CN102913766A - Directional lighting wrist lamp and control method thereof - Google Patents

Directional lighting wrist lamp and control method thereof Download PDF

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Publication number
CN102913766A
CN102913766A CN201210410748XA CN201210410748A CN102913766A CN 102913766 A CN102913766 A CN 102913766A CN 201210410748X A CN201210410748X A CN 201210410748XA CN 201210410748 A CN201210410748 A CN 201210410748A CN 102913766 A CN102913766 A CN 102913766A
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Prior art keywords
wrist
base
directional lighting
axis
lamp
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CN201210410748XA
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Chinese (zh)
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赵昀
张洪彬
李惟帆
栗大超
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Tianjin University
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Tianjin University
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Publication of CN102913766A publication Critical patent/CN102913766A/en
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Abstract

The invention discloses a directional lighting wrist lamp and a control method of the directional lighting wrist lamp. The directional lighting wrist lamp comprises a first base, a second base and a double-shaft cradle head, wherein the second base is connected with the first base through a bendable support shaft, and the double-shaft cradle head mechanism is arranged on the second base and is provided with an LED (light emitting diode) lamp, wherein a control chip which is electrically connected with the double shaft cradle head mechanism and a power supply for supplying power to the double shaft cradle head mechanism are arranged inside the first base; an acceleration meter gyroscope module for acquiring the motion state of the wrist is further arranged on the second base; the acceleration meter gyroscope module is electrically connected with the control chip; and a wrist belt which is used for being connected with the wrist is further arranged on the first base. The directional lighting wrist lamp is simple in structure and convenient to manufacture and use, can ensure that the direction that the light emitted from the wrist lamp is constant during the motion of the wrist, and can also realize directional lighting by which the radiation direction of the light can be controlled by only through the motion of the wrist.

