CN102314179A - Cradle head control method based on mobile phone and built-in gravity sensor - Google Patents

Cradle head control method based on mobile phone and built-in gravity sensor Download PDF

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Publication number
CN102314179A
CN102314179A CN201110114069A CN201110114069A CN102314179A CN 102314179 A CN102314179 A CN 102314179A CN 201110114069 A CN201110114069 A CN 201110114069A CN 201110114069 A CN201110114069 A CN 201110114069A CN 102314179 A CN102314179 A CN 102314179A
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China
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mobile phone
cradle head
control
head control
gravity sensor
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CN201110114069A
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Chinese (zh)
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CN102314179B (en
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吴震东
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杭州电子科技大学
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Abstract

The invention discloses a cradle head control method based on a mobile phone and a built-in gravity sensor. The cradle head control method comprises the following steps of: (1) establishing a three-dimensional coordinate system for the built-in gravity sensor of the mobile phone; (2) recording a current position of the mobile phone and a remote cradle head position, and establishing a corresponding relationship between the current position of the mobile phone and the remote cradle head position; (3) setting a sampling interval, and regularly sampling a parameter value of the built-in gravity sensor; (4) calculating changes (including horizontal and vertical angle offsets) of the current position of the mobile phone and a position of the mobile phone at a previous sampling time according to the sampling value; (5) inputting the horizontal and vertical angle offsets into a cradle head control command generating module; (6) executing an integration calculation on each input time position parameter of the mobile phone by the cradle head control command generating module, and generating a remote cradle head control command according to a remote cradle head control protocol; and (7) inputting the remote cradle head control command into a control command output queue, and transmitting a control command to a remote cradle head control unit through a network according to a command transmission policy to realize the control. According to the cradle head control method disclosed by the invention, the mobile phone is simulated to be a remote cradle head, thus the mobile phone is controlled to realize the control of the remote cradle head.

Description

Cloud platform control method based on mobile phone and built-in gravity sensor

Technical field

The invention belongs to the digital video monitoring technical field, be specifically related to a kind ofly based on networkly control long-range The Cloud Terrace with mobile phone and rotate, implement the method for video monitoring.

Background technology

Present digital video monitoring generally takes video camera to be installed on the The Cloud Terrace; Surveillance center's control The Cloud Terrace carries out level, vertical movement; Drive video camera and horizontally rotate, adjust fuselage angle of inclination etc., video camera is taken the scene in the camera lens scope and is passed video flowing back.The control of The Cloud Terrace there are button, rocking bar, direct mode such as defeated control command.

Along with a large amount of of smart mobile phone popularize, and the developing rapidly of wireless internet networks such as 3G, WiFi, new approach that remote monitoring is many, promptly smart mobile phone is controlled watch-dog through network remote and is implemented monitoring.This makes the cellie can monitor the far-end situation whenever and wherever possible.But because carrying and characteristic such as touch-screen limited size of mobile phone makes the existing various far-end The Cloud Terrace method of controlling on mobile phone, use the very inconvenience that seems.

If the rocking bar equipment that mobile phone configuration is special, then it carries inconvenience, and the characteristic of carrying of this and mobile phone is not inconsistent.If on handset touch panel, arrange slider bar or functional symbols such as compass, button; Simulation The Cloud Terrace guidance panel is to the The Cloud Terrace implementation and operation; Then can take the very big a part of display space of touch-screen; Making this touch-screen with regard to limited size be difficult to obtain sufficient screen space plays the monitored picture of passing back in real time and (need consider the comfort level that staff touches owing on touch-screen, arrange functional symbol; Functional symbol can not design too smallly, and the screen space that the combination of some functional symbols takies is bigger).In addition, the control mode of slider bar, compass and button is to control three-dimensional moving at two dimensional surface, and operating process is not directly perceived.Above factor can have influence on the judgement of manipulator to The Cloud Terrace ruuning situation, increases the move around number of times of The Cloud Terrace of user, reduces the experience of controlling of controlling efficient and user.

