CN108710443B - Displacement data generation method and control system - Google Patents
Displacement data generation method and control system Download PDFInfo
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- CN108710443B CN108710443B CN201810491664.0A CN201810491664A CN108710443B CN 108710443 B CN108710443 B CN 108710443B CN 201810491664 A CN201810491664 A CN 201810491664A CN 108710443 B CN108710443 B CN 108710443B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
- A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
- A63F13/428—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/30—Capturing games for grabbing or trapping objects, e.g. fishing games
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
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Abstract
The invention provides a displacement data generation method and a control system, and relates to the technical field of electronics. The generation method comprises the following steps: acquiring a rotation angle of the moving object based on the motion sensor; and acquiring corresponding displacement data according to the rotation angle and a preset conversion relation. According to the embodiment of the invention, the displacement data acquired by the motion sensor is used for controlling the controlled equipment to execute the operation corresponding to the displacement data, a mechanical remote rod is not needed, and the problems that the mechanical remote rod is easy to damage and the service life is short are solved, so that the service life of the controlled equipment is effectively prolonged.
Description
Technical Field
The present invention relates to the field of electronic technologies, and in particular, to a method and a control system for generating displacement data.
Background
At present, all devices (such as a doll grabbing machine, a fighting game machine and the like) which generate control signals by a mechanical remote lever have the problems that the mechanical remote lever is easy to damage and has short service life, and further the service life of the devices is shortened.
Therefore, how to prolong the service life of the equipment becomes an urgent problem to be solved.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and a system for generating displacement data corresponding to a control signal, which can solve the problem of short service life of a mechanical remote rod in the prior art.
The first aspect of the present invention provides a method for generating displacement data, including: acquiring a rotation angle of the moving object based on the motion sensor; and acquiring corresponding displacement data according to the rotation angle and a preset conversion relation.
In one embodiment of the invention, the device to which the generation method is applied comprises an attaching module for attaching to the moving object, wherein the attaching module comprises a motion sensor.
In one embodiment of the present invention, the moving object is a palm of a user, the rotation angle includes two of a roll angle, a pitch angle and a heading angle of euler angle, and the displacement data includes two of an X-axis variation, a Y-axis variation and a Z-axis variation, wherein a rotation axis of the heading angle is directed vertically upward from the palm, a rotation axis of the roll angle is directed along an extending direction of an arm corresponding to the palm along one side of the palm, and a rotation axis of the pitch angle is directed according to a right-hand coordinate system.
In one embodiment of the present invention, the rotation angle includes a pitch angle and a roll angle, the displacement data includes an X-axis variation and a Y-axis variation, and the preset conversion relationship includes a one-to-one correspondence between the X-axis variation and the roll angle and a one-to-one correspondence between the Y-axis variation and the pitch angle, wherein the X-axis variation ranges from 0 to 255, the Y-axis variation ranges from 0 to 255, the pitch angle ranges from-90 ° to 90 °, and the roll angle ranges from 0 ° to 180 °.
In one embodiment of the present invention, the rotation angle includes at least one of a roll angle, a pitch angle, and a heading angle of euler angles, the motion sensor includes a nine-axis motion sensor, and the acquiring the rotation angle of the moving object based on the motion sensor includes: and converting the data detected by the nine-axis motion sensor according to an attitude calculation algorithm to obtain the Euler angle.
A second aspect of the present invention provides a control system comprising: a motion sensor and a controller, wherein the controller is configured to: acquiring a rotation angle of the moving object based on the motion sensor; and acquiring corresponding displacement data according to the rotation angle and a preset conversion relation.
In one embodiment of the invention, the motion sensor is arranged on an attaching module, and the attaching module is used for attaching to the moving object.
In one embodiment of the present invention, the moving object is a palm of a user, the rotation angle includes two of a roll angle, a pitch angle and a heading angle of euler angle, and the displacement data includes two of an X-axis variation, a Y-axis variation and a Z-axis variation, wherein a rotation axis of the heading angle is directed vertically upward from the palm, a rotation axis of the roll angle is directed along an extending direction of an arm corresponding to the palm along one side of the palm, and a rotation axis of the pitch angle is directed according to a right-hand coordinate system.
