CN112558594A - Trolley remote gesture control system based on conductive hydrogel flexible intelligent gloves - Google Patents
Trolley remote gesture control system based on conductive hydrogel flexible intelligent gloves Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
- G01B7/18—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge using change in resistance
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Abstract
本发明涉及一种基于导电水凝胶柔性智能手套的小车远程手势控制系统，由导电水凝胶、智能手套、发射器、单片机控制模块、接收器、电机驱动器和电机组成。导电水凝胶传感器发送信号控制小车运动，发射器模块与单片机控制模块与手套相连接，接收器模块和小车单片机控制器相连接，电机驱动器设置在小车单片机控制器输出端，电机驱动器与电机相连接，本发明使用柔性的导电水凝胶应变传感器作为遥控装置设置在智能手套上，所述的发射器和接收器模块由主从蓝牙模块建立起无线蓝牙通信，用于接收和发送控制命令，所制备的手套可以穿戴在手上对小车进行控制，具有安装搭载方便、操作方便、性能稳定等优点。
The invention relates to a car remote gesture control system based on conductive hydrogel flexible smart gloves, which is composed of conductive hydrogel, smart gloves, a transmitter, a single-chip control module, a receiver, a motor driver and a motor. The conductive hydrogel sensor sends signals to control the movement of the car, the transmitter module is connected with the single-chip microcomputer control module and the glove, the receiver module is connected with the car single-chip controller, the motor driver is set at the output end of the car single-chip controller, and the motor driver is connected with the motor. In the present invention, a flexible conductive hydrogel strain sensor is used as a remote control device to be set on the smart glove, and the transmitter and receiver modules are established by the master-slave Bluetooth module to establish wireless Bluetooth communication for receiving and sending control commands. The prepared glove can be worn on the hand to control the trolley, and has the advantages of convenient installation and loading, convenient operation, stable performance, and the like.
Description
Technical Field
The invention belongs to the technical field of intelligent remote control, and relates to a trolley remote gesture control system based on conductive hydrogel flexible intelligent gloves.
Background
Flexible wearable devices are an important component of flexible electronic technology, the advent of which has changed the way of life of modern people and is favored by people. Wearable devices, in the process of high-speed development in recent two years. Compared with the traditional technology, the wearable device has shown special application and advantages in the fields of communication, health monitoring, identity recognition, wireless payment and the like. The flexible wearable electronic device is an electronic device which has mechanical flexibility and can be directly or indirectly tightly attached to the skin, has various functions such as displaying, sensing, energy storage and the like, and can be applied to wearable physiological monitoring and treatment devices, electronic skins, flexible conductive fabrics and the like.
The intelligent gloves that possess gesture recognition function have real-time monitoring and calculation and wireless communication function as one of intelligent wearing equipment. The mainstream smart gloves in the market at present are that sensors are installed on gloves, and then the gloves are worn on hands, and the gloves comprise gloves based on magnetic force calculation, gloves based on accelerated calculation, gloves based on optical fiber sensors, force feedback gloves and the like. The gloves are complex in design and heavy to wear, and cannot well meet the requirement of real-time monitoring of human gestures. Hydrogel-based flexible materials are one of the future development directions for the preparation of excellent flexible wearable devices. The conductive hydrogel can be used for developing novel flexible electronic devices due to the unique conductive performance of the conductive hydrogel. The intelligent glove is manufactured by combining the conductive hydrogel-based flexible strain sensor and the glove, the analog sensor is manufactured by means of mechanical properties and good conductive performance of materials, and the change of the resistance value of the sensor is read by the Arduino single-chip microcomputer controller, so that an analog signal is obtained.
The intelligent gloves that possess gesture recognition function have real-time monitoring and calculation and wireless communication function as one of intelligent wearing equipment. The mainstream smart gloves in the market at present are that sensors are installed on gloves, and then the gloves are worn on hands, and the gloves comprise gloves based on magnetic force calculation, gloves based on accelerated calculation, gloves based on optical fiber sensors, force feedback gloves and the like. The gloves are complex in design and heavy to wear, and cannot well meet the requirement of real-time monitoring of human gestures.
