CN106054624A - Controller - Google Patents
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- CN106054624A CN106054624A CN201610379229.XA CN201610379229A CN106054624A CN 106054624 A CN106054624 A CN 106054624A CN 201610379229 A CN201610379229 A CN 201610379229A CN 106054624 A CN106054624 A CN 106054624A
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- controller
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- 230000009471 action Effects 0.000 claims abstract description 168
- 230000033001 locomotion Effects 0.000 claims abstract description 76
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 18
- 230000006870 function Effects 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000002265 prevention Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 21
- 238000000034 method Methods 0.000 description 17
- 238000009527 percussion Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000284 resting effect Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005059 dormancy Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2642—Domotique, domestic, home control, automation, smart house
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a controller. The controller is internally provided with an action sensor, a processing module and a communication module, wherein the action sensor is fixedly connected with the controller for acquiring spatial motion parameters of the controller matched under actions of the user; the processing module determines a controlled device corresponding to a pre-defined user action and a control instruction in a condition in which the spatial motion parameters are matched with feature parameters of the pre-defined user action; and the communication module sends the control instruction to a gateway, and the control instruction is forwarded to the controlled device via the gateway. Through the technical scheme of the invention, the user action for the control device can be accurately recognized, and device control can be realized conveniently.
Description
Technical field
It relates to Smart Home technical field, particularly relate to a kind of controller.
Background technology
Under traditional approach, user needs by pressing the physical button on remote controller, to trigger the corresponding of electronic equipment
Function, is such as turned on and off air-conditioning, or reconciles air-conditioner temperature etc..But, owing to all functions of electronic equipment are all distinguished
Present on a remote control by the way of respective physical button so that user needs to find corresponding thing on a remote control every time
Reason button, operation is complicated, time-consuming.Meanwhile, each remote controller is merely able to control Single Electron equipment, when user has multiple stage electronics
During equipment, in addition it is also necessary to first find the remote controller of target device, but the remote controller of numerous quantity often exists and is difficult to properly protect
Situation about deposit, being easily lost.
In the related, it is proposed that by the mobile devices such as smart mobile phone, the side that multiple electronic equipment is controlled
Case, can avoid user to the preservation of a large amount of remote controllers and searching.But, user is when using mobile device, it is still desirable to right
The virtual key presented in mobile device is found and is clicked on, and the use of mobile device needs to experience " unlocking screen
→ find remote control APP → open remote control APP → selection target device → click virtual key " etc. all multi-steps, cause actual use
Family is experienced the most loaded down with trivial details, time-consuming.
Summary of the invention
The disclosure provides a kind of controller, to solve the deficiency in correlation technique.
First aspect according to disclosure embodiment, it is provided that a kind of controller, described controller be built-in with action sensor,
Processing module and communication module；Described action sensor keeps fixing with described controller and is connected, and can gather described controller and join
Together in the space motion parameter under user action；Described processing module is at described space motion parameter and predefined user action
In the case of characteristic parameter matches, determine controlled plant and control instruction that described predefined user action is corresponding；Described logical
Described control instruction is sent to gateway by news module, and by described gateway forwards to described controlled plant.
Optionally, described action sensor assembling attitude in the controller, with the surface texture of described controller
Match.
Optionally, described action sensor gathers described space fortune by preset reference coordinate system under described assembling attitude
Dynamic parameter, and the default crest line that the axis of described reference frame is parallel on the surface texture of described controller.
Optionally, also include:
Memory module, storage has the identification information of described controlled plant, and described control instruction is at described controlled plant
The port numbers of the function controlled of middle correspondence；Wherein, described communication module is according to described identification information and described port numbers, by described
Control instruction is sent to described controlled plant by described gateway.
Optionally, described identification information includes the MAC Address of described controlled plant.
Optionally, also include:
Prompting module, in the case of the characteristic parameter of described space motion parameter Yu predefined user action matches,
Perform to operate corresponding to the prompting of described controlled plant.
Optionally, described prompting module includes at least one of:
Being positioned at the speaker of described controller, described speaker can play the default sound corresponding to described controlled plant
Frequently；
Being positioned at the display screen on described controller surface, described display screen can show corresponding to presetting of described controlled plant aobvious
Show content；
Being positioned at the LED dot matrix on described controller surface, described LED dot matrix can form the LED corresponding to described controlled plant
Pattern.