In one embodiment of the present invention, the rotation angle includes a pitch angle and a roll angle, the displacement data includes an X-axis variation and a Y-axis variation, and the preset conversion relationship includes a one-to-one correspondence between the X-axis variation and the roll angle and a one-to-one correspondence between the Y-axis variation and the pitch angle, wherein the X-axis variation ranges from 0 to 255, the Y-axis variation ranges from 0 to 255, the pitch angle ranges from-90 ° to 90 °, and the roll angle ranges from 0 ° to 180 °.
In one embodiment of the present invention, the rotation angle includes at least one of a roll angle, a pitch angle, and a heading angle of the euler angle, the motion sensor includes a nine-axis motion sensor, and the controller converts data detected by the nine-axis motion sensor according to an attitude calculation algorithm to obtain the euler angle.
According to the embodiment of the invention, the displacement data acquired by the motion sensor is used for controlling the controlled equipment to execute the operation corresponding to the displacement data, a mechanical remote rod is not needed, and the problems that the mechanical remote rod is easy to damage and the service life is short are solved, so that the service life of the controlled equipment is effectively prolonged.
Drawings
Fig. 1 is a schematic flow chart of a method of generating displacement data according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a right hand coordinate system in accordance with one embodiment of the present invention.
Fig. 3 is a schematic composition diagram of a control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow diagram of a method of generating displacement data, which may be performed by a device applying the displacement data, according to an embodiment of the present invention.
Specifically, the motion sensor is used as a detection device for object motion, and can be used for monitoring the orientation of a moving object, and commonly used motion sensors include a three-axis motion sensor, a six-axis motion sensor, a nine-axis motion sensor, and the like. For example, when the motion sensor is a nine-axis motion sensor, the motion sensor may include a three-axis acceleration sensor, a three-axis geomagnetic sensor, and a three-axis gyroscope, and the measurement data generated by the nine-axis motion sensor may correspond to the data of the three-axis acceleration sensor, the data of the three-axis geomagnetic sensor, and the data of the three-axis gyroscope.
The moving object is a moving object detected by the motion sensor, and may be a handheld device or a palm of a user directly, which is not limited herein. For example, when the moving object is a palm of a user, the motion sensor may be configured to acquire displacement data of the palm, thereby implementing control of the controlled device with the palm as the operating device. Further, the displacement data may correspond to the control signals one to one, and the controlled device may determine the control signals according to the displacement data, and then perform operations corresponding to the control signals.
In addition, since the euler angle plots the rotational variation more intuitively, the rotational angle may correspond to at least one of the euler angles, that is, the rotational angle may correspond to at least one of a roll angle (roll), a heading angle (yaw), and a pitch angle (pitch).
And step 120, acquiring corresponding displacement data according to the rotation angle and a preset conversion relation.
Specifically, the displacement data may include at least one of an X-axis variation, a Y-axis variation, and a Z-axis variation, and may correspond to a two-dimensional rectangular coordinate system or a three-dimensional rectangular coordinate system. It should be understood that the rotation angle and displacement data herein may correspond to the amount of spatial variation of the moving object from the starting position to the ending position during the movement.
The preset conversion relationship may be any algorithm that can associate data detected by the motion sensor with the rotation angle of the moving object, and is not limited herein. Specifically, the preset conversion relationship may represent a functional relationship, for example, the roll angle of the rotation angle and the X-axis variation of the displacement data correspond to each other one by one, or may be two corresponding values determined by looking up a table, for example, the table may be a relational database table, and the comparison is not limited here.
According to the embodiment of the invention, the displacement data acquired by the motion sensor is used for controlling the controlled equipment to execute the operation corresponding to the displacement data, a mechanical remote rod is not needed, and the problems that the mechanical remote rod is easy to damage and the service life is short are solved, so that the service life of the controlled equipment is effectively prolonged.
In another embodiment of the present invention, the apparatus to which the generating method is applied comprises an attaching module for attaching to the moving object, wherein the attaching module comprises a motion sensor.