Flexible wearable devices are an important component of flexible electronic technology, and their advent has changed the way modern people live, particularly for assisting in human movement and human health monitoring. In the development process of the intelligent gloves, the traditional flexible material substrates such as PET, PDMS and the like have insufficient durability in gesture movement, and even limit long-term use. The conductive hydrogel is prepared by compounding the silver nanowires and the hydrogel, has excellent conductivity, mechanical property and biocompatibility, and provides a scientific method for preparing the flexible strain sensor. The prepared conductive hydrogel flexible strain sensor is combined with the glove, the control of the trolley is realized through wireless communication, and a new road is opened up for the flexible wearable equipment.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a trolley remote gesture control system based on conductive hydrogel flexible intelligent gloves.
The idea of the invention is as follows:
hydrogel-based flexible materials are one of the future development directions for the preparation of excellent flexible wearable devices. The conductive hydrogel can be used for developing novel flexible electronic devices due to the unique conductive performance of the conductive hydrogel. The intelligent glove is manufactured by combining the conductive hydrogel-based flexible strain sensor and the glove, the analog sensor is manufactured by means of mechanical properties and good conductive performance of materials, and the change of the resistance value of the sensor is read by the Arduino single-chip microcomputer controller, so that an analog signal is obtained.
Secondly, setting a threshold voltage for each read value, and giving a digital signal 1 when the value tested by a certain interface is greater than the threshold voltage, and giving a digital signal 0 when the tested value is less than the threshold voltage. Through utilizing bluetooth module to carry out wireless transmission data, carry out long-range wireless motion control to the dolly. The glove and the sensor are integrated, and the glove has the advantages of high sensitivity, wearing comfort, easiness in carrying, small limitation on the movement of fingers, good stability and long service life. Meanwhile, the sensor can be endowed with good mechanical property and mechanical property by designing the functional monomer and improving the crosslinking density of the gel material, and the sensor can be used in wearable equipment for a long time due to the antibacterial property of the sensor rich in silver ions. The invention opens up a new road for the flexible wearable equipment.
Technical scheme
A trolley remote gesture control system based on conductive hydrogel flexible intelligent gloves is characterized by comprising conductive hydrogel flexible intelligent gloves, a glove control module, a vehicle-mounted control module and a power supply module; the conductive hydrogel flexible smart glove comprises a glove 2 and a conductive hydrogel strain sensor 1 positioned on each finger; the glove control module comprises a single-chip microcomputer control module, a Bluetooth module and a power module which are positioned in the middle of the palm; the vehicle-mounted control module comprises a single chip microcomputer control module, a Bluetooth module, a motor driving module and a power supply module which are arranged in the vehicle; the electrical connection relation is as follows: the output end of the conductive hydrogel strain sensor 1 on each finger is connected with the single-chip microcomputer control module, the action sensing information of each finger is output to the single-chip microcomputer control module, and the single-chip microcomputer control module encodes the sensing information according to a logic function table rotated by the motor and then sends the sensing information to the vehicle-mounted control module through Bluetooth; the Bluetooth of the vehicle-mounted control module receives the signal and then outputs the signal to the single chip microcomputer control module, the single chip microcomputer control module decodes the signal according to a logic function table of motor rotation and sends a motor driving signal to the driving module according to the decoding information, and the driving module sends a driving signal to a motor needing to act according to the signal;
the motor rotating logic function table
The conductive hydrogel strain sensor 1 is a conductive hydrogel strain sensor prepared by doping silver nanowires into hydrogel, and is in a strip shape.
The strip-shaped conductive hydrogel strain sensor 1 covers the joints of two fingers: respectively a proximal interphalangeal joint connected with the positive pole of the power supply and a distal interphalangeal joint connected with the negative pole of the power supply.
And a buzzer is arranged on the vehicle-mounted control module.
