技术领域technical field
本实用新型属于虚拟触控设备技术领域，尤其涉及一种基于Arduino主从控制器组的超声波传感器虚拟触控设备。The utility model belongs to the technical field of virtual touch devices, in particular to an ultrasonic sensor virtual touch device based on an Arduino master-slave controller group.
背景技术Background technique
随着信息技术的不断普及，电脑已经广泛成为人们使用的工具。人机交互作为电脑发展的一个重要课题，越来越受到研究人员和市场的关注。使用键盘和鼠标等传统人机交互设备对电脑进行控制的局限在于不能实现用户对电脑的直接控制，即使是无线键盘、鼠标等摆脱了连接线束缚的外设，在灵活性和便携性方面也存在缺陷，因此有了虚拟交互设备的诞生。目前多数虚拟交互设备采用图像处理的方式来捕捉用户动作。这些方法存在一定的局限性，它们不能适用于复杂的光学环境中，对硬件的计算能力要求很高，且整个装置体积较大，便携性差，此外造价高昂，在民用领域较难普及，且大多数只能实现简单的手势识别，并不能实现较高精度的控制。因此，急需要一种成本较低，便于携带，可移植性强，应用空间大且利于普及的虚拟触控设备来进行更自然的人机交互。With the continuous popularization of information technology, computers have been widely used as a tool for people. As an important subject of computer development, human-computer interaction has attracted more and more attention from researchers and markets. The limitation of using traditional human-computer interaction devices such as keyboards and mice to control computers is that users cannot directly control computers. Even peripherals such as wireless keyboards and mice that are free from the shackles of connecting wires are not flexible and portable. There are defects, so there is the birth of virtual interactive devices. At present, most virtual interactive devices use image processing to capture user actions. These methods have certain limitations. They cannot be applied to complex optical environments, require high computing power of the hardware, and the entire device is large in size and poor in portability. In addition, it is expensive and difficult to popularize in the civilian field. Most of them can only realize simple gesture recognition, and cannot achieve higher precision control. Therefore, there is an urgent need for a virtual touch device that is low in cost, easy to carry, strong in portability, large in application space and easy to popularize for more natural human-computer interaction.
实用新型内容Utility model content
本实用新型的目的是提供一种结构简单、体积小、性价比高，触控板大小可以改变，在不同温度、光线、电磁波、气压环境下都能准确识别出用户的手势移动，从而保证各种指令正确执行的虚拟触控设备。The purpose of this utility model is to provide a touch panel with simple structure, small size, high cost performance, the size of which can be changed, and the gesture movement of the user can be accurately recognized under different temperature, light, electromagnetic wave and air pressure environments, so as to ensure various A virtual touch device where the command executes correctly.
为实现上述目的，本实用新型采用的技术方案是：一种基于Arduino主从控制器组的超声波传感器虚拟触控设备，包括虚拟触控区域和PC端；还包括第一超声波传感器组、第二超声波传感器组，第一蓝牙发射器、第二蓝牙发射器，第一Arduino从控制器、第二Arduino从控制器，第一电池组、第二电池组，Arduino主控制器，第一蓝牙接收器、第二蓝牙接收器；第一超声波传感器组、第二超声波传感器组分别设置在虚拟触控区域上方左右两角，第一Arduino从控制器分别连接第一超声波传感器组和第一蓝牙发射器，第一电池组为其供电；第二Arduino从控制器分别连接第二超声波传感器组和第二蓝牙发射器，第二电池组为其供电；Arduino主控制器分别连接第一、第二蓝牙接收器和PC端；第一、第二蓝牙发射器与第一、第二蓝牙接收器通讯连接。In order to achieve the above object, the technical solution adopted by the utility model is: a virtual touch device of ultrasonic sensor based on the Arduino master-slave controller group, including a virtual touch area and a PC terminal; also including a first ultrasonic sensor group, a second Ultrasonic sensor group, first bluetooth transmitter, second bluetooth transmitter, first Arduino slave controller, second Arduino slave controller, first battery pack, second battery pack, Arduino master controller, first bluetooth receiver , the second Bluetooth receiver; the first ultrasonic sensor group and the second ultrasonic sensor group are respectively arranged at the left and right corners above the virtual touch area, and the first Arduino slave controller is respectively connected to the first ultrasonic sensor group and the first Bluetooth transmitter, The first battery pack supplies power to it; the second Arduino slave controller is connected to the second ultrasonic sensor group and the second Bluetooth transmitter respectively, and the second battery pack supplies power to it; the Arduino master controller is connected to the first and second Bluetooth receivers respectively and the PC terminal; the first and second Bluetooth transmitters communicate with the first and second Bluetooth receivers.
