CN115633122A - Mobile phone-based servo motion track recording method and device - Google Patents
Mobile phone-based servo motion track recording method and device Download PDFInfo
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- CN115633122A CN115633122A CN202211564632.1A CN202211564632A CN115633122A CN 115633122 A CN115633122 A CN 115633122A CN 202211564632 A CN202211564632 A CN 202211564632A CN 115633122 A CN115633122 A CN 115633122A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
- H04M1/72454—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to context-related or environment-related conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/7243—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality with interactive means for internal management of messages
- H04M1/72439—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality with interactive means for internal management of messages for image or video messaging
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M2250/00—Details of telephonic subscriber devices
- H04M2250/12—Details of telephonic subscriber devices including a sensor for measuring a physical value, e.g. temperature or motion
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Abstract
The invention relates to a mobile phone-based servo motion track recording method and device. Based on this, realize through the cell-phone that the servo motion orbit is recorded, reduce effectively and record equipment, connecting wire rod, cost and occupation space, make the servo motion orbit record more light weight, portable, reduce the requirement to recording equipment to improve the convenience that the servo motion orbit was recorded and widen the application scene.
Description
Technical Field
The invention relates to the technical field of audio and video processing, in particular to a method and a device for recording a servo motion track based on a mobile phone.
Background
The existing system for recording the servo motion track uses a heavy recording device. The principle is that the recording equipment is communicated with the MCU conversion equipment, the MCU conversion equipment is communicated with the upper computer, and the upper computer finishes recording and storing of servo actions. When recording the servo motion track, a recording person needs to watch the video and synchronously shake the recording device manually so that the upper computer can complete the servo motion track synchronous and consistent with the video.
However, the recording device is heavy and occupies a working space, which limits the application scenarios of servo motion trajectory recording. Meanwhile, the conventional recording equipment needs MCU conversion equipment and a plurality of special connection wires, so different servo equipment needs to use different recording equipment, resulting in great inconvenience in use.
In summary, it can be seen that the above disadvantages exist in the conventional recording method of servo motion trajectory.
Disclosure of Invention
Therefore, it is necessary to provide a method and an apparatus for recording a servo motion trajectory based on a mobile phone, aiming at the defects of the conventional servo motion trajectory recording method.
A servo motion track recording method based on a mobile phone comprises the following steps:
acquiring attitude data of a recorded mobile phone;
acquiring a conversion style parameter;
and calculating a corresponding servo motion track according to the attitude data and the conversion style parameters.
According to the mobile phone-based servo motion track recording method, after the attitude data of the recorded mobile phone and the conversion style parameters are obtained, the corresponding servo motion track is calculated according to the attitude data and the conversion style parameters. Based on this, realize through the cell-phone that the servo motion orbit is recorded, reduce effectively and record equipment, connecting wire rod, cost and occupation space, make the servo motion orbit record more light weight, portable, reduce the requirement to recording equipment to improve the convenience that the servo motion orbit was recorded and widen the application scene.
In one embodiment, the process of acquiring the gesture data of the recording mobile phone comprises the following steps:
initializing a gyroscope sensor of the recording mobile phone;
asynchronously receiving raw data of a gyroscope sensor;
and acquiring the pitch data and the roll data from the original data, and acquiring the posture data according to the pitch data and the roll data.
In one embodiment, the process of acquiring the gesture data of the recording mobile phone further includes the steps of:
and acquiring attitude data which can be used for communication transmission by setting character string combination attitude data.
In one embodiment, the process of acquiring the gesture data of the recording mobile phone comprises the following steps:
and acquiring attitude data in a real-time circulating manner through a UDP transmission protocol.
In one embodiment, the process of calculating the corresponding servo motion trajectory according to the attitude data and the transformation style parameter includes the steps of:
calculating a quaternion according to the attitude data;
calculating the position increment of the servo motor according to the quaternion and the conversion style parameter;
and acquiring a servo motion track according to the position increment of the servo motor.
In one embodiment, the process of calculating the servo motor position increment according to the quaternion and the conversion style parameter comprises the following steps:
acquiring original 3-dimensional space node data corresponding to the conversion style parameters;
calculating transformed 3-dimensional space node data of the original 3-dimensional space node data after the transformation according to the quaternion;
and determining a 3-dimensional space vector according to the original 3-dimensional space node data and the transformed 3-dimensional space node data so as to determine the position increment of the servo motor.
In one embodiment, the process of obtaining the servo motion trajectory according to the servo motor position increment comprises the following steps:
and when the position increment of the servo motor exceeds the physical limit, limiting the position increment of the servo motor to obtain a servo motion track.
A servo motion track recording device based on a mobile phone comprises:
the data acquisition module is used for acquiring the attitude data of the recorded mobile phone;
the parameter acquisition module is used for acquiring the conversion style parameters;
and the track calculation module is used for calculating the corresponding servo motion track according to the attitude data and the conversion style parameters.
