CN114485562A - Handheld oscilloscope horizontal position adjusting method based on gravity sensing - Google Patents
Handheld oscilloscope horizontal position adjusting method based on gravity sensing Download PDFInfo
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- CN114485562A CN114485562A CN202210088224.7A CN202210088224A CN114485562A CN 114485562 A CN114485562 A CN 114485562A CN 202210088224 A CN202210088224 A CN 202210088224A CN 114485562 A CN114485562 A CN 114485562A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention discloses a method for adjusting the horizontal position of a handheld oscilloscope based on gravity sensing, which adopts a 3-axis accelerometer module mode to adjust the horizontal position, and can conveniently and quickly realize the left and right movement of the horizontal position only by turning the handheld oscilloscope left and right and inclining the handheld oscilloscope by a certain angle when the horizontal position is adjusted. And because horizontal position need not specially vacate an arm and swing back and forth to the mode such as knob, button, touch in the adjustment process and operate, reduce user's physical demands, partial handheld oscilloscope has heavy, bulky scheduling problem simultaneously, and both hands hold and to increase safety in utilization and stability.
Description
Technical Field
The invention relates to the technical field of oscilloscopes, in particular to a method for adjusting the horizontal position of a handheld oscilloscope based on gravity sensing.
Background
In the existing handheld oscilloscope products, when the horizontal position is adjusted to move left and right, the adjustment needs to be carried out by using a knob, a key, touch and the like, the arm needs to swing back and forth for operation, the operation is complex, the speed is slow, even when the storage depth is very large, if the horizontal position wants to be adjusted to the edge position, the adjustment needs to be carried out for a long time by using the traditional knobs, keys, touch and other modes, the time and the labor are consumed, even one hand needs to be vacated to operate the knobs, the keys or touch and other modes to adjust the horizontal position, and the horizontal position can be adjusted back and forth for a long time during measurement, so that the phenomenon that the arm of the oscilloscope is held by one hand for a long time and is painful, and even the phenomenon that the arm drops can occur.
Disclosure of Invention
The invention aims to provide a horizontal position adjusting method of a handheld oscilloscope based on gravity sensing.
The technical scheme adopted by the invention is as follows:
a handheld oscilloscope horizontal position adjusting method based on gravity sensing is characterized in that a 3-axis accelerometer module mode is arranged in the handheld oscilloscope, the 3-axis accelerometer module is connected to a Central Processing Unit (CPU) through an SPI bus interface, the handheld oscilloscope is provided with a gravity sensing button, and the gravity sensing button controls the 3-axis accelerometer module to acquire data or not; the adjusting method comprises the following steps:
step 1: pressing a gravity sensing button on the side of the handheld oscilloscope to start the acceleration acquisition function of the 3-axis accelerometer module;
step 2: after the central processing unit waits for a certain time, the central processing unit starts to read the triaxial acceleration data collected in the FIFO of the 3-axis accelerometer module through the SPI bus interface;
and step 3: the central processing unit stores the triaxial acceleration data into a memory buffer queue in a DMA mode and provides the triaxial acceleration data for an upper application program so as to convert and decode the triaxial acceleration data;
and 4, step 4: the central processing unit carries out series transformation of Euler angle rotation and rotation matrix processing on the three-axis acceleration original data in the buffer queue, resolves acceleration digital quantities of an X axis, a Y axis and a Z axis to obtain Euler angles, and determines the horizontal state of the machine;
and 5: judging whether the machine is inclined or not according to the current horizontal state of the machine; if yes, acquiring inclination data and executing step 6;
step 6: performing a horizontal position adjustment based on the tilt data pair;
and 7: judging that the horizontal position moves left and right to a satisfactory position; if so, releasing the side gravity sensing unlocking button, and stopping reading the data acquired by the gravity sensor by the central processing unit; otherwise, step 5 is executed.
Specifically, the transformation formula is as follows:
wherein: mx、My、MzRespectively representing rotation matrixes rotating around an X, Y, Z axis, and r, p and y respectively represent angles of rotation around x, y and z axes; g is the acceleration of the gravity and,
indicating a gesture rotation.
Further, in the step 2, the 3-axis accelerometer module converts acceleration analog quantities measured in three directions of an X axis, a Y axis and a Z axis into acceleration digital quantities of three axes of the X axis, the Y axis and the Z axis which can be output through an internal multi-path high-precision ADC, and stably and continuously acquires the corresponding three-axis acceleration digital quantities generated in the three directions of the X axis, the Y axis and the Z axis due to the change of the posture of the body of the handheld oscilloscope and stores the three-axis acceleration digital quantities into the FIFO of the accelerometer module.