Description

Directional lighting wrist lamp and control method thereof
Technical field
The present invention relates to a kind of wrist lamp that can catch and react Wrist-sport.Particularly relate to a kind of mems accelerometer and MEMS gyroscope of utilizing and carry out motion capture, carry out directional lighting wrist lamp and the control method thereof of light control by microprocessor and servomotor.
Background technology
Flashlight is generally used by people already, and it provides a kind of illuminations that can carry flexible use for people.But the use of flashlight needs hand-held holding, and this is just so that be difficult to use flashlight lighting in many activities that need bimanualness.And using other light sources as many activities inconvenience such as go out camping, repair risk insurance silk etc., this has just brought very big inconvenience for living.Given this people attempt using wrist lamp, and hand is freed.But the huge problem that wrist lamp exists is that the minor rotation of wrist also can cause the huge deflection of light.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of radiation direction that wrist lamp penetrates when guaranteeing Wrist-sport constant; Only realize directional lighting wrist lamp and control method thereof that the motion by wrist just can be controlled the light direction of illumination.
The technical solution adopted in the present invention is: a kind of directional lighting wrist lamp and control method thereof.The directional lighting wrist lamp, comprise: the first pedestal, the second pedestal that is connected with the first pedestal by flexible back shaft and be arranged on the twin shaft cradle head mechanism with the LED lamp on the second pedestal, be provided with the control chip that is electrically connected with described twin shaft cradle head mechanism and the power supply of powering to the twin shaft cradle head mechanism in described the first pedestal, also be provided with on described the second pedestal for the accelerometer gyroscope module that gathers the Wrist-sport state, described accelerometer gyroscope module is electrically connected described control chip, also is provided with the wrist strap that is connected for wrist on described the first pedestal.
The power supply of described control chip and power supply is to be electrically connected with twin shaft cradle head mechanism and accelerometer gyroscope module respectively by the wire that runs through in the flexible back shaft.
Described twin shaft cradle head mechanism includes horizontal stand and vertical support frame, be fixedly installed the first servomotor that is electrically connected with control chip above the described horizontal stand, be fixedly installed the second servomotor that is electrically connected with control chip and the LED lamp that is electrically connected with power supply on the described vertical support frame, wherein, the motor shaft of described the first servomotor passes horizontal stand and is fixedly connected with horizontal stand, passes rotatable being connected on the second pedestal in end of the motor shaft of horizontal stand; Also be fixedly installed support on the described horizontal stand, the fuselage of described the second servomotor is fixedly connected with vertical support frame, and the motor shaft of the second servomotor is fixedly connected with described support.
Described LED lamp is arranged on that side away from the second servomotor of vertical support frame.
A kind of control method for the directional lighting wrist lamp is characterized in that, comprises the steps:
(1) reads the accekeration of accelerometer gyroscope module, be designated as a 0, read accelerometer gyroscope module institute angle measurement speed, be designated as ω 0, read the time interval of twice accekeration between reading, be designated as t;
(2) establishing filtering acceleration afterwards is a, and then the algorithm of a is a=a '+k a(a 0-a '), wherein a ' is the front filtering post-acceleration that once calculates, k aBe filter factor;
(3) establishing filtering angular speed afterwards is ω, and then the algorithm of ω is ω=ω '+k ω(ω 0-ω '), wherein ω ' is angular speed after the front filtering that once calculates, k ωBe filter factor;
(4) represent the direction vector of light direction of illumination with x, the direction vector of the light direction of illumination that x ' expression last computation gets, x=x '-x ' * ω * t;
(5) x is transferred to polar form (r, φ, θ), wherein φ is the angle of x and z axle, i.e. the rotational angle of The Cloud Terrace trunnion axis, and θ is the projection of x on the xoy plane and the angle of x axle, the i.e. rotational angle of The Cloud Terrace vertical axes;
(6) the filtered Formula for Angular Velocity of Fuze that provides according to step (3) calculates The Cloud Terrace trunnion axis rotational angle and The Cloud Terrace vertical axes rotational angle after the filtering;
(7) judge respectively whether The Cloud Terrace trunnion axis rotational angular velocity and The Cloud Terrace vertical axes rotational angular velocity value surpass the threshold value of setting after the filtering, if surpass, return step (1), if do not surpass, enter next step;
(8) with a 0+ x is defined as new x, returns (1) step.
The direction vector x of the light direction of illumination described in the step (4) and accelerometer use same coordinate system, are to keep the constant required light direction of illumination vector of light direction of illumination.
