CN113031761B - Multi-sensing data high-speed synchronous sampling method of data glove - Google Patents
Multi-sensing data high-speed synchronous sampling method of data glove Download PDFInfo
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- CN113031761B CN113031761B CN202110243831.1A CN202110243831A CN113031761B CN 113031761 B CN113031761 B CN 113031761B CN 202110243831 A CN202110243831 A CN 202110243831A CN 113031761 B CN113031761 B CN 113031761B
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- 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
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- 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
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Abstract
The invention relates to a multi-sensor data high-speed synchronous sampling method of a data glove, and belongs to the field of data gloves in man-machine interaction technology. Comprising 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 area of a sensor node; when the number of data in the buffer area of the sensor node reaches the size of the buffer area, 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 data of a cache area of the sensor node; the microprocessor stores the received sensing data in real time; after the data transmission module of the microprocessor finishes transmitting the data, the control scheduling module of the microprocessor responds to 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 man-machine interaction technology, in particular to a multi-sensing data high-speed synchronous sampling method of a data glove.
Background
In recent years, the development of man-machine interaction technology is rapid, and the man-machine interaction technology is mainly used for interacting with computer equipment through related equipment for identifying various behavior actions, body gestures and the like of people, so that natural, visual and convenient interaction experience is provided for users. The data glove is a common means for man-machine interaction, and can capture the motion of a human hand through an optical fiber, a bending resistor or an inertial device, so as to provide 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 data glove have some problems in data sampling, such as: the sampling data of the multiple sensors are not synchronous, and the sampling rate is greatly reduced due to the increase of the number of the sensors. Furthermore, certain limitations are brought to related research and product experience: errors exist among the multi-sensor data, more hand motion features cannot be captured in the same time interval, interaction experience with higher response speed cannot be provided, and the like, so that related research cannot be more detailed and deep, and the 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 high-speed synchronous sampling method for multi-sensing data of a data glove, which can improve the sampling speed of the multi-sensing data of the data glove and ensure that the acquired multi-sensing data of the data glove is synchronous data.
Technical proposal
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, 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: the control scheduling module of the microprocessor sends synchronous signals to the plurality of sensor nodes;
step 2: each sensor node starts to collect sensor data after receiving the synchronous signal sent by the microprocessor;
step 3: each sensor node stores the collected multiple groups of sensor data in a cache area of the sensor node;
step 4: when the number of data in the buffer area of the sensor node reaches the size of the buffer area, the sensor node sends an interrupt request to the microprocessor;
step 5: after receiving the interrupt request, the control scheduling module of the microprocessor starts the 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 data of a cache area of the sensor node;
step 7: the data transmission module of the microprocessor stores the received sensing data in the data cache module of the microprocessor in real time;
step 8: and 5, after the data transmission module of the microprocessor finishes transmitting data, the control scheduling module of the microprocessor responds to interrupt requests from other sensor nodes, and the steps 5-8 are repeated.
The technical scheme of the invention is as follows: 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 as follows: 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 as follows: the sensor node carried on the data glove comprises a sensor which is formed by packaging an MEMS inertial sensor and a magnetometer.
The technical scheme of the invention is as follows: 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 as follows: the data transmission is carried out by adopting a mode of combining an SPI high-speed serial communication protocol with DMA hardware.
Advantageous effects
Compared with the existing data glove data sampling method, the invention has the beneficial effects that:
(1) According to the invention, 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 the multi-sensor data are avoided;
(2) There is an overhead of communication itself due to each data transmission process of the sensor node and the microcontroller. According to the invention, the buffer area is arranged on the sensor node, the sensing data of continuous moments on the sensor node is stored, and the communication times between the sensor node and the microcontroller are reduced to one time by integrally transmitting the stored multiple groups of sensing data, so that a part of communication expenditure is reduced, and the processing time delay of the multiple sensing data between the sensor node and the microprocessor data transmission module is reduced; the SPI communication bus with high transmission rate is adopted, so that 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 invention can finish the transmission of the multi-sensor data from the multi-sensor node to the microprocessor at high speed;
(3) The invention can finish the transmission of the multi-sensor data from the multi-sensor node to the microprocessor at high speed, and reduces the time delay caused by data transmission, so that 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 functional block diagram of a method for synchronous high-speed sampling of multi-sensor data for a data glove of the present invention.
