CN108534796A - A kind of projection flashlight and the air navigation aid based on projection flashlight - Google Patents
A kind of projection flashlight and the air navigation aid based on projection flashlight Download PDFInfo
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- CN108534796A CN108534796A CN201810325857.9A CN201810325857A CN108534796A CN 108534796 A CN108534796 A CN 108534796A CN 201810325857 A CN201810325857 A CN 201810325857A CN 108534796 A CN108534796 A CN 108534796A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of projection flashlights, including cylinder, further include：Steering engine, electronic compass, positioning device, projection device and processor.Processor is by obtaining the collected current location information of positioning device, it can determine the theoretical direction of travel (target direction) when user is in current location, and it is matched with current directional information, determine whether the current direction of travel of user and target direction are consistent, steering engine is controlled if inconsistent drives projection device rotation, until the projecting direction of projection device is consistent with target direction, projection device will receive navigation picture (target image) and project the surface road that will be walked to user along projecting direction.As it can be seen that using this projection flashlight, user can synchronize while the road that observation will walk, without switching the visual field and check navigation information, meet navigation needs, there is preferable experience sense.In addition, the invention also discloses a kind of air navigation aid based on projection flashlight, effect is as above.
Description
Technical field
The present invention relates to navigation field, more particularly to a kind of projection flashlight and the air navigation aid based on projection flashlight.
Background technology
In modern metropolitan cities are lived, flashlight is as a kind of hand-held electronic illuminations, using more and more extensive.
But traditional flashlight only has illumination functions, for the user to go out walking in the night on strange road, can only expire
Foot illuminates the demand of road, and cannot be satisfied navigation needs.At this point, user just has to illuminating road using flashlight satisfaction
Demand while, in addition meet navigation needs using special navigation equipment, experience sense is poor.Also, user is using special
When the navigation equipment of door is navigated, the focal length needs of eyes are constantly adapted to the visual field on navigation apparatus displays screen and ground
Toggling between road easy tos produce dizziness sense of discomfort.In addition, if user is to drive carrier to go out walking in the night in strange road
On, when carrier speed, then probably due to the visual field switches and ignore the quick variation of external environment, cause traffic thing
Therefore.
Therefore, under the premise of avoiding the user visual field from switching, how to realize that the navigation feature of flashlight is art technology
The current technical issues that need to address of personnel.
Invention content
The object of the present invention is to provide a kind of projection flashlight and based on the air navigation aid for projecting flashlight, user is being avoided
Under the premise of the visual field switches, the navigation feature of flashlight can be realized.
In order to solve the above technical problem, the present invention provides a kind of projection flashlight, including cylinder further includes：
It is set to the steering engine of the cylinder, the electronic compass for acquiring current directional information and for acquiring current location
The positioning device of information；
It is connect with the steering engine, is used for the projection device of projection target image；
It is connect respectively with the steering engine, the electronic compass, the positioning device and the projection device, for according to institute
It states current directional information and the current location information and controls the steering engine and drive the photographic equipment rotation with by projecting direction
It turns to target direction and sends the processor of the target image to the projection device；
Wherein, the processor prestores navigation data.
Preferably, further include universal wheel；
The projection device is fixed on the steering engine by the universal wheel.
Preferably, the lamp cap of the projection flashlight is connect with the steering engine.
Preferably, the cylinder offers radial through hole；
The lamp cap is installed in one end of the through hole using offsetting spring structure, and the projection device is installed in described
The other end of through hole.
Preferably, further include being set to the cylinder, temperature sensor for acquiring Current Temperatures information and for adopting
Collect the barometer of current gas pressure information；
The processor is connect with the temperature sensor and the barometer with according to the Current Temperatures information respectively
Height above sea level is determined with the current gas pressure information.
Preferably, further include being set to the cylinder, gyroscope and acceleration sensing for acquiring current pose information
Device；
The processor is connect respectively with the gyroscope and the acceleration transducer to be believed according to the current pose
Breath corrects the target image.
