CN114489154A - Control method, control device, handle and medium - Google Patents
Control method, control device, handle and medium Download PDFInfo
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- CN114489154A CN114489154A CN202111628934.6A CN202111628934A CN114489154A CN 114489154 A CN114489154 A CN 114489154A CN 202111628934 A CN202111628934 A CN 202111628934A CN 114489154 A CN114489154 A CN 114489154A
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- G05D3/12—Control of position or direction using feedback
Abstract
The disclosure provides a control method, a control device, a handle and a medium, which are applied to the handle, wherein the handle comprises a mainboard, a trigger key, a first inertia measurement unit arranged on the mainboard and a second inertia measurement unit arranged on the trigger key. The method comprises the following steps: acquiring first inertia data acquired by the first inertia measurement unit and second inertia data acquired by the second inertia measurement unit; obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data and the second inertia data; obtaining the arc length of the trigger key according to the variable quantity of the angle value and the arm length of the trigger key; and outputting a control signal according to the arc length.
Description
Technical Field
The disclosed embodiments relate to the technical field of electronic devices, and more particularly, to a control method, a control device, a handle, and a computer-readable storage medium.
Background
With the increasing variety of games, many game players operate through a gamepad to control the games when playing the games. The game pad is usually provided with a trigger key for simulating actions such as accelerator pressing, mechanical triggers and the like, and in the related art, the trigger key is realized by adopting a Hall effect for acquiring the pressing stroke of the trigger key.
The Hall effect is through magnet and Hall chip cooperation, when the user applys external force, can bring the mechanical position motion of magnet subassembly to change the physical position between magnet subassembly and the Hall chip, through gathering Hall chip's magnetic field response information, the stroke data is pressed in the output. However, since the amount of change in the previous step of the pressing operation is small, there is a problem that it is difficult to trigger or the triggering operation is delayed in actual use, resulting in a nonlinear output of the hall effect.
Disclosure of Invention
It is an object of embodiments of the present disclosure to provide a new solution for control.
According to a first aspect of the embodiments of the present disclosure, there is provided a control method applied to a handle, where the handle includes a motherboard, a trigger key, a first inertia measurement unit disposed on the motherboard, and a second inertia measurement unit disposed on the trigger key, the method includes:
acquiring first inertia data acquired by the first inertia measurement unit and second inertia data acquired by the second inertia measurement unit;
obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data and the second inertia data;
obtaining the arc length of the trigger key according to the variable quantity of the angle value and the arm length of the trigger key;
and outputting a control signal according to the arc length.
Optionally, the method further comprises:
under the condition that the handle is in a dormant state, judging whether the change value of the first inertia data and/or the change value of the second inertia data in a preset time length meets an awakening condition;
and awakening the handle under the condition that the change value of the first inertia data and/or the change value of the second inertia data meet the awakening condition within a preset time length.
Optionally, the obtaining, according to the first inertial data and the second inertial data, a variation of an angle value between the motherboard and the trigger key includes:
receiving a first input directed to the trigger key;
and responding to the first input, and obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data and the second inertia data.
Optionally, the obtaining, according to the first inertial data and the second inertial data, a variation of an angle value between the motherboard and the trigger key includes:
acquiring set calibration data; the set calibration data is an angle value of the trigger key relative to the main board when the handle leaves a factory;
and obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data, the second inertia data and the set calibration data.
Optionally, the first inertial measurement unit comprises a first gyroscope and the second inertial measurement unit comprises a second gyroscope;
the first inertial data comprise a first angular velocity, a second angular velocity and a third angular velocity of the first gyroscope in a mainboard coordinate system;
the second inertial data includes a fourth angular velocity, a fifth angular velocity, and a sixth angular velocity of the second gyroscope in the trigger key coordinate system.
Optionally, the obtaining, according to the first inertial data, the second inertial data, and the set calibration inertial data, a variation of an angle value between the motherboard and the trigger key includes:
obtaining the variation of the first angle value of the mainboard and the trigger key according to the first angular velocity, the four-corner velocity and the set calibration data; and/or the presence of a gas in the gas,
obtaining the variation of a second angle value between the main board and the trigger key according to the second angular velocity, the fifth angular velocity and the set calibration data; and/or the presence of a gas in the gas,
and obtaining the variation of the third angle value of the mainboard and the trigger key according to the third angular velocity, the sixth angular velocity and the set calibration data.