After acquiring the attitude data of the recorded mobile phone and the conversion style parameter, the servo motion track recording device based on the mobile phone calculates the corresponding servo motion track according to the attitude data and the conversion style parameter. Based on this, realize that servo movement track records through the cell-phone, reduce effectively and record equipment, connect wire rod, cost and occupation space, make servo movement track record more light weight, portable, reduce the requirement to recording equipment to improve the convenience that servo movement track recorded and widen the application scene.
A computer storage medium having computer instructions stored thereon, the computer instructions when executed by a processor implementing the method for recording a mobile phone-based servo motion trajectory according to any of the above embodiments.
After the computer storage medium obtains the attitude data of the recording mobile phone and the conversion style parameter, the corresponding servo motion track is calculated according to the attitude data and the conversion style parameter. Based on this, realize through the cell-phone that the servo motion orbit is recorded, reduce effectively and record equipment, connecting wire rod, cost and occupation space, make the servo motion orbit record more light weight, portable, reduce the requirement to recording equipment to improve the convenience that the servo motion orbit was recorded and widen the application scene.
A computer device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the program, the mobile phone-based servo motion track recording method of any embodiment is realized.
After the computer equipment acquires the attitude data of the recording mobile phone and the conversion style parameters, the corresponding servo motion track is calculated according to the attitude data and the conversion style parameters. Based on this, realize through the cell-phone that the servo motion orbit is recorded, reduce effectively and record equipment, connecting wire rod, cost and occupation space, make the servo motion orbit record more light weight, portable, reduce the requirement to recording equipment to improve the convenience that the servo motion orbit was recorded and widen the application scene.
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, and 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 these drawings without creative efforts.
FIG. 1 is a flowchart of a method for recording a servo motion trajectory based on a mobile phone according to an embodiment;
FIG. 2 is a flow chart of a method for recording a servo motion trajectory based on a mobile phone according to another embodiment;
FIG. 3 is a schematic diagram of attitude data generation;
FIG. 4 is a flowchart of a method for recording a servo motion trajectory based on a mobile phone according to another embodiment;
FIG. 5 is a schematic diagram of servo motion trajectory generation;
FIG. 6 is a block diagram of a mobile phone-based servo motion track recording device according to an embodiment;
FIG. 7 is a schematic diagram of an internal structure of a computer according to an embodiment.
Detailed Description
For better understanding of the objects, technical solutions and technical effects of the present invention, the present invention will be further explained with reference to the accompanying drawings and examples. Meanwhile, the following described examples are only for explaining the present invention, and are not intended to limit the present invention.
The embodiment of the invention provides a servo motion track recording method based on a mobile phone.
Fig. 1 is a flowchart of a method for recording a servo motion trajectory based on a mobile phone according to an embodiment, and as shown in fig. 1, the method for recording a servo motion trajectory based on a mobile phone according to an embodiment includes steps S100 to S102:
s100, acquiring attitude data of the recorded mobile phone;
s101, acquiring conversion style parameters;
and S102, calculating a corresponding servo motion track according to the attitude data and the conversion style parameters.
The attitude data is used for representing and recording the attitude change of the mobile phone, and data recording can be carried out through hardware inside the mobile phone to obtain the attitude data, or attitude change recording is carried out through third-party attitude recording equipment to obtain the attitude data.
The conversion style parameters correspond to corresponding conversion equipment, and the conversion equipment comprises corresponding equipment types after the servo motion tracks are recorded.
In one embodiment, the user operates the intelligent device and selects the required device type through man-machine interaction of the intelligent device to determine the conversion style parameters. For example, a user operates a mobile phone UI interaction click start button, and selects a required device type through UI interaction on an upper computer; the recording mobile phone obtains the attitude data through the program, and circularly sends the attitude data to the upper program in real time through a UDP transmission protocol so as to execute the mobile phone-based servo motion track recording method of one embodiment.
In one embodiment, fig. 2 is a flowchart of a mobile phone-based servo motion trajectory recording method according to another embodiment, and as shown in fig. 2, the process of acquiring gesture data of a recorded mobile phone in step S100 includes steps S200 to S202:
s200, initializing a gyroscope sensor of the recording mobile phone;
s201, asynchronously receiving raw data of a gyroscope sensor;
s202, obtaining pitch data and roll data from the original data, and obtaining attitude data according to the pitch data and the roll data.
In one embodiment, as shown in fig. 2, the process of acquiring the gesture data of the recording mobile phone in step S100 further includes step S203:
and S203, acquiring attitude data which can be used for communication transmission by setting character string combination attitude data.
