Multifunctional Graphic Programming Self-organizing Network Light Stick Control System

Abstract

The present invention discloses a multifunctional graphic programming self-organizing network light stick control system, comprising an information acquisition module, an MCU control module, an image processing and color recognition module, an LED light module, a wireless transmission module, and a power module; the information acquisition module transmits the light stick posture information to the MCU control module; the MCU control module controls the LED control module through the image processing and color recognition module; the MCU controls the wireless transmission module. The present invention provides a multifunctional graphic programming self-organizing network light stick control system with various functions, which can combine various patterns by recognizing the posture information of the light stick, and can form a light pattern by networking and emitting light.

Description

Technical Field

[0001] The invention relates to the technical field of glow sticks, in particular to a multifunctional graphic programming self-organizing network glow stick control system. Background Art

[0002] Glow sticks are widely used in various large and small entertainment, sports events or various forms of parties. Their colorful and dazzling luminous effects can well create and enhance the atmosphere of the scene.

[0003] Traditional glow sticks use internal substances to react and make fluorescent dyes glow. However, with the advancement of electronic technology, most electronic glow sticks on the market now use LED lamp beads to emit light. In order to centrally control multiple glow sticks, uniformly emit light, uniformly change color, and even combine to construct different graphics and texts, a more brilliant entertainment effect can be created at the party.

[0004] However, currently the light-emitting mode of the glow stick is single, and the posture information of the glow stick cannot be identified. Patterns are combined according to the posture of the glow stick, and the glow stick cannot be linked and has a single use. Summary of the invention

[0005] The main purpose of the present invention is to provide a multifunctional graphic programming self-networking glow stick control system which has various functions, can combine various patterns by identifying the posture information of glow sticks, and can form glow patterns by networking.

[0006] To achieve the above-mentioned invention object, the present invention proposes a multifunctional graphic programming self-organizing network light stick control system, including an information acquisition module, an MCU control module, an image processing and color recognition module, an LED light-emitting module, a wireless transmission module, and a power supply module; the information acquisition module is used to collect the posture information of the light stick, the MCU control module is used to analyze and process the information, and the image processing and color recognition module is used to analyze and process the image information and image color; the LED light-emitting module is used to control the LED light emission; the wireless transmission module is used for wireless information transmission; the power supply module is used to provide power to the MCU control module;

[0007] The information acquisition module transmits the posture information of the light stick to the MCU control module; the MCU control module controls the LED control module through the image processing and color recognition module; and the MCU controls the wireless transmission module.

[0008] The information collection module comprises a posture sensor, and the posture sensor is used to collect the posture information of the light stick.

[0009] The attitude sensor obtains attitude angle information by rotating the light stick; the attitude angle information is obtained by a change matrix formula, and the change matrix formula is as follows:

[0010]

[0011] The posture sensor includes an acceleration sensor, and the acceleration sensor is used to obtain acceleration information of the glow stick.

[0012] The acceleration sensor obtains the acceleration information of the glow stick according to the following formula:

[0013]

[0014] The ax, ay, and az are acceleration data values ​​of the glow stick.

[0015] The attitude sensor includes a gyroscope, which is used to obtain the gravity value of the attitude sensor; the formula for obtaining the gravity value is:

[0016]

[0017] The Vx, Vy, and Vz are gravity component values ​​respectively.

[0018] The MCU control module includes an audio controller and an audio player. The MCU control module controls the audio player to play audio through the audio controller.

[0019] The MCU control module includes a storage module, and the storage module is used to store information.

[0020] The wireless transmission module includes a Bluetooth transmission module.

[0021] The beneficial effects of the technical solution provided by the present invention are:

[0022] 1) The light stick of the present invention can realize OTA wireless firmware upgrade through the wireless transmission module, and also supports wired firmware upgrade;

[0023] 2) The present invention can achieve different lighting effects by obtaining the posture and trajectory information of the light stick (such as swinging the stick to the right, swinging the stick to the left, etc.);

[0024] 3) The present invention can edit the luminous color, mode, etc. according to the user's own needs, and is simple and easy to use;

[0025] 4) The present invention can realize linkage of multiple light sticks through a self-organizing network to achieve more combinations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0027] Figure 1 The system block diagram of the multifunctional graphic programming self-organizing network glow stick control system according to the embodiment of the present invention.

[0028] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0033] The invention provides a multifunctional graphic programming self-organizing network light stick control system.

