CN103529961A - Handheld terminal control device and control method - Google Patents
Handheld terminal control device and control method Download PDFInfo
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- CN103529961A CN103529961A CN201310530651.7A CN201310530651A CN103529961A CN 103529961 A CN103529961 A CN 103529961A CN 201310530651 A CN201310530651 A CN 201310530651A CN 103529961 A CN103529961 A CN 103529961A
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Abstract
The invention provides a handheld terminal control device and a control method and belongs to the technical field of terminal device control. The handheld terminal control device comprises an input module which is used for sending input control signals to a processor, a motion state information obtaining module which is used for sending motion state information of a handheld terminal to the processor, the processor which is used for starting the motion state information obtaining module according to the input control signals, obtaining motion trails of the handheld terminal according to the motion state information and sending the motion trails to a wireless communication module and the wireless communication module which is used for sending the motion trails to a host computer through a wireless network. The handheld terminal control device can achieve indication and control of specific devices in three-dimensional space under the condition that no specific platform is depended on.
Description
Technical field
The present invention relates to handheld terminal opertaing device and the control method of a kind of not platform dependent, roller-less or photoelectric port, belong to terminal device control technology field.
Background technology
Electronic teacher pointer is the teaching aid that a kind of teacher controls lantern slide or other playout softwares away from computer on classroom, although but existing electronic teacher pointer can, by laser " indication " content on projection screen, can not be realized and controlling showing that the computing machine of specific projection content is done further.Although thereby some teacher is used as wireless mouse as electronic teacher pointer far distance controlled cursor operations computing machine, brought so again two inconvenience: one, mouse action relies on a platform, many times in the position away from computer desk, does not have such platform; Its two, because wireless mouse has optical-electric module or roller, its volume ratio electronic teacher pointer is large, also more easily damages.
In addition, in the even military management of family life, commercial production, also need to realize with a simple hand-held terminal device (as mobile phone) function of mouse.The equipment such as this hand-held terminal device can be controlled from desk lamp to sound equipment, washing machine, televisor; In industry spot, if each link of certain technique is projected on a giant-screen, workman or technician can not rely on the link of to control with cursor at a distance streamline on giant-screen with " mouse " of platform with one, and need not travel to and fro between huge industry controlling interface, work efficiency can increase to some extent; On spacecraft, if there is such one to be arranged on cosmonaut cuff, do not need optical-electric module, platform dependent not, the wireless terminal that volume is small, can catch the movable information of cosmonaut's cuff, and cosmonaut just can be wrist as unlimited mouse, the hatch door of medium and long distance control spacecraft, mechanical arm, solar energy sailboard etc., Spacecraft Control can be more flexible like this.But a kind of like this hand-held terminal device can not realized above-mentioned functions in the prior art.
Summary of the invention
The present invention does not indicate and controls the problem of particular device for cannot realizing of solving that existing handheld terminal exists relies on specific platform in three dimensions, and then a kind of handheld terminal opertaing device and control method are provided.
The present invention is achieved by the following technical solutions:
Handheld terminal opertaing device, comprising:
Load module, for sending to processor by input control signal;
Motion state acquisition of information module, for sending to processor by the motion state information of described handheld terminal;
Processor, for according to described input control signal opening movement state information acquisition module and according to the movement locus of handheld terminal described in described motion state information acquisition, and sends to wireless communication module by described movement locus;
Wireless communication module, for sending to host computer by described movement locus by wireless network.
The control method of handheld terminal opertaing device, comprising:
Processor starts motion state acquisition of information module according to the input control signal of load module;
Motion state acquisition of information module gathers the motion state information of described handheld terminal and sends to processor;
Processor calculates the movement locus that obtains described handheld terminal according to described motion state information, and described movement locus is sent to transport module;
Wireless communication module sends to host computer by described movement locus by wireless network.
Beneficial effect of the present invention: can realize in indication in three dimensions in the situation that not relying on particular platform and control specific equipment.