The single-chip microcomputer control module of the glove control module adopts an Arduino nano V3.0 single-chip microcomputer, and the Bluetooth module adopts an HC-05 Bluetooth module and a 5V lithium battery power supply module; the connection relationship is as follows: one end of each of the five groups of sensors is connected with the ground by a lead, the other end of each of the five groups of sensors is connected with a 200 omega resistor in series and is connected with the anode in common, and the anode is connected with 5V voltage; a lead is led out between each resistor and each strain sensor and is respectively connected with the analog input interface of the singlechip through A1, A2, A3, A4 and A5, and the leads are used for reading sensor signals and coding the signals by the singlechip; the receiving end RX and the transmitting end TX of the HC-05 Bluetooth module are respectively connected to a transmitting end TX pin and a receiving end RX pin of the single chip microcomputer, receive the coded signals transmitted by the single chip microcomputer and wirelessly send the coded signals to a receiver on the trolley.
The single-chip microcomputer control module of the vehicle-mounted control module adopts an Arduino nano V3.0 single-chip microcomputer, the Bluetooth module adopts an HC-05 Bluetooth module, the motor driving module adopts an L298N motor driving module, and the power supply module adopts a DC-DC power supply module; the connection relationship is as follows: a power line fixed on the trolley is connected into the voltage-stabilized power supply module by a lead to supply 12V voltage to the power supply module, and the power supply module stably supplies 3.3V, 5V and 12V voltage to the whole system; the power supply end of the singlechip control module is connected with a 5V output pin of the power module, the buzzer and the receiver are connected with a 3.3V output pin of the power module, the power supply drives the 12V output pin of the power module, RX and TX pins of the Bluetooth module are respectively connected with TX and RX interfaces of the receiver module and are used for receiving signals from Bluetooth on glove Bluetooth and inputting coded signals to the singlechip, and the singlechip decodes and outputs the coded signals; control signals of the single chip microcomputer are connected into IN1, IN2, IN3 and IN4 of the motor driving module through pins D2, D3, D4 and D5; a pin D12 is connected with an I/O interface of the buzzer, and the buzzer works when receiving high level; the OUT1 and OUT2 of the motor drive module are connected with the positive pole and the negative pole of the two motors on the left side of the trolley, and the OUT3 and OUT4 are connected with the positive pole and the negative pole of the two motors on the right side of the trolley.
Advantageous effects
The invention provides a trolley remote gesture control system based on conductive hydrogel flexible intelligent gloves, which belongs to the technical field of intelligent remote control and mainly comprises conductive hydrogel, the intelligent gloves, a transmitter, a singlechip control module, a receiver, a motor driver and a motor, and is characterized in that: the conductive hydrogel is prepared by hydrogel doped with silver nanowires, the hydrogel is endowed with good conductive stability due to the introduction of the silver nanowires, and the hydrogel is a flexible material, so that the sensor is endowed with good mechanical property and mechanical property, and the sensor can be directly applied to a body without causing immune reaction due to good biocompatibility, the wearable controller is an intelligent glove mainly prepared by the conductive hydrogel sensor, the intelligent glove controls the movement of a trolley by controlling a signal sent by the glove, the emitter module is connected with the single chip microcomputer control module and the glove, the receiver module is connected with the single chip microcomputer controller of the trolley, the motor driver is arranged at the output end of the single chip microcomputer controller of the trolley, and the motor driver is connected with a motor, the invention uses the flexible conductive hydrogel strain sensor as a remote control device to be arranged on the intelligent glove, the transmitter and the receiver module are in wireless Bluetooth communication established by the master and slave Bluetooth modules and used for receiving and sending control commands, and the prepared gloves can be worn on hands to control the trolley, and have the advantages of convenience in mounting and carrying, convenience in operation, stable performance and the like.
Flexible wearable devices are an important component of flexible electronic technology, and their advent has changed the way modern people live, particularly for assisting in human movement and human health monitoring. In the development process of the intelligent gloves, the traditional flexible material substrates such as PET, PDMS and the like have insufficient durability in gesture movement, and even limit long-term use. The conductive hydrogel is prepared by compounding the silver nanowires and the hydrogel, has excellent conductivity, mechanical property and biocompatibility, and provides a scientific method for preparing the flexible strain sensor. The prepared conductive hydrogel flexible strain sensor is combined with the glove, the control of the trolley is realized through wireless communication, and a new road is opened up for the flexible wearable equipment.
