简介

SEN0315手势识别传感器是一款强大的3D手势识别交互式传感器；在最远20cm范围内，最多可以识别13种手势。具备良好的手势识别稳定性和节能机制，总是能够在恰当的时候偷偷帮你节省电源；采用Gravity接口，零件的连接就不再是一件麻烦的事。目前有两种工作模式：高速模式下可以识别手的上\下\左\右\前\后\顺时针\逆时针移动以及快速挥动9种手势；低速模式下可以此前9种基础上再加乱序\缓慢左右\缓慢前后\缓慢上下移动4种手势。显然这款传感器可以有广泛的运用范围，设想一下，挥挥手控制电视空调；挥挥手调整灯光和音乐；挥挥手去操纵游戏...会不会很有意思呢？

技术规格

• 工作电压：3.3~5.5V
• 工作电流：3.5mA
• 通信接口：Gravity-I2C 4Pin
• I2C地址：0x73
• 尺寸：30mmx22mm
• 安装孔尺寸：15mm
• 可识别距离：30mm~200mm
• 手势更新率：120Hz
• 工作温度：-40℃~85℃
• 环境光免疫力：<100k Lux
• 盖板材料：推荐采用玻璃或PC;透明度须>90%;盖板材料厚度<0.7mm;盖板和模块应尽可能靠近，最远距离为0.2mm;

引脚说明

使用教程

准备

• 硬件
  • UNO x1
  • IO 传感器拓展板 x1
  • PAJ7620U2手势识别传感器x1
• 软件
  • Arduino IDE 点击下载Arduino IDE

接线图

准备好硬件后，按照下图将模块与UNO连接好

样例代码

点击下载库文件例程和库文件。如何安装库？

函数参考：

 DFRobot_PAJ7620U2(TwoWire *pWire=&Wire);
 /**
  * @brief 构造函数
  * @param mode 构造设备时，可以指定它的默认工作模式
  */
 int begin(void)
  /**
  * @brief 初始化函数
  * @return 返回0表示初始化成功，返回其他值表示初始化失败
  */ 

 void setGestureHighRate(bool b);
  /**
  * @brief 设置告诉手势识别模式
  * @param b true表示配置为高速识别模式，以最快速度识别手势并返回。
  * @n  false表示低速模式，在低速模式下，系统会做更多的判断
  * @n  在高速识别模式下，可以快速识别的动作包括向左滑动 向右滑动 向上滑动 向下滑动
  * @n  向前滑动 向后滑动 逆时针 顺时针 快速挥手 9个动作
  * @n  高级用户如果想要用这些动作的组合，需要在外部自己算法逻辑，比如左右左快速挥手
  * @n  因为每个人用到的动作有限 ，我们没有将更多的扩展动作集在库中，需要用户在ino文件中自己完成算法逻辑
  * @n
  * @n
  * @n  在低速识别模式下，每2秒识别一个动作，我们将一些扩展动作集成到库内部，方便基础用户使用
  * @n  可以识别的动作包括向左滑动 向右滑动 向上滑动 向下滑动 向前滑动 向后滑动
  * @n  逆时针 顺时针 快速挥手 9个基础动作 左右慢挥手 上下慢挥手 前后慢挥手 乱序慢挥手  4个扩展动作
  */
 String gestureDescription(eGesture_t gesture);
  /**
  * @brief 获取手势号码对应的字符串描述
  * @param gesture 包含在eGesture_t中的手势号码
  * @return 手势号码对应的文字描述信息，如果输入了手势表中不存在的手势，返回空字符串
  * @n 正常的返回值可能是   "None","Right","Left", "Up", "Down", "Forward", "Backward", "Clockwise",
  * @n "Anti-Clockwise", "Wave", "WaveSlowlyDisorder", "WaveSlowlyLeftRight", "WaveSlowlyUpDown",
  * @n "WaveSlowlyForwardBackward"
  */
 eGesture_t getGesture(void); 
  /**
  * @brief 获取手势
  * @return 返回手势，可能是的值为eGestureNone  eGestureRight  eGestureLeft  eGestureUp
  * @n     eGestureDown  eGestureForward  eGestureBackward  eGestureClockwise
  * @n     eGestureWave  eGestureWaveSlowlyDisorder  eGestureWaveSlowlyLeftRight
  * @n     eGestureWaveSlowlyUpDown  eGestureWaveSlowlyForwardBackward
  */
  
  
  