在上述的基于Arduino主从控制器组的超声波传感器虚拟触控设备中，第一超声波传感器组、第二超声波传感器组均采用一对并联的KS103超声波传感器模块。In the above-mentioned ultrasonic sensor virtual touch device based on the Arduino master-slave controller group, the first ultrasonic sensor group and the second ultrasonic sensor group both use a pair of parallel KS103 ultrasonic sensor modules.
在上述的基于Arduino主从控制器组的超声波传感器虚拟触控设备中，第一蓝牙发射器、第二蓝牙发射器，第一蓝牙接收器、第二蓝牙接收器均采用HC-05蓝牙模块。In the above-mentioned ultrasonic sensor virtual touch device based on the Arduino master-slave controller group, the first Bluetooth transmitter, the second Bluetooth transmitter, the first Bluetooth receiver, and the second Bluetooth receiver all use the HC-05 Bluetooth module.
在上述的基于Arduino主从控制器组的超声波传感器虚拟触控设备中，第一电池组、第二电池组均采用两片串联的LIR2032纽扣型充电电池。In the above-mentioned ultrasonic sensor virtual touch device based on the Arduino master-slave controller group, the first battery pack and the second battery pack both use two LIR2032 button-type rechargeable batteries connected in series.
在上述的基于Arduino主从控制器组的超声波传感器虚拟触控设备中，第一Arduino从控制器、第二Arduino从控制器均采用Arduino Nano。In the above-mentioned ultrasonic sensor virtual touch device based on the Arduino master-slave controller group, both the first Arduino slave controller and the second Arduino slave controller use Arduino Nano.
在上述的基于Arduino主从控制器组的超声波传感器虚拟触控设备中，ArduinoNano采用ATMega328芯片。In the above-mentioned ultrasonic sensor virtual touch device based on the Arduino master-slave controller group, the Arduino Nano uses the ATMega328 chip.
在上述的基于Arduino主从控制器组的超声波传感器虚拟触控设备中，Arduino主控制器采用Arduino Leonardo，是基于ATmega32u4的微控制器板；且通过USB插口连接到PC端。In the above-mentioned ultrasonic sensor virtual touch device based on the Arduino master-slave controller group, the Arduino master controller adopts Arduino Leonardo, which is a microcontroller board based on ATmega32u4; and is connected to the PC through a USB port.
本实用新型的有益效果是：实现更自然人机交互的同时，结构简单、体积小、性价比高。除桌面以外，在其他平面如竖直面、斜面等都可以实现虚拟触控设备与电脑的交互，使用户获得更好的交互体验。感应范围可以在尽量不牺牲精确度的前提下在一定范围内缩放，摆脱了实体触控板大小不能改变的欠缺。有较强的抗干扰能力，对黑暗、灰尘、烟雾、电磁干扰、有毒等恶劣环境有一定适应能力。该设备在不同温度、光线、电磁波、气压环境下都能实现较高精度的数据测量，准确识别出用户的手势移动，从而保证各种指令正确执行。The beneficial effects of the utility model are: while realizing more natural human-computer interaction, the utility model has the advantages of simple structure, small volume and high cost performance. In addition to the desktop, the interaction between the virtual touch device and the computer can be realized on other planes such as vertical planes and inclined planes, so that users can obtain a better interactive experience. The sensing range can be scaled within a certain range without sacrificing the accuracy as much as possible, getting rid of the lack of the size of the physical touchpad that cannot be changed. It has strong anti-interference ability, and has certain adaptability to harsh environments such as darkness, dust, smoke, electromagnetic interference, and poisonous. The device can achieve high-precision data measurement under different temperature, light, electromagnetic wave, and air pressure environments, and accurately recognize the user's gesture movements, thereby ensuring the correct execution of various commands.
附图说明Description of drawings
图1为本实用新型一个实施例结构主视图；Fig. 1 is a structural front view of an embodiment of the utility model;
其中，1-虚拟触控区域、2-第一超声波传感器组、3-第二超声波传感器组、4-第一蓝牙发射器、5-第二蓝牙发射器、6-第一Arduino从控制器、7-第二Arduino从控制器、8-第一电池组、9-第二电池组、10-第一蓝牙接收器组、11-第二蓝牙接收器组、12-Arduino主控制器、13-PC端、14-障碍物；Among them, 1-virtual touch area, 2-first ultrasonic sensor group, 3-second ultrasonic sensor group, 4-first Bluetooth transmitter, 5-second Bluetooth transmitter, 6-first Arduino slave controller, 7-Second Arduino slave controller, 8-First battery pack, 9-Second battery pack, 10-First bluetooth receiver set, 11-Second bluetooth receiver set, 12-Arduino master controller, 13- PC terminal, 14-obstacles;
图2为本实用新型一个实施例第一超声波传感器组检测示意图；Fig. 2 is a schematic diagram of detection of the first ultrasonic sensor group in an embodiment of the present invention;
图3为本实用新型一个实施例第一、第二超声波传感器检测示意图；Fig. 3 is a schematic diagram of the detection of the first and second ultrasonic sensors according to an embodiment of the present invention;
图4为本实用新型一个实施例第一、第二Arduino从控制器流程图。Fig. 4 is a flowchart of the first and second Arduino slave controllers of an embodiment of the present invention.
具体实施方式detailed description
下面结合附图对本实用新型的实施方式进行详细描述。Embodiments of the utility model will be described in detail below in conjunction with the accompanying drawings.
所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本实用新型，而不能解释为对本实用新型的限制。Examples of the described embodiments are shown in the drawings, wherein like or similar reference numerals designate like or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present invention, and cannot be construed as limiting the present invention.
下文的公开提供了许多不同的实施例或例子用来实现本实用新型的不同结构。为了简化本实用新型的公开，下文中对特定例子的部件和设置进行描述。它们仅仅为示例，并且目的不在于限制本实用新型。此外，本实用新型可以在不同例子中重复参考数字和/或字母。这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施例和/或设置之间的关系。此外，本实用新型提供了各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其它工艺的可应用性和/或其他材料的使用。另外，以下描述的第一特征在第二特征之“上”的结构可以包括第一和第二特征形成为直接接触的实施例，也可以包括另外的特征形成在第一和第二特征之间的实施例，这样第一和第二特征可能不是直接接触。The following disclosure provides many different embodiments or examples for realizing different structures of the present invention. To simplify the disclosure of the present invention, components and arrangements of specific examples are described below. They are examples only and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in different instances. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. Additionally, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the applicability of other processes and/or the use of other materials. Additionally, configurations described below in which a first feature is "on" a second feature may include embodiments where the first and second features are formed in direct contact, and may include additional features formed between the first and second features. For example, such that the first and second features may not be in direct contact.
本实用新型的描述中，需要说明的是，除非另有规定和限定，术语“相连”“连接"应做广义理解，例如，可以是机械连接或电连接，也可以是两个元件内部的连通，可以是直接相连，也可以通过中间媒介间接相连，对于相关领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。In the description of the present utility model, it should be noted that, unless otherwise stipulated and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, or it can be the internal communication of two elements , may be directly connected, or may be indirectly connected through an intermediary. Those of ordinary skill in the related art can understand the specific meanings of the above terms according to specific situations.
本实施例是采用以下技术方案来实现的，一种基于Arduino主从控制器组的超声波传感器虚拟触控设备，包括虚拟触控区域和PC端；还包括第一超声波传感器组、第二超声波传感器组，第一蓝牙发射器、第二蓝牙发射器，第一Arduino从控制器、第二Arduino从控制器，第一电池组、第二电池组，Arduino主控制器，第一蓝牙接收器、第二蓝牙接收器；第一超声波传感器组、第二超声波传感器组分别设置在虚拟触控区域上方左右两角，第一Arduino从控制器分别连接第一超声波传感器组和第一蓝牙发射器，第一电池组为其供电；第二Arduino从控制器分别连接第二超声波传感器组和第二蓝牙发射器，第二电池组为其供电；Arduino主控制器分别连接第一、第二蓝牙接收器和PC端；第一、第二蓝牙发射器与第一、第二蓝牙接收器通讯连接。This embodiment is realized by adopting the following technical solutions, an ultrasonic sensor virtual touch device based on the Arduino master-slave controller group, including a virtual touch area and a PC terminal; it also includes a first ultrasonic sensor group, a second ultrasonic sensor Group, the first Bluetooth transmitter, the second Bluetooth transmitter, the first Arduino slave controller, the second Arduino slave controller, the first battery pack, the second battery pack, the Arduino master controller, the first Bluetooth receiver, the second Two Bluetooth receivers; the first ultrasonic sensor group and the second ultrasonic sensor group are respectively arranged at the left and right corners above the virtual touch area, and the first Arduino slave controller is respectively connected to the first ultrasonic sensor group and the first Bluetooth transmitter, and the first The battery pack supplies power for it; the second Arduino slave controller is connected to the second ultrasonic sensor group and the second Bluetooth transmitter, and the second battery pack supplies power to it; the Arduino master controller is connected to the first and second Bluetooth receivers and PC respectively end; the first and second bluetooth transmitters communicate with the first and second bluetooth receivers.
进一步，第一超声波传感器组、第二超声波传感器组均采用一对并联的KS103超声波传感器模块。Further, both the first ultrasonic sensor group and the second ultrasonic sensor group use a pair of parallel KS103 ultrasonic sensor modules.
进一步，第一蓝牙发射器、第二蓝牙发射器，第一蓝牙接收器、第二蓝牙接收器均采用HC-05蓝牙模块。Further, the first bluetooth transmitter, the second bluetooth transmitter, the first bluetooth receiver, and the second bluetooth receiver all use the HC-05 bluetooth module.
进一步，第一电池组、第二电池组均采用两片串联的LIR2032纽扣型充电电池。Further, both the first battery pack and the second battery pack use two LIR2032 button-type rechargeable batteries connected in series.
进一步，第一Arduino从控制器、第二Arduino从控制器均采用Arduino Nano。Further, both the first Arduino slave controller and the second Arduino slave controller adopt Arduino Nano.
进一步，Arduino Nano采用ATMega328芯片。Further, Arduino Nano uses ATMega328 chip.
更进一步，Arduino主控制器采用Arduino Leonardo，是基于ATmega32u4的微控制器板；且通过USB插口连接到PC端。Furthermore, the Arduino main controller adopts Arduino Leonardo, which is a microcontroller board based on ATmega32u4; and it is connected to the PC through the USB port.
具体实施时，一种基于Arduino主从控制器组的超声波传感器虚拟触控设备，将手指的移动路径、位置信息和手势数据作为重点，使用第一、第二超声波传感器组捕获运动对象，利用第一、第二Arduino从控制器对采集到的数据进行处理，同时第一、第二蓝牙发射器将处理过的数据传送给通过USB插口连接到PC端的Arduino主控制器，调用相关函数，从而实现控制鼠标光标的功能的虚拟触控设备。During specific implementation, an ultrasonic sensor virtual touch device based on the Arduino master-slave controller group focuses on the movement path, position information and gesture data of the finger, and uses the first and second ultrasonic sensor groups to capture moving objects. 1. The second Arduino slave controller processes the collected data, and at the same time, the first and second Bluetooth transmitters transmit the processed data to the Arduino master controller connected to the PC through the USB socket, and call related functions to realize A virtual touch device that controls the functionality of the mouse cursor.
而且，第一、第二超声波传感器组采用两组共四个KS103模块分别置于所需控制的虚拟触控区域上方左右两角。为避免两个超声波模块同时工作产生干扰，两个超声波模块接在同一总线上，使用不同的总线地址，实现分时工作，在不同位置同步测量障碍物位置，获取各角度相对距离从而确定更精确的位置。应用三角形定位法进行位置计算，并考虑到环境温度对声速的影响采用了KS103的相应温度补偿模块。Moreover, the first and second ultrasonic sensor groups use two groups of four KS103 modules, which are respectively placed at the left and right corners above the virtual touch area to be controlled. In order to avoid interference caused by two ultrasonic modules working at the same time, the two ultrasonic modules are connected to the same bus, using different bus addresses to realize time-sharing work, synchronously measure the position of obstacles at different positions, and obtain the relative distance of each angle to determine more accurately s position. The triangular positioning method is used for position calculation, and the corresponding temperature compensation module of KS103 is adopted in consideration of the influence of ambient temperature on the sound velocity.
而且，第一、第二Arduino从控制器均采用Arduino Nano。处理器核心是ATmega168(Nano2.x)和ATmega328(Nano3.0)。Moreover, both the first and second Arduino slave controllers use Arduino Nano. The processor core is ATmega168 (Nano2.x) and ATmega328 (Nano3.0).
而且,Arduino Nano使用ATMega328芯片，额定外部输入电压为6-20V，其中推荐输入VIN引脚的电压为7-12V。为保证各个元器件以及Arduino Nano从控制器组正常工作，同时尽可能地缩小设备体积，采用LIR2032纽扣型可充电锂离子电池供电。它体积小巧，电压适用于所采用Arduino单片机型号。第一Arduino从控制器与一对并联的KS103超声波传感器模块、第一蓝牙发射器连接后由两片串联的LIR2032纽扣型充电电池供电，第二Arduino从控制器与一对并联的KS103超声波传感器模块、第二蓝牙发射器连接后由两片串联的LIR2032纽扣型充电电池供电。Moreover, Arduino Nano uses ATMega328 chip, the rated external input voltage is 6-20V, and the recommended input voltage of VIN pin is 7-12V. In order to ensure the normal operation of each component and the Arduino Nano slave controller group, and to minimize the size of the device, a LIR2032 button-type rechargeable lithium-ion battery is used for power supply. It is small and compact, and the voltage is suitable for the Arduino microcontroller model used. The first Arduino slave controller is connected to a pair of KS103 ultrasonic sensor modules in parallel, and the first Bluetooth transmitter is powered by two LIR2032 button-type rechargeable batteries connected in series. The second Arduino slave controller is connected to a pair of KS103 ultrasonic sensor modules in parallel. , After the second Bluetooth transmitter is connected, it is powered by two LIR2032 button-type rechargeable batteries connected in series.
而且，一对Arduino Nano从控制器组配置I2C地址，分别实现基于I2C通讯协议的两对并联KS103超声波传感器模块组同时无差错数据传输。Moreover, a pair of Arduino Nano is configured with an I2C address from the controller group, and respectively realizes two pairs of parallel KS103 ultrasonic sensor module groups based on the I2C communication protocol to simultaneously transmit error-free data.
而且，Arduino主控制器采用Arduino Leonardo，是基于ATmega32u4的微控制器板。不同于其它Arduino控制器，Arduino Leonardo直接使用了ATmega32u4的USB通信功能，取消了USB转UART芯片。这使得它们不仅可以作为虚拟的(CDC)串行/COM端口，还可以作为鼠标或者键盘连接到计算机。Arduino所有型号芯片均可使用官方自带的IDE编程环境。Moreover, the Arduino main controller adopts Arduino Leonardo, which is a microcontroller board based on ATmega32u4. Unlike other Arduino controllers, Arduino Leonardo directly uses the USB communication function of ATmega32u4, and cancels the USB to UART chip. This allows them to be used not only as virtual (CDC) serial/COM ports, but also as a mouse or keyboard connected to the computer. All types of Arduino chips can use the official IDE programming environment.
而且，Arduino Leonardo需要连接多个KS103超声波模块，KS103模块基于I2C通讯协议，因此需要配置其I2C地址从而使多个并联的超声波模块数据传输不出错。此外完成超声波模块配置的优选，尽可能地减少其噪声以及USB等噪声对测量精度的影响。Moreover, Arduino Leonardo needs to connect multiple KS103 ultrasonic modules. The KS103 module is based on the I2C communication protocol, so its I2C address needs to be configured so that the data transmission of multiple parallel ultrasonic modules does not go wrong. In addition, the optimization of the configuration of the ultrasonic module is completed, and the influence of its noise and USB noise on the measurement accuracy is reduced as much as possible.
而且，根据两对并联KS103传感器模块组相对位置和探测量程相互重叠区域决定虚拟触控区域的位置和大小，用户手指作为虚拟触控区域障碍物。Moreover, the position and size of the virtual touch area is determined according to the relative position of the two pairs of parallel KS103 sensor module groups and the overlapping area of the detection range, and the user's finger acts as an obstacle in the virtual touch area.
而且，第一、第二蓝牙发送器，第一、第二蓝牙接收器均采用HC-05模块，通过串口助手手动修改其工作模式，找到其硬件地址完成第一、第二蓝牙发射器与蓝牙接收器的一对一配对，实现数据发送功能。Moreover, the first and second bluetooth transmitters, the first and second bluetooth receivers all use HC-05 modules, manually modify their working mode through the serial port assistant, and find their hardware addresses to complete the connection between the first and second bluetooth transmitters and bluetooth One-to-one pairing of receivers to realize data sending function.
而且，Arduino Leonardo主控制器和Arduino Nano从控制器组通过AT指令设置为主模块，与默认从模块HC-05蓝牙模块主从模块配对，实现数据通讯。Moreover, the Arduino Leonardo master controller and the Arduino Nano slave controller group are set as the master module through the AT command, and are paired with the default slave module HC-05 Bluetooth module master-slave module to realize data communication.
而且，Arduino Leonardo主控制器通过USB插口连接到PC端，通过IDE编程，调用函数实现虚拟触控功能。Moreover, the main controller of Arduino Leonardo is connected to the PC through the USB port, programmed through the IDE, and calls functions to realize the virtual touch function.
如图1所示，一种基于Arduino主从控制器组的超声波传感器虚拟触控设备，包括：虚拟触控区域1、第一超声波传感器组2、第二超声波传感器组3、第一蓝牙发射器4、第二蓝牙发射器5、第一Arduino从控制器6、第二Arduino从控制器7、第一电池组8、第二电池组9、第一蓝牙接收器组10、第二蓝牙接收器组11、Arduino主控制器12、PC端13、障碍物14。As shown in Figure 1, an ultrasonic sensor virtual touch device based on an Arduino master-slave controller group includes: a virtual touch area 1, a first ultrasonic sensor group 2, a second ultrasonic sensor group 3, and a first Bluetooth transmitter 4. The second bluetooth transmitter 5, the first Arduino slave controller 6, the second Arduino slave controller 7, the first battery pack 8, the second battery pack 9, the first bluetooth receiver set 10, the second bluetooth receiver Group 11, Arduino main controller 12, PC terminal 13, obstacle 14.
用户手指可以任意移动或者做出手势的虚拟触控区域1的大小和位置由第一、第二超声波传感器组2、3的相对位置和相互重合的探测角度决定。第一、第二电池组采用两块并联的LIR2032纽扣型充电电池组。The size and position of the virtual touch area 1 where the user's fingers can move arbitrarily or make gestures are determined by the relative positions of the first and second ultrasonic sensor groups 2 and 3 and the overlapping detection angles. The first and second battery packs use two parallel LIR2032 button-type rechargeable battery packs.
如图2所示，第一超声波传感器包括一对并联的超声波传感器模块S1和S2；若使用超声波传感器S1发射超声波，又单独使用超声传感器S1检测物体，物体的位置可能位于传感器S1探测角度范围内的一个确定半径的圆锥体球表面上的某点，具有很大的方位不确定性。故考虑在S1探测量程内加入相同的超声波传感器S2，可以测量出两者的直线距离，当目标S位于两者的探测角度范围相交区域时，可通过两者交点确定目标点位置。As shown in Figure 2, the first ultrasonic sensor includes a pair of parallel ultrasonic sensor modules S1 and S2; if the ultrasonic sensor S1 is used to emit ultrasonic waves, and the ultrasonic sensor S1 is used alone to detect an object, the position of the object may be within the detection angle range of the sensor S1 A point on the surface of a cone of defined radius with a large uncertainty in orientation. Therefore, it is considered to add the same ultrasonic sensor S2 in the detection range of S1, and the linear distance between the two can be measured. When the target S is located in the intersection area of the detection angle ranges of the two, the position of the target point can be determined through the intersection point of the two.
如图3所示，本实施例采用的超声波传感器探测组包含4个相同的探测角度范围为75°的超声波传感器S1、S2、S3、S4，两两组合于A、B两点从而确定一条直线。左右两组虚线之间为超声波传感器S2、S4的探测角度范围，实线之间为S1、S3的探测角度范围。四个角可完全覆盖A、B所确定直线下方区域，并测得AB之间距离L0。以L1的测量为例，当S1、S2所测得的距离相同时，说明目标S在S1、S2的重合区域，取此距离为L1；当S1、S2所测得的距离不相同时，说明目标S不在S1、S2的重合区域，此时取两测量值的较小值为L1。以A点坐标原点，直线AB为x轴建立直角坐标系，L0L1L2为已知。设目标位置S(x,y),在三角形SAB中，通过解三角形可求得障碍物S坐标为As shown in Figure 3, the ultrasonic sensor detection group used in this embodiment includes four identical ultrasonic sensors S1, S2, S3, and S4 with a detection angle range of 75°, which are combined in pairs at points A and B to determine a straight line . Between the left and right groups of dotted lines is the detection angle range of ultrasonic sensors S2 and S4, and between the solid lines is the detection angle range of S1 and S3. The four corners can completely cover the area under the straight line determined by A and B, and the distance L0 between A and B can be measured. Taking the measurement of L1 asan example, when the distances measured by S1 and S2 are the same, it means that the target S is in the overlapping area of S1 and S2, and this distance is taken as L1; when the distances measured by S1 and S2 are different , indicating that the target S is not in the overlapping area of S1 and S2, at this time, the smaller value of the two measured values is taken as L1 . Establish a Cartesian coordinate system with the origin of the coordinates of point A and the straight line AB as the x-axis, and L0 L1 L2 is known. Assuming the target position S(x,y), in the triangle SAB, the obstacle S coordinates can be obtained by solving the triangle as
如图4所示，本实施例同一个Arduino从控制器需要连接多个KS103超声波模块。KS103模块基于I2C通讯协议，因此我们需要配置其I2C地址从而使多个并联的超声波模块数据传输不出错。As shown in Figure 4, in this embodiment, the same Arduino slave controller needs to be connected to multiple KS103 ultrasonic modules. The KS103 module is based on the I2C communication protocol, so we need to configure its I2C address so that the data transmission of multiple parallel ultrasonic modules does not go wrong.
本实施例第一、第二Arduino从控制器6、7和Arduino主控制器12上需连接蓝牙模块进行通讯。首先通过AT指令获取模块地址，然后使用AT指令设置主模块(HC-05模块默认为从模块，故从模块无需AT指令设置)，最后向主机发送AT+LINK＝XXX(XXX代表从机地址)指令，使得主从模块实现配对。In this embodiment, the first and second Arduino slave controllers 6 and 7 and the Arduino master controller 12 need to be connected to a Bluetooth module for communication. First obtain the module address through the AT command, then use the AT command to set the master module (the HC-05 module is the slave module by default, so the slave module does not need to be set by the AT command), and finally send AT+LINK=XXX to the host (XXX represents the slave address) command to make the master-slave module realize pairing.