[0034] Reference Figure 1 In one embodiment of the present invention, the multifunctional graphic programming self-organizing network light stick control system includes an information acquisition module 1, an MCU control module 2, an image processing and color recognition module 5, an LED light-emitting module 6, a wireless transmission module 10, and a power supply module 8; the information acquisition module 1 is used to collect the posture information of the light stick, the MCU control module 2 is used to analyze and process the information, and the image processing and color recognition module 5 is used to analyze and process the image information and image color; the LED light-emitting module 6 is used to control the LED light emission; the wireless transmission module 10 is used for wireless information transmission; the power supply module 8 is used to provide power to the MCU control module;

[0035] The information acquisition module 1 transmits the posture information of the light stick to the MCU control module 2 ; the MCU control module 2 controls the LED control module 6 through the image processing and color recognition module 5 ; the MCU controls the wireless transmission module 10 .

[0036] In this embodiment, preferably, the information collection module 1 includes a posture sensor 11, and the posture sensor 11 is used to collect posture information of the glow stick.

[0037] In this embodiment, the attitude sensor 11 can obtain acceleration values ​​and angular velocity values, obtain relatively stable data through a low-pass filter, use quaternion to solve the Euler angle, obtain spatial coordinates through coordinate conversion, and pass them to the MCU control module 2 to calculate the trajectory of the light stick.

[0038] In this embodiment, further, preferably, the attitude sensor obtains attitude angle information by rotating the light stick; the attitude angle information is obtained by a change matrix formula, and the change matrix formula is as follows:

[0039]

[0040] When the present invention calculates the attitude angle of the glow stick (the movement of the object seen on the ground), the angle change information of the glow stick after rotation relative to the previous rotation can be equivalent to the compound obtained by the object rotating around three axes in sequence. The present invention can define the heading angle (ψ) of the object when rotating around the z-axis, the pitch angle (γ) of the object when rotating around the y-axis, and the roll angle (θ) of the object when rotating around the x-axis. Next, we first derive the transformation matrix of the object around the three axes respectively, and finally obtain the angle information of the object relative to the geographic coordinate system based on the three transformation matrices. The attitude angle change matrix from the geographic system to the object system is as follows:

[0041]

[0042] We know that rotation in the plane (x, y) can be represented by complex numbers, and similarly rotation in three dimensions can be described by unit quaternions. Let's define a quaternion:

[0043]

[0044] Among them, q0, q1, q2, q3 are real numbers, i, j, k are both mutually orthogonal units and imaginary units.

[0045] The coordinate transformation matrix from the glow stick coordinate system to the geographic coordinate system is expressed as a quaternion as follows:

[0046]

[0047] The attitude angle transformation matrix is ​​also transformed from the object coordinate system to the geographic coordinate system, as follows:

[0048]

[0049] Both equations are the attitude matrices that transform the object coordinate system to the geographic coordinate system, so the matrices of the two equations are equal, that is, the elements of the two matrices are equal one by one, then:

[0050] 2(q1q3-q0q2)=-sinγ=g1

[0051] 2(q2q3+q0q1)=sinθcosγ=g2

[0052] q0 2 -q1 2 -q2 2 +q3 2 =cosθcosγ=g3

[0053] 2(q1q2+q0q3)=cosγsinψ=g4

[0054] qO2+q12-q22-q32=cosγcosψ=g5

[0055] The attitude angle can be obtained as follows:

[0056] γ=-arcsin(g1)

[0057] θ=arctan(g2 / g3)

[0058] ψ=arctan(g4 / g5)

[0059] Through the above derivation, if the specific values ​​of q0, q1, q2, and q3 are known, the required attitude angle can be calculated. The only known quantities at present are the angular velocity and acceleration obtained from the gyroscope and accelerometer. The relationship between quaternion and angular velocity is as follows:

[0060]

[0061] Among them, ωx, ωy, ωz are the angular velocities measured by the gyroscope. When we know the quaternion value at the previous moment, we can use the iteration method to update the value of the quaternion at the next moment. That is to say, a quaternion initial value is given at the initial moment (assuming that q0=0, q1=0, q2=0, q3=0 are given at the zero moment), and the quaternion is updated by the continuously measured angular velocity. Then the attitude transformation matrix can be obtained through the quaternion to obtain the attitude angle. However, the attitude angle obtained in this way will have a large error, because the angular velocity measured by the gyroscope will have a deviation. After integration, the error will increase, so that the obtained angle will have a deviation. However, the angle information obtained by the accelerometer will not have a deviation, but we cannot directly use the angle information obtained by the accelerometer, because the accelerometer is greatly affected by noise and has low reliability in a short time, but the integrated angle information is credible, so we need to use the angle information obtained by the accelerometer to correct the attitude information obtained by the gyroscope, so as to eliminate the calculated angle error.