Optionally, when described action sensor is not detected by user action in predefined continuous duration, by normal work
Operation mode switches to low-power consumption mode；And, when described action sensor detects user action under low-power consumption mode, by institute
State low-power consumption mode to recover to described normal mode of operation.
Optionally, described processing module is also at the characteristic parameter of described space motion parameter Yu predefined false-touch prevention pattern
In the case of matching, suspend the response to described space motion parameter, until receiving and predefined normal mode of operation
The space motion parameter that matches of characteristic parameter.
Optionally, described communication module sends described control instruction by arbitrary agreement in ZigBee, BLE and WIFI.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
From above-described embodiment, the disclosure by assembling action sensor in the controller, can accurately identify for
The user action of this controller, it is not necessary to find remote controller, physics or virtual key, can be according to user action and target
Pre-configured incidence relation between equipment, control instruction, it is achieved the convenient control to many equipment, contributes to simplifying user behaviour
Make.
It should be appreciated that it is only exemplary and explanatory, not that above general description and details hereinafter describe
The disclosure can be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the disclosure
Example, and for explaining the principle of the disclosure together with description.
Fig. 1 is the structural representation according to a kind of controller shown in an exemplary embodiment.
Fig. 2 is the schematic diagram of the application scenarios according to a kind of controller shown in an exemplary embodiment.
Fig. 3 is according to the assembling structural representation in the controller of a kind of action sensor shown in an exemplary embodiment
Figure.
Fig. 4 is according to the assembling structural representation in the controller of the another kind of action sensor shown in an exemplary embodiment
Figure.
Fig. 5 is the flow chart according to a kind of apparatus control method shown in an exemplary embodiment.
Fig. 6 is the schematic diagram rotating action according to a kind of controller shown in an exemplary embodiment.
Fig. 7 is the schematic diagram according to a kind of controller generation pushing action shown in an exemplary embodiment.
Fig. 8 is the schematic diagram according to a kind of controller generation hammer action shown in an exemplary embodiment.
Fig. 9 is the schematic diagram according to a kind of controller generation rotary movement shown in an exemplary embodiment.
Figure 10 is the structural representation according to the another kind of controller shown in an exemplary embodiment.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they are only with the most appended
The example of the apparatus and method that some aspects that described in detail in claims, the disclosure are consistent.
Fig. 1 is the structural representation according to a kind of controller shown in an exemplary embodiment, as it is shown in figure 1, this control
Device may include that built-in action sensor 10, processing module 20 and communication module 30.Wherein, action sensor 10 and control
Device keeps fixing and connects, can the space motion parameter that is matched with under user action of acquisition controller；Processing module 20 is transported in space
In the case of the characteristic parameter of dynamic parameter and predefined user action matches, determine that corresponding controlled of predefined user action sets
Standby and control instruction；Control instruction is sent to gateway by communication module 30, and by gateway forwards to controlled plant.
Such as Fig. 2 is the application scenarios of an exemplary embodiment, user by this controller can be realized to television set,
The unified manipulation of the various electronic such as photographic head, electric cooker, on the one hand without collecting and the numerous remote controllers of keeping, on the other hand
By this controller is performed predefined user action, the manipulation to above-mentioned electronic equipment can be conveniently realized, it is not necessary to seek
Look for physical button or virtual key, it is not required that to the unlocking screen of mobile device, click on the operations such as APP icon.Shown in Fig. 2
Embodiment in, controller, by sending control instruction to after gateway, is sent to corresponding electronic equipment by gateway；And it is actual
On, control instruction can also directly be sent to corresponding electronic equipment by controller, and the most by way of example only, the disclosure is not
This is limited.
1) action sensor 10
In the technical scheme of the disclosure, action sensor 10 can be six axle MEMS (Micro-Electro-
Mechanical System, MEMS) sensor, this sensor integration three axis accelerometer and three-axis gyroscope, can
With the 3-axis acceleration parameter under user's acquisition controller is matched with user action respectively and three axis angular rate parameters.For the ease of
Describe and understand, below all as a example by this six axles MEMS sensor, action sensor 10 of this disclosure illustrates.