Accompanying drawing explanation
Fig. 1 is the structural representation of handheld terminal opertaing device provided by the invention;
Fig. 2 is the overall flow schematic diagram of the control method of handheld terminal opertaing device provided by the invention;
Fig. 3 is the schematic flow sheet of motion state acquisition of information provided by the invention;
Fig. 4 is that main control key provided by the invention unclamps the interrupt service routine schematic flow sheet that causes interruption;
Fig. 5 is that the relative coordinate system of described handheld terminal provided by the invention builds schematic diagram;
The working state schematic representation of system under relative coordinate system when Fig. 6 is the generation of the Space Angle displacement when described handheld terminal provided by the invention.
Embodiment
In order more clearly to illustrate feature of the present invention and work ultimate principle, below in conjunction with drawings and Examples, the present invention will be described.
The teacher of take uses this interruption to teach as example and sets forth on classroom.For convenience of description, in the present embodiment, the present invention is called " space mouse ".First, on the desk of teacher before classroom, use computing machine and projector to teach, now space mouse is taken as common mouse and uses on the table; After this, teacher start classroom touring pace or go to projection screen before carry out deep explanation, when this time, he used mouse, be no longer dependent on desktop or any plane, but in his imaginary air plane mobile space mouse, the cursor on projection screen is operated.
It should be noted that, in other environment, as in industry spot, there is no the space station of gravity in or having in the rocket manned capsule rising of fixing acceleration, this mobile terminal is also operable, and its principle of work is identical with the present embodiment.
As shown in Figure 1, this embodiment provides a kind of handheld terminal opertaing device, comprising:
Load module, for sending to processor by input control signal;
Motion state acquisition of information module, for sending to processor by the motion state information of described handheld terminal;
Processor, for according to described input control signal opening movement state information acquisition module and according to the movement locus of handheld terminal described in described motion state information acquisition, and sends to wireless communication module by described movement locus;
Wireless communication module, for sending to host computer by described movement locus by wireless network.
Motion state acquisition of information module wherein can comprise:
Three axis accelerometer, for according to the acceleration information on the three-dimensional collecting, obtains the instantaneous acceleration of described handheld terminal on three-dimensional;
Three-axis gyroscope, for the distribution change information on three-dimensional according to the proper acceleration of the angular displacement information acquisition environment collecting.
Digital signal processor or logic array module that processor wherein can comprise single-chip microcomputer, ARM, contain MPU kernel.
As shown in Figure 2, the present embodiment also provides a kind of control method of handheld terminal opertaing device, in step [1], after handheld terminal is unlocked, first carries out the initialization of processor.Initialized Main Function is the processor distribution stack space into application, sets the duties such as clock etc.This is the substance of processor after powering in embedded system.
In step [2], after software initialization completes, processor detects peripherals hardware.In the present embodiment, the hardware peripherals of main application comprises three axis accelerometer, three-axis gyroscope, wireless communication module etc.Whether processor is attempted transmission information and detects these peripherals working properly to these modules, and these equipment are carried out to some configurations.If find peripherals loss, should stop functional processor.
In step [3], after handheld terminal is opened, first need collecting work pattern.Mode of operation can be stirred toggle switch by user and be determined, has two kinds of mode of operations: plane mode and spatial model.Under plane mode, main control key is invalid, and handheld terminal can be placed on to be used as common mouse in planar support and to use.Under spatial model, handheld terminal becomes " space mouse ", can catch skyborne motion, realizes the mouse function that does not rely on supporting plane.Plane mode is different from the interrupt configuration mode of spatial model, therefore will gather herein.
In step [4], gather and finish the work after pattern, can to the interruption of main control key, be configured according to mode of operation.Under above-mentioned two kinds of mode of operations, the working condition of main control key is different.Under plane mode, main control key is effect not, therefore should close the hardware interrupts function of main control key herein.Under spatial model, main control key, by pressing while unclamping, need to cause hardware interrupts, is called main control key and unclamps interruption.