Directional lighting wrist lamp of the present invention and control method thereof, simple in structure, be convenient to make and use.The radiation direction that wrist lamp penetrates in the time of can guaranteeing Wrist-sport is constant; Only can realize the directional lighting that the motion by wrist just can be controlled the light direction of illumination.
Description of drawings
Fig. 1 is the overall schematic of directional lighting wrist lamp of the present invention;
Fig. 2 is the overall schematic of twin shaft cradle head mechanism of the present invention;
Fig. 3 is the block diagram that the present invention is electrically connected.
Wherein
Pedestal 2 in 1: the first: flexible back shaft
3: the second pedestal 4:LED lamps
5: twin shaft cradle head mechanism 6: the accelerometer gyroscope module
7: control chip 8: horizontal stand
9: 10: the first servomotors of vertical support frame
Servomotor 12 in 11: the second: motor shaft
13: motor shaft 14: support
15: wrist strap
The specific embodiment
Below in conjunction with embodiment and accompanying drawing directional lighting wrist lamp of the present invention and control method thereof are made a detailed description.
As shown in Figure 1, directional lighting wrist lamp of the present invention, comprise: the first pedestal 1, the second pedestal 3 that is connected with the first pedestal 1 by flexible back shaft 2 and be arranged on the twin shaft cradle head mechanism 5 with LED lamp 4 on the second pedestal 3, be provided with the control chip 7 that is electrically connected with described twin shaft cradle head mechanism 5 and the power supply of powering to twin shaft cradle head mechanism 5 in described the first pedestal 1, also be provided with on described the second pedestal 3 for the accelerometer gyroscope module 6 that gathers the Wrist-sport state, described accelerometer gyroscope module 6 is electrically connected described control chip 7, also is provided with for the wrist strap 15 that is connected with wrist on described the first pedestal 1.
The power supply of described control chip 7 and power supply is to be electrically connected with twin shaft cradle head mechanism 5 and accelerometer gyroscope module 6 respectively by the wire that runs through in the flexible back shaft 2.
As shown in Figure 2, described twin shaft cradle head mechanism 4 includes horizontal stand 8 and vertical support frame 9, be fixedly installed the first servomotor 10 that is electrically connected with control chip 7 above the described horizontal stand 8, be fixedly installed the second servomotor 11 that is electrically connected with control chip 7 and the LED lamp 4 that is electrically connected with power supply on the described vertical support frame 9, wherein, the motor shaft 12 of described the first servomotor 10 passes horizontal stand 8 and is fixedly connected with horizontal stand 8, passes rotatable being connected on the second pedestal 3 in end of the motor shaft 12 of horizontal stand 8; Also be fixedly installed support 14 on the described horizontal stand 8, the fuselage of described the second servomotor 11 is fixedly connected with vertical support frame 9, and the motor shaft 13 of the second servomotor 11 is fixedly connected with described support 14.Described LED lamp 4 is arranged on that side away from the second servomotor 11 of vertical support frame 9.
Described twin shaft cradle head mechanism 4 is by being driven the rotation of horizontal stand 8 by the first servomotor 10 of control chip 7 controls, and pass through to drive the rotation of vertical support frames 9 by the second servomotor 11 of control chip 7 controls, thereby reach the purpose of light regulating irradiation.
Control method for the directional lighting wrist lamp of the present invention comprises the steps:
(1) reads the accekeration of accelerometer gyroscope module, be designated as a 0, read accelerometer gyroscope module institute angle measurement speed, be designated as ω 0, read the time interval of twice accekeration between reading, be designated as t;
(2) establishing filtering acceleration afterwards is a, and then the algorithm of a is a=a '+k a(a 0-a '), wherein a ' is the front filtering post-acceleration that once calculates, k aBe filter factor;
(3) establishing filtering angular speed afterwards is ω, and then the algorithm of ω is ω=ω '+k ω(ω 0-ω '), wherein ω ' is angular speed after the front filtering that once calculates, k ωBe filter factor;
(4) represent the direction vector of light direction of illumination with x, the direction vector of the light direction of illumination that x ' expression last computation gets, x=x '-x ' * ω * t;
The direction vector x of described light direction of illumination and accelerometer use same coordinate system, are the light direction of illumination vector (with respect to accelerometer coordinate system) that will keep light direction of illumination constant (with respect to ground) required;
(5) x being transferred to polar form (r, φ, θ) (takes a turn for the better, how does the people know to turn in the industry?), wherein φ is the angle of x and z axle, i.e. the rotational angle of The Cloud Terrace trunnion axis, θ is the projection of x on the xoy plane and the angle of x axle, the i.e. rotational angle of The Cloud Terrace vertical axes;
(6) the filtered Formula for Angular Velocity of Fuze that provides according to step (3) calculates The Cloud Terrace trunnion axis rotational angle and The Cloud Terrace vertical axes rotational angle after the filtering;
(7) judge respectively whether The Cloud Terrace trunnion axis rotational angular velocity and The Cloud Terrace vertical axes rotational angular velocity value surpass the threshold value of setting after the filtering, if surpass, return step (1), if do not surpass, enter next step;
(8) with a 0+ x is defined as new x, returns (1) step.

