CN106621318B - A kind of handle rocker system and method based on sensor mpu6050 acquisition signal - Google Patents
A kind of handle rocker system and method based on sensor mpu6050 acquisition signal Download PDFInfo
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- CN106621318B CN106621318B CN201611262473.4A CN201611262473A CN106621318B CN 106621318 B CN106621318 B CN 106621318B CN 201611262473 A CN201611262473 A CN 201611262473A CN 106621318 B CN106621318 B CN 106621318B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/23—Input arrangements for video game devices for interfacing with the game device, e.g. specific interfaces between game controller and console
- A63F13/235—Input arrangements for video game devices for interfacing with the game device, e.g. specific interfaces between game controller and console using a wireless connection, e.g. infrared or piconet
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Position Input By Displaying (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The present invention relates to a kind of handle rocker system and method based on sensor mpu6050 acquisition signal, belong to handle field.It include: signal acquisition module, radio receiving transmitting module, GPIO key module, power regulator module and manometric module, the signal acquisition module respectively with the radio receiving transmitting module, GPIO key module, power regulator module is connected with manometric module, the signal acquisition module includes microprocessor K60 and rocker actuator, the radio receiving transmitting module includes the NRF24L01 wireless radio frequency modules connecting with microprocessor K60, the GPIO key module includes external key and LED light, the power regulator module includes battery and voltage stabilizing chip LM-2596, the manometric module includes voltage comparator LM301A.Beneficial effect is: the present invention can obtain better dynamic property and static properties, obtain higher accuracy, smoothness and comfort level, so as to obtain better user experience.
Description
Technical field
The present invention relates to handle field more particularly to a kind of handle rocker systems based on sensor mpu6050 acquisition signal
System and method.
Background technique
With today's society economy be constantly progressive and science and technology increasingly developed, the daily entertainment way of people
It is more and more abundant.Wherein electronic game and unmanned plane are relatively common entertainment selections, and especially unmanned plane is as emerging amusement
Mode also has received the welcome of more people and likes, the two requires to be operated using handle, and high-precision rocker lever
User can be made to obtain preferably experience.Traditional handle rocker is mostly using potentiometer as angle acquisition element on Vehicles Collected from Market, by
It is fallible component in potentiometer, frictional force is big, easily causes the control precision and durability decline of rocking bar, and this class component has
There is phenomena such as big certain reversed idle running, abrasion, bad dynamic performance, causes unstable in use process.So people need
A kind of accuracy, smoothness and the higher rocker lever of comfort level carry out the control of electronic game and the remote control of unmanned plane.
Summary of the invention
It is of the invention in order to overcome existing rocker lever with certain reversed idle running, wear big, bad dynamic performance defect
A kind of handle rocker system and method based on sensor mpu6050 acquisition signal are provided, which can obtain more
Good dynamic property and static properties, obtains higher accuracy, smoothness and comfort level, so as to obtain better user's body
It tests.The technical solution is as follows:
A kind of handle rocker system based on sensor mpu6050 acquisition signal, comprising: signal acquisition module, wireless receipts
Send out module, GPIO key module, power regulator module and manometric module, the signal acquisition module respectively with the wireless receiving and dispatching
Module, GPIO key module, power regulator module are connected with manometric module, and the signal acquisition module includes microprocessor K60
And rocker actuator, the radio receiving transmitting module includes the NRF24L01 wireless radio frequency modules connecting with microprocessor K60, described
GPIO key module includes external key and LED light, and the power regulator module includes battery and voltage stabilizing chip LM-
2596, the manometric module includes voltage comparator LM301A.
Further, the rocker actuator includes that rocking bar, screw, compressed spring, chip A and chip B, the rocking bar are worn
It crosses screw and is separately connected chip A and chip B, described compressed spring one end is connect with the screw, the chip A and chip
The distance of B be 100mm, the chip A and chip B be sensor mpu6050, the chip A and chip B respectively with microprocessor
K60 connection.
Further, the power regulator module selects 7.2V voltage battery.
Further, the GPIO key module further includes LCD display.