In step [5], if plane mode directly enters Mobile data acquisition step, main control key is completely ineffective; Otherwise, be spatial model, enter step [6].
In step [6], processor wait main control key is pressed, and just can carry out Mobile data collection, otherwise enter circulation, until main control key is pressed.Handheld terminal is now the same with traditional electronic teacher pointer, can use the functions such as left button, right button, but can not control screen cursor movement.
In step [7], enter motion state acquisition of information module.
As shown in Figure 3, in step [8], first step of motion state acquisition of information, is to gather the acceleration that current handheld terminal is subject to.Three directions of three axis accelerometer and gyrostatic three bearing marks are as shown in Figure 5, while first giving tacit consent to handheld terminal unlatching, be that relative environment is static, when for example in case, teacher opens " space mouse ", mouse is with respect to ground in other words, classroom, substantially static, like this, the acceleration that current handheld terminal collects is exactly acceleration of gravity.Because handheld terminal is not necessarily unlocked under horizontality, so the acceleration of gravity collecting may spatially exist angle with handheld terminal.As shown in Figure 6, take terminal as reference frame, suppose that acceleration of gravity is A vector, there is angle in it and terminal in three axis accelerometer X, Y, tri-directions of Z.Three axis accelerometer need to record the now accekeration of three directions, is in fact equivalent to have recorded the size of acceleration of gravity and with respect to the inceptive direction of handheld terminal.
It should be noted that the proper acceleration of record is not limited to acceleration of gravity here.It is the proper acceleration of working environment.As in the present embodiment, it is acceleration of gravity; If in weightless space warfare, it may be 0 vector; If in the rocket rising as accelerated at overweight state, it is the stack of the acceleration of acceleration of gravity and the generation of overweight part.
In step [9], gather three-axis gyroscope at the angular acceleration of three directions as benchmark.While opening due to handheld terminal, with respect to environment, remain static, the image data of three-axis gyroscope should be 0 in theory.The collection of benchmark acceleration is mainly the error that may bring in order to reduce subsequent operation as far as possible.
Step [8] is called as benchmark with the image data of step [9].These two data are combined, and can reflect environment proper acceleration (being acceleration of gravity in the present embodiment) size and Orientation with respect to handheld terminal when handheld terminal starts.When handheld terminal is when moving, by detecting three-axis gyroscope data, through integration, can show that handheld terminal is in the angular displacement of three directions, and compare with benchmark, can obtain the aerial statue of handheld terminal.By aerial statue, can calculate the distribution of proper acceleration in three accelerometer axis, so just can when the transient data that processing accelerometer collects, exclude proper acceleration value, obtain object with respect to the accekeration of environment.
Further, because three-axis gyroscope can acquisition angle acceleration, and then calculate angular displacement with integration.Angular displacement can be used to determine the control attitude of terminal, or be called towards.Change due to aerial statue in terminal motion process, cause the distribution of proper acceleration value on three axles of accelerometer to change, cause only with three axis accelerometer, cannot judging which acceleration composition is the component of proper acceleration, which is by the accekeration bringing with respect to the acceleration movement of environment.Coordinate aerial statue information, the proper acceleration initially the measured component on three axles of accelerometer be can calculate, and then the proper acceleration composition of the instantaneous acceleration that three axis accelerometer collects and the acceleration composition that relative environment accelerated motion produces told.
In as step [10], the acquisition and processing process of Mobile data is an endless loop process, by various interrupt service routines, other functions is provided and is exited this circulation.The persevering establishment condition of this endless loop is judged as entrance, therefore there will not be N situation, has drawn an X in Fig. 4 on this branch road, and expression can not arrive.
In step [11], in order to carry out data analysis, a certain amount of data must have been collected.The data volume numerical value having collected is placed in data volume counter, and compares with desired value, if data volume is inadequate, continues image data; If data volume is enough, enter data analysis state.The desired value of data volume is determined according to the processing speed of processor and requirement of real-time etc.
