CN110465075B - Handle rocker system for implementing method for acquiring rocker position based on sensor mpu6050 acquisition signal - Google Patents
Handle rocker system for implementing method for acquiring rocker position based on sensor mpu6050 acquisition signal Download PDFInfo
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- CN110465075B CN110465075B CN201910848013.7A CN201910848013A CN110465075B CN 110465075 B CN110465075 B CN 110465075B CN 201910848013 A CN201910848013 A CN 201910848013A CN 110465075 B CN110465075 B CN 110465075B
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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
- A63F13/23—Input arrangements for video game devices for interfacing with the game device, e.g. specific interfaces between game controller and console
- A63F13/235—Input arrangements for video game devices for interfacing with the game device, e.g. specific interfaces between game controller and console using a wireless connection, e.g. infrared or piconet
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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
- A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Position Input By Displaying (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The divisional application relates to a handle rocker system for implementing a method for acquiring a rocker position based on signals acquired by a sensor mpu6050, and belongs to the field of handles. Comprising the following steps: the power supply voltage stabilizing module comprises a battery and a voltage stabilizing chip LM-2596, and the voltage measuring module comprises a voltage comparator LM301A. The beneficial effects are that: the invention can obtain better dynamic performance and static performance, and higher accuracy, stability and comfort, thereby obtaining better user experience.
Description
The application is a divisional application of the invention patent application with the application number of 201611262473.4 and the application date of 2016, 12 and 30, and the invention is named as a handle rocker system and a method for acquiring signals based on a sensor mpu and 6050.
Technical Field
The invention relates to the field of handles, in particular to a handle rocker system for implementing a method for acquiring a rocker position based on signals acquired by a sensor mpu 6050.
Background
With the continuous progress of social and economic technology and the increasing development of scientific technology, the daily entertainment modes of people are also more and more abundant. Among them, electronic games and unmanned aerial vehicles are common entertainment items, and especially unmanned aerial vehicles are popular and loved by more people as an emerging entertainment mode, and both are operated by using a handle, so that a user can obtain better experience by using a high-precision rocker handle. The traditional handle rocker in the current market mostly uses the potentiometer as an angle acquisition element, and because the potentiometer is a vulnerable element, the friction force is large, the control precision and the durability of the rocker are easy to be reduced, and the element has certain reverse idle stroke, large abrasion, poor dynamic performance and other phenomena, so that the instability in the use process is caused. Therefore, a need exists for a joystick handle with improved accuracy, stability and comfort for controlling electronic games and for remotely controlling unmanned aerial vehicles.
Disclosure of Invention
In order to overcome the defects of certain reverse idle stroke, high abrasion and poor dynamic performance of the existing rocker handle, the invention provides a handle rocker system for implementing a method for acquiring signals based on a sensor mpu6050 to acquire a rocker position, and the handle rocker system can acquire better dynamic performance and static performance and higher accuracy, stability and comfort, so that better user experience can be acquired. The technical scheme is as follows:
a handle rocker system for acquiring signals based on a sensor mpu6050, comprising: the power supply voltage stabilizing device comprises a signal acquisition module, a wireless transceiver module, a GPIO key module, a power supply voltage stabilizing module and a pressure measuring module, wherein the signal acquisition module is respectively connected with the wireless transceiver module, the GPIO key module, the power supply voltage stabilizing module and the pressure measuring module, the signal acquisition module comprises a microprocessor K60 and a rocker device, the wireless transceiver module comprises an NRF24L01 wireless radio frequency module connected with the microprocessor K60, the GPIO key module comprises an external key and an LED indicator lamp, the power supply voltage stabilizing module comprises a battery and a voltage stabilizing chip LM-2596, and the pressure measuring module comprises a voltage comparator LM301A.
Further, the rocker device comprises a rocker, a rotating ball, a compression spring, a chip A and a chip B, wherein the rocker penetrates through the rotating ball to be connected with the chip A and the chip B respectively, one end of the compression spring is connected with the rotating ball, the distance between the chip A and the chip B is 100mm, the chip A and the chip B are sensors mpu6050, and the chip A and the chip B are connected with a microprocessor K60 respectively.
Furthermore, the power supply voltage stabilizing module selects 7.2V voltage battery.
Further, the GPIO key module further comprises an LCD display screen.