In order to solve the above-mentioned technical problem, the present invention also provides it is a kind of based on projection flashlight air navigation aid, including：
Current location information and current directional information are obtained, and is believed according to the current location information and the front direction of working as
Breath determines current location and works as front direction；
Target direction corresponding with the current location is determined based on preset navigation data, and works as front direction according to described
And the deviation of the target direction calculates rotational angle；
Controlling the steering engine drives photographic equipment to rotate the rotational angle, and the projecting direction of the photographic equipment is turned
To the target direction；
Target image is sent to be projected to the projection device.
Preferably, described according to described after front direction and the deviation of the target direction calculate rotational angle, also
Including：
Controlling the steering engine drives the lamp cap of the projection flashlight to rotate the rotational angle, by the photograph of the lamp cap
Target direction described in bright directional steering.
Preferably, before determining current location according to the current location information, further include：
Current Temperatures information and current gas pressure information are obtained, and is believed according to the Current Temperatures information and the current gas pressure
Breath determines current altitude；
The current location information is corrected based on the current altitude.
Preferably, target image is sent before being projected, to further include to the projection device described：
Current pose information is obtained, and current pose is determined according to the current pose information；
Determine whether the target image occurs trapezoidal distortion based on the deviation of the current pose and preset posture；
If it is, correcting the target image.
Projection flashlight provided by the invention, including cylinder further include：Steering engine, electronic compass, positioning device, projection are set
Processor that is standby and prestoring navigation data.Processor, can be with base by obtaining the collected current location information of positioning device
Theoretical direction of travel (target direction) when the navigation data itself to prestore determines that user is in current location, and with pass through electricity
The sub- collected current directional information of compass is matched, so that it is determined that the current direction of travel of user and target direction whether one
It causes, can send control instruction to steering engine if inconsistent, steering engine is enabled to drive projection device rotation, until the throwing of projection device
Shadow direction is consistent with target direction, and projection device will receive navigation picture (target image) and be projected to user i.e. along projecting direction
By on the surface road of walking, that is, realize the navigation feature of flashlight.As it can be seen that using this projection flashlight, processor can be with
It controls steering engine and drives projection device rotation, and target image is projected to user and will be walked along target direction by projection device
Surface road on so that user can synchronize while the road that observation will walk, without switching the visual field and check and lead
Boat information, meets navigation needs, there is preferable experience sense.That is, this projection flashlight is avoiding the user visual field from switching
Under the premise of, realize navigation feature.In addition, the present invention also provides a kind of air navigation aid based on projection flashlight, effect is such as
On.
Description of the drawings
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, other accompanying drawings are can also be obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of projection flashlight provided in an embodiment of the present invention；
Fig. 2 is another structural schematic diagram for projecting flashlight provided in an embodiment of the present invention；
Fig. 3 is a kind of flow chart of air navigation aid based on projection flashlight provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art under the premise of not making the creative labor, obtained it is all its
His embodiment, belongs to the scope of the present invention.
The object of the present invention is to provide a kind of projection flashlight and based on the air navigation aid for projecting flashlight, user is being avoided
Under the premise of the visual field switches, the navigation feature of flashlight can be realized.
In order to make those skilled in the art be better understood from technical solution of the present invention, below in conjunction with the accompanying drawings and it is embodied
The present invention is described in further detail for mode.
Fig. 1 is a kind of structural schematic diagram of projection flashlight provided in an embodiment of the present invention.As shown in Figure 1, the present embodiment
The projection flashlight of offer includes cylinder, further includes：
It is set to the steering engine 10 of cylinder, the electronic compass 11 for acquiring current directional information and for acquiring current location
The positioning device 12 of information；
It is connect with steering engine 10, is used for the projection device 13 of projection target image；
It is connect respectively with steering engine 10, electronic compass 11, positioning device 12 and projection device 13, for believing according to when front direction
Breath and current location information control steering engine 10 drive the rotation of photographic equipment 13 projecting direction is turned to target direction and to projection
Equipment 13 sends the processor 14 of target image；
Wherein, processor 14 prestores navigation data, and navigation data can be linked to processor 14 in advance offline
Navigation packet, and specific on-link mode (OLM) can be wire transmission and wireless transmission, the present invention does not limit this.Target image is
Refer to the image for being used to indicate current direction of travel；Target direction refers to reach the destination for target, when in current location
Theoretical direction of travel.
