cache areas, the data transmission and processing are separated, the data transmission can be carried out by the DMA hardware, and meanwhile, the last transmitted data is processed by the CPU of the microprocessor, so that the data transmission is prevented from being blocked due to the execution of other tasks by the CPU.
Fig. 2 illustrates a specific flow of the multi-sensor data synchronous high-speed sampling method of the data glove of the invention. The specific implementation flow of the whole method is as follows:
(1) a control scheduling module of the microprocessor simultaneously sends frame synchronization signals to all sensor nodes of the data glove;
(2) after the sensor nodes of the data gloves receive the frame synchronization signals, sampling is started simultaneously, and the synchronous sampling of a plurality of sensors of the data gloves is ensured;
(3) the sensor nodes store the sampled sensor data in a first-in first-out cache region arranged in the sensor nodes, and store a plurality of groups of sensor data in the cache region, so that communication overhead caused by transmitting each group of sensor data to the microprocessor is avoided;
(4) the sensor data are stored in a first-in first-out cache region of the sensor nodes in groups until 512 bytes of storage space of the first-in first-out cache region of the sensor nodes are completely occupied by the sensor data, and because the size of a group of sensor data is not in a multiple relation with the size of the first-in first-out cache region, a group of incomplete sensor data exists in the first-in first-out cache region, and the group of incomplete sensor data is discarded in a subsequent data processing stage;
(5) the first-in first-out buffer area of the sensor node generates overflow interruption and transmits the interruption state to the microprocessor through a signal line;
(6) and after the control scheduling module of the microprocessor receives the interrupt signal from the sensor node, the data transmission module is started to transmit data. The data transmission module adopts SPI high-speed communication and DMA transmission modes, and the data transmission speed is greatly improved. The specific execution flow of the data transmission module is as follows:
a) exchanging a storage pointer of a DMA transmission target storage space to avoid that the data transmitted by the DMA at the last time is covered by the data transmitted by the DMA at this time;
b) enabling the DMA channel;
c) transmitting data of a first-in first-out cache region of the sensor node at a high speed in an SPI communication mode;
d) the DMA hardware automatically stores the data received by the SPI in a set storage area in real time; because the DMA hardware is used for transmission, the CPU of the microprocessor is not occupied, and the CPU can execute other data transmission or operation tasks, such as: transmitting the data of the other storage area in the double cache areas to central processing equipment such as a PC;
e) after all data in the first-in first-out cache region of the sensor node to be detected are received by the data transmission module and stored in the storage region of the double cache regions, the DMA generates data transmission and finishes interruption.
(7) The control scheduling module of the microprocessor responds to the DMA transmission completion interrupt: closing the SPI communication and disabling the DMA channel;
(8) responding to interrupt requests of other sensor nodes by a control scheduling module of the microprocessor, wherein the specific flow is as in the steps (6) to (7) until the microprocessor receives the sensor data of the first-in first-out cache region of all the sensor nodes;
(9) and (4) after the microprocessor receives the sensor data of the first-in first-out cache region of all the sensor nodes, repeating the steps (1) to (8).
By the multi-sensor data synchronous high-speed sampling method for the data gloves, the sampling speed of the multi-sensor data of the data gloves can be improved, and the acquired multi-sensor data of the data gloves are ensured to be synchronous data.
The embodiments described above are presented to enable a person having ordinary skill in the art to make and use the invention. Those skilled in the art can readily adapt the methods of the embodiments described above and apply the general principles described herein to other embodiments without undue experimentation. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.
Claims (6)
1. A multi-sensor data synchronous high-speed sampling method of a data glove comprises a microprocessor and N sensor nodes carried on the data glove, wherein the microprocessor comprises a control scheduling module, a data transmission module and a data cache module; the method is characterized by comprising the following steps:
step 1: a control scheduling module of the microprocessor sends synchronous signals to the plurality of sensor nodes;
step 2: after each sensor node receives the synchronous signal sent by the microprocessor, the sensor node starts to acquire sensor data;
and step 3: each sensor node stores the collected multiple groups of sensor data in a cache region of the sensor node;
and 4, step 4: when the data number in the cache region of the sensor node reaches the size of the cache region, the sensor node sends an interrupt request to the microprocessor;
and 5: after receiving the interrupt request, a control scheduling module of the microprocessor starts a data transmission module of the microprocessor to respond to the interrupt request;
step 6: the data transmission module of the microprocessor establishes high-speed communication with the sensor node and receives the data of the cache region of the sensor node;
and 7: the data transmission module of the microprocessor stores the received sensing data in a data cache module of the microprocessor in real time;
and 8: and after the data transmission module of the microprocessor finishes data transmission, responding to interrupt requests from other sensor nodes by the control scheduling module of the microprocessor, and repeating the steps 5-8.
2. The method for synchronously sampling the multi-sensor data of the data glove in the high speed according to the claim 1, wherein the N value satisfies the condition: n is more than or equal to 2 and less than or equal to 18, and N is a positive integer.
3. The method as claimed in claim 1, wherein the sensor nodes mounted on the data glove comprise 512-byte FIFO buffer.
4. The method for synchronously sampling the multi-sensor data of the data glove according to claim 1, wherein the sensor node mounted on the data glove comprises a sensor formed by packaging a MEMS inertial sensor and a magnetometer.