On the control system, a Bluetooth connection mode is used for wireless transmission of signals. The change signals on the wearable gloves are transmitted in a wireless transmission mode, and then the movement of the trolley is controlled. The device can be used for assisting the monitoring of human body movement and human body health in the future. The flexible wearable control system meets better mechanical flexibility so as to be convenient for adapting to complex working environments; the deformation is large enough to meet the conductive deformation requirement of the device when the human body moves; and the extension and bending of itself does not damage the electrical properties. The prepared conductive hydrogel flexible strain sensor is combined with the glove, the control of the trolley is realized through wireless communication, and a new road is opened up for flexible wearable equipment.
The trolley remote gesture control system based on the conductive hydrogel flexible intelligent gloves can accurately realize remote control of a trolley. The flexible strain sensor prepared based on the silver nanowires and the hydrogel in a compounding mode has good mechanical property, conductivity and biocompatibility. Electrical response characteristics that exhibit good sensitivity after measurement with a digital source meter. Secondly, can realize changing its resistance value and have good sensitivity through the finger bending with this flexible strain sensor after carrying on the gloves, make the remote control dolly motion that can realize long-range through the radio communication that single chip microcomputer controller and bluetooth transmission module established to make and dress gloves possess and dress comfortable, easily carry, little, the good and long service life's of motion restriction to the finger advantage.
Drawings
FIG. 1 is a schematic view of the structure of the conductive hydrogel of the present invention and a scanning electron microscope image.
Fig. 2 is a graph of the mechanical properties (tensile stress-tensile strain) of the conductive hydrogel of the present invention.
FIG. 3 is a graph of the strain-resistance change of the electrically conductive hydrogel of the present invention.
FIG. 4 is a graph of time versus relative current change under cyclic stretching for an electrically conductive hydrogel of the invention.
FIG. 5 is a schematic structural diagram of an Arduino Nano V3.0 single-chip microcomputer.
FIG. 6 is a schematic structural diagram of a glove controller for flexible wearable gesture recognition according to the present invention.
Fig. 7 is a schematic structural view of the remotely controllable cart according to the present invention.
FIG. 8 is a circuit diagram of a wearable smart glove control system according to the present invention.
FIG. 9 is a circuit diagram of a remotely controllable cart control system according to the present invention.
FIG. 10 is a circuit diagram of the motor motion control of the trolley motor drive control motor according to the present invention.
Description of reference numerals: the system comprises 1-conductive hydrogel, 2-intelligent gloves, 3-transmitter modules, 4-receiver modules, 5-single chip microcomputer control modules, 5-1-in-vehicle single chip microcomputer control modules, 6-motors, 7-motor drive, 8-buzzers, 9-voltage stabilizing modules, 10-power supply modules, 11-silver nanowires and 12-hydrogel.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the invention aims to overcome the defects in the prior wearable technology, provides a novel conductive hydrogel with good mechanical property, mechanical property and conductivity to prepare a flexible strain sensor, combines the flexible strain sensor and a glove to prepare an intelligent glove, and utilizes a Bluetooth module to wirelessly transmit data to remotely and wirelessly control the movement of a trolley. The intelligent glove and the sensor are integrated, and the intelligent glove has the advantages of being comfortable to wear, easy to carry, small in motion limitation on fingers, good in stability and capable of breaking long-term use limitation.