高速模式：

代码功能：可以识别以下手势。

注：顺时针和逆时针手势需要至少转两圈以上 更多操作详见问答部分参考视频

    /*!
     * @file GestureRecognize_HighRate.ino
     * @brief Present the 9 built-in gestures data the sensor supports.
     * @n Wave your hand above the sensor (within 0~20cm), it can recognize 9 kinds of gestures: move up, down, left, right, forward,
     * @n backward, clockwise, anti-clockwise, wave.
     * @n For more usages of the sensor, refer to the description about setGestureHighRate in function setup.
     *
     * @copyright   Copyright (c) 2010 DFRobot Co.Ltd (https://www.dfrobot.com)
     * @licence     The MIT License (MIT)
     * @author      Alexander(ouki.wang@dfrobot.com)
     * @version  V1.0
     * @date  2019-07-16
     * @get from https://www.dfrobot.com
     * @url https://github.com/DFRobot/DFRobot_PAJ7620U2
     */

    #include <DFRobot_PAJ7620U2.h>

    DFRobot_PAJ7620U2 paj;

    void setup()
    {
      Serial.begin(115200);
      delay(300);
      Serial.println("Gesture recognition system base on PAJ7620U2");
      while(paj.begin() != 0){
        Serial.println("initial PAJ7620U2 failure! Please check if all the connections are fine, or if the wire sequence is correct?");
        delay(500);
      }
      Serial.println("PAJ7620U2 init completed, start to test the gesture recognition function");

      /*Set fast detection mode
       *If the parameter is set to false, the module enters slow detection mode, and it detects one gesture every 2s. We have integrated
       *some gestures inside the module to make it convenient for beginners.
       *The slow mode can recognize 9  basic gestures and 4 expanded gestures: move left, right, up, down, forward, backward, clockwise,
       *counter-clockwise, wave, slowly move left and right, slowly move up and down, slowly move forward and backward,
       *wave slowly and randomly.
       *
       *
       *
       *If the parameter is set to true, the module enters fast detection mode.
       *The fast mode can recognize 9 gestures: move left, right, up, down, forward, backward, clockwise, counter-clockwise, wave
       *To detect the combination of these gestures, like wave left, right and left quickly, users needs to design their own algorithms logic.
       *Since users only use limited gestures in this mode, we are not going to integrate too much expanded gestures in the library.
       *If necessary, you can complete the algorithm logic in the ino file by yourself.
       */
      paj.setGestureHighRate(true);

    }

    void loop()
    {
      /* Read gesture number（return eGesture_t enumerated type）
       * eGestureNone  eGestureRight  eGestureLeft  eGestureUp  eGestureDown  eGestureForward
       * eGestureBackward  eGestureClockwise  eGestureAntiClockwise  eGestureWave  eGestureWaveSlowlyDisorder
       * eGestureWaveSlowlyLeftRight  eGestureWaveSlowlyUpDown  eGestureWaveSlowlyForwardBackward
       */
      DFRobot_PAJ7620U2::eGesture_t gesture = paj.getGesture();
      if(gesture != paj.eGestureNone ){
       /* Get the string descritpion corresponding to the gesture number.
        * The string description could be
        * "None","Right","Left", "Up", "Down", "Forward", "Backward", "Clockwise", "Anti-Clockwise", "Wave",
        * "WaveSlowlyDisorder", "WaveSlowlyLeftRight", "WaveSlowlyUpDown", "WaveSlowlyForwardBackward"
        */
        String description  = paj.gestureDescription(gesture);//Convert gesture number into string description
        Serial.println("--------------Gesture Recognition System---------------------------");
        Serial.print("gesture code        = ");Serial.println(gesture);
        Serial.print("gesture description  = ");Serial.println(description);
        Serial.println();
      }
    }

结果

结果：可识别9种手势，可以在串口打印出相应的手势描述，如下图所示：

低速模式：

注：低速模式下默认采样时间为2s,所以完成一项操作后可能需等待1s 更多操作详见问答部分参考视频

代码功能：可以识别以下手势。

    #include <DFRobot_PAJ7620U2.h>

    /*!
     * @file GestureRecognize_LowRate.ino
     * @brief Present the 9 built-in gestures the sensor supports and 4 extended gestures in the slow mode.
     * @n Wave you hand above the sensor(within 0~20cm), it can detect: move left, right, up, down, forward, backward, clockwise,
     * @n anti-clockwise, wave, slowly move left and right, slowly move up and down, slowly move forward and backward, wave randomly and slowly.
     * @n For more usages of the sensor, refer to the description about setGestureLowRate in function setup.
     *
     * @copyright   Copyright (c) 2010 DFRobot Co.Ltd (https://www.dfrobot.com)
     * @licence     The MIT License (MIT)
     * @author      Alexander(ouki.wang@dfrobot.com)
     * @version  V1.0
     * @date  2019-07-16
     * @get from https://www.dfrobot.com
     * @url https://github.com/DFRobot/DFRobot_PAJ7620U2
     */