It should be noted that, due to the processor for definite and algorithm, it is certain that the data that collect each time take up space, and acquisition time is also the same, so the desired value of data volume has also determined that program enters the time interval of N branch road (being step [16] place branch road).When other conditions are identical, data volume desired value is less, and the number of times that every secondary program is carried out in step " [11]-[12]-[13]-[14]-[15] " circulation is just fewer, and it is just faster that program enters the speed of step [16].Consider that whole Mobile data gatherer process is a circulation (being that step [7] is a circulation), can think and reduce data volume desired value, the frequency that enters step [16] just increases.In the higher occasion of processor performance, do like this performance and the susceptibility that can improve product of the present invention.
In step [12], gather three-axis gyroscope data and obtain intermittent angle acceleration information, this is to prepare for step [14].
In step [13], gather the instantaneous acceleration information of three axis accelerometer, this is also to prepare for step [14].
In step [14], the instantaneous acceleration information that need to collect according to three axis accelerometer, the intermittent angle acceleration information that three-axis gyroscope collects, the reference information collecting in step [8] and step [9], calculates the instantaneous acceleration value of terminal after the proper acceleration of having got rid of environment.
First, need to use integral algorithm, the angular acceleration information of three-axis gyroscope is carried out twice to integration in time, obtain the angular displacement along three axles in three axial angular velocity and terminal of terminal at this very moment.These information can be stored, and the initial value while being taken as integration next time.Obtain after angular displacement, obtained the base value of three-axis gyroscope with respect to open state, what has occurred aerial statue changes, and also just can calculate proper acceleration theoretical distribution on three axis accelerometer under new aerial statue condition.As shown in Figure 5, when the aerial statue of handheld terminal changes, proper acceleration (being acceleration of gravity in the present embodiment), with respect to the relative reference system of handheld terminal, becomes A ' vector from A vector.The size and Orientation of proper acceleration is all immovable in fact, why looks the variation of direction has occurred, be because the aerial statue of handheld terminal towards variation has occurred.Because the situation of change of aerial statue can be calculated, therefore according to the benchmark of record in step [8], step [9], the distribution that can calculate A ' vector theory on three axis accelerometer.
Calculate after the theoretical distribution of proper acceleration on three axis accelerometer, the instantaneous acceleration value that they are surveyed from three directions of three axis accelerometer, deduct, obtain terminal with respect to the accekeration of environment.For " air mouse " in embodiment, in fact only need to record the accekeration of X, two axles of Y, this is because the cursor that needs to control is mobile in this two-dimensional space of screen.If control space arm on spaceship, in three dimensions, move, need to record the accekeration on X, Y, tri-axles of Z.
The accekeration recording is the basis of carrying out data analysis below, uses the mode of FIFO to be stored in one section of specific storage space, to facilitate step [17] to call.
In step [15], often complete a step [17], data volume has just increased by one, so data volume counter is from adding 1, and the numerical value of pending data batching counter reaches after the desired value of data volume, and program can enter step [16] place branch road.
In step [16], first empty the value of data volume counter, for data acquisition is next time prepared.
In step [17], need to carry out frequency-domain analysis to signal.In order to reduce processor calculated amount, improve handheld terminal performance, the present embodiment is used the mode of wavelet transformation to analyze signal spectrum and carries out digital filtering.This step is that the terminal that the unconscious shake in order to eliminate by people causes is moved.
The present embodiment does not have the support of platform when using with spatial model as " space mouse ", need to is held in the air and be operated by staff.Due to the relation of human body structure, when hand-held object, arm can produce the faint shake that frequency is higher, and the amplitude of this motion under transmission state is larger, may affect the control to handheld terminal, and then the control of impact to cursor.Low-pass filtering can weaken the noise effect that shake produces system to a certain extent.As cost, do like this can reduce handheld terminal speed acute variation (as suddenly by static to movement) time sensitivity.The frequency threshold of low-pass filtering can according to circumstances be arranged voluntarily by user.For example, in the present embodiment, can higher design threshold, because classroom is a metastable environment, this shake can be very not strong under normal circumstances, can not affect mouse even completely and use; Suppose that this handheld terminal is used on the steamer that jolted or on motorbus, can suitably reduce threshold value, reduce the tremble interference of the system that brings of high frequency.In addition, this step also can weaken the interference of electronic noise to system.
