CN211904161U

CN211904161U - Portable gesture detection device

Info

Publication number: CN211904161U
Application number: CN202021008820.2U
Authority: CN
Inventors: 李勇; 罗熊
Original assignee: Chengdu Ebyte Electronic Technology Co ltd
Current assignee: Chengdu Ebyte Electronic Technology Co ltd
Priority date: 2020-06-04
Filing date: 2020-06-04
Publication date: 2020-11-10
Anticipated expiration: 2030-06-04

Abstract

The embodiment of the application provides a portable attitude detection device, which comprises a microcontroller, wherein the microcontroller comprises a Kalman filter and a digital filter; the Bluetooth communication module is connected with the microcontroller; a three-axis acceleration sensor connected with the microcontroller; a first tri-axial gyroscope connected to the microcontroller; and the three-axis geomagnetic sensor is connected with the microcontroller. The digital filter in the microcontroller can be used for carrying out digital filtering processing on the original motion data detected by the three-axis acceleration sensor, the first three-axis gyroscope and the three-axis geomagnetic sensor; then the microcontroller can synthesize angle information according to the data after digital filtering processing, then the angle information is fused into object attitude data through a Kalman filter, and finally the object attitude data is sent to a host through a Bluetooth communication module; the attitude detection device not only realizes the attitude detection of the equipment, but also optimizes the structure of the detection device and reduces the power consumption and the cost.

Description

Portable gesture detection device

Technical Field

The application relates to the technical field of gesture collection, in particular to a portable gesture detection device.

Background

With the development of the internet of things technology, various state information of articles, such as the use degree of batteries, the position of an object, object posture information and the like, are concerned more and more in production and life, and nowadays with the availability of everything, the information has a huge application prospect, wherein the posture information is an indispensable part. At present, the attitude acquisition devices on the market are complex in composition structure, large in size and unsuitable to install, for example, data acquisition and data transmission of some acquisition devices are separated, the installation process is complicated, the cost is increased due to wired data transmission, and the factors greatly reduce the flexibility of the attitude acquisition devices. It is desirable to provide a more portable, low cost, low power posture acquisition device.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a portable gesture detection device for realizing the technical effect of reducing device power consumption and cost while carrying out gesture detection on equipment.

In a first aspect, an embodiment of the present application provides a portable attitude detection apparatus, including a microcontroller, where the microcontroller includes a kalman filter and a digital filter; the Bluetooth communication module is connected with the microcontroller; a three-axis acceleration sensor connected with the microcontroller; a first tri-axial gyroscope connected to the microcontroller; and the three-axis geomagnetic sensor is connected with the microcontroller.

Further, the bluetooth communication module is a BLE bluetooth communication module.

Further, BLE bluetooth communication module is 2.4G single-frequency bluetooth, and communication standard is bluetooth 5.0.

Further, the triaxial geomagnetic sensor is a hall-type sensor, and the magnetic induction intensity measurement range is ± 4800 uT.

Further, the measuring range of the triaxial acceleration sensor is +/-16 g.

Further, the first three-axis gyroscope has a measurement range of ± 2000 °/s.

In a second aspect, an embodiment of the present application provides a portable posture detection apparatus, including a microcontroller, where the microcontroller includes a kalman filter and a digital filter; the Bluetooth communication module is connected with the microcontroller; and the nine-axis motion sensor is connected with the microcontroller and comprises a three-axis accelerometer, a second three-axis gyroscope, a three-axis magnetometer and a processor.

Further, the triaxial magnetometer is a Hall type sensor, and the magnetic induction intensity measurement range is +/-4800 uT; the measuring range of the triaxial accelerometer is +/-16 g; the measurement range of the second triaxial gyroscope is ± 2000 °/s.

The beneficial effect that this application can realize is: the digital filter in the microcontroller can be used for carrying out digital filtering processing on the original data detected by the triaxial acceleration sensor/triaxial accelerometer, the triaxial gyroscope and the triaxial geomagnetic sensor/triaxial geomagnetic meter; then the microcontroller can synthesize angle information according to the data after digital filtering processing, then the angle information is fused into object attitude data through a Kalman filter, and finally the object attitude data is sent to a host through a Bluetooth communication module; the attitude detection device not only realizes the attitude detection of the equipment, but also optimizes the structure of the detection device and reduces the power consumption and the cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic view of a topology structure of a first portable gesture detection apparatus according to an embodiment of the present application;

fig. 2 is a schematic view of a topology structure of a second portable gesture detection apparatus according to an embodiment of the present application.