To sum up, existing mobile phone cloud platform control method need take a large amount of screen spaces, and only supports the plane to control, and is difficult to overcome problems such as the mobile phone screen space is limited, the process of controlling is not directly perceived, makes to control that efficient is not high, user experience is bad.

Summary of the invention

The present invention is directed to prior art in the deficiency of controlling aspect efficient and the user experience, proposed a kind of cloud platform control method based on mobile phone and built-in gravity sensor.

The present invention takes following technical scheme: based on the cloud platform control method of mobile phone and built-in gravity sensor, as follows:

The first step is for the embedded in mobile phone gravity sensor is set up three-dimensional system of coordinate;

In second step, both corresponding relations are set up in record mobile phone current location and far-end The Cloud Terrace position;

The 3rd step, set the SI, regularly the parameter value of built-in gravity sensor is sampled;

The 4th step is according to the variation (containing level, vertical angle skew) of sampled value calculating mobile phone current location and last sampling instant position;

The 5th step, with the level that obtains, vertical angle off-set value, input cradle head control order generation module;

In the 6th step, cradle head control order generation module is integrated computing to each moment mobile phone location parameter of input, according to far-end cradle head control agreement, generates the order of far-end cradle head control;

The 7th step, the control command output queue is put in the order of far-end cradle head control, send strategy according to order, control command through network destined far-end cradle head control unit, is realized the control to The Cloud Terrace.

Cloud platform control method of the present invention utilizes the built-in gravity sensor perception user's of smart mobile phone limb action, and handset is modeled as the The Cloud Terrace of far-end, controls handset and does level, rotates and promptly control the far-end The Cloud Terrace and do same motion up and down.In this method operating process, the manipulator can have good position sense, directly perceived through observing the relative displacement of mobile phone perception The Cloud Terrace.Simultaneously; This method need not on mobile phone screen explicit user and controls functional symbols such as the slider bar of usefulness, compass, only needs the display button functional symbol, makes mobile phone can reserve more screen space and plays the monitored picture of passing back in real time; Improved the efficient of controlling, favorable user experience has been arranged.

Description of drawings

Fig. 1 is mobile phone control far-end The Cloud Terrace synoptic diagram.

Fig. 2 is an embedded in mobile phone gravity sensor three-dimensional system of coordinate synoptic diagram.

Fig. 3 rotates synoptic diagram up and down for gravity sensor Z axle parameter value change reflection handset.

Fig. 4 is a gravity sensor X axle parameter value change reflection handset left-right rotation synoptic diagram.

Fig. 5 is according to rotational angle schematic diagram about the built-in gravity sensor parameter value calculation mobile phone.

Fig. 6 is according to built-in gravity sensor parameter value calculation mobile phone left-right rotation angle schematic diagram.

Embodiment

Ultimate principle based on the cloud platform control method of mobile phone and built-in gravity sensor is: all built-in gravity sensor of present smart mobile phone, can the perception mobile phone when three-dimensional space motion, the projection value on each component of space (X, Y, Z axle).(natural posture refers to the mobile phone screen user oriented and the user holds mobile phone with natural posture; There is one 15 °~75 ° inclination angle on fuselage and day water plane); About mobile phone carried out, when rotating up and down, the projection value of acceleration of gravity on each component of space can reflect such rotational motion.In view of the above; Can handset be modeled as the far-end The Cloud Terrace; Through the record rotation situation of handset on level, vertical direction, the perception user is to the manipulation request of far-end The Cloud Terrace, and manipulation request is converted into the cradle head control instruction; Send to far-end cradle head control unit, realize the control of mobile phone the far-end The Cloud Terrace.

As shown in Figure 1, mobile phone control far-end The Cloud Terrace concrete steps are following:

The first step is for the embedded in mobile phone gravity sensor is set up three-dimensional system of coordinate.