The invention also comprises a method for acquiring the rocker position based on the signal acquired by the sensor mpu6050, which comprises the following steps:
s1, establishing a right-hand Cartesian coordinate system on a rocker device as an absolute coordinate system, and using the geometric center of a chip B as an origin, wherein x, y and z axes represent a fixed reference coordinate system F (x，y，z) The geometric center of the chip A is used as an origin, and the n, o and a axes represent a motion coordinate system F (n，o，a) ；
S2, a finger dials the rocker, and the chip B performs data acquisition to obtain an alpha angle rotating around the x-axis direction and a beta angle rotating around the y-axis direction; the chip A performs data acquisition to obtain a rotation gamma angle around the n-axis direction and a rotation delta angle around the o-axis direction;
s3, the microprocessor K60 reads data through an IIC protocol, and adopts an extended Kalman filter to fuse the angle data collected by the sensor and compensate errors to obtain an optimal estimated value of the handle rocker;
s4, establishing a mathematical model in a fixed reference coordinate system by using a position vector P as follows:
wherein n, o and a represent direction vectors; p represents a position vector; x, y and z are coordinate axes;
s5, establishing a vector p by using the optimal estimated value obtained after the compensation of the handle rocker xyz The relative coordinate equation is:
p xyz ＝Rot(y，β)Rot(x，α)Rot(n，(γ-α))Rot(o，(δ-β))p noa
p xyz a coordinate point after the geometric center of the handle rocker is transformed;
s6, establishing a vector p xyz Is a matrix equation of:
s7, further processing vectors to obtain:
s8, obtaining coordinates in a plane xy:
the abscissa is:
p x the ordinate of =180 (sin (δ - β) cos β0-sin (γ - β2) cos (δ - β1) sin βsin α+cos (γ - α) sin (δ - β) sin βcos α) is:
p v ＝-180(sin(γ-α)cos(δ-β)cosα+cos(γ-α)sin(δ-β)sinα)。
further, in S2, a system state equation and an observation equation are established by extended kalman filtering, as follows:
X K+1 ＝f(X K )+w K+1
Y K ＝h(X K )+v K
wherein X is K+1 Y being a state variable of the system at time k+1 K And w and v are zero-mean Gaussian white noise as measurement variables of the system at the moment k.
By a nonlinear function Taylor series expansion linearization method, a state equation and an observation equation of an initial system can be approximately represented as follows:
wherein F is X (K) And F w The partial derivatives to X, v, respectively; h x (K) And H v The partial derivatives to X, w, respectively.
Pre-prediction state estimation [ ：
Estimation of variance before prediction:
where Q (K) is the process excitation noise covariance matrix at time K. And after the system is adjusted and corrected in real time, a state update equation is obtained. The gain matrix, the state estimation and the variance estimation are respectively as follows:
the beneficial effects of the invention are as follows:
the handle rocker system and the method based on the sensor mpu6050 acquisition signal can obtain better dynamic performance and static performance, and higher accuracy, stability and comfort level, so that better user experience can be obtained.
Drawings
FIG. 1 is a block diagram of a system architecture of the present invention;
FIG. 2 is a block diagram of a rocker device of the present invention;
FIG. 3 is a diagram showing the data transmission interface between the microprocessor K60 and the sensor mpu6050 according to the present invention;
FIG. 4 is a diagram showing a communication interface between a microprocessor K60 and a radio frequency module NRF24L01 according to the present invention;
fig. 5 is a circuit diagram of a power voltage stabilizing module LM2596 and a pressure measuring module LM301A according to the present invention.
Detailed Description
Example 1:
a handle rocker system for acquiring signals based on a sensor mpu6050, comprising: the system comprises a signal acquisition module, a wireless transceiver module, a GPIO key module, a power supply voltage stabilizing module and a pressure measuring module, wherein the signal acquisition module is respectively connected with the wireless transceiver module, the 6PIO key module, the power supply voltage stabilizing module and the pressure measuring module.
The signal acquisition module comprises a microprocessor K60 and a rocker device, wherein the K60 is a microprocessor MK60N512VLQ100.
The wireless transceiver module comprises an NRF24L01 wireless radio frequency module connected with a microprocessor K60, wherein the NRF24L01 wireless radio frequency module is a novel singlechip radio frequency transceiver device, works in 2.4-2.5 GH ISM frequency bands, is internally provided with a frequency synthesizer and is fused with an enhanced shock burst technology. Its output power and communication channel are configured by the program. The direct mode may add a password and a transport address at the transmitting end by software. The method has the characteristics of small power consumption, strong anti-interference capability in the transmission process, accurate data transmission and the like, and meets the requirement of data transmission of the handle rocker. As shown in fig. 4, rf_sck is a transmission clock signal for controlling the timing and rate of data exchange. The rf_mosi and the rf_moso are inputs and outputs of data with respect to the master device, and data transmission and exchange are mainly performed according to a clock signal.
