CN114442531A - Multifunctional graphic programming ad hoc network light-emitting rod control system - Google Patents
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Abstract
The invention discloses a multifunctional graphic programming ad hoc network light-emitting rod control system, which comprises an information acquisition module, an MCU (microprogrammed control unit) control module, an image processing and color recognition module, an LED light-emitting module, a wireless transmission module and a power supply module, wherein the MCU control module is used for controlling the image processing and color recognition module; the information acquisition module transmits the attitude information of the luminous bar to the MCU control module; the MCU control module controls the LED control module through the image processing and color recognition module; the MCU controls the wireless transmission module. The invention provides a multifunctional graphic programming ad hoc network luminous bar control system which has multiple functions, combines various patterns by identifying the posture information of the luminous bar and can form luminous patterns by networking and lighting.
Description
Technical Field
The invention relates to the technical field of luminous sticks, in particular to a multifunctional graphic programming ad hoc network luminous stick control system.
Background
The luminous rod is widely applied to various large and small entertainment, sports meetings or parties in various forms, and the luminous effect of the luminous rod, which is colorful and glaring, can well build and support the on-site atmosphere.
The traditional light-emitting rod is characterized in that internal substances react to enable fluorescent dye to emit light, and along with the progress of electronic technology, most of the electronic light-emitting rods on the market adopt LED lamp beads to emit light at present. In order to control a plurality of fluorescent rods in a centralized way, the luminous and color change can be unified, even different patterns and characters can be combined and constructed, and more gorgeous entertainment effects can be created on the spot at night.
However, the existing luminous stick has a single luminous mode, cannot identify the posture information of the luminous stick, is combined into a pattern according to the using posture of the luminous stick, cannot be linked and is single in use.
Disclosure of Invention
The invention mainly aims to provide a multifunctional graphic programming ad hoc network glow stick control system which has multiple functions, combines various patterns by identifying the posture information of a glow stick and can form a glow pattern by networking luminescence.
In order to achieve the purpose, the invention provides a multifunctional graphic programming ad hoc network light-emitting rod control system, which comprises an information acquisition module, an MCU control module, an image processing and color recognition module, an LED light-emitting module, a wireless transmission module and a power supply module; the information acquisition module is used for acquiring attitude information of the luminous stick, the MCU control module is used for analyzing and processing the information, and the image processing and color recognition module is used for analyzing and processing image information and image color; the LED light-emitting module is used for controlling the LED to emit light; the wireless transmission module is used for wireless transmission of information; the power supply module is used for supplying power to the MCU control module;
the information acquisition module transmits the attitude information of the luminous bar to the MCU control module; the MCU control module controls the LED control module through the image processing and color recognition module; the MCU controls the wireless transmission module.
The information acquisition module comprises an attitude sensor, and the attitude sensor is used for acquiring attitude information of the light-emitting stick.
The attitude sensor obtains attitude angle information through the rotation of the light-emitting rod; the attitude angle information is obtained by a change matrix formula, which is as follows:
the attitude sensor comprises an acceleration sensor which is used for acquiring the acceleration information of the luminous stick.
The formula for acquiring the acceleration information of the luminous stick by the acceleration sensor is as follows:
ax, ay and az are values for obtaining the acceleration data of the glow stick.
The attitude sensor comprises a gyroscope, and the gyroscope is used for acquiring a gravity value of the attitude sensor; the formula for obtaining the gravity value is as follows:
and Vx, Vy and Vz are gravity component values respectively.
The MCU control module comprises an audio controller and an audio player, and the audio player is controlled by the MCU control module through the audio controller to play audio.
The MCU control module comprises a storage module which is used for storing information.
The wireless transmission module comprises a Bluetooth transmission module.