    #include <DFRobot_PAJ7620U2.h>

    DFRobot_PAJ7620U2 paj;

    void setup()
    {
      Serial.begin(115200);
      delay(300);
      Serial.println("Gesture recognition system base on PAJ7620U2");
      while(paj.begin() != 0){
        Serial.println("initial PAJ7620U2 failure! Please check if all the connections are fine, or if the wire sequence is correct?");
        delay(500);
      }
      Serial.println("PAJ7620U2init completed, start to test the gesture recognition function");

      /*Set fast detection mode
       *If the parameter is set to false, the module enters slow detection mode, and it detects one gesture every 2s. We have integrated
       *some gestures inside the module to make it convenient for beginners.
       *The slow mode can recognize 9  basic gestures and 4 expanded gestures: move left, right, up, down, forward, backward, clockwise,
       *counter-clockwise, wave, slowly move left and right, slowly move up and down, slowly move forward and backward,
       *wave slowly and randomly.
       *
       *
       *
       *If the parameter is set to true, the module enters fast detection mode.
       *The fast mode can recognize 9 gestures: move left, right, up, down, forward, backward, clockwise, counter-clockwise, wave.
       *To detect the combination of these gestures, like wave left, right and left quickly, users needs to design their own
       *algorithms logic.
       *Since users only use limited gestures in this mode, we are not going to integrate too much expanded gestures in the library.
       *If necessary, you can complete the algorithm logic in the ino file by yourself.
       */
      paj.setGestureHighRate(false);

    }

    void loop()
    {
      /* Read gesture number（return eGesture_t enumerated type）
       * eGestureNone  eGestureRight  eGestureLeft  eGestureUp  eGestureDown  eGestureForward
       * eGestureBackward  eGestureClockwise  eGestureAntiClockwise  eGestureWave  eGestureWaveSlowlyDisorder
       * eGestureWaveSlowlyLeftRight  eGestureWaveSlowlyUpDown  eGestureWaveSlowlyForwardBackward
       */
      DFRobot_PAJ7620U2::eGesture_t gesture = paj.getGesture();
      if(gesture != paj.eGestureNone ){
       /* Get the string descritpion corresponding to the gesture number
        * The string description could be
        * "None","Right","Left", "Up", "Down", "Forward", "Backward", "Clockwise", "Anti-Clockwise", "Wave",
        * "WaveSlowlyDisorder", "WaveSlowlyLeftRight", "WaveSlowlyUpDown
      }
    }

结果

结果：可识别13手势，可以在串口打印出相应的手势描述，如下图所示：

Mind+ 上传模式编程

1、下载及安装软件，版本不低于1.6.2 RC2.0。下载地址：https://www.mindplus.cc 详细教程：Mind+基础wiki教程-软件下载安装
2、切换到“上传模式”。详细教程：Mind+基础wiki教程-上传模式编程流程
3、“扩展”中选择“主控板”中的“Arduino Uno”,“扩展”“传感器”中搜索选择“PAJ7620U2手势识别传感器” 。详细教程：Mind+基础wiki教程-加载扩展库流程
4、进行编程，程序如下图。
5、菜单“连接设备”，“上传到设备”
6、程序上传完毕后，打开串口即可看到数据输出。详细教程：Mind+基础wiki教程-串口打印

Mind+ Python模式编程（行空板)

Mind+Python模式为完整Python编程，因此需要能运行完整Python的主控板，此处以行空板为例说明

连接图

操作步骤

1、下载及安装官网最新软件。下载地址：https://www.mindplus.cc 详细教程：Mind+基础wiki教程-软件下载安装

2、切换到“Python模式”。“扩展”中选择“官方库”中的“行空板”和“pinpong库”中的”pinpong初始化“和“PAJ7620U2手势识别传感器”。切换模式和加载库的详细操作链接

3、进行编程

4、连接行空板，程序点击运行后，可在终端查看数据。行空板官方文档-行空板快速上手教程 (unihiker.com)

代码编程

以pinpong库为例，行空板官方文档-行空板快速上手教程 (unihiker.com)

#  -*- coding: UTF-8 -*-

# MindPlus
# Python
from pinpong.libs.dfrobot_paj7620u2 import PAJ7620U2
from pinpong.board import Board


Board().begin()
p_paj7620u2 = PAJ7620U2()
p_paj7620u2.set_gesture_high_rate()

while True:
    gesture = p_paj7620u2.get_gesture()[1]
    if gesture == p_paj7620u2.gesture_right:
        print("向右")
    if gesture == p_paj7620u2.gesture_left:
        print("向左")

常见问题

问：有高速模式演示视频吗？

答：https://www.bilibili.com/video/av76484181

问：有低速模式演示视频吗？

答：https://www.bilibili.com/video/av76484092

更多问题及有趣的应用，可以 访问论坛 进行查阅或发帖！

更多

• 原理图
• 尺寸图
• Datasheet
• SVG 文件

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