CN104516529A - Remote control equipment based on magnetic fields, gyroscope and acceleration sensor - Google Patents
Remote control equipment based on magnetic fields, gyroscope and acceleration sensor Download PDFInfo
- Publication number
- CN104516529A CN104516529A CN201310452403.5A CN201310452403A CN104516529A CN 104516529 A CN104516529 A CN 104516529A CN 201310452403 A CN201310452403 A CN 201310452403A CN 104516529 A CN104516529 A CN 104516529A
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- acceleration
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- magnetic field
- gyroscope
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- 230000001133 acceleration Effects 0.000 title claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 7
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
Abstract
Each of (1) and (2) is a sensing chip MPU6050 consisting of a tri-axial acceleration sensor and a tri-axial gyroscope; (3) is a tri-axial magnetic field meter RMG144; the two sensing chips are used for sending the inducted acceleration of each shaft, the acceleration and the magnetic field strength to a main processor (4) through a I2C bus; the (4) is used for completing the preliminary calculation of gestures, determining an absolute space coordinate system. Then, the calculation of the gesture and the judgment of an action signal are completed, the absolute position of the current space as well as a button needed to be controlled, a function and the like is sent to a wireless emitting module (6). A power supply module (5) is responsible for power supply of the whole system. A receiving module (7) is used for responsible for receiving and decoding; an interface module (8) is used for processing data into a signal which can be accepted by various kinds of electrical appliance equipment, and sending the conventional infrared signal to the equipment through a USB.
Description
Technical field
The present invention the present invention relates to a kind of remote control equipment for life at home, specifically relates to the telepilot that a kind of magnetic field, gyroscope and acceleration transducer control.
Background technology
Along with scientific technological advance, the remote control equipment at home in life uses more and more frequent and intelligent.Existing a lot of telepilot, or based on infrared transmission, complete required operation by button; Along with the development of technology, the intelligent television of band USB interface also starts support space mouse action.The former shortcoming is that button is a lot, uses inadequate hommization; Need alignment function, be easily interfered; The function controlled is limited, can not adjust as required.Although the latter provides more control method, generally only provide the acceleration induction of two to three axles, precision, antijamming capability are low, identify that complicated action is difficult to.These common sensors, cannot with the action of human body for basis of characterization, real-time complete some and specifically operates.Can not effectively interactive, amusement, enrich the interactive experience of various household electrical appliance and game station.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide a kind of remote control equipment based on magnetic field, gyroscope and acceleration transducer, real-time space orientation can be processed efficiently, complete the control to the various equipment of periphery according to the different conditions of human body.
In order to solve the problems of the technologies described above, the present invention is achieved through the following technical solutions:
The technical problem to be solved in the present invention is to provide a kind of remote control equipment, by magnetic field, gyroscope and acceleration transducer, can process real-time space orientation efficiently, complete the control to the various equipment of periphery according to the different conditions of human body.For solving the problems of the technologies described above, the present invention includes following several part: 1 and 2 is the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, 3 is three-axle magnetic field meter RM G144, these two sensing chips are by I2C bus, the acceleration of each axle sensed, acceleration and magnetic field intensity are sent to primary processor 4, complete the primary Calculation of attitude by 4, determine absolute space coordinates.Complete the calculation of attitude and the differentiation of actuating signal afterwards, the button that the absolute position of output current spatial and needs control, function wait until wireless transmitter module 6.Power module 5 is responsible for the power supply of whole system.Receiver module 7 is responsible for receiving the decode, and after interface module 8 processes data into the receptible signal of various electric equipment, sends to these equipment by USB or traditional infrared signal
Compared with prior art, the invention has the beneficial effects as follows:
Can very hommization complete many before equipment can not complete function, such as measuring distance, located sites, game interactive, motion action electrical equipment, intelligence recording user hobby, specific demand of user etc.Conveniently upgrade, family's user demand in the following quite a long time etc. can be adapted to.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of remote control equipment based on magnetic field, gyroscope and acceleration transducer of the present invention
Fig. 2 is the schematic flow sheet of a kind of remote control equipment based on magnetic field, gyroscope and acceleration transducer of the present invention
Fig. 3 is the principle schematic that absolute position, space determined by a kind of remote control equipment based on magnetic field, gyroscope and acceleration transducer of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail:
As shown in Figure 1,1 and 2 is the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, 3 is three-axle magnetic field meter RM G144, the acceleration of each axle sensed, acceleration and magnetic field intensity, by I2C bus, are sent to primary processor 4 by these two sensing chips.
As shown in Figure 2, complete the primary Calculation of attitude by 4, determine absolute space coordinates.First, after start 4 when determining that angular velocity is 0 under original state, the accekeration of each axle, determines that the acceleration of these three axles is made a concerted effort value and direction thereof.Determine the field strength values of three axles now, calculate their size direction, conjunction magnetic field.
As shown in Figure 3, taking gravity direction as the negative direction of Z axis, take magnetic force direction as Y-axis positive dirction, gets and just gives unique direction of this both direction to be X-axis, and with the positive dirction of right hand theorem determination X-axis.Now just can break away from the position residing for chip, the real-time position residing for determination space, depicts in absolute space, remote control equipment the position of moving.