Optionally, the obtaining an arc length of the trigger key according to the variation of the angle value and the arm length of the trigger key includes:
obtaining a first arc length of the trigger key according to the variable quantity of the first angle value and the arm length of the trigger key; and/or the presence of a gas in the gas,
obtaining a second arc length of the trigger key according to the variation of the second angle value and the arm length of the trigger key; and/or the presence of a gas in the gas,
and obtaining a third arc length of the trigger key according to the variation of the third angle value and the arm length of the trigger key.
According to a second aspect of the embodiments of the present disclosure, it is characterized in that, applied to a handle, the handle includes a main board, a trigger key, a first inertia measurement unit disposed on the main board, and a second inertia measurement unit disposed on the trigger key, the apparatus includes:
the acquisition module is used for acquiring first inertia data acquired by the first inertia measurement unit and second inertia data acquired by the second inertia measurement unit;
the first determining module is used for obtaining the variable quantity of the angle value between the mainboard and the trigger key according to the first inertia data and the second inertia data;
the second determining module is used for obtaining the arc length of the trigger key according to the variable quantity of the angle value and the arm length of the trigger key;
and the control module is used for outputting a control signal according to the arc length.
According to a third aspect of embodiments of the present disclosure, there is provided a handle comprising a first inertial measurement unit and a second inertial measurement unit, the handle further comprising:
a memory for storing executable computer instructions;
a processor for executing the control method according to the first aspect above, under control of the executable computer instructions.
According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, perform the control method of the first aspect above.
The trigger key has the beneficial effects that the handle can acquire first inertia data acquired by the first inertia measurement unit arranged on the main board and second inertia data acquired by the second inertia measurement unit arranged on the trigger key, and the variation of the angle value between the main board and the trigger key is acquired according to the first inertia data and the second inertia data, so that the arc length of the trigger key is acquired according to the variation of the angle value and the arm length of the trigger key.
Other features of the present description and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description, serve to explain the principles of the specification.
FIG. 1 is a hardware configuration schematic of a handle according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram of a control method according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural view of a handle according to an embodiment of the present disclosure;
FIG. 4 is a functional block diagram of a control device of the handle according to an embodiment of the present disclosure;
FIG. 5 is a functional block diagram of a handle according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of parts and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the embodiments of the present disclosure unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. .
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
< hardware configuration >
Fig. 1 is a block diagram of a hardware configuration of a handle 1000 according to an embodiment of the present disclosure.
As shown in fig. 1, the handle 1000 may be a game handle, and a user can control a game by operating the game handle. The handle 1000 may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a microphone 1700, a first inertial measurement unit 1800, a second inertial measurement unit 1900, and the like.
The processor 1100 may include, but is not limited to, a central processing unit CPU, a microprocessor MCU, and the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, various bus interfaces such as a serial bus interface (including a USB interface), a parallel bus interface, and the like. Communication device 1400 is capable of wired or wireless communication, for example. The display device 1500 is, for example, a liquid crystal display, an LED display, a touch display, or the like. The input device 1600 includes, for example, a touch screen, buttons, etc., including a trigger key for simulating throttle presses, mechanical wrenches, etc. The microphone 1700 may be used for inputting voice information. A first Inertial Measurement Unit (IMU) 1800 is disposed on the main board of the handpiece 1000 and can be used to detect Inertial data of the handpiece. The second inertia measurement unit 1900 is disposed on the key of the trigger, and may be used to detect inertia data of the key of the trigger.
It should be understood by those skilled in the art that although a plurality of devices of the handle 1000 are shown in fig. 1, the handle 1000 of the present embodiment may only refer to some of the devices, and may also include other devices, which are not limited herein.
In this embodiment, the memory 1200 of the handle 1000 is used to store instructions for controlling the processor 1100 to operate to implement or support the implementation of a control method according to any of the embodiments. The skilled person can design the instructions according to the solution disclosed in the present specification. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.
In the above description, the skilled person can design the instructions according to the solutions provided in the present disclosure. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.