The invention also includes a kind of methods for obtaining rocking bar position based on sensor mpu6050 acquisition signal, and steps are as follows:
S1, right-handed Cartesian coordinate system is established on rocker actuator as absolute coordinate system, the geometric center with chip B is former
Point, x, y and z axes indicate fixed reference frame F(x, y, z), the geometric center with chip A is origin, and n, o and a axis indicate movement
Coordinate system F(n, o, a)；
S2, finger stir rocking bar, and chip B carries out data acquisition, the rotation alpha angle in x-axis direction are obtained, around y-axis direction
Upper rotation β angle；Chip A carries out data acquisition, obtains and rotates γ angle in n axis direction, and δ angle is rotated in o axis direction；
S3, microprocessor K60 read data by IIC agreement, and use Extended Kalman filter by sensor collection
Angle-data merge and compensate to error, obtains the optimal estimation value of handle rocker；
S4, position vector P founding mathematical models are used in fixed reference frame are as follows:
In formula, n, o and a indicate direction vector；P indicates position vector；X, y and z is reference axis；
S5, the optimal estimation value obtained after being compensated using handle rocker establish vector pxyzRelative coordinate equation are as follows:
pxyz=Rot (y, β) Rot (x, α) Rot (n, (γ-α)) Rot (o, (δ-β)) pnoa
pxyzFor the transformed coordinate points of handle rocker geometric center；
S6, vector p is establishedxyzMatrix equation:
S7, it is further processed to measuring:
S8, the coordinate obtained in plane xy:
Abscissa are as follows:
px=180 (sin (δ-β) cos β-sin (γ-α) cos (δ-β) sin β sin α+cos (γ-α) sin (δ-β) sin β
cosα)
Ordinate are as follows:
py=-180 (sin (γ-α) cos (δ-β) cos α+cos (γ-α) sin (δ-β) sin α)；
Further, in S2, system state equation and observational equation are established by Extended Kalman filter, as follows:
XK+1=f (XK)+wK+1
YK=h (XK)+vK
In formula, XK+1State variable for system at the k+1 moment, YKMeasurand for system at the k moment, w, v are zero equal
It is worth white Gaussian noise.
By nonlinear function Taylor series expansion linearization technique, the state equation of initial system can be approximately indicated
And observational equation, it is as follows:
In formula, FX(K) and FwIt is the partial derivative to X, v respectively；HX(K) and HvIt is the partial derivative to X, w respectively.
State estimation before prediction[:
Variance evaluation before prediction:
In formula, Q (K) is the procedure activation noise covariance matrix at K moment.After system is by adjustment amendment in real time, obtain
State renewal equation.Its gain matrix, state estimation and variance evaluation are respectively as follows:
The beneficial effects of the present invention are:
Handle rocker system and method for the present invention based on sensor mpu6050 acquisition signal can obtain preferably
Dynamic property and static properties obtain higher accuracy, smoothness and comfort level, so as to obtain better user experience.
Detailed description of the invention
Fig. 1 is present system structural block diagram；
Fig. 2 is rocker actuator structure chart of the present invention；
Fig. 3 is microprocessor K60 of the present invention and sensor mpu6050 data transmission interface figure；
Fig. 4 is microprocessor K60 of the present invention and wireless radio frequency modules NRF24L01 communication interface figure；
Fig. 5 is power regulator module LM2596 of the present invention and manometric module LM301A circuit diagram.
Specific embodiment
Embodiment 1:
A kind of handle rocker system based on sensor mpu6050 acquisition signal, comprising: signal acquisition module, wireless receipts
Send out module, GPIO key module, power regulator module and manometric module, the signal acquisition module respectively with the wireless receiving and dispatching
Module, GPIO key module, power regulator module are connected with manometric module.
The signal acquisition module includes microprocessor K60 and rocker actuator, and the K60 is microprocessor
MK60N512VLQ100。
The radio receiving transmitting module includes the NRF24L01 wireless radio frequency modules connecting with microprocessor K60, NRF24L01
Wireless radio frequency modules are a New Type of Chip Microcomputer radio-frequency receiving-transmitting devices, work in 2.4~2.5GH ISM band, and built-in frequency is closed
It grows up to be a useful person, and has merged enhancing ShockBurst technology.Its output power and communication channel are configured by program.Direct Model
Password and transmission address can be added in transmitting terminal by software.With small power consumption, strong antijamming capability in transmission process, transmission
The features such as data are accurate meets the requirement of handle rocker data transmission.As shown in figure 4, RF_SCK is transmission clock signal, it is used to
Control opportunity and the rate of data exchange.RF_MOSI and RF_MOSO is outputting and inputting for data relative to main equipment, main
The transmission and exchange of data are carried out according to clock signal.
The GPIO key module includes external key and LED light, and the GPIO key module further includes that LCD is shown
Screen.