[0062] In this embodiment, further, preferably, the posture sensor 11 includes an acceleration sensor 111, and the acceleration sensor 111 is used to obtain acceleration information of the glow stick.

[0063] The acceleration sensor 111 obtains the acceleration information of the light stick using the following formula:

[0064]

[0065] The ax, ay, and az are acceleration data values ​​of the glow stick.

[0066] The posture sensor 11 includes a gyroscope 112, which is used to obtain the gravity value of the posture sensor 11; the formula for obtaining the gravity value is:

[0067]

[0068] The Vx, Vy, and Vz are gravity component values ​​respectively.

[0069] Get the value of the accelerometer (the corresponding value in the object coordinate system) and normalize it (the reason for normalization is that the quaternion in the attitude change matrix is ​​a standard quaternion, and the quaternion updated by the gyroscope must also be normalized, so the value obtained by the accelerometer must also be normalized so that the two correspond). The value obtained from the accelerometer is recorded as ax o 、ay o 、az o (corresponding to the values ​​of the x, y, and z axes respectively), and the values ​​obtained after normalization are recorded as ax, a y 、a z , and its normalization method is as follows:

[0070]

[0071] Get the gravity component in the attitude matrix calculated by the gyroscope (because the accelerometer measures the value in the object coordinate system, we also need to extract the gravity component in the object coordinate system in the attitude matrix calculated using the angular velocity). The gravity components are recorded as Vx, Vy, and Vz. The specific calculation method is as follows:

[0072]

[0073] The attitude error is obtained by cross-multiplying the normalized value of the gravity vector obtained by the accelerometer with the gravity vector of the extracted attitude matrix to obtain the attitude error vector:

[0074]

[0075] Let ex, ey, ez be the three elements of x, y, and z corresponding to the error vector:

[0076] ex= ay * Vz - az * Vy

[0077] ey = az * Vx - ax * Vz

[0078] ez =ax* Vy - ay * Vx

[0079] Integrate the error to eliminate it. Let accex, accey, accez be the error integration results corresponding to the x, y, and z axes (integrate the error after the cross product of the two gravity components to get the angular velocity value), ki be the integration coefficient, and dt be the integration cycle time.

[0080] accex = accex +ex* ki * dt ;

[0081] accey = accey + ey * ki * dt ;

[0082] accez = accez + ez * ki * dt ;

[0083] Complementary filtering is performed, and the error input Pid controller is added to the angular velocity measured by the gyroscope in this attitude update to obtain a corrected angular velocity value. The corrected angular velocity value is used to update the four elements to obtain accurate attitude angle information. Let gx, gy, and gz be the angular velocities of the three axes measured by the gyroscope and the filtered angular velocity correction values, and Kp be the complementary filtering coefficient. The calculation method for the corrected angular velocity is as follows:

[0084] gx = gx + Kp *ex+ accex ;

[0085] gy = gy + Kp * ey + accey ;

[0086] gz = gz + Kp * ez + accez ;

[0087] Finally, the attitude angle is calculated using the corrected angular velocity.

[0088] In the present invention, since the Euler angle is in the object coordinate system, if the glow stick is fixed in one position and does not move, but rotates, its coordinate system rotates with it, and the calculated Euler angle also rotates with it, resulting in different results. In order to solve this problem, the calculated attitude angle is converted to the geographic coordinate system, so that when holding the glow stick, no matter how the glow stick rotates, the coordinates calculated at the fixed position are fixed.

[0089] The Euler angles of rotation are converted from the geographic coordinate system to the object coordinate system. First, rotate along the z-axis, then along the y-axis, and then along the x-axis to finally get the object coordinate system. The angles obtained are yaw, pitch, and roll. Then the rotation matrix from the object coordinate system to the geographic coordinate system is defined as follows:

[0090]

[0091] Then the rotation matrix between the object coordinate system and the geographic coordinate system is:

[0092]