Further, the euler angle in step 4 includes a heading angle yaw, a roll angle, and a pitch angle pitch.
Further, in the step 4, a quaternion is selected to be output by using the gravity sensor with the DMP function, the quaternion is directly converted into an Euler angle by an application program, and the application program determines the horizontal state of the handheld oscilloscope at the current moment according to the Euler angle.
Further, the tilt data in step 5 includes left or right tilt, angle of tilt and acceleration of the captured tilt.
Further, the specific steps in step 6 are:
step 6-1, determining the horizontal adjustment direction of the waveform of the oscilloscope according to the inclined direction;
when the handheld oscilloscope inclines leftwards, the waveform moves leftwards horizontally until the posture of the body of the handheld oscilloscope returns to be parallel to the horizontal line, and the waveform stops moving horizontally;
when the handheld oscilloscope inclines to the right, the waveform horizontally moves to the right until the posture of the body of the handheld oscilloscope returns to be parallel to the horizontal line, and the waveform horizontally stops moving;
6-2, determining the number of pixel points of each movement of the waveform in the left and right directions of the horizontal adjustment of the waveform of the oscilloscope according to the inclined angle; adjusting the number of pixel points of each movement of the waveform in a positive proportion according to the size of the inclined angle;
specifically, the larger the inclination angle is, the more pixel points of the waveform are moved at each time, and the smaller the inclination angle is, the fewer the pixel points of the waveform are moved at each time.
Step 6-3, judging whether the waveform level of the handheld oscilloscope is centered or not based on the inclined acceleration, namely whether the waveform level trigger time of the oscilloscope is zero or not, and if the waveform level trigger time is zero, indicating that the waveform level is centered; when the acceleration of the tilt reaches a set value, the waveform is operated to center it horizontally.
Further, the number of pixel points of each wave movement in step 6-2 has an upper limit value, that is, the maximum pixel value of the wave movement, and the wave is acted according to the maximum pixel value when the inclination angle exceeds the inclination angle corresponding to the maximum pixel value of the wave movement.
According to the technical scheme, the horizontal position is adjusted by adopting a 3-axis accelerometer module mode, and when the horizontal position is adjusted, the horizontal position can be conveniently and quickly moved left and right only by turning the handheld oscilloscope left and right and inclining the handheld oscilloscope by a certain angle. And because horizontal position need not specially vacate an arm and swing back and forth to the mode such as knob, button, touch in the adjustment process and operate, reduce user's physical demands, partial handheld oscilloscope has heavy, bulky scheduling problem simultaneously, and both hands hold and to increase safety in utilization and stability.
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The invention is described in further detail below with reference to the accompanying drawings and the detailed description;
FIG. 1 is a schematic flow chart of a method for adjusting the horizontal position of a handheld oscilloscope based on gravity sensing according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
As shown in fig. 1, the invention discloses a horizontal position adjusting method of a handheld oscilloscope based on gravity sensing, wherein the handheld oscilloscope is internally provided with a 3-axis accelerometer module mode, the 3-axis accelerometer module is connected to a Central Processing Unit (CPU) through an SPI bus interface, the handheld oscilloscope is provided with a gravity sensing button, and the gravity sensing button controls whether the 3-axis accelerometer module collects data or not; the adjusting method comprises the following steps:
step 1: pressing a gravity sensing button on the side of the handheld oscilloscope to start the acceleration acquisition function of the 3-axis accelerometer module;
step 2: after the central processing unit waits for a certain time, the central processing unit starts to read the triaxial acceleration data collected in the FIFO of the 3-axis accelerometer module through the SPI bus interface;
and step 3: the central processing unit stores the triaxial acceleration data into a memory buffer queue in a DMA mode and provides the triaxial acceleration data for an upper application program so as to be converted and decoded;
and 4, step 4: the central processing unit carries out series transformation of Euler angle rotation and rotation matrix processing on the three-axis acceleration original data in the buffer queue, resolves acceleration digital quantities of an X axis, a Y axis and a Z axis to obtain Euler angles, and determines the horizontal state of the machine;
specifically, the transformation formula is as follows:
wherein: mx、My、MzWhich respectively represent rotation matrices about axis X, Y, Z, and r, p, y represent angles of rotation about x, y, z axes, respectively. g is the acceleration of the gravity and,
indicating a gesture rotation.