Claims (6)

1.一种定向照明手腕灯，其特征在于，包括：第一基座（1）、通过可弯曲支撑轴（2）与第一基座（1）相连接的第二基座（3）以及设置在第二基座（3）上的带有LED灯（4）的双轴云台机构（5），所述的第一基座（1）内设置有与所述的双轴云台机构（5）电连接的控制芯片（7）和向双轴云台机构（5）供电的电源，所述的第二基座（3）上还设置有用于采集手腕运动状态的加速度计陀螺仪模块（6），所述的加速度计陀螺仪模块（6）电连接所述的控制芯片（7），所述的第一基座（1）上还设置有用于与手腕连接的腕带（15）。1. A directional lighting wrist lamp, characterized by comprising: a first base (1), a second base (3) connected to the first base (1) through a bendable support shaft (2) and A two-axis pan-tilt mechanism (5) with an LED light (4) arranged on the second base (3), and the first base (1) is provided with the above-mentioned two-axis pan-tilt mechanism (5) The electrically connected control chip (7) and the power supply to the two-axis pan-tilt mechanism (5), and the second base (3) is also provided with an accelerometer and gyroscope module for collecting the movement state of the wrist (6), the accelerometer gyroscope module (6) is electrically connected to the control chip (7), and the first base (1) is also provided with a wrist strap (15) for connecting with the wrist . 2.根据权利要求1所述的定向照明手腕灯，其特征在于，所述的控制芯片（7）和供电的电源是通过贯穿可弯曲支撑轴（2）内的导线分别与双轴云台机构（5）和加速度计陀螺仪模块（6）电连接。2. The directional lighting wrist light according to claim 1, characterized in that, the control chip (7) and the power supply are respectively connected to the two-axis pan-tilt mechanism through the wires penetrating through the bendable support shaft (2). (5) is electrically connected to the accelerometer gyroscope module (6). 3.根据权利要求1所述的定向照明手腕灯，其特征在于，所述的双轴云台机构（4）包括有水平支架（8）和垂直支架（9），所述的水平支架（8）的上面固定设置有与控制芯片（7）电连接的第一伺服电机（10），所述的垂直支架（9）上固定设置有与控制芯片（7）电连接的第二伺服电机（11）和与供电电源电连接的LED灯（4），其中，所述的第一伺服电机（10）的电机轴（12）穿过水平支架（8）并与水平支架（8）固定连接，穿过水平支架（8）的电机轴（12）的端部可旋转的连接在第二基座（3）上；所述的水平支架（8）上还固定设置有支架（14），所述的第二伺服电机（11）的机身与垂直支架（9）固定连接，第二伺服电机（11）的电机轴（13）与所述的支架（14）固定连接。3. The directional lighting wrist lamp according to claim 1, characterized in that, the two-axis pan-tilt mechanism (4) includes a horizontal bracket (8) and a vertical bracket (9), and the horizontal bracket (8 ) is fixedly provided with a first servo motor (10) electrically connected to the control chip (7), and a second servo motor (11) electrically connected to the control chip (7) is fixedly provided on the vertical support (9) ) and the LED lamp (4) electrically connected to the power supply, wherein the motor shaft (12) of the first servo motor (10) passes through the horizontal support (8) and is fixedly connected with the horizontal support (8), passing through The end of the motor shaft (12) passing through the horizontal bracket (8) is rotatably connected to the second base (3); the horizontal bracket (8) is also fixedly provided with a bracket (14), and the The body of the second servo motor (11) is fixedly connected to the vertical support (9), and the motor shaft (13) of the second servo motor (11) is fixedly connected to the support (14). 4.根据权利要求3所述的定向照明手腕灯，其特征在于，所述的LED灯（4）设置在垂直支架（9）的远离第二伺服电机（11）的那一侧面上。4. The directional lighting wrist light according to claim 3, characterized in that, the LED light (4) is arranged on the side of the vertical support (9) away from the second servo motor (11). 5.一种用于权利要求1所述的定向照明手腕灯的控制方法，其特征在于，包括如下步骤：5. A control method for the directional lighting wrist light of claim 1, comprising the steps of: （1）读取加速度计陀螺仪模块的加速度值，记为a0，读取加速度计陀螺仪模块所测角速度，记为ω0，读取两次加速度值读取之间的时间间隔，记为t；(1) Read the acceleration value of the accelerometer gyroscope module, denoted as a 0 , read the angular velocity measured by the accelerometer gyroscope module, denoted as ω 0 , read the time interval between two acceleration value readings, denote for t; （2）设滤波之后的加速度为a，则a的算法为a=a’+ka(a0-a’)，其中a’为前一次计算得的滤波后加速度，ka为滤波系数；(2) Let the acceleration after filtering be a, then the algorithm of a is a=a'+k a (a 0 -a'), where a' is the filtered acceleration calculated in the previous