In the present embodiment, action sensor 10 assembling attitude in the controller, can be with the surface texture of controller
Match.The most in the embodiment shown in fig. 3, when controller is cube structure, action sensor 10 can be made in assembling
Gather space motion parameter by preset reference coordinate system XYZ under attitude, and the axis of this reference frame is parallel to controller
Surface texture on default crest line, such as X-axis can be front end face (or rear end face) and end face (or the end of this cube structure
Face) between coincidence crest line direction, Y-axis can be this cube structure right side (or left side) and end face (or bottom surface) it
Between coincidence crest line direction, Z axis can be the vertical crest line direction of this cube structure.So, it is placed in arbitrarily when this controller
During plane, X, Y, Z axis always can be parallel or perpendicular to horizontal plane, contributes to simplifying the place to the space motion parameter collected
Reason.
Similarly, as shown in Figure 4, when the cross section of controller is hexagonal, action sensor 10 still can be made in assembling
Gather space motion parameter by preset reference coordinate system XYZ under attitude, and the axis of this reference frame is parallel to controller
Surface texture on default crest line.
In the present embodiment, action sensor 10 in the normal mode of operation, gathers 3-axis acceleration according to predetermined period
Parameter and three axis angular rate parameters；Further, this action sensor 10 is not detected by user action in predefined continuous duration
Time, low-power consumption mode can be switched to by normal mode of operation, such as close the accelerometer collection to 3-axis acceleration parameter, and
Reduce the gyroscope sample rate to three axis angular rate parameters.Until action sensor 10 detects that under low-power consumption mode user moves
When making, recover to normal mode of operation low-power consumption mode.
2) processing module 20
In the technical scheme of the disclosure, the sensing data etc. that processing module 20 is collected by action sensor 10,
Identify the beginning of user action, termination, perform the intercepting to space motion parameter, and assist the dormancy of action sensor 10
With recovery etc..
Processing module 20 may further include two parts: algorithm submodule and application submodule.Carry out separately below
Introduce:
Algorithm submodule is integrated processing for the angular velocity collecting action sensor 10, is then based on merging and calculates
Method carries out computing with the acceleration parameter collected, can obtain controller attitude angle information (relative to all as shown in Figure 3
XYZ reference frame), including: the anglec of rotation around X-axis, the anglec of rotation around Y-axis, the anglec of rotation about the z axis and the folder of X-axis
The angle β of angle α and Y-axis and the angle γ etc. of Z axis.
Application submodule is for identifying the particular type of user action, i.e. it is predefined that space motion parameter is specifically mated
Characteristic parameter；Below in conjunction with the apparatus control method shown in Fig. 5, to including that the processing procedure etc. applying submodule is retouched in detail
State:
In step 502, when sensor is in wake-up states, read sensing data.
In the present embodiment, sensor can be six above-mentioned axle MEMS sensor, then the sensing data read is permissible
Including 3-axis acceleration parameter and three axis angular rate parameters.
In step 504, when flag bit is 0, proceed to step 506, otherwise proceed to step 514.
In the present embodiment, flag bit be 0 show to be not presently within any user action during, if detecting new
Space motion parameter, it should judge that whether it is the beginning of user action, and can not be the termination of user action.
In step 506, it may be judged whether for the motion starting point of controller, the i.e. beginning of user action；If motion starting point
Time, proceed to step 508, otherwise proceed to step 510.
In the present embodiment, when starting due to user action, be equivalent to controller and be changed to kinestate by resting state,
Acceleration parameter or angular velocity parameter that i.e. action sensor 10 detects necessarily are undergone mutation, thus can pass through relevant parameter
Difference numerical change embody this sudden change.And combine above-mentioned 3-axis acceleration parameter and three axis angular rate parameters, Ke Yitong
Cross following formula and calculate 3-axis acceleration parameter or the difference value summation of three axis angular rate parameters:
Wherein, DAcceN be the difference value of 3-axis acceleration parameter summation within N continuous the cycle, DGyroN be three axles
The difference value of angular velocity parameter summation within N continuous the cycle,X-axis acceleration parameter, Y for the collection of kth cyclek aFor
The kth cycle gather Y-axis acceleration parameter,The Z axis acceleration parameter gathered for the kth cycle,For the collection of kth cycle
Around X-axis angular velocity parameter, Yk gFor the kth cycle gather around Y-axis angular velocity parameter,The speed of angle about the z axis gathered for the kth cycle
Degree parameter.