After completing initialization, the acceleration information of each axle of the acquisition acceleration transducer 1 that central processing unit 4 is real-time and gyro sensor 2 and acceleration information.Utilize the absolute coordinate system set up as described above, the integrated acceleration according to each axle calculates current speed value, then integration calculates the shift value of each axle.According to magnitude of angular velocity, integration calculates current angle.Then these data are recorded among database.
After obtaining each current axle acceleration, according to the variable quantity of angle, the real-time angle calculating current gravity and should be in, then by the size of gravity in initialization procedure above, calculate the component that gravity is fastened at three absolute coordinatess respectively, and weed out.
Then according to the data that three axle magnetometric sensors 3 are real-time, with the angle obtained, velocity information comparison, the weighting doing two data is corrected.To guarantee that the nonlinearities change of accekeration and gyrostatic drift equal error can not produce the error of accumulation in data final again, ensure the stability of system cloud gray model.
After completing above calculating, the triaxial coordinate point residing for the settled front remote control equipment of space coordinates acceptance of the bid that just can be real-time, its present speed of acquisition, angle, acceleration that also can be real-time.These data are all recorded in the database in central processing unit buffer memory, in order to the program real-time calling differentiated.
Complete the calculation of attitude and the differentiation of actuating signal afterwards.Can be judged whether by the data in database above to complete range of motion, and current residing state.
Can according to the common action in the experience comparison data storehouse of history, as forward-reverse, volume increases and reduces, upset etc. operation, and corresponding completes zapping, increases and reduces temperature, volume etc.Then wireless transmitter module 6 is sent to by real-time after the control action differentiated coding.
Power module 5 is responsible for the power supply of whole system.
Receiver module 7 is responsible for receiving the decode, and it and transmitter module adopt bluetooth equipment or special 2.4G radio communication.After interface module 8 processes data into the receptible signal of various electric equipment, send to these equipment by USB or traditional infrared signal.Its major function is the adaptive outside electrical equipment of translation signals and real-time coupling.In order to adapt to different external units, interface 8 can carry out programming according to different demands, to adapt to interface and the application of various complexity.
The undeclared part related in the present invention is same as the prior art or adopt prior art to be realized.
Claims (2)
1. one kind based on magnetic field, the remote control equipment of gyroscope and acceleration transducer by: (1) and (2) are the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, (3) be a three-axle magnetic field meter RM G144, primary processor (4), wireless transmitter module (6), power module (5) is responsible for the power supply of whole system, receiver module (7) is responsible for receiving the decode, after interface module (8) processes data into the receptible signal of various electric equipment, these equipment is sent to by USB or traditional infrared signal.
2. one according to claim 1 is based on magnetic field, the remote control equipment of gyroscope and acceleration transducer, it is characterized in that: (1) (2) (3) sensing chip is by I2C bus, by the acceleration of each axle sensed, acceleration and magnetic field intensity send to primary processor (4), the primary Calculation of attitude is completed by (4), determine absolute space coordinates, complete the calculation of attitude and the differentiation of actuating signal afterwards, export the absolute position of current spatial and need the button of control, function waits until wireless transmitter module (6), power module (5) is responsible for the power supply of whole system, receiver module 7 is responsible for receiving the decode, data processing sends by interface module (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310452403.5A CN104516529A (en) | 2013-09-28 | 2013-09-28 | Remote control equipment based on magnetic fields, gyroscope and acceleration sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310452403.5A CN104516529A (en) | 2013-09-28 | 2013-09-28 | Remote control equipment based on magnetic fields, gyroscope and acceleration sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104516529A true CN104516529A (en) | 2015-04-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310452403.5A Pending CN104516529A (en) | 2013-09-28 | 2013-09-28 | Remote control equipment based on magnetic fields, gyroscope and acceleration sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104516529A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017113389A1 (en) * | 2015-12-31 | 2017-07-06 | 西门子公司 | Wearable human-machine interaction apparatus, and human-machine interaction system and method |
| CN109124684A (en) * | 2018-10-18 | 2019-01-04 | 深圳开立生物医疗科技股份有限公司 | A kind of control system and control method of ultrasonic device |
| WO2019140807A1 (en) * | 2018-01-18 | 2019-07-25 | 桂林智神信息技术有限公司 | Operating method for stabilizer somatosensory remote control system |
-
2013
- 2013-09-28 CN CN201310452403.5A patent/CN104516529A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017113389A1 (en) * | 2015-12-31 | 2017-07-06 | 西门子公司 | Wearable human-machine interaction apparatus, and human-machine interaction system and method |
| WO2019140807A1 (en) * | 2018-01-18 | 2019-07-25 | 桂林智神信息技术有限公司 | Operating method for stabilizer somatosensory remote control system |
| CN109124684A (en) * | 2018-10-18 | 2019-01-04 | 深圳开立生物医疗科技股份有限公司 | A kind of control system and control method of ultrasonic device |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150415 |