Specifically, because the motion sensor belongs to electronic component, the volume is less, consequently can make the form of paster, attaches on moving object to can follow moving object and move together, and then detect moving object's space position change, acquire displacement data. For example, when the moving object is a palm of a user, the patch may be attached to any position of the palm.
In addition, the controller may enable processing of data detected by the motion sensor through communication with the motion sensor. Specifically, the motion sensor may be connected to the controller through a data connection line, or may be connected to the controller through a wireless communication manner, which is not limited herein. For example, the wireless communication method may be any one of networks such as bluetooth, Wifi, 2G, 3G, 4G, and 5G.
In another embodiment of the invention, the apparatus to which the generation method is applied comprises a wearing module, such as a glove, jewelry, wearable electronic device, etc., the wearing module comprising a motion sensor. At this time, the moving object may be a user, and the user may wear the wearable module, thereby causing the motion sensor to acquire displacement data of the user.
FIG. 2 is a schematic diagram of a right hand coordinate system in accordance with one embodiment of the present invention.
In another embodiment of the present invention, the moving object is a palm of a user, the rotation angle includes two of a roll angle, a pitch angle and a heading angle of an euler angle, and the displacement data includes two of an X-axis variation, a Y-axis variation and a Z-axis variation, wherein a rotation axis 1 of the heading angle points vertically upward from the palm, a rotation axis 2 of the roll angle points along an extending direction of an arm corresponding to the palm along one side of the palm, and a rotation axis 3 of the pitch angle points according to a right-hand coordinate system; the palm is parallel to the ground.
Specifically, the X-axis change amount, the Y-axis change amount, and the Z-axis change amount herein may refer to the respective coordinate value change amounts. In order to facilitate the control of the variation range of each rotation angle in accordance with the actual situation, the respective rotation axes of the right-hand coordinate system in which the euler angles are located may be set as described above. For example, as shown in FIG. 2, the pitch angle may correspond to forward and backward rotation of the palm and the roll angle may correspond to left and right rotation of the palm.
Further, the displacement data corresponding to the control signal may correspond to a two-dimensional rectangular coordinate system, and thus, the displacement data may include any two of an X-axis variation amount, a Y-axis variation amount, and a Z-axis variation amount. In order to satisfy the one-to-one correspondence with the displacement data, the rotation angle may also include any two of a roll angle, a pitch angle, and a heading angle of euler angles. For example, if the displacement data includes X-axis variation and Y-axis variation, and the rotation angle includes roll angle and pitch angle of euler angle, the X-axis variation may correspond one-to-one to the roll angle and the Y-axis variation may correspond one-to-one to the pitch angle. It should be understood that this is only illustrative and that the specific correspondence is not limited thereto. The variation ranges of the X-axis variation, the Y-axis variation, and the Z-axis variation may be 0 to 255, 0 to 1023, or others, which is not limited herein. Accordingly, the range of rotation angle may be 0 ° to 180 °, or-90 ° to 90 °, or the like, which is not limited herein.
In another embodiment of the present invention, the rotation angle includes a pitch angle and a roll angle, the displacement data includes an X-axis variation and a Y-axis variation, and the preset conversion relationship includes a one-to-one correspondence between the X-axis variation and the roll angle and a one-to-one correspondence between the Y-axis variation and the pitch angle, wherein the X-axis variation ranges from 0 to 255, the Y-axis variation ranges from 0 to 255, the pitch angle ranges from-90 ° to 90 °, and the roll angle ranges from 0 ° to 180 °.
Specifically, in order to correspond to actual measurement results and application scenarios, the variation ranges of the pitch angle, the roll angle, the X-axis variation amount, and the Y-axis variation amount may be as described above. Further, the one-to-one correspondence relationship between the X-axis variation and the roll angle, and the one-to-one correspondence relationship between the Y-axis variation and the heading angle can be described by using a function, for example, the X-axis variation is represented by X, the roll angle is represented by roll, the Y-axis variation is represented by Y, and the heading angle is represented by pitch, then the corresponding functional relationship can be represented by the following formula:
x＝roll×255÷180，
y＝(pitch+90)×255÷180。
in another embodiment of the present invention, the rotation angle includes at least one of a roll angle, a pitch angle, and a heading angle of euler angles, the motion sensor includes a nine-axis motion sensor, and the acquiring the rotation angle of the moving object based on the motion sensor includes: and converting the data detected by the nine-axis motion sensor according to an attitude calculation algorithm to obtain the Euler angle.