According to the technical scheme provided by the invention, the trolley remote gesture control system based on the conductive hydrogel flexible intelligent gloves belongs to the field of trolley control circuits, mainly comprises conductive hydrogel, gloves, a transmitter, a single chip microcomputer control module, a receiver, a motor driver and a motor, and is characterized in that: the conductive hydrogel is prepared by hydrogel doped with silver nanowires, the hydrogel has good conductive stability due to the introduction of the silver nanowires, and the chemical structure of the hydrogel is precisely designed, so that the sensor has good mechanical property and mechanical property, the wearable controller is an intelligent glove mainly prepared by conductive hydrogel sensors, the intelligent glove controls the movement of a trolley by controlling the glove to send signals, a transmitter module is connected with a singlechip control module and the glove, a receiver module is connected with the singlechip controller of the trolley, a motor driver is arranged at the output end of the singlechip controller of the trolley, the motor driver is connected with a motor, the invention uses a flexible conductive hydrogel strain sensor as a remote control device arranged on the glove, the transmitter module and the receiver module establish Bluetooth communication by a master-slave Bluetooth module and are used for receiving and sending control commands, carry out material resistance change's discernment through the sensor to the gesture to convert the analog signal who discerns into digital signal, give the dolly controller with signal transmission through the bluetooth device, the gloves that prepare can be dressed and control the dolly on hand, have advantages such as installation carry-on convenience, convenient operation, stable performance.
Further, the conductive hydrogel is characterized in that: the silver nano-wire hydrogel is prepared by doping silver nano-wires with good conductivity into hydrogel, and is in a strip shape.
Further, the transmitter module is characterized in that: the transmitter module is composed of a main Bluetooth signal transmitting port and is arranged on the glove;
further, the receiver module is characterized in that: the receiver module is composed of a slave Bluetooth signal receiving port and is arranged on the trolley;
further, the single chip microcomputer controller is characterized in that: the singlechip controller consists of an Arduino nano V3.0 singlechip, an internal analog-to-digital conversion module, an internal Bluetooth receiving module and an internal Bluetooth transmitting module;
further, the glove controller is characterized in that: the upper surfaces of five finger parts on the gloves are provided with strip-shaped conductive hydrogel which is formed by arranging a single chip microcomputer controller, an emitter and a power supply through a DuPont wire;
further, the glove is characterized in that: the strip hydrogel on the joints of five fingers on the glove covers two joints: the proximal interphalangeal joint and the distal interphalangeal joint, respectively.
According to the trolley remote gesture control system based on the conductive hydrogel flexible intelligent gloves, the flexible strain sensors on the gloves are prepared from the conductive hydrogel with good chemical performance and stable conductivity, the flexible strain sensors are perfectly combined with the gloves, wireless transmission data communication is established by using the Bluetooth module, and the intelligent gloves are used for carrying out remote motion control on the trolley, so that the trolley remote gesture control system has the advantages of being comfortable to wear, easy to carry, small in limitation on motion of fingers, good in stability and long in service life.
The specific implementation example is as follows:
1. and (3) synthesis of silver nanowires: the synthesis of Silver nanowires is referred to Liqiang et al solution-Processed Flexible Polymer Solar Cells with Silver Nanofire electrodes ACS appl. Mater. interfaces.2011,3, 4075-.
2. Preparing the silver nanowire composite conductive hydrogel: the preparation method comprises the following specific steps:
the synthesis of hydrogels is referred to Lie-Wen Xia et al Nano-structured small hydrogels with rapid response and high elasticity Nat. Commun.2013,4, DOI:10.1038/ncomms 3226. And preparing a monomer mixed solution according to literature, and blending five silver nanowire strip-shaped hydrogels with different mass concentrations in the solution. 1.5mL of the prepared solution was taken for each hydrogel, and 0.15mg, 1.5mg, 15mg, 75mg and 150mg of silver nanowires, designated as CHs1, CHs2, CHs3, CHs4 and CHs5 were added, respectively, wherein the content of silver nanowires in the hydrogel was 0.1mg/mL, 1mg/mL, 10mg/mL, 50mg/mL and 100mg/mL, respectively. After selecting CHs4 and freeze-drying by a freeze dryer, observing the internal structure morphology of the hydrogel by using a scanning electron microscope, and clearly observing that the silver nanowires are successfully doped into the hydrogel from the scanning electron microscope in figure 1.