And by the N number of cycle in above-mentioned formula is configured, space motion parameter can be obtained at short notice
Situation of change, thus embody " sudden change " of space motion parameter, and guarantee that quick, the low latency of user action are rung by controller
Should.
Therefore, as DAcceN or DGyroN, not less than predefined first default value, (DAcceN and DGyroN can be right
Should be in the first different default values) time, i.e. can determine that user action starts.
In step 508, by mark position 1.
In the present embodiment, by by mark position 1, showing to be currently at the period of a user action so that again
When space motion parameter being detected, it should judge that it, whether as the termination of user action, and can not be the beginning of user action.
In step 510, number of times adds up.
In step 512, when cumulative number reaches preset times, control sensor and proceed to resting state, otherwise return
Step 502.
In the present embodiment, when, in N continuous the cycle, flag bit is always 0 and is not detected by the beginning of user action, i.e.
In the predefined continuous duration that this N continuous cycle is corresponding, with sensor not being manipulated, sensor can be turned
Enter resting state, to reduce the power consumption of sensor, to extend standby time.
Under resting state (or claiming low-power consumption mode), action sensor can close three-axis gyroscope, and only by three
Axis accelerometer carries out parameter acquisition, and the sample rate of this three axis accelerometer is for presetting low frequency；And work as three axis accelerometer
Collected the beginning of user action by this default low frequency after, can interrupt switching to call out by this action sensor by action
The state of waking up (or claiming normal mode of operation), now three axis accelerometer and three-axis gyroscope all carry out parameter by default altofrequency
Gather.
In the step 514, when flag bit is 1, proceed to step 515, otherwise return step 502.
In step 516, it may be judged whether for the termination of the exercise end of controller, i.e. user action；If exercise end
Time, proceed to step 518, otherwise proceed to step 522.
In the present embodiment, after user action starts, all space motion parameters detected when action sensor exist
When being all decreased to terminate threshold value in the second preset duration, it is possible to determine that terminate for user action.Wherein, when space motion parameter bag
When including the three-axis moving parameter collected according to the default sampling period, can be within multiple cycles of predetermined number, when each sky
Between kinematic parameter when the difference value summation of the kinematic parameter of each axle is all decreased to corresponding second default value, it is determined that for user
Action terminates.
Based on above-mentioned embodiment as shown in Figure 3, when DAcceN and DGyroN is all decreased to predefined second present count
During value (DAcceN and DGyroN can correspond to the second different default values), i.e. can determine that user action terminates.
In step 518, it is judged that the motion duration of controller is the most too short；If motion duration is too short, then proceed to step
524, otherwise proceed to step 520.
In the present embodiment, in order to remove interference and invalid action, such as user, controller is not intended to collision etc., permissible
The minimum length of definition user action is Lmin；So, when sample rate (the sampling frequency to space motion parameter of action sensor
Rate) it is FS, then and the motion duration (i.e. the duration of user action) of controller should be not less than Lmin/FS.Therefore, it can
Record the motion duration (i.e. user action is from starting to the duration terminated) of this controller, when this motion duration is less than
During Lmin/FS, it is likely that for the false hit etc. of user, can ignore in corresponding user action, such as step 524 storing
Data corresponding to user action empty.
In step 520, action recognition.
In the present embodiment, controller can comprise some by the predefined user action of manufacturer, then user is permissible
By being bound with target device, control instruction by this predefined user action, such as " rotate " action corresponding to TV
The on-off control of machine, " promotion " action corresponding to television set channel control, " percussion " action correspond to electric cooker switch control
System etc..Certainly, user can according to the actual requirements, and the user action being capable of controller is edited, and such as deletes
Original user action, add new user action etc..
Wherein, for user action and target device, the binding of control instruction, and the editor etc. for user action,
After all can be by the mobile devices such as the smart mobile phone of this controller and user are associated, in control circle of this smart mobile phone
Realize after configuring in face.Display screen, physical button etc. is such as touched so that use it is of course also possible to configure on the controller
Family can directly configure on this controller, and the disclosure is not limiting as its configuration mode.
In order to make it easy to understand, below with the controller of cube structure as shown in Figure 3, and this controller built-in six
Axle MEMS sensor, illustrates this controller identification process for user action.