The handle shown in fig. 1 is merely illustrative and is in no way intended to limit the present disclosure, its application, or uses.
< method examples >
Fig. 2 illustrates a control method of one embodiment of the present disclosure, which may be implemented, for example, by the handle 1000 as shown in fig. 1. As shown in fig. 3, the handle includes a main board 310, a trigger key 320, a first inertia measurement unit 311 provided on the main board, and a second inertia measurement unit 321 provided on the trigger key.
As shown in fig. 2, the control method provided by this embodiment may include the following steps S2100 to S2400.
Step S2100, acquiring first inertial data acquired by the first inertial measurement unit and second inertial data acquired by the second inertial measurement unit.
The first inertial measurement unit may include a first gyroscope, a first accelerometer, and the like. The first inertia measurement unit is used for detecting inertia data of the mainboard. The inertial data of the main board is referred to as first inertial data, and the first inertial data includes a first angular velocity, a second angular velocity and a third angular velocity of the first gyroscope in the main board coordinate system 1 shown in fig. 3. The first angular velocity is an angular velocity of an X axis output by the first gyroscope under the mainboard coordinate system, the second angular velocity is an angular velocity of a Y axis output by the first gyroscope under the mainboard coordinate system, and the third angular velocity is an angular velocity of a Z axis output by the first gyroscope under the mainboard coordinate system.
The second inertial measurement unit may include a second gyroscope, a second accelerometer, and the like. The second inertia measurement unit is used for detecting inertia data of the trigger key. The inertia data of the trigger key is referred to as second inertia data including a third angular velocity, a fourth angular velocity and a fifth angular velocity of the second gyroscope in the trigger key coordinate system 2 shown in fig. 3. The third angular velocity is an angular velocity of an X axis output by the second gyroscope in the trigger key coordinate system, the fourth angular velocity is an angular velocity of a Y axis output by the second gyroscope in the trigger key coordinate system, and the fifth angular velocity is an angular velocity of a Z axis output by the second gyroscope in the trigger key coordinate system.
In one example, the processor of the handle may acquire the first inertial data acquired by the first inertial measurement unit within a preset time period and the second inertial data acquired by the second inertial measurement unit within a preset time period at preset time intervals. The preset time interval is greater than a preset time period, for example, the preset time interval is 2 minutes, and when the preset time period is 30 seconds, the processor of the handle may acquire the first inertial data within 30 seconds acquired by the first inertial measurement unit and the second inertial data within 30 seconds acquired by the second inertial measurement unit every 2 minutes. The preset time interval and the preset time period may be values set according to actual application scenarios and actual requirements.
In another example, the processor of the handpiece may acquire, in real time, first inertial data acquired by the first inertial measurement unit and second inertial data acquired by the second inertial measurement unit.
After acquiring the first inertial data acquired by the first inertial measurement unit and the second inertial data acquired by the second inertial measurement unit, entering:
step S2200 is performed to obtain a variation of an angle value between the motherboard and the trigger key according to the first inertial data and the second inertial data.
In this embodiment, the handle may receive a first input for a trigger key; and responding to the first input, and obtaining the variation of the angle value between the main board and the trigger key according to the first inertia data and the second inertia data.
The first input may be a press input for a trigger key. Generally, a user presses a trigger key, and the trigger key needs to acquire a pressing stroke, namely, a pressing arc length, so that the handle can be quickly tracked.
In this embodiment, in the step S2200, obtaining the variation of the angle value between the motherboard and the trigger key according to the first inertia data and the second inertia data may further include the following steps S2210 to S2220:
step S2210, acquiring set calibration data; and the set calibration data is the angle value of the trigger key relative to the main board when the handle leaves the factory.
The preset calibration data is an angle value of the trigger key relative to the main board when the trigger key is not pressed, which is preset when the handle leaves a factory, wherein the angle value of the trigger key relative to the main board when the trigger key is not pressed comprises a first initial angle value X3, a second initial angle value Y3 and a third initial angle value Z3. The first initial angle value X3 can be calculated according to the angular velocity of the X axis output by the second gyroscope in the motherboard coordinate system. The second initial angle value Y3 can be calculated according to the angular velocity of the Y axis output by the second gyroscope in the motherboard coordinate system. The third initial angle value Z3 can be calculated according to the angular velocity of the Z axis output by the second gyroscope in the motherboard coordinate system.