The GPIO key module comprises an external key and an LED indicator lamp, and the GPIO key module further comprises an LCD display screen.
The power supply voltage stabilizing module comprises a battery and a voltage stabilizing chip LM-2596, and the pressure measuring module comprises a voltage comparator LM301A.
The rocker device comprises a rocker, a rotating ball, a compression spring, a chip A and a chip B, wherein the rocker penetrates through the rotating ball to be connected with the chip A and the chip B respectively, one end of the compression spring is connected with the rotating ball, the distance between the chip A and the chip B is 100mm, the chip A and the chip B are sensors mpu6050, and the chip A and the chip B are connected with a microprocessor K60 respectively. The device utilizes the advantage of non-contact friction of the elastic element compression spring, so that friction during movement of the rocker is avoided, control precision and durability are improved, and infinite high-precision use is realized. Meanwhile, the strength and comfort of the rocker when operated are improved greatly.
The rocker produces angular displacement when swinging, the rotary ball can deform the variable pitch spring, the rocker can produce moment opposite to the movement direction, and the accuracy requirement of the rocker in the middle position is met. The sensor chip A, B also has a corresponding change in angular displacement, and the position of the rocker motion is obtained by the following method.
A method for acquiring the rocker position based on the signal acquired by the sensor mpu6050 comprises the following steps:
s1, establishing a right-hand Cartesian coordinate system on a rocker device as an absolute coordinate system, and using the geometric center of a chip B as an origin, wherein x, y and z axes represent a fixed reference coordinate system F (x，y，z) The geometric center of the chip A is used as an origin, and the n, o and a axes represent a motion coordinate system F (n，o，a) ；
S2, a finger dials the rocker, and the chip B performs data acquisition to obtain an alpha angle rotating around the x-axis direction and a beta angle rotating around the y-axis direction; the chip A performs data acquisition to obtain a rotation gamma angle around the n-axis direction and a rotation delta angle around the o-axis direction;
s3, the microprocessor K60 reads data through an IIC protocol, and adopts an extended Kalman filter to fuse the angle data collected by the sensor and compensate errors to obtain an optimal estimated value of the handle rocker;
s4, establishing a mathematical model in a fixed reference coordinate system by using a position vector P as follows:
wherein n, o and a represent direction vectors; p represents a position vector; x, y and z are coordinate axes;
s5, establishing a vector p by using the optimal estimated value obtained after the compensation of the handle rocker xyz The relative coordinate equation is:
p xyz ＝Rot(y，β)Rot(x，α)Rot(n，(γ-α))Rot(o，(δ-β))p noa
p xyz a coordinate point after the geometric center of the handle rocker is transformed;
s6, establishing a vector p xyz Is a matrix equation of:
s7, further processing vectors to obtain:
s8, obtaining coordinates in a plane xy:
the abscissa is:
p x ＝180(sin(δ-β)cos β-sin(γ-α)cos(δ-β)sin β sinα+cos(γ-α)sin(δ-β)sin β
the ordinate is:
p y ＝-180(sin(γ-α)cos(δ-β)cos α+cos(γ-α)sin(δ-β)sin α)；
in S2, a system state equation and an observation equation are established through extended Kalman filtering, and the method comprises the following steps:
X K+1 ＝f(X K )+w K+1
Y K ＝h(X K )+v K
wherein X is K+1 Y being a state variable of the system at time k+1 K And w and v are zero-mean Gaussian white noise as measurement variables of the system at the moment k.
By a nonlinear function Taylor series expansion linearization method, a state equation and an observation equation of an initial system can be approximately represented as follows:
wherein F is X (K) And F w The partial derivatives to X, v, respectively; h X (K) And H v The partial derivatives to X, w, respectively.