(1) rotate
As shown in Figure 6, " rotation " action refers to controller twisting planar, such as combines the XYZ coordinate shown in Fig. 3
System, " rotation " action substantially occurs only in X/Y plane, and is substantially not changed on Z axis.
Therefore, when restrictive condition and rotary motion condition in space motion parameter meets predefined plane, can sentence
Determine space motion parameter and be matched with predefined feature, and predefined be characterized as spinning movement feature.
In one exemplary embodiment, restrictive condition in above-mentioned plane and rotary motion condition can be quantified,
So that the process to space motion parameter, then:
In plane, restrictive condition may include that
Rotary motion condition may include that
Wherein, XAVariance, Y for X-axis accelerationAVariance, Z for Y-axis accelerationAFor the variance of Z axis acceleration, XGFor
Variance, Y around X-axis angular velocityGFor around the variance of Y-axis angular velocity, ZGFor the variance of angular velocity about the z axis, ZGTotalFor tiring out about the z axis
Meter rotational angle；ATH1、ATH2And A hereafterTH3For default acceleration rate threshold, GTH1、GTH2、GTH3And G hereafterTH4It is default
Angular velocity threshold value.
1) for " restrictive condition in plane ", i.e. define this user action and make the motion of this controller substantially be limited to put down
In face, ratio is in X/Y plane as shown in Figure 3.Assuming that X-axis is always the horizontal axis parallel with plane with Y-axis, Z axis be always with
The vertical axis that plane is vertical, then:
Sub-condition ZA＜ ATH1Acceleration parameter in Z-direction is limited to certain limit (i.e. ATH1In), show to control
Device is not the most moved；And sub-condition XG＜ GTH1、YG＜ GTH1Respectively by around X-axis, the angular velocity parameter of Y-axis
Variance bound is formed on certain limit (i.e. GTH1In), show that controller rotates in X/Y plane.
2) for " rotary motion condition ", i.e. define this user action and this controller is rotated.So:
Sub-condition XA＜ ATH2、YA＜ ATH2Limit X-axis, Y-axis the variance of acceleration parameter in the range of certain, show control
The device processed acceleration parameter in X, Y direction is at certain preset range (i.e. ATH2In), and it is little to fluctuate；Sub-condition ZG≥
GTH2The variance limiting angular velocity parameter about the z axis exceedes certain predetermined threshold value (i.e. GTH2), sub-condition ZGTotal≥GTH3Require around Z
The accumulative rotational angle of axle exceedes certain threshold value (i.e. GTH3), thus show that controller exists certain rotation amount about the z axis.
(2) promote
As it is shown in fig. 7, " promotion " action refers to controller movement planar, such as combine the XYZ coordinate shown in Fig. 3
System, " promotion " action substantially occurs only in X/Y plane, and is substantially not changed on Z axis.
Therefore, when restrictive condition and promotion moving condition in space motion parameter meets predefined plane, can sentence
Determine space motion parameter and be matched with predefined feature, and predefined be characterized as pushing action feature.
In one exemplary embodiment, restrictive condition in above-mentioned plane and promotion moving condition can be quantified,
So that the process to space motion parameter, then in plane, restrictive condition refers to above-mentioned (1) rotation, and promotes sports bars
Part may include that
Wherein, D is the displacement in plane residing for X-axis and Y-axis, DTHFor default displacement threshold value.
1) for " restrictive condition in plane ", referring to above-mentioned (1) and rotate, here is omitted.
2) for " promotion moving condition ", i.e. define this user action and this controller is promoted.So:
Sub-condition XA+YA＞ ATH3The variance sum of the acceleration parameter limiting X-axis and Y direction should exceed certain and preset
Threshold value (i.e. ATH3), i.e. pushing action can produce an impact in X/Y plane；Sub-condition D ＞ DTHIt is limited in X/Y plane
Displacement is greater than certain predetermined threshold value (i.e. DTH), i.e. controller there occurs movement in X/Y plane really；Sub-condition ZGTatal
＜ GTH4Limit accumulative rotational angle about the z axis and be less than certain predetermined threshold value (i.e. GTH4)。
Wherein, owing to the promotion of controller is restricted in certain time (with reference to step 622) by user, thus controller
The distance promoted the most correspondingly is limited to a relatively short distance, for user action, actually for controller
" slightly " pushing action, thus be properly termed as " touching " action.