In addition, it is necessary to explanation, projection flashlight provided by the invention still remains with illumination functions, and foundation includes
Including the lamp cap of illuminating part, lamp holder switch, power switch and power supply etc..Also, it is to be understood that in throwing provided by the invention
Shadow flashlight is being additionally arranged steering engine 10, electronic compass 11, positioning device 12, projection device 13 and processor 14, realizes navigation work(
While energy, in order to further enhance user experience, corresponding switch can also be added, such as projection switch and direction switch
Deng corresponding indicator light and display screen, such as power supply indicator can also be added, and concrete condition can be set according to actual needs
Fixed, the present invention does not limit this.Even, it can also be wireless communication of the projection flashlight setting for being connect with control terminal
Module is to realize the data or the mutual biography of instruction between projection flashlight and control terminal.
Positioning device 12 is connect so that processor 14 can be got for acquiring current location information with processor 14
Current location information, and current location corresponding with current location information is determined to obtain target direction based on navigation data, and
And, it is preferable that positioning device 12 can select GPS transceiver.Electronic compass 11 is electronic compass sensor, also known as digital sieve
Disk, low energy consumption, small, light-weight, precision is high, Miniaturized compared with conventional cursor formula and balancing stand structure compass, defeated
Go out signal and digital-scroll technique may be implemented by processing, can not only be used for being directed toward, digital signal can be directly sent to autopilot, control
The manipulation of ship processed.In the present embodiment, electronic compass 11 is connect for acquiring current directional information with processor 14 so that
Processor 14 can obtain current directional information, and be determined when inclined between front direction and target direction according to current directional information
Difference, calculates and the corresponding rotational angle of the deviation, and corresponding control instruction is sent to the steering engine 10 connected with itself, and to
The projection device 13 of itself connection sends corresponding target image.Steering engine 10 is connect with projection device 13 and processor 14 respectively,
Projection device 13 is driven to rotate to be sent to the control instruction of itself according to processor 14, until the projection side of projection device 13
To consistent with target direction, also, it is to be understood that, in practical applications, steering engine 10 and the connection of projection device 13 should be protected
Steering engine 10 is demonstrate,proved when driving projection device 13 to rotate, without relative rotation between steering engine 10 and projection device 13.Projection device 13 with
Processor 14 connects, and sends the image of itself for projection processor 14, is reached for the purpose of user's navigation.Also, it is worth note
Meaning itself can play direction action since the projecting direction of projection device 13 follows target direction to change, then
The target image of collocation projection, can provide more vivid navigation Service to the user, promote user experience.
In addition, in order to optimize the navigation feature of projection flashlight, processor 14 is preferably the place equipped with built-in Linux
Device is managed, certainly, processor 14 can also be the processing equipped with other embedded OSs (such as ROS robot operating systems)
Device, the present invention do not limit this.
In specific implementation, processor 14 can first obtain beginning and end input by user, then prestored based on itself
Navigation pack plans the route of origin-to-destination, can also directly acquire route input by user.Processor 14 is determining
It after route, can start to navigate, determine position and direction of travel that user is presently in real time, and synchronous by steering engine 10
The projecting direction for controlling projection device 13 is consistent with target direction, will indicate that the target image of the current direction of travel of user passes through throwing
Shadow equipment 13 is directly projected along projecting direction makes user while the road that observation will walk to surface road, without cutting
It changes the visual field and can synchronize and check navigation information, promote user experience.