In one embodiment, as shown in fig. 2, the process of acquiring the gesture data of the recording mobile phone includes step S204:
and S204, acquiring attitude data in a real-time circulating manner through a UDP transmission protocol.
FIG. 3 is a schematic diagram of attitude data generation, as shown in FIG. 3, a smartphone program initializes a gyroscope sensor, wherein the sensor initialization mode is a tune to high speed mode; the method comprises the steps of asynchronously receiving original data of a sensor without occupying a main UI; obtaining the pitch and roll data, multiplying the pitch and roll data by the precision configuration on the UI of the smart phone to obtain data needing to be transmitted to the upper computer; obtaining complete one-frame communication data through specific character string combined data; and sending the data to an execution main body (an upper computer) of the mobile phone-based servo motion track recording method in a real-time circulating manner through a UDP transmission protocol.
In one embodiment, as shown in fig. 2, the process of calculating the corresponding servo motion trajectory in step S102 according to the attitude data and the conversion style parameter includes steps S300 to S302:
s300, calculating a quaternion according to the attitude data;
s301, calculating the position increment of the servo motor according to the quaternion and the conversion style parameter;
and S302, acquiring a servo motion track according to the position increment of the servo motor.
Fig. 4 is a flowchart of a mobile phone-based servo motion trajectory recording method according to yet another embodiment, and as shown in fig. 4, the step S301 of calculating a servo motor position increment according to a quaternion and a conversion style parameter includes steps S400 to S402:
s400, acquiring original 3-dimensional space node data corresponding to the conversion style parameters;
s401, calculating transformed 3-dimensional space node data of the original 3-dimensional space node data after the transformation according to the quaternion;
s402, determining a 3-dimensional space vector according to the original 3-dimensional space node data and the transformed 3-dimensional space node data to determine the position increment of the servo motor.
In one embodiment, as shown in fig. 4, the process of obtaining the servo motion trajectory according to the position increment of the servo motor in step S302 includes step S403:
and S403, when the position increment of the servo motor exceeds the physical limit, limiting the position increment of the servo motor to obtain a servo motion track.
Fig. 5 is a schematic diagram illustrating servo motion trajectory generation, as shown in fig. 5, an upper computer receives a frame of data, and reads attitude data through a specific combination of character strings; initializing and calculating quaternion by using the attitude data; after a user selects conversion equipment on an upper computer, corresponding original 3-dimensional space node data exists; calculating all the changed 3-dimensional space nodes of the original 3-dimensional space nodes of the conversion equipment through quaternion; calculating a 3-dimensional space vector by comparing the 3-dimensional space nodes before and after the change, thereby calculating the position increment of the servo motor; judging whether the servo position increment exceeds a physical limit, and if so, limiting the servo motor position increment so as to obtain the closest track; and storing the obtained position increment of the servo motor and the current time in a servo motion track file.
In the method for recording a mobile phone-based servo motion trajectory according to any of the embodiments, after acquiring the attitude data of the recorded mobile phone and acquiring the conversion style parameter, the corresponding servo motion trajectory is calculated according to the attitude data and the conversion style parameter. Based on this, realize through the cell-phone that the servo motion orbit is recorded, reduce effectively and record equipment, connecting wire rod, cost and occupation space, make the servo motion orbit record more light weight, portable, reduce the requirement to recording equipment to improve the convenience that the servo motion orbit was recorded and widen the application scene.
The embodiment of the invention also provides a servo motion track recording device based on the mobile phone.
Fig. 6 is a block diagram of an embodiment of a mobile phone-based servo motion track recording apparatus, and as shown in fig. 6, the embodiment of the mobile phone-based servo motion track recording apparatus includes:
the data acquisition module 100 is configured to acquire gesture data of the recording mobile phone;
a parameter obtaining module 101, configured to obtain a conversion style parameter;
and the track calculation module 102 is configured to calculate a corresponding servo motion track according to the attitude data and the conversion style parameter.
After acquiring the attitude data of the recorded mobile phone and the conversion style parameter, the servo motion track recording device based on the mobile phone calculates the corresponding servo motion track according to the attitude data and the conversion style parameter. Based on this, realize that servo movement track records through the cell-phone, reduce effectively and record equipment, connect wire rod, cost and occupation space, make servo movement track record more light weight, portable, reduce the requirement to recording equipment to improve the convenience that servo movement track recorded and widen the application scene.
The embodiment of the invention also provides a computer storage medium, wherein computer instructions are stored on the computer storage medium, and when the instructions are executed by a processor, the method for recording the servo motion track based on the mobile phone in any embodiment is realized.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, the computer program can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a RAM, a ROM, a magnetic or optical disk, or various other media that can store program code.
Corresponding to the computer storage medium, in one embodiment, a computer device is further provided, where the computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for recording a mobile phone-based servo motion trajectory in any one of the embodiments described above is implemented.