Further, owing to " rotation " action and " touching " action all betide in plane, thus in order to avoid to user
The misrecognition of action, can be the two action configuration preference level, and be judged to there occurs simultaneously meet " rotation " action and
When " touching " user action of action, it is identified as the action of high priority.
Such as, when " rotation " action has higher priority, even if meet " restrictive condition in plane " and " rotate
Moving condition " in the case of, also meet " promotion moving condition ", still judge user action as " rotation " action, and necessary
Satisfied " restrictive condition in plane " and " promotion moving condition ", be unsatisfactory for " rotary motion condition " in the case of, just judge use
Family action is " touching " action.
In other words, herein it is believed that the decision condition of " rotation " action is: meet " restrictive condition in plane " and " rotate
Moving condition "；The decision condition " touching " action is: meet " restrictive condition in plane " and " promotion moving condition ", and discontented
Foot " rotary motion condition ".
Certainly, the configuration of priority can be modified according to the actual requirements, then has higher for " touching " action
In the case of priority, being equally applicable above-mentioned processing mode, here is omitted.Further, when there is more being likely to occur
During the type of action misidentified, equally judging according to above-mentioned priority mode, here is omitted.
Certainly, in the case of for matching multiple type of action simultaneously, it is also possible to ignore this user action.
(3) tap
As shown in Figure 8, " percussion " action refers to controller reciprocating motion in space, and this controller is taken by such as user
The holding plane playing this controller backward quickly taps for several times, and the coordinate system of controller becomes before and after user action
Change；Such as, when number of taps is 2 times, " doublebeat " or " double-click " can be defined as.
Therefore, when space motion parameter meets the predefined percussion operating condition with holding plane, it is possible to determine that empty
Between kinematic parameter be matched with predefined feature, and predefined be characterized as hammer action feature；
In one exemplary embodiment, above-mentioned percussion operating condition can be quantified, in order to space motion
The process of parameter, then tap operating condition and may include that
Wherein, ZAPeakCrest number, Z for Z axis accelerationAValleyTrough number for Z axis acceleration.
So, for " percussion operating condition ", sub-condition ZA＞ XA、ZA＞ YARestriction controller is at the acceleration of Z-direction
The variance of parameter maximum (relative to X-axis and Y-axis), i.e. data fluctuations (or referred to as energy) occur mainly in Z-direction；Sub-condition
ZAPeak>=2 restriction controllers are not less than 2 at the crest number of the acceleration parameter of Z-direction, i.e. controller occurs extremely in Z-direction
Few twice overweight process；Sub-condition ZAValley>=2 restriction controllers are not less than 2 at the trough number of the acceleration parameter of Z-direction,
Weightless process at least twice is there is in i.e. controller in Z-direction.
Further, action in the planes such as action and above-mentioned " rotation ", " promotion ", Ke Yiwei " are tapped " in order to distinguish this
In the space such as " tapping ", action arranges priority with action in above-mentioned plane, has relatively Gao You than action in plane described above
First level, then even if in the case of meeting " restrictive condition in plane ", " rotary motion condition " and " percussion operating condition ",
Still judge user action as " rotation " action, and must satisfied " percussion operating condition ", be unsatisfactory for " in plane limit bar
Part " in the case of, just judge that user action is as " percussion " action.
The priority between planar gesture and spatial displacements herein, can be superimposed between above-mentioned planar gesture is excellent
First level.So, if user action meets " restrictive condition in plane ", " rotary motion condition ", " promotion moving condition " simultaneously
In the case of " percussion operating condition ", it is assumed that in plane, action has higher priority, and " rotation " action is than " promotion "
Action has higher priority, judges that user action is as " rotation " action the most herein.
In other words, herein it is believed that the decision condition of " percussion " action is: meet " percussion operating condition ", and be unsatisfactory for
" restrictive condition in plane ".
(4) upset
As it is shown in figure 9, " upset " action refers to controller flip-flop movement in space so that the coordinate system of controller exists
Changing before and after user action, in such as Fig. 9, the Z axis of coordinate system (corresponding to solid line cube) originally is vertical axis, and
After upset 90 °, become the Z ' axle of level, thus cause coordinate system to change.Certainly, after each user action completes, dynamic
Make sensor can coordinate system be resetted so that Z axis is always vertical axis, X-axis and Y-axis and is always horizontal axis.