In conclusion projection flashlight provided in an embodiment of the present invention, including cylinder, further include：Steering engine, electronic compass,
Positioning device, projection device and the processor for prestoring navigation data.Processor is collected current by obtaining positioning device
Location information, the navigation data that can be prestored based on itself determine theoretical direction of travel (target when user is in current location
Direction), and matched with by the collected current directional information of electronic compass, so that it is determined that the direction of travel that user is current
It is whether consistent with target direction, control instruction can be sent to steering engine if inconsistent, steering engine is enabled to drive projection device rotation,
Until the projecting direction of projection device is consistent with target direction, projection device will receive navigation picture (target image) along projection
Direction projection realizes the navigation feature of flashlight to ground.As it can be seen that using this projection flashlight, processor can control
Steering engine drives projection device rotation, and target image is projected the ground that will be walked to user along target direction by projection device
On the road of face so that user observation will walk road while, without switch the visual field can synchronize check navigation letter
Breath, meets navigation needs, there is preferable experience sense.That is, this projection flashlight is in the premise for avoiding the user visual field from switching
Under, realize navigation feature.
In order to increase projection device 13 projecting direction adjustable extent, be based on above-described embodiment, as it is a kind of preferably
Embodiment, projection flashlight provided in this embodiment, further includes universal wheel；
Projection device 13 is fixed on steering engine 10 by universal wheel.
It drives projection device 13 to rotate using steering engine 10 merely, the angle tune of projecting direction in one plane may be implemented
Section makes steering engine 10 combine universal wheel that projection device 13 is driven to rotate, then it is in office that projecting direction may be implemented by increasing steering wheel
The angular adjustment of one plane.
Fig. 2 is another structural schematic diagram for projecting flashlight provided in an embodiment of the present invention.As shown in Fig. 2, in order to make
The illumination direction for projecting flashlight is synchronous with projecting direction, further promotes user experience, above-described embodiment is based on, as one
Kind preferred embodiment, the lamp cap 20 for projecting flashlight are connect with steering engine 10.
The lamp cap 20 for projecting flashlight is connect by the present embodiment with steering engine 10, when the control that steering engine 10 receives processor 14 refers to
When drive projection device 13 being enabled to rotate, then it can be rotated with synchronous drive lamp cap 20, make illumination direction and the projection of projection flashlight
Direction synchronizes, and further promotes user experience.Also, it is to be understood that in practical applications, steering engine 10 and lamp cap 20
Connection should ensure that steering engine 10 when driving lamp cap 20 to rotate, without relative rotation between steering engine 10 and lamp cap 20.
As shown in Fig. 2, considering the aesthetics of projection flashlight, it is based on above-described embodiment, embodiment party as one preferred
Formula, cylinder 21 offer radial through hole；
Lamp cap 20 is installed in one end of through hole using offsetting spring structure, and projection device 13 is installed in the another of through hole
End.
Lamp cap 20, with through hole, is coordinated universal wheel, need not use projection flashlight using offsetting spring structure installing
When the illumination functions of cylinder, user firmly can press lamp cap 20, so that lamp cap 20 is pressed into through hole, 21 surface of cylinder is made to seem
It is simpler, mellow and full, it is more beautiful；And when needing the illumination functions using projection flashlight, user can firmly press again
Lower lamp cap 20 makes lamp cap 20 be popped up from through hole.
In order to eliminate the high mountain navigation error of projection flashlight, navigation accuracy, embodiment when being based on upper, as one are promoted
Kind preferred embodiment, projection flashlight provided in this embodiment further includes being set to cylinder 21, for acquiring Current Temperatures
The temperature sensor of information and barometer for acquiring current gas pressure information；
Processor 14 is connect respectively with temperature sensor and barometer with according to Current Temperatures information and current gas pressure information
Determine height above sea level.
Processor 14 can utilize the Current Temperatures information of temperature sensor acquisition and the current gas pressure of barometer acquisition to believe
Breath determines current height above sea level, so as to positioning device 12 is acquired according to the height above sea level current location information into
Row is corrected, and high mountain navigation error is eliminated, and promotes navigation accuracy.
In order to avoid trapezoidal distortion occurs for target image, user experience is influenced, is based on above-described embodiment, as a kind of preferred
Embodiment, projection flashlight provided in this embodiment further includes being set to cylinder 21, for acquiring current pose information
Gyroscope and acceleration transducer；
Processor 14 is connect respectively with gyroscope and acceleration transducer with according to current pose information correction target image.