The technical scheme provided by the invention has the beneficial effects that:
1) the luminous stick can realize OTA wireless firmware upgrade through the wireless transmission module, and simultaneously supports wired firmware upgrade;
2) according to the invention, different luminous effects are realized by acquiring the posture and track information (such as a right baton waving, a left baton waving and the like) of the luminous stick, and different luminous effects can be realized;
3) the invention can edit the light-emitting color, the mode and the like according to the self requirements of the user, and is simple and easy to use;
4) the invention can realize linkage of a plurality of luminous sticks through the ad hoc network, and realize more combinations.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a system block diagram of a multifunctional graphical programming ad hoc network glow stick control system according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a multifunctional graphic programming ad hoc network light-emitting rod control system.
Referring to fig. 1, in an embodiment of the present invention, the multifunctional graphic programming ad hoc network light-emitting stick control system includes an information acquisition module 1, an MCU control module 2, an image processing and color recognition module 5, an LED light-emitting module 6, a wireless transmission module 10, and a power supply module 8; the information acquisition module 1 is used for acquiring attitude information of the luminous stick, the MCU control module 2 is used for analyzing and processing information, and the image processing and color recognition module 5 is used for analyzing and processing image information and image colors; the LED light-emitting module 6 is used for controlling the LED to emit light; the wireless transmission module 10 is used for wireless transmission of information; the power supply module 8 is used for supplying power to the MCU control module;
the information acquisition module 1 transmits the attitude information of the luminous bar to the MCU control module 2; the MCU control module 2 controls the LED control module 6 through the image processing and color recognition module 5; the MCU controls 2 the wireless transmission module 10.
In this embodiment, preferably, the information collecting module 1 includes an attitude sensor 11, and the attitude sensor 11 is configured to collect attitude information of the light-emitting stick.
In this embodiment, the attitude sensor 11 may acquire an acceleration value and an angular velocity value, obtain relatively stable data through a low-pass filter, solve an euler angle by using a quaternion, obtain a spatial coordinate through coordinate conversion, and transmit the spatial coordinate to the MCU control module 2 to perform trajectory calculation on the light-emitting stick.
In this embodiment, it is further preferable that the attitude sensor obtains attitude angle information by rotation of the light-emitting stick; the attitude angle information is obtained by a change matrix formula, which is as follows:
when the attitude angle of the luminous rod (when the ground looks at the motion of an object) is calculated, the change information of the angle of the luminous rod relative to the previous angle after the luminous rod rotates can be equivalently obtained by compounding the rotation of the object around three axes in sequence. The attitude angle change matrix transformed from the geographic system to the object is as follows:
it is known that rotation in the plane (x, y) can be represented by complex numbers, and rotation in the same three dimensions can be described by unit quaternions. We define a quaternion:
wherein q0, q1, q2 and q3 are real numbers, i, j and k are units which are mutually orthogonal and are imaginary units
The coordinate transformation matrix from the coordinate system of the luminous stick to the coordinate system of the geography coordinate system is expressed by quaternion as follows:
the attitude angle transformation matrix is also transformed from the object coordinate system to the geographic coordinate system as follows:
both the two formulas are the attitude matrix transformed from the object coordinate system to the geographic coordinate system, so the two formulas are equal, namely the two matrixes have equal one-to-one correspondence, and then:
2(q1q3-q0q2)＝-sinγ＝g1
2(q2q3+q0q1)＝sinθcosγ＝g2
q02-q12-q22+q32＝cosθcosγ＝g3
2(q1q2+q0q3)＝cosγsinψ＝g4
q02+q12-q22-q32＝cosγcosψ＝g5
the attitude angle can be found as follows:
γ＝-arcsin(g1)
θ＝arctan(g2/g3)
ψ＝arctan(g4/g5)
by the above derivation, the required attitude angle can be obtained by knowing the specific values of q0, q1, q2, q3, and the currently known quantities are only the angular velocity and acceleration obtained from the gyroscope and accelerometer, and the quaternion and angular velocity relationship is as follows:
when knowing the quaternion value at the previous moment, we can update the quaternion value at the next moment by an iterative method, that is, an initial quaternion value is given at the initial moment (assuming that the zero moment is given with q0 ═ 0, q1 ═ 0, q2 ═ 0, and q3 ═ 0), the quaternion is updated by the continuously measured angular velocity, and then the attitude transformation matrix is obtained by the quaternion, so as to obtain the attitude angle. However, the attitude angle obtained in this way has a large error, and since the angular velocity measured by the gyroscope has a deviation, the error increases after the integral, so that the obtained angle has a deviation. However, the angle information obtained by the accelerometer cannot be deviated, but the angle information obtained by the accelerometer cannot be directly utilized, because the accelerometer is greatly influenced by noise and has low reliability in a short time, but the integrated angle information is credible, the angle information obtained by the accelerometer needs to be used for correcting the attitude information obtained by the gyroscope, and therefore the calculated angle error is eliminated.