It can be understood that, when the trigger key is not pressed when the handle leaves the factory, an angle value exists in the trigger key relative to the main board, the angle value is an initial angle value, and in order to ensure the accuracy of the detected arc length of the trigger key, the calculated variation of the angle value between the pressing stroke and the main board needs to be calibrated by setting calibration data.
Step S2220, obtaining a variation of an angle value between the motherboard and the key of the trigger according to the first inertial data, the second inertial data, and the set calibration data.
It can be understood that when the state of the handle changes, a new coordinate system of the main board needs to be established based on the main board. When the state of the trigger key is changed, a new trigger key coordinate system needs to be reestablished with the trigger key as a reference.
In step S2220, the angle value between the main board and the trigger key includes any one or more of the first angle value, the second angle value, and the third angle value. The first angle value is an included angle between an X axis of a mainboard coordinate system and an X axis of a trigger key coordinate system, the second angle value is an included angle between a Y axis of the mainboard coordinate system and a Y axis of the trigger key coordinate system, and the second angle value is an included angle between a Z axis of the mainboard coordinate system and a Z axis of the trigger key coordinate system.
In this step S2220, obtaining the variation of the angle value between the motherboard and the trigger key according to the first inertial data, the second inertial data, and the set calibration data may further include the following steps S2221 to S2223:
step S2221, obtaining a variation of the first angle value between the motherboard and the key of the trigger according to the first angular velocity, the fourth angular velocity, and the set calibration data.
In step S2221, the angle value X1 of the main board with respect to the first horizontal direction may be calculated according to the first angular velocity, the angle value X2 of the trigger key with respect to the first horizontal direction may be calculated according to the fourth angular velocity, and then the difference between the angle value X1, the angle value X2, and the first initial angle value X3, that is, the difference X4 is calculated as X2-X1-X3 as the variation of the first angle value, where the variation of the first angle value may be denoted as r 1. Wherein the first horizontal direction is an X-axis of the geographic coordinate system.
Step S2222, obtaining a variation of a second angle value between the motherboard and the trigger key according to the second angular velocity, the fifth angular velocity, and the set calibration data.
In step S2222, the angle value Y1 of the main board with respect to the second horizontal direction may be calculated according to the second angular velocity, the angle value Y2 of the trigger key with respect to the second horizontal direction may be calculated according to the fifth angular velocity, and then the difference between the angle value Y1, the angle value Y2 and the second initial angle value Y3, that is, the difference Y4 is calculated as the change amount of the second angle value, which may be denoted as r2, Y2-Y1-Y3. Wherein the second horizontal direction is the Y-axis of the geographic coordinate system.
Step S2223, obtaining a variation of the third angular value between the motherboard and the trigger key according to the third angular velocity, the sixth angular velocity, and the set calibration data.
In step S2223, the angle value Z1 of the main board with respect to the vertical direction may be calculated according to the third angular velocity, the angle value Z2 of the trigger key with respect to the vertical direction may be calculated according to the sixth angular velocity, and then the difference between the angle value Z1, the angle value Z2 and the second initial angle value Z3, that is, the difference Z4 is calculated to be Z2-Z1-Z3 as the variation of the third angular velocity, where the variation of the third angular velocity may be denoted as r 3. Wherein the vertical direction is the Z-axis of the geographic coordinate system.
It will be appreciated that some of the trigger keys in the gamepad may only undergo a change in displacement in one direction, for example, only in the Y direction, due to the different design of the gamepad. Also, for example, the displacement changes in the X direction, the Y direction, and the Z direction may occur simultaneously. Here, only the above step S2222 may be executed, or the above step S2221, step S2222, and step S2223 may be executed at the same time.
After obtaining the variation of the angle value between the main board and the trigger key according to the first inertia data and the second inertia data, entering:
and step S2300, obtaining the arc length of the trigger key according to the variable quantity of the angle value and the arm length of the trigger key.