When the topography and geomorphology where user is complex, facing upward between the target image that projection device 13 projects and ground
Angle is likely to be constantly occurring variation, makes the target image for being projected in ground that trapezoidal distortion occur, influences user experience.And this
The projection flashlight that embodiment provides is additionally provided with gyroscope and acceleration transducer, is connect with processor 14 so that processing
Device 14 can get the current pose information of projection flashlight in real time, and determine that projection device 13 is thrown according to current pose information
The deviation between the elevation angle and the default elevation angle between the target image and ground of shadow, school is carried out based on the deviation to target image
Just, the target image after correction is sent to projection device 13 to project so that be projected in the target image on ground by trapezoidal
It is converted into rectangle, more meets the visual custom of user, promotes user experience.
A kind of projection flashlight provided by the invention is described in detail above, the present invention also provides one kind to be based on
The air navigation aid of above-mentioned projection flashlight, due to the embodiment phase of the embodiment and projection flashlight portion of the air navigation aid part
Mutually correlate, so, the embodiment of the air navigation aid part based on projection flashlight can refer to the implementation of projection flashlight portion
The description of example hereafter repeats no more identical part.
Fig. 3 is a kind of flow chart of air navigation aid based on projection flashlight provided in an embodiment of the present invention.Such as Fig. 3 institutes
Show, air navigation aid provided in this embodiment, based on projection flashlight, including：
S30：Current location information and current directional information are obtained, and true according to current location information and current directional information
Settled front position and work as front direction.
S31：Target direction corresponding with current location is determined based on preset navigation data, and according to when front direction and mesh
The deviation for marking direction calculates rotational angle.
S32：Controlling steering engine drives photographic equipment to rotate rotational angle, and the projecting direction of photographic equipment is turned to target side
To.
S33：Target image is sent to be projected to projection device.
Wherein, it should be noted that point of step S32 and front and back execution sequence not stringent step S33, processor exists
After determining current target image, can target image be sent to projection device at any time, also, projection device is receiving
To after target image, no matter whether its projecting direction is consistent with target direction, can real-time display target image.Moreover, excellent
Selection of land can be during controlling steering engine drive projection device rotation in order to further enhance user experience, and processor can
To send different target images to projection device to achieve the purpose that be directed toward in real time.For example, being suitable calculating rotational angle
It, can be using the direction image of right-hand rotation as target figure while controlling steering engine projection device is driven to turn to when 90 degree of hour hands
It is projected as being sent to projection device, until when the projecting direction of projection device is consistent with target direction, then by the finger of straight trip
Projection device is sent to image as target image to be projected.
In order to keep the mode of operation of projection flashlight more flexible, can be projection flashlight customization it is corresponding can be autonomous
Digital map navigation information APP is pulled, is that projection flashlight imports navigation data using the APP, the mobile end of the APP will be such as installed
End is attached as control terminal and projection flashlight by wireless communication module, and is planned from origin-to-destination in APP
Route, then again using the route planned as navigation data default in projection flashlight in, for projection flashlight setting lead
Boat task.Certainly, APP can also obtain the basic parameter of each sensor in projection flashlight, or think to projection flashlight transmission
The image to be projected influences information as target image, such as navigation map, description of product figure, structure chart, realizes and is delivered with screen
Which kind of APP control projection flashlight is function specifically formulate, can be depending on the actual demand of user, and the present invention does not limit.
In addition, before sending target image to projection device, the processor for projecting flashlight can be first to target image
Curve vector processing and correction are carried out, i.e., raster data is converted into vector data, one class of structure obtains to handle image
Histogram equalizes histogram, it is ensured that when zooming in or out display target image, the target image being revealed is not
It can be distorted.
