CN102913766A - Directional lighting wrist lamp and control method thereof - Google Patents
Directional lighting wrist lamp and control method thereof Download PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- wrist
- pedestal
- directional lighting
- lamp
- cradle head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
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
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. directional lighting wrist lamp, it is characterized in that, 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 that is connected with wrist (15) on described the first pedestal (1).
2. directional lighting wrist lamp according to claim 1, it is characterized in that, 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).
3. directional lighting wrist lamp according to claim 1, it is characterized in that, 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).
4. directional lighting wrist lamp according to claim 3 is characterized in that, described LED lamp (4) is arranged on that side away from the second servomotor (11) of vertical support frame (9).
5. a control method that is used for directional lighting wrist lamp claimed in claim 1 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.
6. the control method for the directional lighting wrist lamp according to claim 5, it is characterized in that, 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210410748XA CN102913766A (en) | 2012-10-24 | 2012-10-24 | Directional lighting wrist lamp and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210410748XA CN102913766A (en) | 2012-10-24 | 2012-10-24 | Directional lighting wrist lamp and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102913766A true CN102913766A (en) | 2013-02-06 |
Family
ID=47612259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210410748XA Pending CN102913766A (en) | 2012-10-24 | 2012-10-24 | Directional lighting wrist lamp and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102913766A (en) |
Cited By (4)
| 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, controller and the holder of holder |
| 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 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN201539703U (en) * | 2009-11-06 | 2010-08-04 | 张文龄 | Wrist lamp |
| CN201611012U (en) * | 2010-03-22 | 2010-10-20 | 刘洪贵 | Miniature wrist lighting lamp and power supply line |
| 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 |
-
2012
- 2012-10-24 CN CN201210410748XA patent/CN102913766A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN201539703U (en) * | 2009-11-06 | 2010-08-04 | 张文龄 | Wrist lamp |
| CN201611012U (en) * | 2010-03-22 | 2010-10-20 | 刘洪贵 | Miniature wrist lighting lamp and power supply line |
| 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 |
Cited By (7)
| 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, controller and the holder of holder |
| WO2019051640A1 (en) * | 2017-09-12 | 2019-03-21 | 深圳市大疆灵眸科技有限公司 | Control method for pan-tilt, controller, and pan-tilt |
| CN108521814B (en) * | 2017-09-12 | 2021-10-15 | 深圳市大疆灵眸科技有限公司 | Control method and controller of cloud deck and cloud deck |
| US11156905B2 (en) | 2017-09-12 | 2021-10-26 | Sz Dji Osmo Technology Co., Ltd. | Control method for gimbal, controller, and gimbal |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102913766A (en) | Directional lighting wrist lamp and control method thereof | |
| CN103775840B (en) | A kind of emergency lighting system | |
| CN106628211A (en) | Ground guiding type unmanned aerial vehicle flying landing system and method based on LED dot matrix | |
| CN105523193B (en) | A kind of unmanned plane carrying light-emitting umbrella | |
| CN206713137U (en) | A kind of shot-light positions automatic following system | |
| CN110122319A (en) | A kind of greenhouse independent navigation pollination unmanned plane and its control method | |
| US20140097757A1 (en) | Multi-purpose rechargeable led lighting device | |
| CN205746356U (en) | A kind of 3D luminous intensity distribution luminaire | |
| CN106900131A (en) | A kind of shot-light positions automatic following system | |
| CN114455039A (en) | Turtle-like underwater shooting robot | |
| CN206171830U (en) | Aircraft and system of taking photo by plane | |
| JP6603564B2 (en) | Video display device | |
| CN207849135U (en) | A kind of 3 D stereo hue angle track lamp | |
| CN113719810B (en) | Man-machine interaction lamp light device based on visual identification and intelligent control | |
| CN208076404U (en) | Vehicular exhaust blackness detector and system | |
| CN110260278A (en) | A kind of intelligent-induction follow-up steering lamps and lanterns | |
| CN209802316U (en) | Three-dimensional scanning equipment for blue light source | |
| CN205549600U (en) | Stage is with long -range wireless control's lamp of shaking head | |
| CN208572239U (en) | A kind of High Altitude Emergency cloth ball-handling | |
| CN206130627U (en) | Working lamp | |
| CN205014239U (en) | Lamp of shaking head based on lithium cell | |
| CN203136017U (en) | Infrared hemispheric camera | |
| CN206726055U (en) | A kind of autonomous cruise aerocraft system | |
| CN208559778U (en) | Aircraft | |
| CN204829701U (en) | Lamps and lanterns with developments light effect |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20130206 |
|
| C20 | Patent right or utility model deemed to be abandoned or is abandoned |