In this embodiment, after obtaining the angle value between the main board and the trigger key, since the angle value may be caused by external noise, the variation of the angle value may be compared with the set angle value, and the arc length of the trigger key is obtained according to the variation of the angle value and the arm length of the trigger key only when the variation of the angle value is greater than the set angle value, and the step of obtaining the first inertial data collected by the first inertial measurement unit and the second inertial data collected by the second inertial measurement unit in step S2100 is re-executed when the variation of the angle value is less than or equal to the set angle value.
In this embodiment, the arc length of the trigger key includes any one or more of the first arc length, the second arc length, and the third arc length. The first arc length is the arc length of the trigger key in the X direction, the second arc length is the arc length of the trigger key in the Y direction, and the third arc length is the arc length of the trigger key in the Z direction.
In this embodiment, the obtaining the arc length of the trigger key according to the variation of the angle value and the arm length of the trigger key in step S2300 may further include steps S2310 to S2330:
step S2310, obtaining a first arc length of the trigger key according to the variation of the first angle value and the arm length of the trigger key.
In step S2310, the product of the variation r1 of the first angle value and the arm length L of the trigger key may be calculated to obtain the first arc length d1 ═ r4 × L.
Step S2320, obtaining a second arc length of the trigger key according to the variation of the second angle value and the arm length of the trigger key.
In step S2310, the product of the variation r2 of the second angle value and the arm length L of the trigger key may be calculated to obtain the second arc length d2 ═ r2 × L.
And step S2330, obtaining a third arc length of the trigger key according to the variation of the third angle value and the arm length of the trigger key.
In step S2310, the product of the variation r3 of the third angle value and the arm length L of the trigger key may be calculated to obtain a third arc length d3 ═ r3 × L.
As can be seen from the above analysis, the trigger keys in some game pads may be displaced in only one direction, for example, in only the Y direction, due to the different design of the game pads. Also, for example, the displacement changes in the X direction, the Y direction, and the Z direction may occur simultaneously. Here, only the above step S2310 may be performed, or the above step S2310, step S2320, and step S2330 may be performed simultaneously.
After obtaining the arc length of the trigger key according to the variation of the angle value and the arm length of the trigger key, entering:
and step S2400, outputting a control signal according to the arc length.
In this embodiment, after obtaining the arc length of the trigger key, the handle may output a control signal to control a certain character in a game or control an unmanned aerial vehicle, a remote control car, or the like according to the control signal.
According to the embodiment of the application, the handle can obtain first inertia data collected by a first inertia measurement unit arranged on the main board and second inertia data collected by a second inertia measurement unit arranged on the trigger key, and obtain the variation of the angle value between the main board and the trigger key according to the first inertia data and the second inertia data, and obtain the arc length of the trigger key according to the variation of the angle value and the arm length of the trigger key.
In one embodiment, the control method of the embodiment of the present disclosure may further include steps S3100 to S3200 as follows:
step S3100, determining whether a change value of the first inertial data and/or a change value of the second inertial data within a preset time period satisfies a wake-up condition when the handle is in the sleep state.
The preset time period may be the preset time period mentioned in the above embodiments.
In the embodiment, under the condition that the handle is in the static state for a long time, the handle can automatically enter the dormant state so as to reduce the energy consumption of the handle. For example, after acquiring the first inertia data within 30 seconds acquired by the first inertia measurement unit and the second inertia data within 30 seconds acquired by the second inertia measurement unit every 2 minutes, the processor of the handle may determine whether the variation of the first inertia data within 30 seconds exceeds a set threshold, and/or whether the variation of the second inertia data within 30 seconds exceeds a set threshold. The set threshold is the set angle value.
Step S3200, when the change value of the first inertial data and/or the change value of the second inertial data satisfies a wake-up condition within a preset time period, waking up the handle.
Continuing with the above example, if the amount of change in the first inertial data within the 30 seconds exceeds a set threshold, and/or the amount of change in the second inertial data within the 30 seconds exceeds a set threshold, then the handle is awakened.
According to the embodiment, the handle can acquire the first inertia data acquired by the first inertia measurement unit arranged on the main board and the second inertia data acquired by the second inertia measurement unit arranged on the trigger key, and the variation of the angle value between the main board and the trigger key is acquired according to the first inertia data and the second inertia data, so that the arc length of the trigger key is acquired according to the variation of the angle value and the arm length of the trigger key.