3. Mechanical property test of the conductive hydrogel: as shown in fig. 2, a graph of tensile stress of hydrogel changing with tensile strain is tested by using a mechanical testing machine, wherein the breaking elongation of the hydrogel doped with silver nanowires with concentration of 0.1mg/mL reaches about 200%, and the breaking elongation of the hydrogel doped with silver nanowires with concentration of 100mg/mL can reach 420%, which indicates that the more the content of doped silver nanowires in the hydrogel is, the larger the breaking elongation is, i.e., the tensile stress changes greatly, and the tensile property of the hydrogel is enhanced by the doped part of the silver nanowires.
4. Electrical performance testing of conductive hydrogels: as shown in fig. 3, the electrical resistance of the flexible strain sensor is tested by selecting the hydrogel doped with CHs4 to change with stress when the flexible strain sensor is stretched, the electrical resistance of the conductive hydrogel gradually increases and linearly changes with the increase of the stress, meanwhile, the conductive stability of the sensor during stretching is good, and fig. 4 is a current change curve with time of the conductive hydrogel under a cycle test, ten times of cycle stretching is carried out under an output voltage of 1.5V, the change of the relative current passing through two ends of the conductive hydrogel is measured, the change of the relative current is about 60% during each stretching, and the relative current can be recovered to about 95% after strain recovery, which indicates that the electrical property of the conductive hydrogel is still stable after multiple times of stretching and can be used for a long time.
5. Manufacturing flexible gesture recognition gloves:
as shown in fig. 6, the structure of the flexible smart glove is shown. Five conductive hydrogels (the content of silver nanowires is 50mg/mL) are respectively placed on the back of the joint of the finger of the glove and are respectively marked as a strain sensor 1 (thumb), a strain sensor 2 (index finger), a strain sensor 3 (middle finger), a strain sensor 4 (ring finger) and a strain sensor 5 (little finger). The size of the sensor fixed on the five fingers is 2.0X 0.6cm at the position of the thumb, 2.5X 0.6cm at the position of the index finger, 3.0X 0.6cm at the position of the middle finger, 2.8X 0.6cm at the position of the ring finger and 2.4X 0.6cm at the position of the little finger respectively. Palm center mounted single chip controller (fig. 5), power supply and transmitter module.
The specific connection relationship is shown in a graph (8), one ends of the five groups of sensors are connected with the ground by leads, the other ends of the five groups of sensors are connected with a 200 omega resistor in series and are connected with the anode in a common mode, and the anode is connected with 5V voltage. A lead is led out between the resistor and the strain sensor and is connected with the analog input interface of the single chip microcomputer through A1, A2, A3, A4 and A5, and the lead is used for the single chip microcomputer to read the voltage of the node. And a receiving terminal RX and a transmitting terminal TX of the HC-05 Bluetooth module are respectively connected to a transmitting terminal TX pin and a receiving terminal RX pin of the singlechip. The receiver is used for receiving the signal transmitted by the singlechip and wirelessly transmitting the signal to the trolley. The power supply is provided by 18650 lithium cells, supplies power for singlechip and transmitter.
6. And (3) making the movement of the wireless remote control trolley:
as shown in fig. 7, four motors are mounted on the trolley, each motor drives one wheel, and the power supply module, the voltage stabilizing module, the single-chip microcomputer control module, the motor driving module, the buzzer module and the receiver module are sequentially attached to the body of the trolley by using solid glue bars.
The specific connection relationship is shown in fig. 9, a power line is connected to the regulated power supply module by a lead to supply 12V to the power supply module, and at this time, the power supply module can stably supply 3.3V, 5V and 12V to the whole system. And a power supply end of the singlechip control module is connected with a 5V output pin of the power module. The buzzer and the receiver are connected with a 3.3V output pin of the power module, and the power drive is connected with a 12V output pin of the power module. The RX and TX pins of the Bluetooth module are respectively connected with the TX and RX interfaces of the receiver module and used for receiving signals from Bluetooth on glove Bluetooth and inputting the signals to the single chip microcomputer. Pins D2, D3, D4 and D5 of the singlechip are connected to IN1, IN2, IN3 and IN4 of the motor driving module; a pin D12 is connected with an I/O interface of the buzzer, and the buzzer works when receiving high level; the OUT1 and OUT2 of the motor drive module are connected with the positive pole and the negative pole of the two motors on the left side of the trolley, and the OUT3 and OUT4 are connected with the positive pole and the negative pole of the two motors on the right side of the trolley.