In conclusion the embodiment of the present invention provides the air navigation aid based on projection flashlight, by obtaining present bit confidence
Breath, can determine the theoretical direction of travel (target direction) when user is in current location based on itself preset navigation data,
And what is determined by target direction and according to current directional information matches when front direction, determine the current direction of travel of user and
Whether target direction is consistent, if it is inconsistent, the corresponding rotational angle of deviation of front direction and target direction is calculated and works as,
Control instruction is sent to steering engine, steering engine is enabled to drive projection device rotation, until the projecting direction of projection device and target direction one
It causes, projection device will receive navigation picture (target image) and be projected to ground along projecting direction, that is, realize leading for flashlight
Boat function.As it can be seen that using this air navigation aid, projection device rotation can be driven by controlling steering engine, using projection device by mesh
Logo image is projected along target direction on the surface road that will be walked to user so that user is observing the road that will be walked
Meanwhile can synchronize without switching the visual field and check navigation information, meet navigation needs, there is preferable experience sense.That is,
This air navigation aid meets the navigation needs of user under the premise of avoiding the user visual field from switching.
Based on above-described embodiment, as a preferred embodiment, according to the deviation when front direction and target direction
After calculating rotational angle, further include：
Controlling steering engine drives the lamp cap of projection flashlight to rotate rotational angle, and the illumination direction of lamp cap is turned to target side
To.
Based on above-described embodiment, as a preferred embodiment, determining current location according to current location information
Before, further include：
Current Temperatures information and current gas pressure information are obtained, and is worked as according to Current Temperatures information and the determination of current gas pressure information
Preceding height above sea level；
Current location information is corrected based on current altitude.
Based on above-described embodiment, as a preferred embodiment, sending target image to projection device to carry out
Before projection, further include：
Current pose information is obtained, and current pose is determined according to current pose information；
Determine whether target image occurs trapezoidal distortion based on the deviation of current pose and preset posture；
If it is, correction target image.
Also, it is to be understood that ensure the stabilization of output target image, attitude angle can also be used to carry out software and disappeared
Except the principle of shake to target image eliminate the processing of shake.
In order to make those skilled in the art more fully understand technical solution provided by the invention, below using Raspberry Pi as place
Device is managed, is connect with the mobile phone wireless for being equipped with customization APP, and use MPU6050 sensor (6 axis motion process components, by three axis
Gyroscope, the digital moving processor composition of three axis accelerometers and the auxiliary extension of three axis) serve as gyroscope and acceleration sensing
Device, and illustrated for realizing navigation using inertial navigation technology.
Raspberry Pi is depicted in the X under sensor coordinate system, Y, Z tri- according to the gathered data of the MPU6050 sensors of acquisition
The offset component generated on axis, while three-dimensional coordinate system can also rotate relative to the space coordinates of object of which movement, three
Dimension coordinate system can show attitudes vibration (rotation direction and the angle of MPU6050 sensors in real time in acceptable time delay
Degree).At the same time, cell phone application end obtains MPU6050 acceleration transducers by parsing the data frame obtained from USART interfaces
With the data of gyroscope, and data check is carried out according to the check bit that is arranged in data frame, according to the acceleration transducer of parsing
With the data of gyroscope, in acceptable error range, restore MPU6050 sensors attitudes vibration (including displacement, rotation
Direction and angle), realize a simple inertial navigation system, and projecting the hardware system in flashlight will tentatively realize to line
The data of acceleration and angular acceleration acquire and Kalman filtering handles and further derives target object according to attitude matrix
Three axis attitude angle.The offset component for ignoring acceleration of gravity, obtains attitude matrix, extrapolates displacement and the speed of target object
Degree carries out quadratic integral to linear acceleration further according to the inertia differential equation and obtains the displacement of target object.
In this example, projection flashlight can accurately acquire the acceleration of spatial triaxial by acceleration transducer high speed, and
By obtaining movement locus and instantaneous velocity to the integral operation of acceleration, then the route data and knot for passing through analytic inertial navigation
The case where closing actual path map, simulates action at first and the route information of user, is constantly sold eventually by Raspberry Pi
Torch sends out control instruction signal, controls the steering of steering engine to adjust the projecting direction of projection device, projection target image is realized
Navigation feature.