Therefore, when space motion parameter meets predefined roll over condition, it is possible to determine that space motion parameter is matched with
Predefined feature, and the predefined rotary movement feature being characterized as predetermined angle.
In one exemplary embodiment, above-mentioned roll over condition can be quantified, in order to space motion parameter
Process, then roll over condition may include that
Wherein, M axle is that arbitrary axle in X-axis, Y-axis and Z axis, N axle and O axle are for remaining two axles, RTHFor default angle threshold.
So, with M axle as Y-axis, N axle as X-axis, O axle as Z axis as a example by, above-mentioned roll over condition can be:
Wherein, sub-condition YG＞ XG、YG＞ ZGLimit the variance around Y-axis angular velocity parameter maximum, i.e. the change of angular velocity parameter
Change and occur mainly in the rotation of Y-axis；Sub-condition YGTatal≈RTHLimiting the anglec of rotation around Y-axis will be close to predetermined angle
Threshold value (i.e. RTH), and certain angular error can be tolerated, such as this angular error can be 3 ° etc..
Wherein, by RTHNumerical value configuration, it is possible to achieve upset under multiple situation limits.Such as, R is worked asTHIt it is 90 °
Time, 90 ° of upsets as shown in Figure 9 can be realized with restriction controller.Further, when controller is cube structure, user is permissible
Configure this controller and all realize the same control instruction to same target device when any end face overturns 90 °；Or, it is also possible to
The 90 ° of upsets being respectively six end faces are respectively provided with different control purposes, such as the different controls of same target device
Instruction, or the control instruction for different target equipment.
Similarly, R is worked asTHWhen being 180 °, 180 ° of upsets can be realized with restriction controller；And, user can be according to self
Control situation, this controller is set and realizes more flip angles etc., this is not limited by the disclosure.
In step 522, it is judged that the motion duration of controller is the most long；If motion duration is long, then proceed to step
524, otherwise return step 502.
In the present embodiment, in order to remove interference and invalid action, such as child to the throwing of controller, play, can
With define user action greatest length as Lmax；So, when the sample rate (sampling to space motion parameter of action sensor
Frequency) it is FS, then and the motion duration (i.e. the duration of user action) of controller should be not more than Lmax/FS.Therefore, may be used
To record the motion duration (i.e. user action is from starting to the duration terminated) of this controller, when this motion duration is more than
During Lmax/FS, it is likely that for child to the throwing of controller, play, corresponding user action, such as step can be ignored
In 524, the data that the user action stored is corresponding are emptied.
And for motion duration normal in the case of, owing to the most not yet arriving exercise end, thus relevant sensor
Data will be recorded, using as being matched with the space motion parameter of user action, for follow-up action recognition；So,
By returning step 502, can persistently this space motion parameter be acquired.
In step 524, data are emptied.
In step 526, by mark position 0.
Visible, by said process for flag bit set process, controller can be accurately distinguished in each cycle
, such as there is not user action or to be in the beginning of user action, termination, process medium, thus perform in corresponding state
Corresponding process or operation.
Additionally, what processing module 20 also matched at the characteristic parameter of space motion parameter Yu predefined false-touch prevention pattern
In the case of, suspend the response to space motion parameter.Such as when user action is for " getting rid of ", i.e. hand held controller at sky
In back and forth rock, it is possible to determine that the normal work wishing to stop this controller for user, be matched with " rotation even if such as collecting
Turn " the space motion parameter of action, processing module 20 is also not carried out controlling function accordingly, until receiving with predefined
The space motion parameter that the characteristic parameter of normal mode of operation matches, detects that being matched with " getting rid of " user moves the most again
The space motion parameter made.So, if user family has child controller may carry out random throwing, play,
Can avoid controller that target device is produced and control function accordingly.
3) communication module 30
In one exemplary embodiment, as shown in Figure 10, can also include in controller: memory module 40, storage is subject to
The identification information of control equipment, and control instruction port numbers of the function controlled of correspondence in controlled plant；Such as, identification information
The MAC Address of controlled plant can be included.So, communication module 30 can be according to identification information and port numbers, by control instruction
Sent to controlled plant by gateway.