The power regulator module includes battery and voltage stabilizing chip LM-2596, and the manometric module includes voltage comparator
LM301A。
The rocker actuator includes rocking bar, screw, compressed spring, chip A and chip B, and the rocking bar passes through screw
It is separately connected chip A and chip B, described compressed spring one end is connect with the screw, the distance of the chip A and chip B
It is that sensor mpu6050, the chip A and chip B connect with microprocessor K60 respectively for 100mm, the chip A and chip B
It connects.The present apparatus is avoided friction when rocking bar movement, is mentioned due to the advantage using the non-contact type friction of elastic element compressed spring
High control precision and durability realize that unlimited high-precision uses.Dynamics and comfort when rocking bar is operated simultaneously have very
Big improvement.
Rocking bar generates angular displacement when swinging, and screw can make varying pitch spring, and deformation occurs, and rocking bar will be generated and be transported
Contrary torque is moved, accuracy requirement when rocking bar Hui Zhongwei is also met.Sensing chip A, B also have corresponding angular displacement
Variation obtains the position of rocking bar movement by following methods.
A method of rocking bar position being obtained based on sensor mpu6050 acquisition signal, steps are as follows:
S1, right-handed Cartesian coordinate system is established on rocker actuator as absolute coordinate system, the geometric center with chip B is former
Point, x, y and z axes indicate fixed reference frame F(x, y, z), the geometric center with chip A is origin, and n, o and a axis indicate movement
Coordinate system F(n, o, a)；
S2, finger stir rocking bar, and chip B carries out data acquisition, the rotation alpha angle in x-axis direction are obtained, around y-axis direction
Upper rotation β angle；Chip A carries out data acquisition, obtains and rotates γ angle in n axis direction, and δ angle is rotated in o axis direction；
S3, microprocessor K60 read data by IIC agreement, and use Extended Kalman filter by sensor collection
Angle-data merge and compensate to error, obtains the optimal estimation value of handle rocker；
S4, position vector P founding mathematical models are used in fixed reference frame are as follows:
In formula, n, o and a indicate direction vector；P indicates position vector；X, y and z is reference axis；
S5, the optimal estimation value obtained after being compensated using handle rocker establish vector pxyzRelative coordinate equation are as follows:
pxyz=Rot (y, β) Rot (x, α) Rot (n, (γ-α)) Rot (o, (δ-β)) pnoa
pxyzFor the transformed coordinate points of handle rocker geometric center；
S6, vector p is establishedxyzMatrix equation:
S7, it is further processed to measuring:
S8, the coordinate obtained in plane xy:
Abscissa are as follows:
px=180 (sin (δ-β) cos β-sin (γ-α) cos (δ-β) sin β sin α+cos (γ-α) sin (δ-β) sin
Ordinate are as follows:
py=-180 (sin (γ-α) cos (δ-β) cos α+cos (γ-α) sin (δ-β) sin α)；
In S2, system state equation and observational equation are established by Extended Kalman filter, as follows:
XK+1=f (XK)+wK+1
YK=h (XK)+vK
In formula, XK+1State variable for system at the k+1 moment, YKMeasurand for system at the k moment, w, v are zero equal
It is worth white Gaussian noise.
By nonlinear function Taylor series expansion linearization technique, the state equation of initial system can be approximately indicated
And observational equation, it is as follows:
In formula, FX(K) and FwIt is the partial derivative to X, v respectively；HX(K) and HvIt is the partial derivative to X, w respectively.