5. The method of claim 1, wherein the sensor data is a set of data comprising three-axis accelerometer measurement data, three-axis angular velocity measurement data, and three-axis magnetometer measurement data.
6. The multi-sensor data synchronous high-speed sampling method of the data glove according to claim 1, characterized in that the data transmission module performs data transmission by combining an SPI high-speed serial communication protocol with DMA hardware.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110243831.1A CN113031761B (en) | 2021-03-05 | 2021-03-05 | Multi-sensing data high-speed synchronous sampling method of data glove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110243831.1A CN113031761B (en) | 2021-03-05 | 2021-03-05 | Multi-sensing data high-speed synchronous sampling method of data glove |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113031761A true CN113031761A (en) | 2021-06-25 |
| CN113031761B CN113031761B (en) | 2023-06-23 |
Family
ID=76468101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110243831.1A Active CN113031761B (en) | 2021-03-05 | 2021-03-05 | Multi-sensing data high-speed synchronous sampling method of data glove |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113031761B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113965289A (en) * | 2021-10-29 | 2022-01-21 | 际络科技(上海)有限公司 | Time synchronization method and device based on multi-sensor data |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100146157A1 (en) * | 2008-12-10 | 2010-06-10 | Electronics And Telecommunications Research Institute | Multi-radio interfacing and direct memory access based data transferring methods and sink node for performing the same in wireless sensor network |
| CN104570858A (en) * | 2014-12-19 | 2015-04-29 | 深圳市科陆电子科技股份有限公司 | Analog signal sampling method and sampling system |
| CN106900082A (en) * | 2017-02-04 | 2017-06-27 | 北京信息科技大学 | The data processing method and sensor network nodes of sensor network nodes |
-
2021
- 2021-03-05 CN CN202110243831.1A patent/CN113031761B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100146157A1 (en) * | 2008-12-10 | 2010-06-10 | Electronics And Telecommunications Research Institute | Multi-radio interfacing and direct memory access based data transferring methods and sink node for performing the same in wireless sensor network |
| CN104570858A (en) * | 2014-12-19 | 2015-04-29 | 深圳市科陆电子科技股份有限公司 | Analog signal sampling method and sampling system |
| CN106900082A (en) * | 2017-02-04 | 2017-06-27 | 北京信息科技大学 | The data processing method and sensor network nodes of sensor network nodes |
Non-Patent Citations (2)
| Title |
|---|
| JAMES CONNOLLY: "IMU Sensor-Based Electronic Goniometric Glove for Clinical Finger Movement Analysis", IEEE * |
| 王志;吴红芳;: "导弹测试系统中的高速数据传输技术研究", 现代电子技术, no. 09 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113965289A (en) * | 2021-10-29 | 2022-01-21 | 际络科技(上海)有限公司 | Time synchronization method and device based on multi-sensor data |
| CN113965289B (en) * | 2021-10-29 | 2024-03-12 | 际络科技(上海)有限公司 | Time synchronization method and device based on multi-sensor data |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113031761B (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Berner et al. | A 5 Meps $100 USB2. 0 address-event monitor-sequencer interface | |
| CN106326881B (en) | Gesture recognition method and gesture recognition device for realizing man-machine interaction | |
| WO2011003218A1 (en) | Acceleration motion identify method and system thereof | |
| CN102411440B (en) | Wireless head-controlled mouse based on accelerometer and gyro sensor | |
| CN113031761B (en) | Multi-sensing data high-speed synchronous sampling method of data glove | |
| CN106020490B (en) | Multi-contact data glove system based on three axle Gravity accelerometers | |
| CN106375642B (en) | Image acquisition and processing device and object of which movement image capturing system | |
| US6201817B1 (en) | Memory based buffering for a UART or a parallel UART like interface | |
| CN113687590B (en) | Time synchronization method and system for head and handle in VR system | |
| US20090287863A1 (en) | Real time data interface | |
| CN109171720A (en) | A kind of myoelectricity inertial signal and video information synchronous acquisition device and method | |
| CN108318489A (en) | A kind of system and method for the real-time storage of Tunnel testing data | |
| CN1137661C (en) | Distributed electromagnetic body motion detector | |
| CN110757471A (en) | Dance robot system based on computer vision and operation method thereof | |
| US6234983B1 (en) | Request-and-respond approach to reducing latency within a tracking system | |
| CN207268857U (en) | A kind of dynamic 3 D gesture identifying device | |
| CN106406540B (en) | Gesture sensing device and virtual reality system | |
| WO2022120818A1 (en) | Control apparatus for sensor, method, mobile platform, and storage medium | |
| CN208110323U (en) | A kind of vibrating controller based on multicore SoC processor | |
| CN106126452A (en) | The method that (SuSE) Linux OS based on IIC agreement communicates with bare machine | |
| CN206282241U (en) | A kind of attitude sensing device and a kind of virtual reality system | |
| CN206388192U (en) | Gesture identification equipment for realizing man-machine interaction | |
| CN220794259U (en) | Inertial navigation equipment | |
| CN211278421U (en) | Dance robot system based on computer vision | |
| Jin et al. | Design and Implementation of the IMU Human Body Motion Tracking System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |