单片机课程结题报告：“弹弹乐”

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兵郁
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1 体感手势控制以玩具车控制为例组员姓名 : 黄泽蔡宁武三茗院系 : 2013 级物理学院指导老师 : 李茂奎王健完成日期 : 2015 年 5 月 6 日摘要我组应用体感技术, 以玩具车的控制为例, 实现了体感手势控制采用微软 kinect 探测器, 以计算机进行视频识别, 实现手势探测, 并通过串口通信将指令发送至单片机, 实现对玩具车的远程遥控同时, 我组将此亦将此技术用于 LED 灯光控制等方面 Our team designed a gesture controlling platform with motion sensing technology, which have been applied to a smart toy and a LED system. Our team use kinect, a sensor produced by Microsoft Corporation, to detect operators gesture and computer to analyze the video, and demands are sent to the Arduino to achieve the remote control. Besides, our team apply the technology to other fields, including the remote control of LED. 关键词 Kinect 手势控制体感 arduino

2 目录一硬件设计思路与可行性分析 1 二程序设计思路与可行性分析 5 三电路图 17 三参考文献 17

一硬件设计思路与可行性分析硬件组成分为三部分, 探测器数据处理系统与控制系统探测器选用微软的 kinect 探测器, 因为其具有性能好精度高可靠性好的优点, 对于高精度深度数据收集与手势识别有很大的优势 ; 由于数据较多对数据计算速度要求较高, 所以选择数据在计算机而非单片机中处理 ; 控制系统的中心是一个单片机, 单片机接收通过串口通讯由计算机发送过来的数据,

3 一硬件设计思路与可行性分析硬件组成分为三部分, 探测器数据处理系统与控制系统探测器选用微软的 kinect 探测器, 因为其具有性能好精度高可靠性好的优点, 对于高精度深度数据收集与手势识别有很大的优势 ; 由于数据较多对数据计算速度要求较高, 所以选择数据在计算机而非单片机中处理 ; 控制系统的中心是一个单片机, 单片机接收通过串口通讯由计算机发送过来的数据, 再通过数字引脚输出高低电平 PWM 引脚输出模拟信号, 起到对于直流电机的控制作用由于并没有在单片机内进行过多的运算, 保障了响应的及时性与系统的稳定性四个直流电机再驱动四个轮子带动小车前进, 并且通过调速实现转向的功能整个系统可靠性高, 所需程序能够在硬件内顺利运行, 可靠性高, 市面上有能够满足要求的零部件, 并且硬件结构简单, 出现问题易于维护与修理, 性能稳定硬件概况 1 Kinect v1.0 Kinect 是一种 3D 体感摄影机, 同时导入了即时动态捕捉影像辨识等功能具有两个 RGB 摄像头一个红外传感器与一个 3D 深度传感器, 能够采集视频数据与深度数据 2 Arduino Mega2560 Arduino Mega2560 采用 USB 接口的核心电路板, 可以使用 USB 供电, 亦可使用外部电源供电处理器核心是 ATmega2560, 同时具有 54 路数字输入 / 输出口 ( 其中 16 路可作为 PWM 输出 ),16 路模拟输入,4 路 UART 接口, 一个 16MHz 晶体振荡器, 一个 USB 口, 一个电源插座, 一个 ICSP header 和一个复位按钮 ATmega2560 内置的 4 路 UART 可以与外部实现串口通信 ;ATmega16U2 可以访问串口 0 实现 USB 上的虚拟串口第 1 页共 19 页

4 原理图 PCB Layout: 第 2 页共 19 页

5 3 L298N 驱动模块 L298N 是一种高电压大电流电机驱动芯片, 主要特点是 : 工作电压高, 最高工作电压可达 46V; 输出电流大, 瞬间峰值电流可达 3A, 持续工作电流为 2A; 额定功率 25W 其内含两个 H 桥的高电压大电流全桥式驱动器, 可可以用来驱动直流电动机 ; 采用标准逻辑电平信号控制 ; 具有两个使能控制端, 在不受输入信号影响的情况下允许或禁止器件工作有一个逻辑电源输入端, 使内部逻辑电路部分在低电压下工作 L298N 之接脚如下图所示,Pin1 和 Pin15 可与电流侦测用电阻连接来控制负载的电路 ; OUTl OUT2 和 OUT3 OUT4 之间分别接 2 个步进电机 ;input1~input4 输入控制电位来控制电机的正反转 ;Enable 则控制电机停转 L298 引脚图第 3 页共 19 页

6 硬件原理流程图 : 开始 Kienct 是否识别到信号是将指令传至计算机计算机数据分析指令传至单片机操作机械设备第 4 页共 19 页

7 二程序设计思路与可行性分析 : 我组的程序分为两个部分 : 使用 kinect 进行手势识别, 与对 arduino 的操控为实现手势识别, 首先需要先找到手部的位置我组使用点来代替手, 当 kinect 识别出手部的时候在手的位置绘制一个点, 之后追踪这个点的位置, 这样当手的姿势改变或者手被异物挡住的时候仍然可以被识别当有新的手部出现的手部, 会识别新的手, 建立新的追踪点, 而旧的追踪点会被移除, 当两个手接触的时候追踪点会在两个手之间传递, 从而实现控制权从一只手到另一只手与从一个人到另一个人之间的交换当追踪点建立后,kinect 实时传回追踪点的位置信息在计算机上的程序实时分析传回的位置信息, 根据横坐标与纵坐标确定追踪点的位置, 按九宫格分为九个位置, 分别代表前进后退停止三种左转模式和三种右转模式当追踪点脱离探测范围时出发停止命令, 结束操作将这九种模式编号, 将其通过串口通信发送至单品机, 单片机通过高低电平及模拟信号值控制车轮转动方向与转速, 实现以上九种模式第 5 页共 19 页

8 软件原理流程图 : 开始是否探测到手部是建立追踪点传输追踪点位置至计算机是否位于位置一是否发送指令 1 至单片机是否位于位置二第 6 页共 19 页

9 是否位于位置八是发送指令 8 至单片机发送指令 9 至单片机单片机执行相应的操作第 7 页共 19 页

10 代码如下计算机部分代码 : import java.util.map; import java.util.iterator; import SimpleOpenNI.*; import processing.serial.*; SimpleOpenNI context; Serial myport; int handveclistsize = 20; Map<Integer,ArrayList<PVector>> handpathlist = new HashMap<Integer,ArrayList<PVector>>(); color[] userclr = new color[] color(255,0,0), color(0,255,0), color(0,0,255), color(255,255,0), color(255,0,255), color(0,255,255) ; void setup() // framerate(200); size(640,480); String portname = Serial.list()[0]; myport = new Serial(this, portname, 9600); context = new SimpleOpenNI(this); if(context.isinit() == false) println("can't init SimpleOpenNI, maybe the camera is not connected!"); exit(); return; // enable depthmap generation context.enabledepth(); 第 8 页共 19 页

11 // disable mirror context.setmirror(true); // enable hands + gesture generation //context.enablegesture(); context.enablehand(); context.startgesture(simpleopenni.gesture_wave); // set how smooth the hand capturing should be //context.setsmoothinghands(.5); void draw() // update the cam SimpleOpenNI.updateAll(); image(context.depthimage(),0,0); // draw the tracked hands if(handpathlist.size() > 0) Iterator itr = handpathlist.entryset().iterator(); while(itr.hasnext()) Map.Entry mapentry = (Map.Entry)itr.next(); int handid = (Integer)mapEntry.getKey(); ArrayList<PVector> veclist = (ArrayList<PVector>)mapEntry.getValue(); PVector p= new PVector(); PVector p2d = new PVector(); stroke(userclr[ (handid - 1) % userclr.length ]); nofill(); strokeweight(1); Iterator itrvec = veclist.iterator(); beginshape(); while( itrvec.hasnext() ) p = (PVector) itrvec.next(); context.convertrealworldtoprojective(p,p2d); 第 9 页共 19 页

12 vertex(p2d.x,p2d.y); endshape(); stroke(userclr[ (handid - 1) % userclr.length ]); strokeweight(4); p = veclist.get(0); context.convertrealworldtoprojective(p,p2d); point(p2d.x,p2d.y); if (p2d.x > 210 && p2d.x<430 && p2d.y > 160 && p2d.y <320) myport.write('h'); else if(p2d.x > 210 && p2d.x < 430 && p2d.y > 320) myport.write('f'); else if (p2d.x > 210 && p2d.x < 430 && p2d.y < 160) myport.write('b'); else if (p2d.x < 210 && p2d.y > 320) myport.write('y'); else if (p2d.x > 430 && p2d.y > 320) myport.write('z'); else if (p2d.x < 210 && p2d.y > 160 && p2d.y < 320) myport.write('l'); else if (p2d.x > 430 && p2d.y > 160 && p2d.y < 320) myport.write('r'); else if (p2d.x < 210 && p2d.y < 160) myport.write('1'); else if (p2d.x > 430 && p2d.y < 160) myport.write('0'); // // hand eventss void onnewhand(simpleopenni curcontext,int handid,pvector pos) 第 10 页共 19 页

13 println("onnewhand - handid: " + handid + ", pos: " + pos); ArrayList<PVector> veclist = new ArrayList<PVector>(); veclist.add(pos); handpathlist.put(handid,veclist); void ontrackedhand(simpleopenni curcontext,int handid,pvector pos) //println("ontrackedhand - handid: " + handid + ", pos: " + pos ); ArrayList<PVector> veclist = handpathlist.get(handid); if(veclist!= null) veclist.add(0,pos); if(veclist.size() >= handveclistsize) // remove the last point veclist.remove(veclist.size()-1); void onlosthand(simpleopenni curcontext,int handid) println("onlosthand - handid: " + handid); myport.write('h'); handpathlist.remove(handid); // // gesture events void oncompletedgesture(simpleopenni curcontext,int gesturetype, PVector pos) println("oncompletedgesture - gesturetype: " + gesturetype + ", pos: " + pos); int handid = context.starttrackinghand(pos); println("hand stracked: " + handid); arduino 部分的代码 : 第 11 页共 19 页

14 byte input = 0; int Left_Front_IN1 = 49; int Left_Front_IN2 = 47; int Left_Front_EN = 9; int Right_Front_IN1 = 37; int Right_Front_IN2 = 35; int Right_Front_EN = 12; int Left_Behind_IN1 = 53; int Left_Behind_IN2 = 51; int Left_Behind_EN = 7; int Right_Behind_IN1 = 33; int Right_Behind_IN2 = 31; int Right_Behind_EN = 8; void setup() Serial.begin(9600); // initialize the serial communication: pinmode(left_behind_in1, OUTPUT); pinmode(left_behind_in2, OUTPUT); pinmode(right_front_in1, OUTPUT); pinmode(right_front_in2, OUTPUT); pinmode(left_behind_in1, OUTPUT); pinmode(left_behind_in2, OUTPUT); pinmode(right_behind_in1, OUTPUT); pinmode(right_behind_in2, OUTPUT); void loop() // check if enough data has been sent from the computer: if (Serial.available()>0) input = Serial.read(); // And send those to the KCar! if (input == 'F') // Forward digitalwrite(left_front_in1, HIGH); 第 12 页共 19 页

15 digitalwrite(left_front_in2, LOW); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, HIGH); digitalwrite(left_behind_in2, LOW); analogwrite(left_behind_en,255); digitalwrite(right_front_in1, HIGH); digitalwrite(right_front_in2, LOW); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, HIGH); digitalwrite(right_behind_in2, LOW); analogwrite(right_behind_en,255); if (input == 'H') //Halt digitalwrite(left_front_in1, HIGH); digitalwrite(left_front_in2, HIGH); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, HIGH); digitalwrite(left_behind_in2, HIGH); analogwrite(left_behind_en,255); digitalwrite(right_front_in1, HIGH); digitalwrite(right_front_in2, HIGH); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, HIGH); digitalwrite(right_behind_in2, HIGH); analogwrite(right_behind_en,255); if (input == 'B') //Back digitalwrite(left_front_in1, LOW); digitalwrite(left_front_in2, HIGH); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, LOW); digitalwrite(left_behind_in2, HIGH); analogwrite(left_behind_en,255); 第 13 页共 19 页

16 digitalwrite(right_front_in1, LOW); digitalwrite(right_front_in2, HIGH); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, LOW); digitalwrite(right_behind_in2, HIGH); analogwrite(right_behind_en,255); if (input == 'L') //Turn Left digitalwrite(left_front_in1, LOW); digitalwrite(left_front_in2, HIGH); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, LOW); digitalwrite(left_behind_in2, HIGH); analogwrite(left_behind_en,255); digitalwrite(right_front_in1, HIGH); digitalwrite(right_front_in2, LOW); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, HIGH); digitalwrite(right_behind_in2, LOW); analogwrite(right_behind_en,255); if (input == 'R') //Turn Right digitalwrite(left_front_in1, HIGH); digitalwrite(left_front_in2, LOW); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, HIGH); digitalwrite(left_behind_in2, LOW); analogwrite(left_behind_en,255); digitalwrite(right_front_in1, LOW); digitalwrite(right_front_in2, HIGH); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, LOW); 第 14 页共 19 页

17 digitalwrite(right_behind_in2, HIGH); analogwrite(right_behind_en,255); if (input == 'Z') //Turn Left Forward digitalwrite(left_front_in1, HIGH); digitalwrite(left_front_in2, HIGH); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, HIGH); digitalwrite(left_behind_in2, HIGH); analogwrite(left_behind_en,255); digitalwrite(right_front_in1, HIGH); digitalwrite(right_front_in2, LOW); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, HIGH); digitalwrite(right_behind_in2, LOW); analogwrite(right_behind_en,255); if (input == 'Y') //Turn Right Forward digitalwrite(left_front_in1, HIGH); digitalwrite(left_front_in2, LOW); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, HIGH); digitalwrite(left_behind_in2, LOW); analogwrite(left_behind_en,255); digitalwrite(right_front_in1, HIGH); digitalwrite(right_front_in2, HIGH); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, HIGH); digitalwrite(right_behind_in2, HIGH); analogwrite(right_behind_en,255); if (input == '0') //Turn Left Back 第 15 页共 19 页

18 digitalwrite(left_front_in1, HIGH); digitalwrite(left_front_in2, HIGH); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, HIGH); digitalwrite(left_behind_in2, HIGH); analogwrite(left_behind_en,255); digitalwrite(right_front_in1, LOW); digitalwrite(right_front_in2, HIGH); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, LOW); digitalwrite(right_behind_in2, HIGH); analogwrite(right_behind_en,255); if (input == '1') //Turn Right Back digitalwrite(left_front_in1, LOW); digitalwrite(left_front_in2, HIGH); analogwrite(left_front_en,255); digitalwrite(left_behind_in1, LOW); digitalwrite(left_behind_in2, HIGH); analogwrite(left_behind_en,255); digitalwrite(right_front_in1, HIGH); digitalwrite(right_front_in2, HIGH); analogwrite(right_front_en,255); digitalwrite(right_behind_in1, HIGH); digitalwrite(right_behind_in2, HIGH); analogwrite(right_behind_en,255); 第 16 页共 19 页

19 三电路图四参考文献 1 arduino 程序设计基础, 陈吕洲, 北京 : 北京航空航天大学出版社,2014.1, ISBN Kinect 人机交互开发实践, 吴国斌, 李斌, 阎骥洲, 北京 : 人民邮电出版社,2013,ISBN 学 arduino 玩转 kinect 制作项目,Melgar,E.R, Diez,C.C. Jaworski,P. 北京 : 人民邮电出版社,2014.3,ISBN MSDN 5 CSDN 6 L298N 技术手册第 17 页共 19 页

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