Pre-prediction state estimation [ ：
Estimation of variance before prediction:
where Q (K) is the process excitation noise covariance matrix at time K. And after the system is adjusted and corrected in real time, a state update equation is obtained. The gain matrix, the state estimation and the variance estimation are respectively as follows:
example 2:
as a supplement to the handle rocker system based on the signal collected by the sensor mpu6050 in embodiment 1, the whole system adopts 7.2V battery voltage, and the battery voltage is stabilized to 3.3V by the voltage stabilizing module. Because the modules of the whole system are only powered by 3.3V voltage, the voltage stabilizing module only needs to carry out primary voltage reduction and voltage stabilization, and the selected voltage stabilizing chip LM-2596 is an output current 3A voltage reduction switch type integrated voltage stabilizing chip, so that the current has good linearity and load regulation characteristics. The power is small, the efficiency is high, the stable working current of the whole system can reach 0.8A, and the instantaneous working current is about 1.2A. Therefore, the power supply design meets the requirements of system operation. Because mpu6050 sensor chip has extremely high requirement on working voltage, the design system is additionally provided with a pressure measuring module, and the battery electric quantity is read out through a voltage comparator LM301A, so that the system is ensured to stably work within an effective voltage range all the time.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should be covered by the protection scope of the present invention by making equivalents and modifications to the technical solution and the inventive concept thereof.
Claims (3)
1. A handle rocker system for implementing a method for obtaining a rocker position based on a sensor mpu6050 acquisition signal, comprising: the power supply voltage stabilizing module comprises a battery and a voltage stabilizing chip LM-2596, and the voltage measuring module comprises a voltage comparator LM301A; the rocker device comprises a rocker, a rotating ball, a compression spring, a chip A and a chip B, wherein the rocker penetrates through the rotating ball and is respectively connected with the chip A and the chip B, one end of the compression spring is connected with the rotating ball, the distance between the chip A and the chip B is 100mm, the chip A and the chip B are sensors mpu6050, and the chip A and the chip B are respectively connected with a microprocessor K60;
the rocker position method is obtained by the following steps:
s1, establishing a right-hand Cartesian coordinate system on a rocker device as an absolute coordinate system, and using the geometric center of a chip B as an origin, wherein x, y and z axes represent a fixed reference coordinate system F (x，y，z) The geometric center of the chip A is used as an origin, and the n, o and a axes represent a motion coordinate system F (n，o，a) ；
S2, a finger dials the rocker, and the chip B performs data acquisition to obtain an alpha angle rotating around the x-axis direction and a beta angle rotating around the y-axis direction; the chip A performs data acquisition to obtain a rotation gamma angle around the n-axis direction and a rotation delta angle around the o-axis direction;
s3, the microprocessor K60 reads data through an IIC protocol, and adopts an extended Kalman filter to fuse the angle data collected by the sensor and compensate errors to obtain an optimal estimated value of the handle rocker;
s4, establishing a mathematical model in a fixed reference coordinate system by using a position vector P as follows:
wherein n, o and a represent direction vectors; p represents a position vector; x, y and z are coordinate axes;
s5, establishing a vector p by using the optimal estimated value obtained after the compensation of the handle rocker xyz The relative coordinate equation is:
p xyz ＝Rot(y,β)Rot(x,α)Rot(n,(γ-α))Rot(o,(δ-β))p noa
p xyz a coordinate point after the geometric center of the handle rocker is transformed;
s6, establishing a vector p xyz Is a matrix equation of:
s7, further processing vectors to obtain:
s8, obtaining coordinates in a plane xy:
the abscissa is:
p x ＝180(sin(δ-β)cosβ-sin(γ-α)cos(δ-β)sinβsinα+sinβcos(γ-α)cosαcos(δ-β))
the ordinate is:
P y ＝-180(sin(γ-α)cos(δ-β)cosα+cos(γ-α)cos(δ-β)sinα)。
2. the handle rocker system for implementing the method for obtaining the rocker position based on the sensor mpu6050 signal as claimed in claim 1, wherein the power supply voltage stabilizing module is a 7.2V voltage battery.
3. The handle rocker system implementing the method of obtaining a rocker position based on sensor mpu6050 acquisition signals of claim 1 wherein the GPIO key module further comprises an LCD display screen.
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| CN107137925A (en) * | 2017-06-11 | 2017-09-08 | 吴昊阳 | A kind of game paddle system and its control method |
| EP3444016A1 (en) * | 2017-08-17 | 2019-02-20 | Bigben Interactive SA | Method for controlling a display element by a game console |
| CN108008759B (en) * | 2017-11-30 | 2020-05-22 | 歌尔科技有限公司 | Rocker calibration method, device and system, rocker and computer readable storage medium |
| CN109395382A (en) * | 2018-09-12 | 2019-03-01 | 苏州蜗牛数字科技股份有限公司 | A kind of linear optimization method for rocking bar |
| CN111413862A (en) * | 2020-03-31 | 2020-07-14 | 涵涡智航科技(玉溪)有限公司 | Unmanned aerial vehicle rocker redundancy control system and control method thereof |
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