Icon: 10-a portable attitude detection device; 100-a microcontroller; 110-a kalman filter; 120-a digital filter; 200-a bluetooth communication module; 300-a three-axis acceleration sensor; 400-a first three-axis gyroscope; 500-a three-axis geomagnetic sensor; 600-nine axis motion sensor; 610-a processor; 620-a three-axis accelerometer; 630-a second three-axis gyroscope; 640-three-axis geomagnetism.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, fig. 1 is a schematic view of a topology structure of a first portable gesture detection apparatus according to an embodiment of the present disclosure.

In one implementation, the portable posture detection device 10 provided in the embodiment of the present application includes a microcontroller 100, where the microcontroller 100 includes a kalman filter 110 and a digital filter 120; a bluetooth communication module 200 connected to the microcontroller 100; a three-axis acceleration sensor 300 connected to the microcontroller 100; a first tri-axial gyroscope 400 connected to the microcontroller 100; a three-axis geomagnetic sensor 500 connected to the microcontroller 100.

The digital filter 120 in the microcontroller 100 may perform digital filtering processing on the original motion data detected by the three-axis acceleration sensor 300, the first three-axis gyroscope 400, and the three-axis geomagnetic sensor 500; then the microcontroller 100 can synthesize angle information according to the data after the digital filtering processing, then the angle information is integrated into object attitude data through the kalman filter 110, and finally the object attitude data is sent to a server or an upper computer through the bluetooth communication module 200; the attitude detection device not only realizes the attitude detection of the equipment, but also optimizes the structure of the detection device and reduces the power consumption and the cost.

In one embodiment, the bluetooth communication module 200 is a BLE bluetooth communication module, the BLE bluetooth communication module is 2.4G single frequency bluetooth, and the communication standard is bluetooth 5.0. Specifically, the BLE Bluetooth communication module is based on a 2.4G single-frequency Bluetooth CC2640R2F scheme of Texas Instruments, and the communication standard is Bluetooth Version 5.0 proposed by the Bluetooth Special Interest Group (Bluetooth alliance), which supports 2M airspeed and has extremely low power consumption.

The core content of the bluetooth communication module 200 is divided into two parts: a. when the Bluetooth connection is not established, transmitting the object attitude information to the air in a broadcast mode so that other host equipment can capture the attitude information under the condition of disconnection; b. after the connection is established, the attitude information is sent to the host equipment through the set data channel, so that the host equipment can directly acquire the attitude information of the article. Specifically, the role of the bluetooth slave may be set according to the method provided by the protocol stack, and the bluetooth functions such as broadcasting and connection may be turned on, and when the attitude data needs to be updated, the attitude data synthesized by the kalman filter 110 may be updated into the data buf. When the broadcasting mode is adopted, the broadcasting data is firstly set, the attitude data is packaged and encapsulated according to the format of the table 1, and the broadcasting data is transmitted after the broadcasting period comes. When the attitude data is directly sent through a specific channel, a specific data channel is set according to an interface of a Bluetooth protocol stack, handles, attributes and characteristic values of the channel are configured, and then the data is sent to a host according to the format of a table 2 after a sending period comes.

TABLE 1

TABLE 2

The microcontroller 100 may acquire original motion data of the article through the three-axis acceleration sensor 300, the first three-axis gyroscope 400, and the three-axis geomagnetic sensor 500; after the original motion data is acquired, the corresponding angle information can be further synthesized. Specifically, after the microcontroller 100 acquires the original motion data, the acquired original motion data is input into the digital filter 120 for digital filtering processing, abnormal data is removed, and legal data is retained; and then the angle information is synthesized by the legal data according to a motion synthesis algorithm. After obtaining the angle information, the microcontroller 100 further fuses the angle information into object attitude data through the kalman filter 110, and predicts a state quantity at the next time. The method specifically comprises two parts: a. and (3) prediction: and estimating the value of the next moment according to the value of the previous moment to become prior estimation, and simultaneously predicting the error of the next moment to become prior error. b. Updating: the updating is also called rectification, and the step firstly calculates Kalman gain (a weight for weighing the prior estimation and the measured value), then calculates the posterior estimation by utilizing the prior estimation of the previous step, and simultaneously updates the prior error to the posterior error. The item attitude data may be transmitted via the bluetooth communication module 200 after being obtained.

In one embodiment, the three-axis geomagnetic sensor 500 may be a hall-type sensor with a magnetic induction measurement range of ± 4800 uT; the measurement range of the triaxial acceleration sensor 300 is ± 16 g; the first tri-axial gyroscope 400 has a measurement range of ± 2000 °/s.

Referring to fig. 2, fig. 2 is a schematic view of a topology structure of a second portable gesture detection apparatus according to an embodiment of the present application.