With the mobile phone screen is surface level, sets up X, Y axle.General mobile phone screen is a rectangle, is X, Y axle with the horizontal, vertical axle of screen, is the Z axle with the normal direction vertical with mobile phone screen, accomplishes the foundation of three-dimensional system of coordinate.Fig. 2 is that embedded in mobile phone gravity sensor three-dimensional system of coordinate is set up synoptic diagram.

In second step, both corresponding relations are set up in record mobile phone current location and far-end The Cloud Terrace position.

Adopt the operation system of smart phone api function to obtain the current numerical value of gravity sensor.Can obtain gravity sensor numerical value like Android system of Google just like minor function.

The gravity sensor records of values of obtaining is tlv triple [x 0,y 0,z 0].Obtain the current location parameter of far-end The Cloud Terrace to far-end The Cloud Terrace transmitting control commands, be recorded as tlv triple [lx 0,Ly 0,Lz 0].Different The Cloud Terrace technical parameters are variant, and some The Cloud Terrace does not support to return the current location parameter.As this type of situation appears, then with [lx 0,Ly 0,Lz 0] be changed to [0,0,0].Subsequent calculations is all calculated relativity shift.

The 3rd step, set the SI, regularly the parameter value of built-in gravity sensor is sampled.

Based on the difference of operator's hand exercise custom, be standard not omit operator's hand stop action, set the sampling interval.The integral multiple of general desirable 100ms.Obtain gravity sensor numerical value with identical method in second step, be recorded as [x 1,y 1,z 1], [x 2,y 2,z 2], [x 3,y 3,z 3] ..., [x I,y I,z i], i is a sampling number.

The 4th step is according to the variation of sampled value calculating mobile phone current location and last sampling instant position.

Gravity sensor can be sensed the projection value on each component of three-dimensional system of coordinate (X, Y, Z axle) that acceleration of gravity set up in the first step.When the user holds mobile phone (natural posture refers to the mobile phone screen user oriented, and there is one 15 °~75 ° inclination angle on fuselage and day water plane) with natural posture, about mobile phone is carried out, when rotating up and down, projection value can be set up corresponding relation with the rotation of mobile phone.According to this corresponding relation, can extrapolate about mobile phone from the variation of acceleration of gravity projection value on each component of three-dimensional system of coordinate, rotation situation up and down.Fig. 3 has shown change and the handset of the gravity sensor Z axle parameter value corresponding relation between rotating up and down.Fig. 4 has shown the change of gravity sensor X axle parameter value and the corresponding relation between the handset left-right rotation.

Fig. 5 calculates handset rotational angle schematic diagram up and down according to Z axle parameter value variation.Mobile phone plane among the figure iWith Z iAxle becomes 90 ° of angles, mobile phone plane I-1With Z I-1Axle becomes 90 ° of angles; Mobile phone plane then iWith the mobile phone plane I-1Between angle and Z iAxle and Z I-1The between centers angle equates; Z iAxle and Z I-1The between centers angle can be drawn by the variation of the acceleration of gravity sampled value on the Z axle (being projection value).Concrete computing method are:

Wherein, g is an acceleration of gravity, is generally 9.8; g ZiBe the acceleration of gravity sampled value on the current time Z axle (being projection value); g Zi-1Be the acceleration of gravity sampled value on the previous moment Z axle.

Fig. 6 calculates handset left-right rotation angle schematic diagram according to X axle parameter value variation.The same principle mobile phone interplanar angle equates with X between centers angle; X between centers angle is calculated by the acceleration of gravity sampled value on the X axle (being projection value):

Wherein, g is an acceleration of gravity, is generally 9.8; g XiBe the acceleration of gravity sampled value on the current time X axle; g Xi-1Be the acceleration of gravity sampled value on the previous moment X axle.Because this method does not support to surpass 90 ° the sampling that horizontally rotates.Therefore, if result of calculation surpasses 90 °, then get the supplementary angle.

Through above calculating, obtain mobile phone current location and the last sampling instant position pivot offset value on level and above-below direction.