State estimation before prediction[:
Variance evaluation before prediction:
In formula, Q (K) is the procedure activation noise covariance matrix at K moment.After system is by adjustment amendment in real time, obtain
State renewal equation.Its gain matrix, state estimation and variance evaluation are respectively as follows:
Embodiment 2:
As the supplement to the handle rocker system based on sensor mpu6050 acquisition signal a kind of in embodiment 1, entirely
System selects 7.2V cell voltage, by Voltage stabilizing module by cell voltage 7.2V pressure stabilizing to 3.3V.Because of the module of whole system
3.3V power voltage supply is all only used, so Voltage stabilizing module is only with carrying out level-one decompression and pressure stabilizing, selected voltage stabilizing chip LM-2596
It is a output electric current 3A step-down switching type integrated voltage-stabilized chip, electric current has linear and load regulation characteristic well.Power
Small, high-efficient, whole system smooth working electric current can reach 0.8A, and instantaneous operating current is in 1.2A or so.So the application is electric
Source design meets the requirement of system work.Since mpu6050 sensor chip is high to operating voltage requirement, so this design department
System increases a manometric module, reads battery capacity by voltage comparator LM301A, it is ensured that the work of system all-the-time stable exists
Within effective voltage range.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (2)
1. a kind of method for obtaining rocking bar position based on sensor mpu6050 acquisition signal, which is characterized in that steps are as follows:
S1, right-handed Cartesian coordinate system is established on rocker actuator as absolute coordinate system, the geometric center with chip B is origin,
X, y and z axes indicate fixed reference frame F(x, y, z), the geometric center with chip A is origin, and n, o and a axis indicate the coordinates of motion
It is F(n, o, a)；
S2, finger stir rocking bar, and chip B carries out data acquisition, obtain the rotation alpha angle in x-axis direction, revolve on y-axis direction
Turn β angle；Chip A carries out data acquisition, obtains and rotates γ angle in n axis direction, and δ angle is rotated in o axis direction；
S3, microprocessor K60 read data by IIC agreement, and use Extended Kalman filter by the angle of sensor collection
Data merge and compensate to error, obtain the optimal estimation value of handle rocker；
S4, position vector P founding mathematical models are used in fixed reference frame are as follows:
In formula, n, o and a indicate direction vector；P indicates position vector；X, y and z is reference axis；
S5, the optimal estimation value obtained after being compensated using handle rocker establish vector pxyzRelative coordinate equation are as follows:
pxyz=Rot (y, β) Rot (x, α) Rot (n, (γ-α)) Rot (o, (δ-β)) pnoa
pxyzFor the transformed coordinate points of handle rocker geometric center；
S6, vector p is establishedxyzMatrix equation:
S7, it is further processed to measuring:
S8, the coordinate obtained in plane xy:
Abscissa are as follows:
px=180 (sin (δ-β) cos β-sin (γ-α) cos (δ-β) sin β sin α+cos (γ-α) sin (δ-β) sin β cos α)
Ordinate are as follows:
py=-180 (sin (γ-α) cos (δ-β) cos α+cos (γ-α) sin (δ-β) sin α).
2. the method for obtaining rocking bar position based on sensor mpu6050 acquisition signal as described in claim 1, feature exist
In, in S2, system state equation and observational equation are established by Extended Kalman filter, as follows:
XK+1=f (XK)+wK+1
YK=h (XK)+vK
In formula, XK+1State variable for system at the k+1 moment, YKMeasurand for system at the k moment, w, v are that zero-mean is high
This white noise.
By nonlinear function Taylor series expansion linearization technique, state equation and the sight of initial system can be approximately indicated
Equation is surveyed, as follows:
In formula, FX(K) and FwIt is the partial derivative to X, v respectively；HX(K) and HvIt is the partial derivative to X, w respectively.
State estimation before prediction[:
Variance evaluation before prediction:
In formula, Q (K) is the procedure activation noise covariance matrix at K moment.After system is by adjustment amendment in real time,
Must do well renewal equation.Its gain matrix, state estimation and variance evaluation are respectively as follows:
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| CN201611262473.4A CN106621318B (en) | 2016-12-30 | 2016-12-30 | A kind of handle rocker system and method based on sensor mpu6050 acquisition signal |
| CN201910848013.7A CN110465075B (en) | 2016-12-30 | 2016-12-30 | Handle rocker system for implementing method for acquiring rocker position based on sensor mpu6050 acquisition signal |
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| CN107137925A (en) * | 2017-06-11 | 2017-09-08 | 吴昊阳 | A kind of game paddle system and its control method |
| EP3444016A1 (en) * | 2017-08-17 | 2019-02-20 | Bigben Interactive SA | Method for controlling a display element by a game console |
| CN108008759B (en) * | 2017-11-30 | 2020-05-22 | 歌尔科技有限公司 | Rocker calibration method, device and system, rocker and computer readable storage medium |
| CN109395382A (en) * | 2018-09-12 | 2019-03-01 | 苏州蜗牛数字科技股份有限公司 | A kind of linear optimization method for rocking bar |
| CN111413862A (en) * | 2020-03-31 | 2020-07-14 | 涵涡智航科技(玉溪)有限公司 | Unmanned aerial vehicle rocker redundancy control system and control method thereof |
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| US20070188455A1 (en) * | 2006-02-15 | 2007-08-16 | Logitech Europe S.A. | Single element digital and analog input for a control device |
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| CN2718694Y (en) * | 2004-05-27 | 2005-08-17 | 伟信电子股份有限公司 | Game control device |
| CN203070206U (en) * | 2012-07-31 | 2013-07-17 | 北京播思软件技术有限公司 | Mouse controlled by human eyes |
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| CN106621318A (en) | 2017-05-10 |
| CN110465075B (en) | 2023-04-28 |
| CN110465075A (en) | 2019-11-19 |
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