Ai Rd-03e User manual

Rd-03E Gesture Recognition User Manual V1.0.0

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Rd-03E Gesture Recognition

User Manual

Version

V1.0.0

Copyright

Rd-03E Gesture Recognition User Manual V1.0.0

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Document resume

Version

Date

Develop/revise content

Edition

Approve

V1.0.0

2023.9.14

First formulation

Zhanyun Lin

Zifeng Chen

Rd-03E Gesture Recognition User Manual V1.0.0

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Introduction

This document describes the basic functions, hardware specifications, software

configuration, and installation conditions of the Rd-03E gesture recognition control reference

design XenG102ST. It aims to help developers quickly get started with human sensing and

gesture recognition solutions based on Xen102 hardware, easily configure parameters that are

most suitable for their own application scenarios, and build their own accurate gesture

recognition control sensors.

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Content

1 Rd-03E Overview...................................................................................................................... 5

2 System description .................................................................................................................... 5

3 Hardware Description ............................................................................................................... 6

4 Software Description................................................................................................................. 7

5 Communication protocol........................................................................................................... 9

6 Installation instructions ........................................................................................................... 10

7 Detection range ....................................................................................................................... 11

8 Rendering ................................................................................................................................ 13

9 Gesture Description................................................................................................................. 13

9.1 Gesture Definition........................................................................................................ 13

9.2 gesture speed ............................................................................................................. 14

9.3 gesture parameters........................................................................................................ 14

10 Considerations....................................................................................................................... 15

Contact us................................................................................................................................... 16

Disclaimer and copyright notice ................................................................................................ 17

Notice ......................................................................................................................................... 17

Statement.................................................................................................................................... 18

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1 Rd-03E Overview

Rd-03E gesture recognition control reference XenG102ST design with extremely

simplified 24 GHz radar sensor hardware Xen102 and smart algorithm firmware ST01.

The Xen102 hardware consists of an AIoT millimeter-wave radar chip S3KM111L, a

high-performance one-transmitter-one-receiver microstrip antenna, a low-cost MCU and

peripheral auxiliary circuits. Smart Algorithm Firmware ST uses FMCW waveform and

S3KM111L chip proprietary advanced signal processing technology. This reference scheme is

mainly used in intelligent bathroom scenes, which can realize accurate human body sensing

ranging and gesture recognition. Developers can display the distance information and gesture

information in real time through the host computer tool.

The radar beam of Xen102 hardware adopts wide and narrow design, and the angle range

of antenna 4 patch direction is ± 20 °, and the angle range of vertical antenna 4 patch direction

is ± 40 °. The user can adjust the antenna placement direction during installation according to

the needs of the scene. In toilet applications, it is recommended to use a horizontal narrow

beam to avoid false triggering by passing people around.

2 System description

Rd-03E is a gesture recognition control reference design based on silicon

micro-S3KM111L chips. The sensor uses FMCW waveforms, combined with the MCU's

proprietary radar signal processing and built-in intelligent presence sensing algorithms to

detect targets and gestures in a specified area and report results in real time. Based on this

reference solution, developers can quickly develop corresponding induction products. Table

2-1 shows the specification parameters of the Rd-03E.

Table 2-1 Rd-03E Specifications

Parameters

Minimum

Typical

Max.

Unit

Working frequency band

24.015

-

24.245

GHz

Sweep bandwidth

-

0.23

-

GHz

Maximum equivalent

omnidirectional radiated

power

-

12

-

dBm

Supply voltage

4.6

5

5.4

V

Dimensions

-

28x24

-

mm2

Ambient temperature

-40

-

85

℃

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Average operating current

-

50

-

mA

Detection distance

0.3

-

2.2

m

Detection angle (H plane)

-

±40

-

°

Detection angle (E plane)

-

±20

-

°

ranging error

-

±10

cm

3 Hardware Description

Rd-03E supported hardware is Xen102. Figure 3-1 is a photo of the front and back of the

Rd-03E. Five pin holes J2 are reserved for the Rd-03E hardware (no pin is provided at the

factory), which are the power supply and communication interface. The MCU burning port is

called J3. Please connect according to the corresponding pin name when burning. (J1 is

reserved for USB interface, which is not introduced in this document for the time being.)