7. The realization of flexible intelligent glove remote control dolly:
when the finger is bent as shown in fig. 6, the length of the sensor changes, so the resistance of the sensor changes, and the ratio of the resistance of the sensor to the resistance of the series resistor influences the change of the voltage at the detection site. The greater the degree of finger bending, the more pronounced the change in resistance of the strain sensor. The single chip microcomputer simulation interfaces A1, A2, A3, A4 and A5 can detect the voltage value of the node between the strain sensor and the resistor (as shown in figure 7), and transmit the voltage value to the single chip microcomputer in the form of an analog signal. By program reading, it is converted into digital signals and the digital signals are output by D2, D3, D4, D5 and D12. And setting a threshold voltage for each read value, and giving a digital signal 1 when the value tested by a certain interface is greater than the threshold voltage, and giving a digital signal 0 when the tested value is less than the threshold voltage. As shown in table (1), when the forefinger bends, a signal is given to the motor drive input end 1010, and the left motor and the right motor are positively transmitted to indicate that the trolley advances. When the middle finger is bent, a signal is given to a motor driving input end 1001, the left motor is positively transmitted, and the right motor is reversely rotated to indicate that the trolley is rightwards rotated. When the ring finger is bent, a 0110 signal is given to the motor driving input end, the left motor reversely transmits, the right motor positively rotates, and the trolley leftwards rotates. When the little finger is bent, a 0101 signal is given to the driving input end of the motor, and the left motor and the right motor transmit reversely to indicate that the trolley retreats. In particular, when all the four fingers are bent, a signal is given to the motor drive 1111, and at the moment, the trolley stops working due to the left and right motors, which indicates that the trolley is in a stop state. When the thumb is bent, the buzzer is endowed with high level, the buzzer starts to work, and the trolley indicates that the whistle starts to be sounded.
The Bluetooth module in the intelligent glove control system and the Bluetooth module in the trolley motion control system can be connected in a matching mode to be used for transmitting signals. Set up bluetooth module on the intelligent gloves into main bluetooth, set up bluetooth module on the dolly into from the bluetooth, bind main bluetooth and the address from the bluetooth each other to it can also set up the same with pairing password and bluetooth famous car. And opening the power switches of the intelligent gloves and the trolley to enable the two Bluetooth to be successfully connected in a pairing mode. After the Bluetooth is successfully paired, the Bluetooth on the trolley receives the digital signal sent by the Bluetooth on the glove and transmits the signal to the single chip microcomputer on the trolley. Therefore, the single chip microcomputer in fig. 9 is controlled by the single chip microcomputer in fig. 8.
12V direct current voltage (figure 9) is switched on for the power module, and the power module can output stable voltage through voltage conversion, and provides stable direct current power supply for the buzzer, the Bluetooth module, the single chip microcomputer and the motor. The buzzer is supplied with 3.3V voltage (figure 9), when the I/O interface receives a digital signal of the singlechip D12, the buzzer starts to work when receiving a high level, and stops working when receiving a low level. The motor-driven interfaces IN1, IN2, IN3 and IN4 respectively receive digital signals transmitted by the single-chip microcomputers D2, D3, D4 and D5, voltages are output by corresponding OUT1, OUT2, OUT3 and OUT4, and the output voltages control the rotation of the motor. IN1 and IN2 control the positive and negative of OUT1 and OUT2, and IN3 and IN4 control the positive and negative of OUT3 and OUT 4. When the IN1 is 1 and the IN2 is 0, the OUT1 output is positive and the OUT2 output is negative, and the motor is IN positive transmission. When IN1 is 0 and IN2 is 1, the OUT1 output is negative and the OUT2 output is positive, and the motor rotates IN reverse. The specific rotation mode is as follows:
the motor rotating logic function table
Claims (6)
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| CN114063782A (en) * | 2021-11-19 | 2022-02-18 | 南京邮电大学 | Intelligent human-computer interaction sensing device based on MXene/PAA hydrogel |
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