< apparatus embodiment >
The embodiment of the present disclosure provides a control apparatus, as shown in fig. 4, the control apparatus 400 may include an obtaining module 410, a first determining module 420, a second determining module 430, and a control module 440.
The obtaining module 410 is configured to obtain first inertial data collected by the first inertial measurement unit and second inertial data collected by the second inertial measurement unit.
The first determining module 420 is configured to obtain a variation of an angle value between the motherboard and the trigger key according to the first inertial data and the second inertial data.
And a second determining module 430, configured to obtain an arc length of the trigger key according to the arm length of the trigger key according to the angle value and the variation.
And a control module 440, configured to output a control signal according to the arc length.
In one embodiment, the apparatus 400 further comprises a wake-up module (not shown).
The wake-up module is used for judging whether the change value of the first inertia data and/or the change value of the second inertia data in a preset time length meets a wake-up condition or not under the condition that the handle is in a dormant state; and awakening the handle under the condition that the change value of the first inertia data and/or the change value of the second inertia data meet the awakening condition within a preset time length.
In an embodiment, the second determining module 420 is specifically configured to: receiving a first input directed to the trigger key; and responding to the first input, and obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data and the second inertia data.
In an embodiment, the second determining module 420 is specifically configured to: acquiring set calibration data; the set calibration data is an angle value of the trigger key relative to the mainboard when the trigger key is not pressed; and obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data, the second inertia data and the set calibration data.
In one embodiment, the first inertial measurement unit comprises a first gyroscope and the second inertial measurement unit comprises a second gyroscope.
The first inertial data includes a first angular velocity, a second angular velocity, and a third angular velocity of the first gyroscope in a motherboard coordinate system.
The second inertial data includes a fourth angular velocity, a fifth angular velocity, and a sixth angular velocity of the second gyroscope in the trigger key coordinate system.
In an embodiment, the second determining module 420 is specifically configured to: obtaining the variation of the first angle value of the mainboard and the trigger key according to the first angular velocity, the four-corner velocity and the set calibration data; and/or obtaining the variation of a second angle value between the mainboard and the trigger key according to the second angular velocity, the fifth angular velocity and the set calibration data; and/or obtaining the variation of the third angle value of the mainboard and the trigger key according to the third angular velocity, the sixth angular velocity and the set calibration data.
In an embodiment, the third determining module 430 is specifically configured to: obtaining a first arc length of the trigger key according to the variable quantity of the first angle value and the arm length of the trigger key; and/or obtaining a second arc length of the trigger key according to the variation of the second angle value and the arm length of the trigger key; and/or obtaining a third arc length of the trigger key according to the variation of the third angle value and the arm length of the trigger key.
According to the embodiment of the disclosure, the handle can obtain the first inertia data collected by the first inertia measurement unit arranged on the main board and the second inertia data collected by the second inertia measurement unit arranged on the trigger key, and obtain the variation of the angle value between the main board and the trigger key according to the first inertia data and the second inertia data, and obtain the arc length of the trigger key according to the variation of the angle value and the arm length of the trigger key.
< apparatus embodiment >
FIG. 5 is a hardware configuration diagram of a handle according to one embodiment. As shown in fig. 5, the handpiece 500 includes a first inertial measurement unit 510 and a second inertial measurement unit 520, the handpiece 500 further includes a processor 530 and a memory 540.
The memory 540 may be used to store executable computer instructions.
The processor 530 may be configured to execute the control method according to the method embodiment of the present disclosure according to the control of the executable computer instructions.
The handle 500 may be the handle 500 shown in fig. 1, or may be a device having another hardware structure, which is not limited herein.
In further embodiments, the handle 500 may include the above control device 400.
In one embodiment, the above modules of the control apparatus 400 may be implemented by the processor 530 executing computer instructions stored in the memory 540.
According to the embodiment of the disclosure, the handle can obtain the first inertia data collected by the first inertia measurement unit arranged on the main board and the second inertia data collected by the second inertia measurement unit arranged on the trigger key, and obtain the variation of the angle value between the main board and the trigger key according to the first inertia data and the second inertia data, and obtain the arc length of the trigger key according to the variation of the angle value and the arm length of the trigger key.
< computer-readable storage Medium >
Embodiments of the present disclosure also provide a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the computer instructions execute the control method provided by the embodiments of the present disclosure.