(a)front (b)back

Figure 3-1 Rd-03E hardware physical diagram

The pin descriptions of J2 and J3 are shown in Table 3-1 and Table 3-2.

Table 3-1 J2 Pin Description

J#PIN#

Name

Function

Operating Range

J2Pin1

VCC

Power input

4.5V~5.5V,Type5V

J2Pin2

GND

Ground

-

J2Pin3

OT1

UART_TX

0~3.3V

J2Pin4

RX

UART_RX

0~3.3V

J2Pin5

OT2

UART_TX(reserved)

0~3.3V

Table 3-2 J3 Pin Description

J#PIN#

Name

Function

Operating Range

J3Pin1

GND

Ground

-

J3Pin2

DIO

Data port

0~3.3V

J3Pin3

CLK

Clock signal

0~3.3V

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J3Pin4

3V3

Power input

3.3V

Rd-03E supports keil 5 IDE to burn hex files or source code projects. You can use J-Link

(V9 or above), CMSIS-DAP and other burners to download programs. Please make sure it is

installed before burning. GiqaDevice.GD32E23x_DFP.1.0.1.pack and ARM.CMSIS.

5.7.0.pack or a later version of the CMSIS pack.

4 Software Description

Rd-03E the hardware uses 5V power supply. When connecting hardware and serial port

tools, attention should be paid to the connection mode of hardware and serial port tools: TX of

hardware is connected to RX of serial port tools, RX of hardware is connected to TX of serial

port tools, and jumpers are connected to 5v power supply, as shown in fig. 4-1. If you use other

serial port tools, also need to meet the 5V power supply.

Figure 4-1 Schematic diagram of Rd-03E module and serial port connection

After connecting the hardware, serial port tool and upper computer as shown in Figure 4-1,

open the upper computer software ICLM_XenG102STTool and configure the module

according to the following steps:

Step 1: Open the upper computer software, click the "Refresh Serial Port" button in the

upper left corner of the interface (Figure 4-2 marked area 1), if the distance curve graph

appears below the interface, it indicates that the connection is successful;

Step 2: After the module is successfully connected to the upper computer, select the

corresponding serial port number in the upper left corner of the interface (No. 2 area marked in

Figure 4-2) and enter the baud rate, fill in the reporting cycle according to the reporting

frequency of the firmware, and the reporting cycle of the factory firmware is 50 ms;

Step 3: Click the "Start/Stop" switch button (area 3 marked in Figure 4-2) to receive

real-time data from the radar and view the real-time waveform of the target distance at the

bottom of the upper computer interface. The window above the interface (area 4 marked in

Figure 4-2) can display the distance information of the target and the toilet status in real time.

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Figure 4-2 Upper computer tool ICLM_XenG102STTool configuration interface

The distance information can divide the gears by setting different distances. The upper

computer tool divides the sensing distance into 3 gears, which are respectively represented by

colored lights of different positions and colors. The display principle is as follows:

⚫When the target distance is between 0cm and 60cm, the leftmost red light is on, and the

lights in other gears are off;

⚫The yellow light in the middle of the target distance of 60cm and all 130cm is on, and

the lights on both sides are off;

⚫The green light on the right side of the target distance of 130cm to 200cm is on, and the

two lights on the left are off.

The target distance interval and the on-off state of the colored lights are shown in Figure 4-3.

The distance interval corresponding to each gear can be customized through the upper computer

tool interface.

Target distance interval(cm)

Light zone display

Zero～ Sixty

Sixty～ One Hundred Thirty

One Hundred Thirty～Two Hundred

Figure 4-3

Toilet cover ring 5 different states, respectively:

⚫No one (the cover ring is closed by default);

⚫Open the cover by a person (when the cover is closed);

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⚫Gesture flip cover (in open state);

⚫The cover is closed by people (when the cover is opened);

⚫Close the cover when the person goes through the closing circle (in the state of opening the

cover circle);

A schematic diagram of the above state is shown in FIG. 4-4.

(a) No one state (b) People come to open the cover (c) Gesture circle turning

(d) people go to close the cover (e) people go to close the cover

Figure 4-4 Schematic Diagram of Toilet Status

The unmanned delay refers to the time interval for delaying the report of the unmanned

result when the radar self-detects the unmanned state. Developers can adjust the parameter by

modifying the parameter NobodyDebounceTime = "1000 ° in the

XenG102STTool/appConfig.xml file under the root directory of the host computer tool, and its

default value is 1000 ms.