And 5: judging whether the machine is inclined or not according to the current horizontal state of the machine; if yes, acquiring inclination data and executing step 6;
step 6: performing a horizontal position adjustment based on the tilt data pair;
and 7: judging that the horizontal position moves left and right to a satisfactory position; if so, releasing the side gravity sensing unlocking button, and stopping reading the data acquired by the gravity sensor by the central processing unit; otherwise, step 5 is executed.
Further, in the step 2, the 3-axis accelerometer module converts acceleration analog quantities measured in three directions of an X axis, a Y axis and a Z axis into acceleration digital quantities of three axes of the X axis, the Y axis and the Z axis which can be output through an internal multi-path high-precision ADC, and stably and continuously acquires the corresponding three-axis acceleration digital quantities generated in the three directions of the X axis, the Y axis and the Z axis due to the change of the posture of the body of the handheld oscilloscope and stores the three-axis acceleration digital quantities into the FIFO of the accelerometer module.
Further, the euler angle in step 4 includes a heading angle yaw, a roll angle, and a pitch angle pitch.
Further, in the step 4, a quaternion is selected to be output by using a gravity sensor with a DMP function, the quaternion is directly converted into an Euler angle by an application program, and the application program determines the horizontal state of the handheld oscilloscope at the current moment according to the Euler angle.
Further, the tilt data in step 5 includes left or right tilt, angle of tilt and acceleration of the captured tilt.
Further, the specific steps in step 6 are:
step 6-1, determining the horizontal adjustment direction of the waveform of the oscilloscope according to the inclined direction;
when the handheld oscilloscope inclines leftwards, the waveform moves leftwards horizontally until the posture of the body of the handheld oscilloscope returns to be parallel to the horizontal line, and the waveform stops moving horizontally;
when the handheld oscilloscope inclines to the right, the waveform horizontally moves to the right until the posture of the body of the handheld oscilloscope returns to be parallel to the horizontal line, and the waveform horizontally stops moving;
6-2, determining the number of pixel points of each movement of the waveform in the left and right directions of the horizontal adjustment of the waveform of the oscilloscope according to the inclined angle; adjusting the number of pixel points of each movement of the waveform in a positive proportion according to the size of the inclined angle;
specifically, the larger the inclination angle is, the more pixel points of the waveform are moved at each time, and the smaller the inclination angle is, the fewer the pixel points of the waveform are moved at each time.
Step 6-3, judging whether the waveform level of the handheld oscilloscope is centered or not based on the inclined acceleration, namely whether the waveform level trigger time of the oscilloscope is zero or not, and if the waveform level trigger time is zero, indicating that the waveform level is centered; when the acceleration of the tilt reaches a set value, the waveform is operated to center it horizontally.
Further, the number of pixel points of each wave-shaped movement in step 6-2 has an upper limit value, namely the maximum pixel value of the wave-shaped movement, and the wave-shaped movement is acted by the maximum pixel value when the inclination angle exceeds the inclination angle corresponding to the maximum pixel value of the wave-shaped movement.
According to the technical scheme, the horizontal position is adjusted by adopting a 3-axis accelerometer module mode, and when the horizontal position is adjusted, the horizontal position can be conveniently and quickly moved left and right only by turning the handheld oscilloscope left and right and inclining the handheld oscilloscope by a certain angle. And because horizontal position need not specially vacate an arm and swing back and forth to the mode such as knob, button, touch in the adjustment process and operate, reduce user's physical demands, partial handheld oscilloscope has heavy, bulky scheduling problem simultaneously, and both hands hold and to increase safety in utilization and stability.