In step [18] and [19], use and can obtain handheld terminal in three directions (being X, Y both direction in the present embodiment) velocity variations and change in displacement to the mode of time definite integral axial acceleration after filtering.The initial value of speed can obtain in speed state register.Like this,, obtained the last data processing of distance at the moment during this period of time in interval the change in displacement of terminal and terminal at this moment with respect to the speed of environment.
In step [20], the speed by the terminal now calculating with respect to environment is stored in velocity information register, replaces original content, during in order to data processing next time, calls.
In step [21], after the relative displacement in this time period obtaining, can judge that this displacement is artificially to cause consciously according to the size of relative displacement, or the motion of certain unconscious noise formula.Similar with step [17], this is also the interference causing in order to reduce electronic noise, people's shake.
In step [22], displacement information is deposited in motion state of terminal register.This status register is FIFO storage mode, and its content can be sent to host computer or other equipment through wireless module.In present case, the content of motion state of terminal register can be packed according to certain format, is passed in the lump wireless signal sends together with the information such as right and left key working condition of " space mouse ".This sending method is the same with traditional unlimited mouse.
Under spatial model, when user unclamps main control key, mean that user does not wish terminal control cursor movement.In the present embodiment, as teacher holds the mouse tour of pacing in classroom the inside.When he stops when explaining, can press main control key, this makes him can operate cursor, and computing machine is controlled; But when he walks to move up to make an inspection tour student, he do not wish cursor and then own paces on screen, move, at this time he can unclamp main control key, " space mouse " stops gathering displacement information immediately, and stops sending the information of control cursor movement.In this time, the function of " space mouse " is identical with traditional electronic teacher pointer, can only carry out the control of right and left key etc., can not carry out the control of cursor.Unclamp main control key, will cause hardware terminal.Immediately, program enters main control key and unclamps terminal server.
As shown in Figure 4, when the effect of step [23] and [24] is to make interrupt routine to return, program is got back to the position of " gauge point 1 " in Fig. 1, again waits for that main control key is pressed.
The effect of step [25] is the numerical value of zero clearing velocity information register and the numerical value of existing motion state of terminal register, and as the information of the environment proper acceleration of benchmark.This is because when upper once main control key is pressed, these information all need to re-start collection and computing.Initial value should be 0, thus at this to above register zero clearing.
The above; it is only preferably embodiment of the present invention; these embodiments are all the different implementations based under general idea of the present invention; and protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (7)
1. handheld terminal opertaing device, is characterized in that, comprising:
Load module, for sending to processor by input control signal;
Motion state acquisition of information module, for sending to processor by the motion state information of described handheld terminal;
Processor, for according to described input control signal opening movement state information acquisition module and according to the movement locus of handheld terminal described in described motion state information acquisition, and sends to wireless communication module by described movement locus;
Wireless communication module, for sending to host computer by described movement locus by wireless network.
2. handheld terminal opertaing device according to claim 1, is characterized in that, described motion state acquisition of information module comprises:
Three axis accelerometer, for according to the acceleration information on the three-dimensional collecting, obtains the instantaneous acceleration of described handheld terminal on three-dimensional;
Three-axis gyroscope, for the distribution change information on three-dimensional according to the proper acceleration of the angular displacement information acquisition environment collecting.
3. handheld terminal opertaing device according to claim 1, is characterized in that, digital signal processor or logic array module that described processor comprises single-chip microcomputer, ARM, contains MPU kernel.
