基于四轴平行算法的智能手套设计
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摘要
主要芯片和模块采用STM32F103C8T6芯片以及NRF24L01+2.4 G无线传输模块、MPU6050六轴加速度陀螺仪、红外测距、Pulse Sensor心率传感器、蓝牙等传感器。设计一种多功能且支持后续开发升级的智能手套,手套具有骑行警示、避障、心率监测、空中鼠标等功能,且预留USB接口方便后续升级。通过对功能实现的方法介绍、基于四轴平行算法的改进,说明本文设计的优点,并通过仿真结果对比分析估计其角度和运行轨迹以及运行的时间和误差,达到初始设计目的。提出后续升级方向和改进空间。
Using STM32F103C8T6 chip and NRF24L01 + 2.4 G wireless transmission module,the MPU6050 sixaxis acceleration gyroscope,infrared ranging device,heart rate sensor,such as Pulse Sensor,Bluetooth sensor,design smart gloves with multi-function and support the follow-up development and upgrade,it has functions of cycling warning,obstacle avoidance,heart rate monitoring,air mouse,and reserve USB interface convenient for follow-up upgrade. Through the introduction of method of function realization,based on the improvement of the four-axis parallel algorithm,the advantages of this design is described,compare and analyze by simulation result on angle,operation trajectory and operation time and error. The original design goal is achieved. The direction and the improvement space of the subsequent upgrade are put forward.
Using STM32F103C8T6 chip and NRF24L01 + 2.4 G wireless transmission module,the MPU6050 sixaxis acceleration gyroscope,infrared ranging device,heart rate sensor,such as Pulse Sensor,Bluetooth sensor,design smart gloves with multi-function and support the follow-up development and upgrade,it has functions of cycling warning,obstacle avoidance,heart rate monitoring,air mouse,and reserve USB interface convenient for follow-up upgrade. Through the introduction of method of function realization,based on the improvement of the four-axis parallel algorithm,the advantages of this design is described,compare and analyze by simulation result on angle,operation trajectory and operation time and error. The original design goal is achieved. The direction and the improvement space of the subsequent upgrade are put forward.
引文
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[3]张捍卫,李明艳,李克昭.四元数理论及其在坐标转换中的应用[J].大地测量与地球动力学,2015,35(5):807-810.
[4]刘志平,杨磊.大旋转角的空间直角坐标转换方法的改进[J].大地测量与地球动力学,2016,36(7):586-590.
[5] Huang S,Peng Y,Wei W,et a1. Clamping weighted least-norm method for the manipulator kinematic control:Avoiding joint limits[C]∥Chinese Control Conference(CCC),[S. L]:IEEE,2014:8309-8314.
[6]潘国荣,汪大超,周跃寅.两种大转角空间坐标转换模型研究[J].山东科技大学学报:自然科学版,2015,34(1):61-67.
[7]陈为星,刘卫国.基于STM32的风速风向测量系统设计[J].传感器与微系统,2018,37(10):85-88.
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