It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
Claims (7)
1. A handheld oscilloscope horizontal position adjusting method based on gravity sensing is characterized in that a 3-axis accelerometer module mode is arranged in the handheld oscilloscope, the 3-axis accelerometer module is connected to a central processing unit of the handheld oscilloscope through an SPI bus interface, the handheld oscilloscope is provided with a gravity sensing button, and the gravity sensing button controls the 3-axis accelerometer module to acquire data or not; the method is characterized in that: the adjusting method comprises the following steps:
step 1: pressing a gravity sensing button on the side of the handheld oscilloscope to start the acceleration acquisition function of the 3-axis accelerometer module;
step 2: after the central processing unit waits for a certain time, the central processing unit starts to read the triaxial acceleration data collected in the FIFO of the 3-axis accelerometer module through the SPI bus interface;
and step 3: the central processing unit stores the triaxial acceleration data into a memory buffer queue in a DMA mode and provides the triaxial acceleration data for an upper application program so as to be converted and decoded;
and 4, step 4: the central processing unit carries out series transformation of Euler angle rotation and rotation matrix processing on the three-axis acceleration original data in the buffer queue, resolves acceleration digital quantities of an X axis, a Y axis and a Z axis to obtain Euler angles, and determines the horizontal state of the machine;
and 5: judging whether the machine is inclined or not according to the current horizontal state of the machine; if yes, acquiring inclination data and executing step 6;
step 6: performing a horizontal position adjustment based on the tilt data pair;
and 7: judging that the horizontal position moves left and right to a satisfactory position; if so, releasing the side gravity sensing unlocking button, and stopping reading the data acquired by the gravity sensor by the central processing unit; otherwise, step 5 is executed.
2. The gravity sensing-based horizontal position adjusting method for the handheld oscilloscope, according to claim 1, is characterized in that: in the step 2, the 3-axis accelerometer module converts acceleration analog quantities measured in the X-axis, Y-axis and Z-axis directions into outputtable acceleration digital quantities of the X-axis, Y-axis and Z-axis axes through an internal multi-path high-precision ADC, and stably and continuously acquires corresponding three-axis acceleration digital quantities generated in the X-axis, Y-axis and Z-axis directions due to the change of the posture of the handheld oscilloscope body and stores the three-axis acceleration digital quantities into an FIFO of the handheld oscilloscope body.
3. The gravity sensing-based horizontal position adjusting method for the handheld oscilloscope, according to claim 1, is characterized in that: in step 4, the euler angle includes a heading angle yaw, a roll angle, and a pitch angle pitch.
4. The gravity sensing-based horizontal position adjusting method for the handheld oscilloscope, according to claim 1, is characterized in that: and 4, selecting a quaternion output by using the gravity sensor with the DMP function, directly converting the quaternion into an Euler angle by an application program, and determining the horizontal state of the handheld oscilloscope at the current moment according to the Euler angle by the application program.
5. The gravity sensing-based horizontal position adjusting method for the handheld oscilloscope, according to claim 1, is characterized in that: the tilt data in step 5 includes left or right tilt, angle of tilt and acceleration of the acquisition tilt.
6. The gravity sensing-based horizontal position adjusting method for the handheld oscilloscope, according to claim 1, is characterized in that: the specific steps in step 6 are as follows:
step 6-1, determining the horizontal adjustment direction of the waveform of the oscilloscope according to the inclined direction;
when the handheld oscilloscope inclines leftwards, the waveform moves leftwards horizontally until the posture of the body of the handheld oscilloscope returns to be parallel to the horizontal line, and the waveform stops moving horizontally;
when the handheld oscilloscope inclines to the right, the waveform horizontally moves to the right until the posture of the body of the handheld oscilloscope returns to be parallel to the horizontal line, and the waveform horizontally stops moving;
6-2, determining the number of pixel points of each movement of the waveform in the left and right directions of the horizontal adjustment of the waveform of the oscilloscope according to the inclined angle; adjusting the number of pixel points of each movement of the waveform in a positive proportion according to the size of the inclined angle;
step 6-3, judging whether the waveform level of the handheld oscilloscope is centered or not based on the inclined acceleration, namely whether the waveform level trigger time of the oscilloscope is zero or not, and if the waveform level trigger time is zero, indicating that the waveform level is centered; when the acceleration of the tilt reaches a set value, the waveform is operated to be horizontally centered, i.e., the waveform horizontal trigger time is equal to zero.
7. The gravity sensing-based horizontal position adjusting method for the handheld oscilloscope, according to claim 6, is characterized in that: in the step 6-2, the number of the pixel points of each wave movement has an upper limit value, namely the maximum pixel value of the wave movement, and when the inclination angle exceeds the inclination angle corresponding to the maximum pixel value of the wave movement, the waveform is acted according to the maximum pixel value.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114947665A (en) * | 2022-06-22 | 2022-08-30 | 汇智机器人科技(深圳)有限公司 | A handle module and cleaning device for sweeping floor robot |
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