In the 5th step,, be expressed as [r with the level that obtains, above-below direction pivot offset value i, u i, t i].r iExpression horizontal direction rotational angle, positive negative value representative turns left to the right; u iExpression above-below direction rotational angle, positive negative value representative upwards rotates; t iThe time of experience is rotated in expression, is the integral multiple in SI; I is a sequence number.[r i, u i, t i] import cradle head control order generation module successively.

The 6th goes on foot, and mobile phone designs as follows the control operation of The Cloud Terrace: the user holds mobile phone with natural posture, and mobile phone is rotated to the direction of needs monitoring, pauses then and perhaps gets back to the natural posture placement, receives the video flowing of passing back.The action that mobile phone rotates to the monitoring direction generates corresponding cradle head control order, and mobile phone is got back to the process that natural posture places and do not generated control command.Cradle head control order generative process is:

(1) according to far-end The Cloud Terrace kinematic parameter (traveling time of unit step-length or The Cloud Terrace rotate 3 ° of required times etc.), setting command sends at interval;

(2) in order is sent at interval, to the tlv triple [r of input i, u i, t i] press the input sequence ordering, with [r 0, u 0, t 0]+[r 1, u 1, t 1]+... + [r n, u n, t n]=[R, U, T], the tlv triple quantity that n receives in sending at interval for order;

(3) according to the cradle head control agreement, [R, U, T] is converted into cradle head control order, R representes the left-right rotation angle, U representes rotational angle up and down, T and R, the U expression rotational angular velocity that is divided by.Have in the cradle head control agreement specific instructions control The Cloud Terrace about, rotate up and down.The The Cloud Terrace of different model is followed different cradle head control agreements, and command format is different, and concrete system specifically designs.

The 7th step, the control command output queue is put in the order of far-end cradle head control, wait to be sent.Control command can be sent at once, also can wait for the feedback information of receiving previous order after, the next control command of redispatching.

Claims (3)

1. based on the cloud platform control method of mobile phone and built-in gravity sensor, it is characterized in that as follows:
The first step is for the embedded in mobile phone gravity sensor is set up three-dimensional system of coordinate;
In second step, both corresponding relations are set up in record mobile phone current location and far-end The Cloud Terrace position;
The 3rd step, set the SI, regularly the parameter value of built-in gravity sensor is sampled;
In the 4th step,, comprise level, vertical angle skew according to the variation of sampled value calculating mobile phone current location and last sampling instant position;
The 5th step, with the level that obtains, vertical angle off-set value, input cradle head control order generation module;
In the 6th step, cradle head control order generation module is integrated computing to each moment mobile phone location parameter of input, according to far-end cradle head control agreement, generates the order of far-end cradle head control;
The 7th step, the control command output queue is put in the order of far-end cradle head control, send strategy according to order, control command through network destined far-end cradle head control unit, is realized the control to The Cloud Terrace.
2. the cloud platform control method based on mobile phone and built-in gravity sensor as claimed in claim 1 is characterized in that: the first step is that X axle, vertical pivot are the Y axle with the transverse axis of mobile phone screen, is the Z axle with the normal direction vertical with mobile phone screen, sets up three-dimensional system of coordinate.
3. the cloud platform control method based on mobile phone and built-in gravity sensor as claimed in claim 1 is characterized in that: in the 7th step, described control command is sent at once, perhaps, after the feedback information of previous order is received in wait, the next control command of redispatching.
CN 201110114069 2011-05-04 2011-05-04 Cradle head control method based on mobile phone and built-in gravity sensor CN102314179B (en)

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Cited By (17)