FIG. 2 is a flow chart of a method for synchronous high-speed sampling of multi-sensor data of the data glove of the present invention.
Detailed Description
The invention will now be further described with reference to examples, figures:
aiming at some problems of the existing data glove data sampling method, the invention provides a multi-sensing data synchronous high-speed sampling method of the data glove, and the multi-sensing synchronous data of the data glove can be transmitted to a microprocessor at high speed by designing a data acquisition, storage and transmission method, and compared with the existing data glove research and products, the invention can obtain higher data sampling rate.
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 cache module; the sensor node comprises a first-in first-out buffer area and a sensor packaged by a MEMS inertial sensor and a magnetometer.
The first-in first-out buffer area of the sensor node is a storage area with a size of 512 bytes. Each sensor node of the data glove stores the collected sensor data in a first-in first-out buffer area of the respective sensor node according to a fixed format. Wherein the set of sensor data includes three-axis acceleration measurement data, three-axis angular velocity measurement data, and three-axis magnetometer measurement data, the data formats of which are shown in table 1. When the sensor data stored in the first-in first-out buffer area reaches 512 bytes, the sensor node triggers the overflow interrupt of the buffer area, and the interrupt signal can be transmitted to the microprocessor.
The sensor node can receive the frame synchronization signal sent by the microprocessor, and when the sensor node receives the frame synchronization signal, the sensor node starts the sensor to sample.
Table 1 format of a set of sensor data
The microprocessor controls the scheduling module to be 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 handled.
The microprocessor data transmission module receives the sensor data stored in the first-in first-out buffer area of the sensor node by combining SPI high-speed communication protocol with DMA transmission.
The I2C and the SPI are two common serial communication protocols in the embedded system, the I2C protocol is an official standard serial communication protocol, is suitable for long-distance communication, is not easy to be interfered by noise, is convenient to use, and has good compatibility due to the official standard; the SPI protocol is a de facto protocol that is short in transmission distance, easy to understand and implement, and provides great flexibility for extensions and variants, providing higher data transmission performance and almost complete freedom. The sensor node supports two communication protocols, namely I2C and SPI, wherein the fastest speed of the I2C communication mode is 400KHz, and the fastest speed of the SPI communication mode can reach 1MHz. In contrast, the use of SPI communication for the data glove ensures faster data transfer from the sensor node 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 actions, and the transmission actions are realized and completed by the DMA controller, so that the data transmission speed can be greatly improved. The microprocessor data transmission module adopts DMA transmission, so that occupation of data transmission to a microprocessor CPU can be reduced, and the microprocessor CPU can execute other data transfer or operation operations in the data transmission process.
The microprocessor data buffer module comprises a double buffer area. The double-buffer area comprises two storage areas with the size of 512 bytes. Since the data transfer module uses DMA transfer, which requires specifying the target storage space for transfer, the target storage space used by the data transfer module is defined as any storage area in the double buffer. Further, in order to improve the data transmission efficiency and avoid the data coverage, the target storage space of the data transmission module is replaced by one storage area in the double-buffer area before a new DMA transmission transaction starts. Further, two storage pointers are set to point to the first addresses of the two storage areas of the double-buffer area respectively, and before a new DMA transmission transaction starts, the storage pointers of the target storage space are pointed to by the exchange data transmission module, so that the target storage space of the data transmission module is replaced. In a new DMA transmission transaction, one storage area in the double buffer area is used for receiving data transmitted by the data transmission module, and the other storage area stores all data received by the last DMA transmission transaction, and the data are timely transmitted to central processing equipment such as a PC by a microprocessor for further analysis and processing. By setting the double buffer areas, the data transmission and processing are separated, and the CPU of the microprocessor can be used for processing the data transmitted last time when the DMA hardware transmits the data, so that the data transmission is prevented from being blocked due to the fact that the CPU executes other tasks.