The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. A control method, applied to a handle including a main board, a trigger key, a first inertia measurement unit disposed on the main board, and a second inertia measurement unit disposed on the trigger key, the method comprising:
acquiring first inertia data acquired by the first inertia measurement unit and second inertia data acquired by the second inertia measurement unit;
obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data and the second inertia data;
obtaining the arc length of the trigger key according to the variable quantity of the angle value and the arm length of the trigger key;
and outputting a control signal according to the arc length.
2. The method of claim 1, further comprising:
under the condition that the handle is in a dormant state, judging whether the change value of the first inertia data and/or the change value of the second inertia data in a preset time length meets an awakening condition;
and awakening the handle under the condition that the change value of the first inertia data and/or the change value of the second inertia data meet the awakening condition within a preset time length.
3. The method of claim 1, wherein obtaining a variance of an angle value between the motherboard and the trigger key from the first inertial data and the second inertial data comprises:
receiving a first input directed to the trigger key;
and responding to the first input, and obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data and the second inertia data.
4. The method of claim 1, wherein obtaining a variance of an angle value between the motherboard and the trigger key from the first inertial data and the second inertial data comprises:
acquiring set calibration data; the set calibration data is an angle value of the trigger key relative to the mainboard when the trigger key is not pressed;
and obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data, the second inertia data and the set calibration data.
5. The method of claim 4, wherein the first inertial measurement unit comprises a first gyroscope and the second inertial measurement unit comprises a second gyroscope;
the first inertial data comprise a first angular velocity, a second angular velocity and a third angular velocity of the first gyroscope in a mainboard coordinate system;
the second inertial data includes a fourth angular velocity, a fifth angular velocity, and a sixth angular velocity of the second gyroscope in the trigger key coordinate system.
6. The method of claim 5, wherein obtaining a variance of an angle value between the motherboard and the trigger key based on the first inertial data, the second inertial data, and the set calibration data comprises:
obtaining the variation of the first angle value of the mainboard and the trigger key according to the first angular velocity, the fourth angular velocity and the set calibration data; and/or the presence of a gas in the gas,
obtaining the variation of a second angle value between the main board and the trigger key according to the second angular velocity, the fifth angular velocity and the set calibration data; and/or the presence of a gas in the gas,
and obtaining the variation of the third angle value of the mainboard and the trigger key according to the third angular velocity, the sixth angular velocity and the set calibration data.
7. The method of claim 6, wherein said deriving an arc length of said trigger key from a variance of said angle value and an arm length of said trigger key comprises:
obtaining a first arc length of the trigger key according to the variable quantity of the first angle value and the arm length of the trigger key; and/or the presence of a gas in the gas,
obtaining a second arc length of the trigger key according to the variation of the second angle value and the arm length of the trigger key; and/or the presence of a gas in the gas,
and obtaining a third arc length of the trigger key according to the variation of the third angle value and the arm length of the trigger key.
8. A control device, applied to a handle including a main board, a trigger key, a first inertial measurement unit disposed on the main board, and a second inertial measurement unit disposed on the trigger key, the device comprising:
the acquisition module is used for acquiring first inertia data acquired by the first inertia measurement unit and second inertia data acquired by the second inertia measurement unit;
the first determining module is used for obtaining the variation of the angle value between the mainboard and the trigger key according to the first inertia data and the second inertia data;
the second determining module is used for obtaining the arc length of the trigger key according to the variable quantity of the angle value and the arm length of the trigger key;
and the control module is used for outputting a control signal according to the arc length.
9. A handle, comprising a first inertial measurement unit and a second inertial measurement unit, the handle further comprising:
a memory for storing executable computer instructions;
a processor for executing the control method according to any one of claims 1 to 7, under the control of the executable computer instructions.
10. A computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, perform the control method of any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111628934.6A CN114489154A (en) | 2021-12-28 | 2021-12-28 | Control method, control device, handle and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111628934.6A CN114489154A (en) | 2021-12-28 | 2021-12-28 | Control method, control device, handle and medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114963853A (en) * | 2022-05-18 | 2022-08-30 | 北京师范大学 | Teenagers' quick-fire pistol wisdom training system |
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