Specifically, the attitude solution algorithm may employ one of kalman filtering, particle filtering, and complementary filtering algorithms. For example, in the conversion, a quaternion may be obtained from the data detected by the nine-axis motion sensor and the time stamp, and then the quaternion may be converted into an euler angle.
The method of generating displacement data according to the embodiment of the present invention is described above, and the control system according to the embodiment of the present invention is described below with reference to fig. 3.
Fig. 3 is a schematic composition diagram of a control system 300 according to an embodiment of the present invention.
As shown in fig. 3, the control system 300 may include: a motion sensor 310 and a controller 320, wherein the controller 320 is configured to: acquiring a rotation angle of the moving object based on the motion sensor 320; and acquiring corresponding displacement data according to the rotation angle and a preset conversion relation.
According to the embodiment of the invention, the displacement data acquired by the motion sensor is used for controlling the controlled equipment to execute the operation corresponding to the displacement data, a mechanical remote rod is not needed, and the problems that the mechanical remote rod is easy to damage and the service life is short are solved, so that the service life of the controlled equipment is effectively prolonged.
In another embodiment of the present invention, the motion sensor is provided 310 on an attachment module for attaching to a moving object.
In another embodiment of the present invention, the moving object is a palm of a user, the rotation angle includes two of a roll angle, a pitch angle and a heading angle of euler angle, and the displacement data includes two of an X-axis variation, a Y-axis variation and a Z-axis variation, wherein a rotation axis 1 of the heading angle is directed vertically upward from the palm, a rotation axis 2 of the roll angle is directed along an extending direction of an arm corresponding to the palm along one side of the palm, and a rotation axis 3 of the pitch angle is directed according to a right-hand coordinate system.
In another embodiment of the present invention, the rotation angle includes a pitch angle and a roll angle, the displacement data includes an X-axis variation and a Y-axis variation, and the preset conversion relationship includes a one-to-one correspondence between the X-axis variation and the roll angle and a one-to-one correspondence between the Y-axis variation and the pitch angle, wherein the X-axis variation ranges from 0 to 255, the Y-axis variation ranges from 0 to 255, the pitch angle ranges from-90 ° to 90 °, and the roll angle ranges from 0 ° to 180 °.
In another embodiment of the present invention, the rotation angle includes at least one of a roll angle, a pitch angle, and a heading angle of the euler angle, the motion sensor 310 includes a nine-axis motion sensor, and the controller converts data detected by the nine-axis motion sensor according to an attitude calculation algorithm to obtain the euler angle.
It should be understood that each module, unit or component described in the control system provided in the above embodiments corresponds to one method step in the aforementioned method for generating displacement data corresponding to a control signal. Therefore, the operations and features described in the foregoing method steps are also applicable to the control system and the corresponding modules, units or components included therein, and repeated contents are not repeated herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention are included in the present invention.
Claims (10)
1. A method for generating displacement data, comprising:
acquiring a rotation angle of the moving object based on the motion sensor; and
acquiring corresponding displacement data according to the rotation angle and a preset conversion relation;
the displacement data comprises at least one of the variable quantity of the X-axis direction, the variable quantity of the Y-axis direction and the variable quantity of the Z-axis direction, and is used for controlling a controlled device to execute the operation corresponding to the displacement data;
the moving object is a palm of a user, the rotation angle comprises at least one of a roll angle, a pitch angle and a course angle of an Euler angle, wherein the direction of a rotation shaft of the course angle is vertical to the palm upwards, the direction of the rotation shaft of the roll angle is the extending direction of an arm corresponding to the palm along one side of the palm, and the direction of the rotation shaft of the pitch angle is determined according to a right-hand coordinate system;
the preset conversion relation comprises that the variable quantity in the X-axis direction corresponds to the roll angle one by one, and the variable quantity in the Y-axis direction corresponds to the pitch angle one by one.