5 Communication protocol

This communication protocol is mainly used by developers who need to separate from

visualization tools for secondary development. The Rd-03E hardware communicates with the

outside world through the serial port. The serial port outputs the radar data processed by the

algorithm by frame. The format of a frame of data is:

AA + distance information (two bytes in cm) + gesture information (1 byte) +55

The distance information is in little-end format, and the data example is shown in Figure 5-1.

The output delay of the gesture result is about 0.25s.

Radar serial port data parsing distance is as follows：

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AA 2D 00 00 55, then distance = 002D = 45cm, gesture = 00, no gesture.

AA 36 00 01 55, then distance = 0036=54cm, gesture = 01, gesture.

The distance information can be displayed by the host computer tool, as shown in Figure

5-1. The top of the software interface shows the target distance measured by the millimeter

wave radar, the far right is the toilet state, and the red curve below the interface is the real-time

distance waveform.

Figure 5-1 Rd-03E gesture recognition PC tool interface diagram

6 Installation instructions

When installing the module on the bare board, the installation position should be 45cm

higher than the ground, and the placement angle should be 45 upward, as shown in Figure 6-1.

When installing, pay attention to the antenna direction, and the antenna 4 patch direction

should be taken as the horizontal direction.

When the module is installed on the toilet, the recommended installation angle is the same

as that of the bare board installation, which is 45 ° upward.

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Figure 6-1 Schematic diagram of Rd-03E module installation

If the radar requires an enclosure, the enclosure must have good permeability in the 24

GHz band and must not contain metal or materials that shield against electromagnetic waves.

Refer to the Millimeter Wave Sensor Radome Design Guide for additional radar enclosure

considerations.

When installing, ensure that the installation position of the sensor is firm and stable,

because the shaking of the radar itself will affect the detection effect. Make sure that there is no

movement or vibration on the back of the radar. Due to the penetrating nature of radar waves,

the back flap of the antenna may detect moving objects on the back of the radar, thus

interfering with the detection. A metal shield or a metal back plate can be used to shield the

back flap of the radar to reduce the impact of objects on the back of the radar.

When there are multiple 24 GHz band radars in the installation space, please do not face the

beams and try to stay away from each other to avoid possible interference.

7 Detection range

After the module is installed, take the module position as the center of the circle, the

detection angle of H plane is within ± 40 °, and the detection angle of E plane is within ± 20 °

(the directions of H plane and E plane of the radar are shown in Figure 7-1). The power

diagram of the radar is shown in Figure 7-2, in which: the angle range of moving human body

recognition is ± 20 °, and the distance range is 0.3~2.2 m fan-shaped area; the angle range of

gesture recognition and micro-motion human body detection is ± 30 °, and the distance range is

0.5~1 m fan-shaped area. The range of radar gesture recognition in the toilet application is

shown in Figure 7-3.

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Figure. 7-1 Radar Installation Orientation Identification

Figure 7-2 Radar Power Diagram

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Figure 7-3 Schematic diagram of radar gesture recognition area

8 Rendering

Figure 8-1 shows the mechanical dimensions of the Rd-03E hardware. The figures in the

figure are in mm, with a Rd-03E plate thickness of 1.2mm and a tolerance of 10%.

Figure 8-1 Rd-03E rendering

9 Gesture Description

9.1 Gesture Definition

When sending gesture commands to the radar, the person should stand facing the radar with his

arms as close as possible to the main beam of the radar. Depending on the relative orientation

of the standing position and the radar, the action arm should be adjusted accordingly, as shown

in Figure 9-1.

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Figure 9-1 Position of Human and Radar When Sending Radar Gestures

Waving the front hand naturally droop, swing the palm up, raise the upper arm to the upper

arm perpendicular to the ground, and then keep the palm up to let the arm naturally fall back,

as shown in Figure 9-2. The arm should naturally move up and down in the vertical direction

during the swing, not oblique to the inside or outside of the body. The two gesture waves

should be more than 1.5 seconds apart. When testing the radar installed on the toilet, the

waving arm should pass above the center of the toilet (ie, the toilet flush hole).