In one implementation, the portable posture detection device 10 provided in the embodiment of the present application includes a microcontroller 100, where the microcontroller 100 includes a kalman filter 110 and a digital filter 120; a bluetooth communication module 200 connected to the microcontroller 100; the nine-axis motion sensor 600 is connected to the microcontroller 100, and the nine-axis motion sensor 600 includes a three-axis accelerometer 620, a second three-axis gyroscope 630, a three-axis magnetometer 640, and a processor 610 (the processor 610 may be, but is not limited to, a single chip microcomputer).

In one embodiment, the nine-axis motion sensor 600 may be implemented as a nine-axis motion sensor of the MPU9250 integrated with the three-axis accelerometer 620, the second three-axis gyroscope 630, and the three-axis magnetometer 640. The MPU9250 nine-axis motion sensor can reach the transmission rate of 400kHz/s through an IIC interface, and the angular speed measuring range of a three-axis gyroscope can reach +/-2000 degrees/s, so that the MPU9250 nine-axis motion sensor has good dynamic response characteristics; the measuring range of the triaxial accelerometer 620 is +/-16 g, and the static measuring precision is high; the electronic compass is a high-sensitivity Hall sensor, and the measuring range of the magnetic induction intensity is +/-4800 uT. The microcontroller 100 may acquire raw motion data of the article through the IIC interface.

After the original motion data is acquired, the corresponding angle information can be further synthesized. Specifically, after the microcontroller 100 acquires the original motion data, the acquired original motion data is input into the digital filter 120 for digital filtering processing, abnormal data is removed, and legal data is retained; and then the angle information is synthesized by the legal data according to a motion synthesis algorithm. After obtaining the angle information, the microcontroller 100 further fuses the angle information into object attitude data through the kalman filter 110, and predicts a state quantity at the next time. The method specifically comprises two parts: a. and (3) prediction: and estimating the value of the next moment according to the value of the previous moment to become prior estimation, and simultaneously predicting the error of the next moment to become prior error. b. Updating: the updating is also called rectification, and the step firstly calculates Kalman gain (a weight for weighing the prior estimation and the measured value), then calculates the posterior estimation by utilizing the prior estimation of the previous step, and simultaneously updates the prior error to the posterior error. After the attitude data of the object is obtained, it may be transmitted through the bluetooth communication module 200.

In summary, the present application provides a portable posture detection device, which can perform digital filtering processing on raw motion data detected by a three-axis acceleration sensor/three-axis accelerometer, a first/second three-axis gyroscope, and a three-axis geomagnetic sensor/three-axis geomagnetic meter through a digital filter in a microcontroller; then the microcontroller can synthesize angle information according to the data after digital filtering processing, then the angle information is fused into object attitude data through a Kalman filter, and finally the object attitude data is sent to a server or an upper computer through a Bluetooth communication module; the attitude detection device not only realizes the attitude detection of the equipment, but also optimizes the structure of the detection device and reduces the power consumption and the cost.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A portable attitude detection device, comprising a microcontroller, said microcontroller comprising a Kalman filter and a digital filter; the Bluetooth communication module is connected with the microcontroller; a three-axis acceleration sensor connected with the microcontroller; a first tri-axial gyroscope connected to the microcontroller; and the three-axis geomagnetic sensor is connected with the microcontroller.

2. The portable gesture detection device of claim 1, wherein the bluetooth communication module is a BLE bluetooth communication module.

3. The portable gesture detection device of claim 2, wherein the BLE bluetooth communication module is 2.4G single frequency bluetooth, and the communication standard is bluetooth 5.0.

4. The portable attitude detection apparatus according to claim 1, wherein the triaxial geomagnetic sensor is a hall-type sensor, and a magnetic induction measurement range is ± 4800 uT.

5. The portable attitude detection apparatus according to claim 1, wherein the measurement range of the triaxial acceleration sensor is ± 16 g.

6. The portable attitude detection apparatus according to claim 1, wherein the first triaxial gyroscope has a measurement range of ± 2000 °/s.

7. A portable attitude detection device, comprising a microcontroller, said microcontroller comprising a Kalman filter and a digital filter; the Bluetooth communication module is connected with the microcontroller; and the nine-axis motion sensor is connected with the microcontroller and comprises a three-axis accelerometer, a second three-axis gyroscope, a three-axis magnetometer and a processor.

8. The portable gesture detection device of claim 7, wherein the Bluetooth communication module is a BLE Bluetooth communication module.

9. The portable gesture detection device of claim 8, wherein the BLE Bluetooth communication module is 2.4G single frequency Bluetooth and the communication standard is Bluetooth 5.0.

10. The portable attitude detection apparatus according to claim 7, wherein the triaxial magnetometer is a hall-type sensor, and a magnetic induction measurement range is ± 4800 uT; the measuring range of the triaxial accelerometer is +/-16 g; the measurement range of the second triaxial gyroscope is ± 2000 °/s.