2. The generation method according to claim 1, wherein the device to which the generation method is applied comprises an attachment module for attaching to the moving object, wherein the attachment module comprises the motion sensor.
3. The generation method according to claim 1, wherein the rotation angle includes two of a roll angle, a pitch angle, and a heading angle of an euler angle, and the displacement data includes two of a variation in an X-axis direction, a variation in a Y-axis direction, and a variation in a Z-axis direction.
4. The generation method according to claim 3, wherein the rotation angle includes the pitch angle and the roll angle, and the displacement data includes a variation in the X-axis direction and a variation in the Y-axis direction, wherein the variation in the X-axis direction ranges from 0 to 255, the variation in the Y-axis direction ranges from 0 to 255, the pitch angle ranges from-90 ° to 90 °, and the roll angle ranges from 0 ° to 180 °.
5. The generation method according to claim 1, wherein the rotation angle includes at least one of a roll angle, a pitch angle, and a heading angle of an euler angle, the motion sensor includes a nine-axis motion sensor, and the acquiring the rotation angle of the moving object based on the motion sensor includes:
and converting the data detected by the nine-axis motion sensor according to an attitude calculation algorithm to obtain the Euler angle.
6. A control system, comprising: a motion sensor and a controller, wherein the controller is configured to:
acquiring a rotation angle of the moving object based on the motion sensor; and
acquiring corresponding displacement data according to the rotation angle and a preset conversion relation;
the displacement data comprises at least one of the variable quantity of the X-axis direction, the variable quantity of the Y-axis direction and the variable quantity of the Z-axis direction, and is used for controlling a controlled device to execute the operation corresponding to the displacement data;
the moving object is a palm of a user, the rotation angle comprises at least one of a roll angle, a pitch angle and a course angle of an Euler angle, wherein the direction of a rotation shaft of the course angle is vertical to the palm upwards, the direction of the rotation shaft of the roll angle is the extending direction of an arm corresponding to the palm along one side of the palm, and the direction of the rotation shaft of the pitch angle is determined according to a right-hand coordinate system;
the preset conversion relation comprises that the variable quantity in the X-axis direction corresponds to the roll angle one by one, and the variable quantity in the Y-axis direction corresponds to the pitch angle one by one.
7. The control system of claim 6, wherein the motion sensor is disposed on an attachment module configured to attach to the moving object.
8. The control system according to claim 6, wherein the rotation angle includes two of a roll angle, a pitch angle, and a heading angle of an euler angle, and the displacement data includes two of a variation in an X-axis direction, a variation in a Y-axis direction, and a variation in a Z-axis direction.
9. The control system according to claim 8, wherein the rotation angle includes the pitch angle and the roll angle, and the displacement data includes a variation in the X-axis direction and a variation in the Y-axis direction, wherein the variation in the X-axis direction is in a range of 0 to 255, the variation in the Y-axis direction is in a range of 0 to 255, the pitch angle is in a range of-90 ° to 90 °, and the roll angle is in a range of 0 ° to 180 °.
10. The control system of claim 6, wherein the rotation angle comprises at least one of a roll angle, a pitch angle, and a heading angle of an euler angle, the motion sensor comprises a nine-axis motion sensor, and the controller converts data detected by the nine-axis motion sensor according to an attitude calculation algorithm to obtain the euler angle.
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| CN106643717A (en) * | 2016-12-28 | 2017-05-10 | 北京奇艺世纪科技有限公司 | Method and device for performance detection of nine-axis sensor |
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| CN103487011A (en) * | 2013-09-06 | 2014-01-01 | 广州畅途软件有限公司 | Method for detecting attitude angle of data glove |
| CN106293103A (en) * | 2016-10-21 | 2017-01-04 | 北京工商大学 | Four-axle aircraft gesture control device based on inertial sensor and control method |
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