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CN102662404A (en) * 2012-03-31 2012-09-12 天津九安医疗电子股份有限公司 Cloud platform control apparatus and cloud platform control method
CN103226362A (en) * 2013-03-26 2013-07-31 天脉聚源(北京)传媒科技有限公司 Rotation control method and device
CN103246290A (en) * 2012-02-01 2013-08-14 深圳中兴力维技术有限公司 PTZ control method and system
CN103365434A (en) * 2013-08-02 2013-10-23 崔一郎 Method for aiming with mobile terminal
CN103458184A (en) * 2013-08-25 2013-12-18 浙江大学 Method for carrying out long-range control on pan-tilt with cell phone
CN103902195A (en) * 2012-12-28 2014-07-02 鸿富锦精密工业(武汉)有限公司 Automatic regulation system and method for display screen
CN103986878A (en) * 2014-06-04 2014-08-13 浙江宇视科技有限公司 Remote control device and method for operating pan-tilt camera
CN104144320A (en) * 2013-05-10 2014-11-12 中国电信股份有限公司 Video monitoring system, method for controlling pan-tilt in video monitoring system and intelligent terminal
CN104238582A (en) * 2014-08-26 2014-12-24 浙江大学 Method for assisting in remote control over cradle head by means of mobile phone
CN104378587A (en) * 2014-10-27 2015-02-25 小米科技有限责任公司 Camera equipment control method, device and equipment
CN104471519A (en) * 2014-06-16 2015-03-25 华为技术有限公司 Method and apparatus for displaying panoramic photo in mobile terminal, and mobile terminal
CN105227899A (en) * 2014-06-23 2016-01-06 江南大学 A kind of virtual mouse long-distance monitoring method
CN105335627A (en) * 2014-08-06 2016-02-17 杭州海康威视数字技术股份有限公司 PTZ rotation control method and device
CN106203505A (en) * 2016-07-10 2016-12-07 北京工业大学 A kind of utilize mobile phone location data to judge user moves the method with resting state
CN106293029A (en) * 2015-05-30 2017-01-04 深圳富泰宏精密工业有限公司 Portable electron device and camera module control method thereof
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US9858023B2 (en) 2015-07-10 2018-01-02 SZ DJI Technology Co., Ltd Systems and methods for gimbal simulation

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CN103246290A (en) * 2012-02-01 2013-08-14 深圳中兴力维技术有限公司 PTZ control method and system
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CN104471519A (en) * 2014-06-16 2015-03-25 华为技术有限公司 Method and apparatus for displaying panoramic photo in mobile terminal, and mobile terminal
CN105227899A (en) * 2014-06-23 2016-01-06 江南大学 A kind of virtual mouse long-distance monitoring method
CN105335627A (en) * 2014-08-06 2016-02-17 杭州海康威视数字技术股份有限公司 PTZ rotation control method and device
CN104238582A (en) * 2014-08-26 2014-12-24 浙江大学 Method for assisting in remote control over cradle head by means of mobile phone
CN104238582B (en) * 2014-08-26 2017-01-25 浙江大学 Method for assisting in remote control over cradle head by means of mobile phone
CN104378587B (en) * 2014-10-27 2019-02-19 小米科技有限责任公司 Imaging apparatus control method, device and equipment
CN104378587A (en) * 2014-10-27 2015-02-25 小米科技有限责任公司 Camera equipment control method, device and equipment
CN106293029A (en) * 2015-05-30 2017-01-04 深圳富泰宏精密工业有限公司 Portable electron device and camera module control method thereof
US9858023B2 (en) 2015-07-10 2018-01-02 SZ DJI Technology Co., Ltd Systems and methods for gimbal simulation
US10761798B2 (en) 2015-07-10 2020-09-01 SZ DJI Technology Co., Ltd. Systems and methods for gimbal simulation
CN106203505A (en) * 2016-07-10 2016-12-07 北京工业大学 A kind of utilize mobile phone location data to judge user moves the method with resting state
CN106203505B (en) * 2016-07-10 2020-01-10 北京工业大学 Method for judging moving and staying states of user by utilizing mobile phone positioning data
CN106982332A (en) * 2017-06-02 2017-07-25 青岛海信电器股份有限公司 The control method of IP Camera, apparatus and system

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