FIG. 2 illustrates a specific flow of a method for synchronous high-speed sampling of multi-sensor data for a data glove of the present invention. The specific implementation flow of the whole method is as follows:
(1) The control scheduling module of the microprocessor simultaneously transmits frame synchronization signals to all sensor nodes of the data glove;
(2) After the sensor nodes of the data glove receive the frame synchronization signals, sampling is started at the same time, so that a plurality of sensors of the data glove can be ensured to synchronously sample;
(3) The sensor nodes store the sampled sensor data in a first-in first-out buffer area arranged by the sensor nodes, and store a plurality of groups of sensor data in the buffer area, so that communication expenditure caused by transmitting each group of sensor data to a microprocessor is avoided;
(4) The sensor data are stored in the first-in first-out buffer area of the sensor node according to groups until 512 bytes of storage space of the first-in first-out buffer area of the sensor node is fully occupied by the sensor data, and as the size of one group of sensor data is not in a multiple relation with the size of the first-in first-out buffer area, one group of incomplete sensor data exists in the first-in first-out buffer area, and the group of data is discarded in the subsequent data processing stage;
(5) The first-in first-out buffer area of the sensor node generates overflow interrupt and transmits the interrupt 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 uses SPI high-speed communication and DMA transmission modes, so that 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 the data of the last DMA transmission from being covered by the data of the current DMA transmission;
b) Enabling the DMA channel;
c) The data of the first-in first-out buffer area of the sensor node is transmitted at 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 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 data of another storage area in the double-buffer area to central processing equipment such as a PC and the like;
e) After all data of the first-in first-out buffer area of the node to be sensor are received by the data transmission module and stored in the storage area of the double buffer areas, the DMA generates a data transmission completion interrupt.
(7) The control scheduling module of the microprocessor responds to the DMA transfer completion interrupt: closing SPI communication and disabling a DMA channel;
(8) The control scheduling module of the microprocessor responds to interrupt requests of other sensor nodes, and the specific flow is as described in (6) to (7) until the microprocessor receives the sensor data of all the sensor node first-in first-out buffer areas;
(9) And (3) repeating the steps (1) - (8) after the microprocessor receives the sensor data of all the first-in first-out buffer areas of the sensor nodes.
By the multi-sensing data synchronous high-speed sampling method of the data glove, the sampling speed of the multi-sensing data of the data glove can be improved, and the acquired multi-sensing data of the data glove is ensured to be synchronous data.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. Various modifications to the methods set forth in the above embodiments will be readily apparent to those skilled in the art and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications within the scope of the present invention.
Claims (5)
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, 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: the control scheduling module of the microprocessor sends synchronous signals to the plurality of sensor nodes;
step 2: each sensor node starts to collect sensor data after receiving the synchronous signal sent by the microprocessor;
step 3: each sensor node stores the collected multiple groups of sensor data in a cache area of the sensor node;
step 4: when the number of data in the buffer area of the sensor node reaches the size of the buffer area, the sensor node sends an interrupt request to the microprocessor;
step 5: after receiving the interrupt request, the control scheduling module of the microprocessor starts the 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 data of a cache area of the sensor node; the data transmission module adopts a mode of combining an SPI high-speed serial communication protocol with DMA hardware to carry out data transmission;
a) Exchanging a storage pointer of a DMA transmission target storage space to avoid the data of the last DMA transmission from being covered by the data of the current DMA transmission;
b) Enabling the DMA channel;
c) The data of the first-in first-out buffer area of the sensor node is transmitted at 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 DMA hardware is used for transmission, the CPU of the microprocessor is not occupied, and other data transmission or operation tasks are executed by the CPU at the moment;
e) After all data of the first-in first-out buffer area of the node to be sensor are received by the data transmission module and stored in the storage area of the double buffer areas, the DMA generates a data transmission completion interrupt;
step 7: the data transmission module of the microprocessor stores the received sensing data in the data cache module of the microprocessor in real time;
step 8: and 5, after the data transmission module of the microprocessor finishes transmitting data, the control scheduling module of the microprocessor responds to interrupt requests from other sensor nodes, and the steps 5-8 are repeated.
2. The method for synchronously sampling multi-sensing data of a data glove according to claim 1, wherein the value of N 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 for synchronously sampling multi-sensor data of a data glove according to claim 1, wherein the sensor node mounted on the data glove comprises a first-in first-out buffer region with a size of 512 bytes.
4. The method for synchronously sampling multi-sensing data of the data glove according to claim 1, wherein the sensor node carried on the data glove comprises a sensor which is formed by packaging an MEMS inertial sensor and a magnetometer.
5. The method for synchronously sampling multiple sensing data of a data glove according to claim 1, wherein the sensor data is a set of data comprising three-axis acceleration measurement data, three-axis angular velocity measurement data and three-axis magnetometer measurement data.
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