In this embodiment, it is further preferable that the attitude sensor 11 includes an acceleration sensor 111, and the acceleration sensor 111 is configured to acquire the glow-stick acceleration information.
The acceleration sensor 111 obtains the acceleration information formula of the light-emitting stick as follows:
ax, ay and az are values for obtaining the acceleration data of the glow stick.
The attitude sensor 11 comprises a gyroscope 112, and the gyroscope 112 is used for acquiring a gravity value of the attitude sensor 11; the formula for obtaining the gravity value is as follows:
and Vx, Vy and Vz are gravity component values respectively.
And acquiring the value of the accelerometer (which is the corresponding value in the object coordinate system), and normalizing the value (the normalization is because the quaternion in the attitude change matrix is the standard quaternion, and the quaternion updated by using the gyroscope is also normalized, so the value acquired by the accelerometer is also normalized so that the two values correspond to each other). Taking the values obtained from the accelerometer as ax, ay, az (values corresponding to the x, y, z axes respectively), the normalization method is as follows:
the gravity component in the attitude matrix calculated by the gyroscope is obtained (since the accelerometer is the measured value in the object coordinate system, we also extract the gravity component in the object coordinate system in the attitude matrix calculated by the angular velocity). The gravity components are recorded as Vx, Vy and Vz, and the specific calculation method is as follows:
and (3) performing cross multiplication on the value obtained by the accelerometer after the gravity vector normalization and the gravity vector of the extracted attitude matrix to obtain an attitude error, and obtaining an attitude error vector:
let ex, ey, ez be the three elements of x, y, z corresponding to the error vector:
ex＝ay*Vz-az*Vy
ey＝az*Vx-ax*Vz
ez＝ax*Vy-ay*Vx
integrating the error to eliminate the error, and setting accex, accey and accez as error integration results corresponding to three axes of x, y and z (integrating the error after cross multiplication of two gravity components to obtain an angular velocity value), ki is an integration coefficient, and dt is integration cycle time as follows:
accex＝accex+ex*ki*dt；
accey＝accey+ey*ki*dt；
accez＝accez+ez*ki*dt；
and performing complementary filtering, adding the error input Pid controller and the angular velocity measured by the gyroscope in the current attitude updating to obtain a corrected angular velocity value, and updating four elements by using the obtained corrected angular velocity value so as to obtain accurate attitude angle information. And setting gx, gy and gz as angular velocities of three axes measured by a gyroscope and angular velocity correction values after filtering, and setting Kp as a complementary filter coefficient, wherein the corrected angular velocity calculation method comprises the following steps:
gx＝gx+Kp*ex+accex；
gy＝gy+Kp*ey+accey；
gz＝gz+Kp*ez+accez；
and finally, calculating the attitude angle through the corrected angular velocity.
In the invention, because the Euler angle is in an object coordinate system, if the luminescent rod is fixed at a position and does not move, only rotates automatically, the coordinate system rotates along with the luminescent rod, and the solved Euler angle also rotates along with the luminescent rod, so that the obtained result is different. To solve this problem, the calculated attitude angle is converted to a geographic coordinate system so that the coordinates calculated at a fixed position are fixed while holding the glow stick, regardless of how the glow stick is self-rotating.