Above to it is provided by the present invention it is a kind of projection flashlight and based on projection flashlight air navigation aid carried out in detail
It is thin to introduce.Each embodiment is described by the way of progressive in specification, and each embodiment, which stresses, is and other implementations
The difference of example, just to refer each other for identical similar portion between each embodiment.
It should be pointed out that for those skilled in the art, without departing from the principle of the present invention,
Can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection domain of the claims in the present invention
It is interior.
It should also be noted that, in the present specification, such as first and second etc relational terms are used merely to one
A entity is either operated either to operate with another entity and be distinguished without necessarily requiring or implying these entities or behaviour
There are any actual relationship or orders between work.Moreover, the terms "include", "comprise" or its any variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment including a series of element includes not only that
A little elements, but also include the other elements being not explicitly listed, further include either for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of projection flashlight, including cylinder, which is characterized in that further include：
It is set to the steering engine of the cylinder, the electronic compass for acquiring current directional information and for acquiring current location information
Positioning device；
It is connect with the steering engine, is used for the projection device of projection target image；
It is connect respectively with the steering engine, the electronic compass, the positioning device and the projection device, for working as according to described in
Front direction information and the current location information control the steering engine and drive the photographic equipment rotation to turn to projecting direction
Target direction and the processor that the target image is sent to the projection device；
Wherein, the processor prestores navigation data.
2. projection flashlight according to claim 1, which is characterized in that further include universal wheel；
The projection device is fixed on the steering engine by the universal wheel.
3. the projection flashlight according to claim 2 based on multisensor, which is characterized in that the projection flashlight
Lamp cap is connect with the steering engine.
4. the projection flashlight according to claim 3 based on multisensor, which is characterized in that the cylinder offers diameter
To through hole；
The lamp cap is installed in one end of the through hole using offsetting spring structure, and the projection device is installed in described run through
The other end in hole.
5. projecting flashlight according to claim 1-4 any one of them, which is characterized in that further include being set to the cylinder,
Temperature sensor for acquiring Current Temperatures information and the barometer for acquiring current gas pressure information；
The processor is connect with the temperature sensor and the barometer with according to the Current Temperatures information and institute respectively
It states current gas pressure information and determines height above sea level.
6. projecting flashlight according to claim 1-4 any one of them, which is characterized in that further include being set to the cylinder,
Gyroscope and acceleration transducer for acquiring current pose information；
The processor is connect with the gyroscope and the acceleration transducer with according to current pose information school respectively
The just described target image.
7. a kind of air navigation aid based on projection flashlight, which is characterized in that including：
Current location information and current directional information are obtained, and true according to the current location information and the current directional information
Settled front position and work as front direction；
Target direction corresponding with the current location is determined based on preset navigation data, and works as front direction and institute according to described
The deviation for stating target direction calculates rotational angle；
Controlling the steering engine drives photographic equipment to rotate the rotational angle, and the projecting direction of the photographic equipment is turned to institute
State target direction；
Target image is sent to be projected to the projection device.
8. the air navigation aid according to claim 7 based on projection flashlight, which is characterized in that work as according to described described
After front direction and the deviation of the target direction calculate rotational angle, further include：
Controlling the steering engine drives the lamp cap of the projection flashlight to rotate the rotational angle, by the illumination side of the lamp cap
To the steering target direction.
9. the air navigation aid according to claim 7 or 8 based on projection flashlight, which is characterized in that work as according to described in
Before front position information determines current location, further include：
Current Temperatures information and current gas pressure information are obtained, and true according to the Current Temperatures information and the current gas pressure information
Determine current altitude；
The current location information is corrected based on the current altitude.
10. the air navigation aid according to claim 7 or 8 based on projection flashlight, which is characterized in that described to described
Projection device sends target image before being projected, to further include：
Current pose information is obtained, and current pose is determined according to the current pose information；
Determine whether the target image occurs trapezoidal distortion based on the deviation of the current pose and preset posture；
If it is, correcting the target image.
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| CN201810325857.9A CN108534796A (en) | 2018-04-12 | 2018-04-12 | A kind of projection flashlight and the air navigation aid based on projection flashlight |
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