4. the control method of handheld terminal opertaing device according to claim 1, is characterized in that, comprising:
Processor starts motion state acquisition of information module according to the input control signal of load module;
Motion state acquisition of information module gathers the motion state information of described handheld terminal and sends to processor;
Processor calculates the movement locus that obtains described handheld terminal according to described motion state information, and described movement locus is sent to transport module;
Wireless communication module sends to host computer by described movement locus by wireless network.
5. control method according to claim 4, is characterized in that, before processor starts motion state acquisition of information module according to the input control signal of load module, also comprises:
Processor initialization and the peripheral module of described handheld terminal is detected.
6. control method according to claim 4, it is characterized in that, when described input control signal is plane mode signal, described processor only obtains the movement locus of described handheld terminal on two-dimensional directional according to the movable information on the two-dimensional directional in described motion state information; When described input control signal is spatial model signal, described processor obtains the movement locus of described handheld terminal on three-dimensional according to the movable information on the three-dimensional in described motion state information.
7. control method according to claim 4, is characterized in that, the motion state information that gathers described handheld terminal comprises:
By three axis accelerometer, obtain proper acceleration and the instantaneous acceleration information on three-dimensional;
Described instantaneous acceleration value is deducted to described proper acceleration extremely, obtain described handheld terminal with respect to the accekeration of environment;
By three-axis gyroscope, obtain the intermittent angle acceleration information on three-dimensional;
Described angular acceleration information is carried out twice to integration in time, obtain the angular displacement along three-dimensional at the angular velocity of current time three-dimensional and described handheld terminal of described handheld terminal.
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| CN103760983A (en) * | 2014-01-23 | 2014-04-30 | 中国联合网络通信集团有限公司 | Virtual gesture input method and gesture collecting device |
| CN104089632A (en) * | 2014-06-09 | 2014-10-08 | 苏州佳世达电通有限公司 | Hand-held electronic device and ultrasonic inspection apparatus |
| CN105630196A (en) * | 2015-12-24 | 2016-06-01 | 深圳先进技术研究院 | Method and device for controlling electronic device through electronic terminal |
| CN106557182A (en) * | 2016-11-15 | 2017-04-05 | 广州视源电子科技股份有限公司 | The control method and system of Intelligent flat |
| CN107483726A (en) * | 2017-08-03 | 2017-12-15 | 成都弈览科技有限公司 | A kind of method of mobile phone emulation sky mouse control using terminal equipment |
| CN111896039A (en) * | 2020-07-24 | 2020-11-06 | 中国水利水电科学研究院 | Portable safety monitoring data acquisition and diagnosis system |
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| CN103760983A (en) * | 2014-01-23 | 2014-04-30 | 中国联合网络通信集团有限公司 | Virtual gesture input method and gesture collecting device |
| CN103760983B (en) * | 2014-01-23 | 2016-08-17 | 中国联合网络通信集团有限公司 | Virtual gesture input method and gesture harvester |
| CN104089632A (en) * | 2014-06-09 | 2014-10-08 | 苏州佳世达电通有限公司 | Hand-held electronic device and ultrasonic inspection apparatus |
| CN105630196A (en) * | 2015-12-24 | 2016-06-01 | 深圳先进技术研究院 | Method and device for controlling electronic device through electronic terminal |
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| CN106557182A (en) * | 2016-11-15 | 2017-04-05 | 广州视源电子科技股份有限公司 | The control method and system of Intelligent flat |
| WO2018090755A1 (en) * | 2016-11-15 | 2018-05-24 | 广州视源电子科技股份有限公司 | Control method and system for intelligent tablet |
| CN106557182B (en) * | 2016-11-15 | 2019-10-22 | 广州视源电子科技股份有限公司 | The control method and system of Intelligent flat |
| CN107483726A (en) * | 2017-08-03 | 2017-12-15 | 成都弈览科技有限公司 | A kind of method of mobile phone emulation sky mouse control using terminal equipment |
| CN111896039A (en) * | 2020-07-24 | 2020-11-06 | 中国水利水电科学研究院 | Portable safety monitoring data acquisition and diagnosis system |
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