本实施例Arduino主控制器12接收到障碍物位置信息后，通过IDE编程，调用相关函数，实现虚拟触控功能。In this embodiment, after receiving the obstacle position information, the Arduino main controller 12 calls related functions through IDE programming to realize the virtual touch function.
应当理解的是，本说明书未详细阐述的部分均属于现有技术。It should be understood that the parts not described in detail in this specification belong to the prior art.
虽然以上结合附图描述了本实用新型的具体实施方式，但是本领域普通技术人员应当理解，这些仅是举例说明，可以对这些实施方式做出多种变形或修改，而不背离本实用新型的原理和实质。本实用新型的范围仅由所附权利要求书限定。Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, those of ordinary skill in the art should understand that these are only examples, and various variations or modifications can be made to these embodiments without departing from the principles of the present invention. principle and substance. The scope of the invention is limited only by the appended claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720891510.1UCN206991283U (en) | 2017-07-21 | 2017-07-21 | A kind of virtual touch control device of ultrasonic sensor based on Arduino master-slave controller groups |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720891510.1UCN206991283U (en) | 2017-07-21 | 2017-07-21 | A kind of virtual touch control device of ultrasonic sensor based on Arduino master-slave controller groups |
| Publication Number | Publication Date |
|---|---|
| CN206991283Utrue CN206991283U (en) | 2018-02-09 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720891510.1UExpired - Fee RelatedCN206991283U (en) | 2017-07-21 | 2017-07-21 | A kind of virtual touch control device of ultrasonic sensor based on Arduino master-slave controller groups |
| Country | Link |
|---|---|
| CN (1) | CN206991283U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112287717A (en)* | 2019-07-12 | 2021-01-29 | 上海三思电子工程有限公司 | Intelligent system, gesture control method, electronic device and storage medium |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112287717A (en)* | 2019-07-12 | 2021-01-29 | 上海三思电子工程有限公司 | Intelligent system, gesture control method, electronic device and storage medium |
| Publication | Publication Date | Title |
|---|---|---|
| CN101470548B (en) | Method for measuring object dimension and angle through touch screen | |
| CN102955580B (en) | Mouse and method for simulating touch operation | |
| CN106598293B (en) | A three-dimensional large-space multi-channel pen-based interactive system | |
| JP2015503783A (en) | Gesture motion architecture using proximity sensing | |
| CN107291307A (en) | Ultrasonic wave contactor control device and method, display device | |
| CN102156540A (en) | Three-dimensional somatosensory man-machine interactive system with vibrotactile feedback and interactive method thereof | |
| CN103605433B (en) | A kind of Multifunctional somatological input device | |
| CN103294226B (en) | A virtual input device and method | |
| CN107145232A (en) | The method and apparatus that a kind of utilization capacitance detecting recognizes user's hand behavior | |
| CN206991283U (en) | A kind of virtual touch control device of ultrasonic sensor based on Arduino master-slave controller groups | |
| CN202159314U (en) | Cell phone mouse and system for implementing same | |
| CN202563451U (en) | Hand drawing pen | |
| CN113176825B (en) | A system and method for large-area air gesture recognition | |
| CN105630136B (en) | Input system | |
| CN203872249U (en) | Cell phone having mouse function | |
| TWI478017B (en) | Touch panel device and method for touching the same | |
| CN215068202U (en) | A virtual keyboard based on two-dimensional plane vibration signal positioning | |
| CN110187782A (en) | A somatosensory ring mouse | |
| CN206038808U (en) | A device for testing capacitive touch panel | |
| CN111813257A (en) | Touch processor, touch device, touch system and touch method | |
| CN117032485A (en) | Touch pen-based use method and device | |
| CN109166423B (en) | Development board and learning teaching aid | |
| CN209911963U (en) | Multicomputer switcher | |
| CN206532260U (en) | Based on the laser pen-based input device positioned in projection screen | |
| CN217060941U (en) | Information interaction system for touch operation |
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20180209 Termination date:20180721 | |
| CF01 | Termination of patent right due to non-payment of annual fee |