According to the process of converting the geographic coordinate system into the object coordinate system, the rotational Euler angle firstly rotates according to a z axis, then rotates according to a y axis, and then rotates according to an x axis, and finally the object coordinate system is obtained, the obtained angles are yaw, pitch and roll respectively, and then a rotation matrix from the object coordinate system to the geographic coordinate system is defined according to the following mode:
the rotation matrix from the object coordinate system to the geographic coordinate system is obtained as follows:
because the attitude angles are all rotation angles, the motion range of the luminous rod can be regarded as a sphere with one end of the luminous rod as a sphere center and L as a radius. The light-emitting rod can be regarded as a vector with an origin (0,0,0) as a starting point and a terminal (1,0,0), and after the light-emitting rod is rotated, the coordinate position of the light-emitting rod in a geographic coordinate system can be obtained by multiplying the rotation matrix by the light-emitting rod vector. The coordinate axis X, Y, Z of the present invention obtains the formula:
X＝cosYaw*cosPitch*1+(cosYaw*sinPitch*sinRoll-sinYaw*cosRoll)*0+(cosYaw*sinPitch*cosRoll+sinYaw*sinRoll)*0＝cosYaw*cosPitch；
Y＝sinYaw*cosPitch*1+(sinYaw*sinPitch*sinRoll+cosYaw*cosRoll)*0+(sinYaw*sinPitch*cosRoll-cosYaw*sinRoll)*0＝sinYaw*cosPitch；
Z＝-sinPitch*1+cosPitch*sinRoll*0+cosPitch*cosRoll*0＝-sinPitch；
i.e. the geographic coordinates (cosYaw cosPattern, sinYaw cosPattern, -sinPitch).
And then the coordinate parameters are transmitted to the MCU control module 2 for track operation.
The motion track of the invention is calculated by firstly knowing the starting point and the ending point of the motion, the acceleration of the three axes is constant or the change is relatively gentle under the general state of the luminous stick, and when a gesture motion occurs, the acceleration data of the three axes can be changed violently. According to the characteristic, the sum of the changes of the acceleration data of the three axes can judge the starting point and the end point of the gesture action of the luminous stick. And differentiating the acceleration values of the x axis, the y axis and the z axis, taking the sum of the absolute values as a judgment quantity Fn, starting gesture motion of the luminous stick when the Fn is greater than a starting threshold Ta from the beginning, and finishing the gesture motion of the luminous stick when the Fn is less than a finishing threshold Tb.
Each action was repeated 200 times for data acquisition. And randomly selecting coordinate data accounting for two thirds of the total data amount from the coordinate data of each action as a training set, and taking the rest coordinate data as a test set.
And optimizing the decision tree treeNum and the randomly extracted feature number charNum by using training set data. And acquiring a sub-training set from the training set and establishing a model by combining bagging sampling with an OOB estimation method, and estimating the prediction accuracy of the model by using non-sampled data outside the bag, wherein when the prediction accuracy is highest, the corresponding parameter is the optimal parameter.
And after the optimal parameters are determined, establishing a random forest model by using the training set data, wherein each constructed decision tree is a binary tree in the random forest modeling. When a tree is constructed, charNum features (wherein charNum is less than N) are selected from the total N features of each sample at each node, and one of the charNum features is selected for branch growth according to the principle of minimum impurity degree. The tree grows fully, the impurity degree of each node is minimized, pruning is not carried out, and all the finally obtained decision trees are combined together to form a random forest.
And the final prediction category of the sample is obtained by a voting method, each decision tree of the model gives out a prediction category, the prediction categories of all the decision trees are counted, and the category with the highest vote number is the final prediction category.
In this embodiment, preferably, the MCU control module 2 includes an audio controller 3 and an audio player 4, and the MCU control module 2 controls the audio player 4 to play audio through the audio controller 3.