Wherein, communication module 30 can pass through ZigBee, BLE (Bluetooth Low Energy, Bluetooth Low Energy) and
In WIFI, arbitrary agreement sends control instruction.Certainly, communication module 30 can also be controlled by other any agreements configured
The transmission of system instruction, this is not limited by the disclosure.
When control instruction is sent to controlled plant by gateway by communication module 30, can between communication module 30 and gateway
With by the transmission of heartbeat packet, to maintain communication relation between the two.
Additionally, in the technical scheme of the disclosure, controller can also include: prompting module, space motion parameter with
In the case of the characteristic parameter of predefined user action matches, perform to operate corresponding to the prompting of controlled plant, in order to use
The control operation completed self by controller is understood at family.
Wherein, prompting module can have various ways；Such as, prompting module can include at least one of:
Being positioned at the speaker of described controller, described speaker can play the default sound corresponding to described controlled plant
Frequently；Such as play the title of controlled plant and the control function of control instruction, such as " television set increase volume ", " closedown
Air-conditioning " etc..
Being positioned at the display screen on described controller surface, described display screen can show corresponding to presetting of described controlled plant aobvious
Show content；Such as show title or the image of controlled plant, and the control function corresponding to control instruction.
Being positioned at the LED dot matrix on described controller surface, described LED dot matrix can form the LED corresponding to described controlled plant
Pattern.
Certainly, controller such as can also be vibrated by other, the mode such as light flash, it is achieved grasp to the prompting of user
Making, this is not limited by the disclosure.
Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modification, purposes or
Person's adaptations is followed the general principle of the disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (10)
1. a controller, it is characterised in that described controller is built-in with action sensor, processing module and communication module；Institute
State action sensor and described controller to keep fixing and is connected, the space that described controller is matched with under user action can be gathered and transport
Dynamic parameter；The situation that described processing module matches at the characteristic parameter of described space motion parameter Yu predefined user action
Under, determine controlled plant and control instruction that described predefined user action is corresponding；Described communication module is by described control instruction
Send to gateway, and by described gateway forwards to described controlled plant.
Controller the most according to claim 1, it is characterised in that described action sensor assembling in the controller
Attitude, matches with the surface texture of described controller.
Controller the most according to claim 2, it is characterised in that described action sensor passes through under described assembling attitude
Preset reference coordinate system gathers described space motion parameter, and the axis of described reference frame is parallel to the table of described controller
Default crest line in the structure of face.
Controller the most according to claim 1, it is characterised in that also include:
Memory module, storage has the identification information of described controlled plant, and described control instruction is right in described controlled plant
The port numbers of the function controlled answered；Wherein, described communication module is according to described identification information and described port numbers, by described control
Instruct and sent to described controlled plant by described gateway.
Controller the most according to claim 4, it is characterised in that described identification information includes the MAC of described controlled plant
Address.
Controller the most according to claim 1, it is characterised in that also include:
Prompting module, in the case of the characteristic parameter of described space motion parameter Yu predefined user action matches, performs
Prompting corresponding to described controlled plant operates.
Controller the most according to claim 6, it is characterised in that described prompting module includes at least one of:
Being positioned at the speaker of described controller, described speaker can play the preset audio corresponding to described controlled plant；
Being positioned at the display screen on described controller surface, described display screen can show corresponding in the default display of described controlled plant
Hold；
Being positioned at the LED dot matrix on described controller surface, described LED dot matrix can form the LED pattern corresponding to described controlled plant.
Controller the most according to claim 1, it is characterised in that described action sensor is in predefined continuous duration
When being not detected by user action, normal mode of operation switch to low-power consumption mode；And, described action sensor is in low-power consumption
When user action being detected under pattern, recover to described normal mode of operation described low-power consumption mode.
Controller the most according to claim 1, it is characterised in that described processing module also described space motion parameter with
In the case of the characteristic parameter of predefined false-touch prevention pattern matches, suspend the response to described space motion parameter, until
Receive the space motion parameter that the characteristic parameter with predefined normal mode of operation matches.
Controller the most according to claim 1, it is characterised in that described communication module passes through ZigBee, BLE and WIFI
In arbitrary agreement send described control instruction.
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