Figure 9-2 Schematic diagram of gesture waving

9.2 gesture speed

The arm swings back and forth from bottom to top at a constant speed in about 1.5s.

9.3 gesture parameters

Table 9-1 lists the configuration and description of gesture parameters.

Table 9-1 Gesture parameter description

Parameter Name

Default Configuration

Description

GESTURE_DISTANCE_LIMIT

120

Gesture effective distance

(unit: cm)

PARAM_SLIDEFRAMECNT

5

Sliding window size

PARAM_SLIDEFRAMECNT

4

positive Doppler

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reference value

PARAM_SLIDEFRAMECNT

-4

Negative Doppler

Reference Value

ARAM_DOPPLERNUM_P

1

number of positive

doppler

PARAM_DOPPLERNUM_N

1

number of negative

doppler

PARAM_HIGHSPEED_DOPPLERVALUE

9

high-speed Doppler value

PARAM_INVALID_FRAME

14

Invalid Frame Count

PARAM_TARGET_RNGBIN

3

Gesture Distance Unit

PARAM_NOISE_COEF

2.2

bottom noise coefficient

PARAM_HIGHSPEED_DOPPLERNUM

0

high speed doppler

quantity

PARAM_WAVECNT_THD

3

Swing Statistics

PARAM_PNNUM_CNT

2

Number of positive and

negative alternations

PARAM_WAVENUM_THD

50

frame times threshold

PARAM_GESTURECNT_THD

2

Half swing threshold

10 Considerations

⚫At present, the algorithm is debugged in three ways: bare module, silicon microshell and

silicon microshell + toilet cover. Since there may be differences in the structure of toilet

covers of different brands and models, when the customer places this module in the toilet,

he may encounter abnormal ranging or abnormal gesture. At this time, please print 1DFFT

data or rdmap data, and adjust the link gain or detection parameters according to the data.

⚫At present, this firmware only supports continuous ranging and gesture output, and does

not enable discharge level trigger or PWM mode. Customers can independently develop it

in the released SDK according to specific requirements.

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Contact us

Ai-Thinker official website Official Forum Develop DOCS LinkedIn

Tmall shop Taobao shop Alibaba shop

Technical support Email: support@aithinker.com

Domestic business cooperation: sales@aithinker.com

Overseas business cooperation：overseas@aithinker.com

Company address: Room 403,408-410, Block C, Huafeng Smart Innovation Port, Gushu 2nd

Road, Xixiang, Baoan District, Shenzhen.

Tel: 0755-29162996

WeChat mini

WeChat official

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Disclaimer and copyright notice

The information in this article, including the URL address for reference, is subject to change

without notice.

The document is provided "as is" without any guarantee responsibility, including any guarantee

for merchantability, suitability for a specific purpose, or non-infringement, and any guarantee

mentioned elsewhere in any proposal, specification or sample. This document does not bear

any responsibility, including the responsibility for infringement of any patent rights arising

from the use of the information in this document. This document does not grant any license for

the use of intellectual property rights in estoppel or other ways, whether express or implied.

The test data obtained in the article are all obtained from Ai-Thinker's laboratory tests, and the

actual results may vary slightly.

All brand names, trademarks and registered trademarks mentioned in this article are the

property of their respective owners, and it is hereby declared.

The final interpretation right belongs to Shenzhen Ai-Thinker Technology Co., Ltd.

Notice

Due to product version upgrades or other reasons, the contents of this manual may be changed.

Shenzhen Ai-Thinker Technology Co., Ltd. reserves the right to modify the contents of this

manual without any notice or prompt.

This manual is only used as a guide. Shenzhen Ai-Thinker Technology Co., Ltd. makes every

effort to provide accurate information in this manual. However, Shenzhen Ai-Thinker

Technology Co., Ltd. does not guarantee that the contents of the manual are completely free of

errors. All statements and information in this manual. And the suggestion does not constitute

any express or implied guarantee.

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Statement

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but not limited to, arising from the application or the use of any of our products and circuits.

Ai-Thinker reserves the right to release information in this document (including but not limited

to metrics and product descriptions) and any changes to our products without prior notice. This

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