Preferably, the audio controller 3 controls the audio player 4 to play audio through the speaker 7, and the speaker 7 may be built in the glow stick.
In the embodiment, the audio controller 3 and the audio player 4 are arranged to play audio, the luminous bar is used to play music, and different music can be played along with different patterns formed by the luminous bar, so that the music is entertaining.
In this embodiment, further, preferably, the MCU control module 2 includes a storage module 9, and the storage module 9 is configured to store information.
In this embodiment, the storage module 9 can store not only the information processed by the MCU control module 2, but also various music information, so that music playing is more convenient.
In this embodiment, preferably, the wireless transmission module 10 includes a bluetooth transmission module 101.
In this embodiment, the plurality of glow sticks can transmit data to each other through the wireless transmission module 10 to form a glow stick network for lighting, so that various required patterns can be formed by the glow stick networking for lighting, and the entertainment is added.
The invention can make the luminous effect of the luminous stick editable, can realize linkage and combination of a plurality of luminous sticks, can identify the action of the luminous stick to realize specific effect, and makes the product have expansibility and entertainment.
The invention integrates the wireless ad hoc network of the luminous sticks and the multi-attitude sensor, so that the luminous effect pattern of the luminous sticks can be edited, a plurality of luminous sticks can be linked and combined, the action of the luminous sticks can be identified to realize a specific effect, and the product has expansibility and playability.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the present invention, and all changes and modifications that come within the meaning and range of equivalency of the specification and drawings are intended to be embraced therein.
Claims (9)
1. A multifunctional graph programming ad hoc network light-emitting rod control system is characterized in that: the system comprises an information acquisition module, an MCU control module, an image processing and color recognition module, an LED light-emitting module, a wireless transmission module and a power supply module; the information acquisition module is used for acquiring attitude information of the luminous stick, the MCU control module is used for analyzing and processing information, and the image processing and color recognition module is used for analyzing and processing image information and image color; the LED light-emitting module is used for controlling the LED to emit light; the wireless transmission module is used for wireless transmission of information; the power supply module is used for supplying power to the MCU control module;
the information acquisition module transmits the attitude information of the luminous bar to the MCU control module; the MCU control module controls the LED control module through the image processing and color recognition module; the MCU controls the wireless transmission module.
2. The multifunctional graphical programming ad hoc network glow stick control system according to claim 1, wherein: the information acquisition module comprises an attitude sensor, and the attitude sensor is used for acquiring attitude information of the light-emitting stick.
3. The multifunctional graphical programming ad hoc network glow stick control system according to claim 2, wherein: the attitude sensor obtains attitude angle information through the rotation of the light-emitting rod; the attitude angle information is obtained by a change matrix formula, which is as follows:
4. the multifunctional graphical programming ad hoc network glow stick control system according to claim 2, wherein: the attitude sensor comprises an acceleration sensor which is used for acquiring the acceleration information of the luminous stick.
5. The multifunctional graphical programming ad hoc network glow stick control system according to claim 4, wherein: the formula for acquiring the acceleration information of the luminous stick by the acceleration sensor is as follows:
ax, ay and az are values for obtaining the acceleration data of the glow stick.
6. The multifunctional graphical programming ad-hoc network glow stick control system according to claim 2, wherein: the attitude sensor comprises a gyroscope, and the gyroscope is used for acquiring a gravity value of the attitude sensor; the formula for obtaining the gravity value is as follows:
and Vx, Vy and Vz are gravity component values respectively.
7. The multifunctional graphical programming ad hoc network glow stick control system according to claim 1, wherein: the MCU control module comprises an audio controller and an audio player, and the audio player is controlled by the MCU control module through the audio controller to play audio.
8. The multifunctional graphical programming ad hoc network glow stick control system according to claim 7, wherein: the MCU control module comprises a storage module which is used for storing information.
9. The multifunctional graphical programming ad hoc network glow stick control system according to claim 8, wherein: the wireless transmission module comprises a Bluetooth transmission module.
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