time, and k a is the filter coefficient; （3）设滤波之后的角速度为ω，则ω的算法为ω=ω’+kω(ω0-ω’)，其中ω’为前一次计算得的滤波后角速度，kω为滤波系数；(3) Let the angular velocity after filtering be ω, then the algorithm of ω is ω=ω'+k ω (ω 0 -ω'), where ω' is the angular velocity after filtering calculated previously, and k ω is the filtering coefficient; （4）用x表示光线照射方向的方向向量，x’表示上次计算得的光线照射方向的方向向量，x=x’－x’×ω×t；(4) Use x to represent the direction vector of the light irradiation direction, x' represents the direction vector of the light irradiation direction calculated last time, x=x'-x'×ω×t; （5）将x转为极坐标形式（r,φ,θ），其中φ为x与z轴的夹角，即云台水平轴的转动角度，θ为x在xoy平面上的投影与x轴的夹角，即云台竖直轴的转动角度；(5) Convert x to polar coordinates (r, φ, θ), where φ is the angle between x and z-axis, that is, the rotation angle of the horizontal axis of the gimbal, and θ is the projection of x on the xoy plane and the x-axis The included angle is the rotation angle of the vertical axis of the gimbal; （6）根据步骤（3）给出的滤波后的角速度计算公式计算出滤波后云台水平轴转动角度和云台竖直轴转动角度；(6) Calculate the horizontal axis rotation angle of the gimbal and the vertical axis rotation angle of the gimbal after filtering according to the filtered angular velocity calculation formula given in step (3); （7）分别判断滤波后云台水平轴转动角速度和云台竖直轴转动角速度值是否超过设定的阈值，若超过，返回步骤（1），若未超过，进入下一步骤；(7) Determine whether the angular velocity of the pan-tilt's horizontal axis rotation and the angular velocity of the vertical axis of the pan-tilt exceed the set thresholds, if so, return to step (1), if not, go to the next step; （8）将a0+x定义为新的x，返回第（1）步骤。(8) Define a 0 +x as a new x, and return to step (1). 6.根据权利要求5所述的用于定向照明手腕灯的控制方法，其特征在于，步骤（4）中所述的光线照射方向的方向向量x与加速度计使用相同坐标系，即为要保持光线照射方向恒定所需的光线照射方向向量。6. The control method for directional lighting wrist lights according to claim 5, characterized in that the direction vector x of the light irradiation direction described in step (4) and the accelerometer use the same coordinate system, that is, to keep The ray direction vector required for the ray direction to be constant.
CN201210410748XA 2012-10-24 2012-10-24 Directional lighting wrist lamp and control method thereof Pending CN102913766A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106287256A (en) * 2016-08-31 2017-01-04 海星海事电气集团有限公司 A kind of single light source illuminating lamp
CN108521814A (en) * 2017-09-12 2018-09-11 深圳市大疆灵眸科技有限公司 Control method of pan-tilt, controller and pan-tilt
WO2020042159A1 (en) * 2018-08-31 2020-03-05 深圳市大疆创新科技有限公司 Rotation control method and apparatus for gimbal, control device, and mobile platform
CN112728339A (en) * 2017-04-21 2021-04-30 深圳市大疆灵眸科技有限公司 Cloud deck control method and cloud deck

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CN201836656U (en) * 2010-10-26 2011-05-18 张慧 Novel electric torch
CN201992356U (en) * 2011-03-16 2011-09-28 徐晓鹏 Portable electric torch

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CN2916350Y (en) * 2006-06-15 2007-06-27 王堃 Lighting lamp carried on wrist
CN201032060Y (en) * 2006-08-22 2008-03-05 张世杰 LED lighting apparatus
CN201198963Y (en) * 2008-03-31 2009-02-25 林成材 Wrist lamp
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106287256A (en) * 2016-08-31 2017-01-04 海星海事电气集团有限公司 A kind of single light source illuminating lamp
CN112728339A (en) * 2017-04-21 2021-04-30 深圳市大疆灵眸科技有限公司 Cloud deck control method and cloud deck
CN108521814A (en) * 2017-09-12 2018-09-11 深圳市大疆灵眸科技有限公司 Control method of pan-tilt, controller and pan-tilt
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CN108521814B (en) * 2017-09-12 2021-10-15 深圳市大疆灵眸科技有限公司 PTZ control method, controller and PTZ
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WO2020042159A1 (en) * 2018-08-31 2020-03-05 深圳市大疆创新科技有限公司 Rotation control method and apparatus for gimbal, control device, and mobile platform

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