The computer device may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a mobile phone-based servo motion track recording method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
After the computer equipment acquires the attitude data of the recording mobile phone and the conversion style parameters, the corresponding servo motion track is calculated according to the attitude data and the conversion style parameters. Based on this, realize through the cell-phone that the servo motion orbit is recorded, reduce effectively and record equipment, connecting wire rod, cost and occupation space, make the servo motion orbit record more light weight, portable, reduce the requirement to recording equipment to improve the convenience that the servo motion orbit was recorded and widen the application scene.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A servo motion track recording method based on a mobile phone is characterized by comprising the following steps:
acquiring attitude data of a recorded mobile phone;
acquiring a conversion style parameter;
and calculating a corresponding servo motion track according to the attitude data and the conversion style parameters.
2. The method for recording the servo motion track based on the mobile phone as claimed in claim 1, wherein the process of acquiring the attitude data of the recorded mobile phone comprises the steps of:
initializing a gyroscope sensor of the recording mobile phone;
asynchronously receiving raw data of the gyroscope sensor;
and acquiring pitch data and roll data from the original data, and acquiring the attitude data according to the pitch data and the roll data.
3. The method for recording a mobile phone-based servo motion trajectory according to claim 2, wherein the process of acquiring gesture data of the recorded mobile phone further comprises the steps of:
and combining the attitude data through the set character string to obtain attitude data which can be used for communication transmission.
4. The method for recording the servo motion track based on the mobile phone as claimed in claim 1, wherein the process of acquiring the attitude data of the recorded mobile phone comprises the steps of:
and circularly acquiring the attitude data in real time through a UDP transmission protocol.
5. The method for recording a servo motion track based on a mobile phone according to claim 1, wherein the process of calculating the corresponding servo motion track according to the attitude data and the conversion style parameter comprises the steps of:
calculating a quaternion according to the attitude data;
calculating the position increment of the servo motor according to the quaternion and the conversion style parameter;
and obtaining a servo motion track according to the position increment of the servo motor.
6. The method for recording servo motion trail based on mobile phone according to claim 5, characterized in that, the process of calculating servo motor position increment according to said quaternion and said conversion style parameter comprises the steps of:
acquiring original 3-dimensional space node data corresponding to the conversion style parameters;
calculating transformed 3-dimensional space node data of the changed original 3-dimensional space node data according to the quaternion;
and determining a 3-dimensional space vector according to the original 3-dimensional space node data and the transformed 3-dimensional space node data so as to determine the position increment of the servo motor.
7. The method for recording servo motion track based on mobile phone as claimed in claim 5, wherein the process of obtaining servo motion track according to the servo motor position increment comprises the steps of:
and when the position increment of the servo motor exceeds the physical limit, limiting the position increment of the servo motor to obtain the servo motion track.
8. The utility model provides a servo motion track recording device based on cell-phone which characterized in that includes:
the data acquisition module is used for acquiring the attitude data of the recorded mobile phone;
the parameter acquisition module is used for acquiring the conversion style parameters;
and the track calculation module is used for calculating the corresponding servo motion track according to the attitude data and the conversion style parameters.
9. A computer storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, implement the method for recording a mobile phone-based servo motion trajectory according to any one of claims 1 to 7.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of recording a mobile phone-based servo motion trajectory according to any one of claims 1 to 7.
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| US20150126223A1 (en) * | 2012-04-26 | 2015-05-07 | University Of Seoul Industry Cooperation Foundation | Method and System for Determining the Location and Position of a Smartphone Based on Image Matching |
| US20160105648A1 (en) * | 2014-10-10 | 2016-04-14 | Parrot | Mobile appratus, in particular a rotary-wing drone, provided with a video camera delivering sequences of images dynamically corrected for the wobble effect |
| CN111283683A (en) * | 2020-03-04 | 2020-06-16 | 湖南师范大学 | Servo tracking accelerated convergence method for robot visual feature planning track |
| CN114663822A (en) * | 2022-05-18 | 2022-06-24 | 广州市影擎电子科技有限公司 | Servo motion trajectory generation method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20150126223A1 (en) * | 2012-04-26 | 2015-05-07 | University Of Seoul Industry Cooperation Foundation | Method and System for Determining the Location and Position of a Smartphone Based on Image Matching |
| US20160105648A1 (en) * | 2014-10-10 | 2016-04-14 | Parrot | Mobile appratus, in particular a rotary-wing drone, provided with a video camera delivering sequences of images dynamically corrected for the wobble effect |
| CN111283683A (en) * | 2020-03-04 | 2020-06-16 | 湖南师范大学 | Servo tracking accelerated convergence method for robot visual feature planning track |
| CN114663822A (en) * | 2022-05-18 | 2022-06-24 | 广州市影擎电子科技有限公司 | Servo motion trajectory generation method and device |
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