[0093] In the present invention, since the attitude angles are all rotation angles, the motion range of the glow stick can be regarded as a sphere with one end of the glow stick as the center and L as the radius. The glow stick can be regarded as a vector with the origin (0,0,0) as the starting point and (1,0,0) as the end point. After rotation, the coordinate position of the glow stick in the geographic coordinate system can be obtained by multiplying the above rotation matrix by the glow stick vector. The formula for obtaining the coordinate axes X, Y, and Z of the present invention is:

[0094] X=cosYaw*cosPitch*1+(cosYaw*sinPitch*sinRoll-sinYaw*cosRoll)*0+(cosYaw*sinPitch*cosRoll+sinYaw*sinRoll)*0=cosYaw*cosPitch;

[0095] Y=sinYaw*cosPitch*1+(sinYaw*sinPitch*sinRoll+cosYaw*cosRoll)*0+(sinYaw*sinPitch*cosRoll-cosYaw*sinRoll)*0=sinYaw*cosPitch;

[0096] Z=-sinPitch*1+cosPitch*sinRoll*0+cosPitch*cosRoll*0=-sinPitch;

[0097] That is, the geographical coordinates are (cosYaw * cosPitch, sinYaw * cosPitch, -sinPitch).

[0098] Then the coordinate parameters are passed to the MCU control module 2 for trajectory calculation.

[0099] The calculation of the motion trajectory of the present invention first requires knowing the starting point and the ending point of the motion. In the general state of the glow stick, the accelerations of the three axes are unchanged or change relatively gently. When a gesture action occurs, the acceleration data of the three axes will change violently. According to this characteristic, the sum of the changes in the acceleration data of the three axes can be used to judge the starting point and the ending point of the gesture action of the glow stick. The acceleration values of the x, y, and z axes are differentiated, and the sum of their absolute values is used as the judgment quantity Fn. When Fn starts to be greater than the starting threshold Ta, the glow stick starts a gesture action. When Fn is less than the ending threshold Tb, the glow stick ends the gesture action.

[0100] Repeat each action 200 times for data collection. Randomly select two-thirds of the coordinate data from the coordinate data of each action as the training set, and the remaining coordinate data as the test set.

[0101] Use the training set data to optimize the number of decision trees treeNum and the number of randomly selected features charNum. Using the bagging sampling combined with the OOB estimation method, obtain a sub-training set from the training set and establish a model, and then use the out-of-bag data that has not been sampled to estimate the prediction accuracy of the model. The parameters corresponding to the highest prediction accuracy are the optimal parameters.

[0102] After determining the optimal parameters, use the training set data to establish a random forest model. In the random forest modeling, each decision tree constructed is a binary tree. When constructing a tree, at each node, select charNum features (where charNum < N) from a total of N features of each sample, and select one feature from the charNum features for branch growth according to the principle of minimum impurity. This tree grows fully, and the impurity of each node reaches the minimum and is not pruned. Finally, all the decision trees obtained are combined together to form a random forest.

[0103] The final predicted category of the sample is obtained through a voting method. Each decision tree of the model gives a predicted category, and the predicted categories of all decision trees are statistically counted. The category with the highest number of votes is the final predicted category.

[0104] In this embodiment, preferably, the MCU control module 2 includes an audio controller 3 and an audio player 4, and the MCU control module 2 controls the audio player 4 to play audio through the audio controller 3.

[0105] Preferably, the audio controller 3 controls the audio player 4 to play audio through the speaker 7, and the speaker 7 can be built in the light stick.

[0106] In this embodiment, audio playback is performed by setting an audio controller 3 and an audio player 4, and a light stick is used to play music. Different music can be played according to the different patterns formed by the light sticks, which is entertaining.

[0107] In this embodiment, further, preferably, the MCU control module 2 includes a storage module 9, and the storage module 9 is used to store information.

[0108] In this embodiment, the storage module 9 can not only store the processing information of the MCU control module 2, but also store various music information, so that playing music is more convenient.

[0109] In this embodiment, preferably, the wireless transmission module 10 includes a Bluetooth transmission module 101 .

[0110] In this embodiment, the plurality of light sticks can transmit data to each other through the wireless transmission module 10 to form a light stick network for emitting light. In this way, the light sticks can form various desired patterns through the networked light emission, thereby increasing entertainment.

[0111] The present invention can make the lighting effect of the light stick editable, enable multiple light sticks to be linked and combined, and can identify the movements of the light sticks to achieve specific effects, thereby making the product expandable and entertaining.

[0112] The invention integrates the wireless self-organizing network of the glow stick and the multi-posture sensor into one, so that the luminous effect pattern of the glow stick can be edited, multiple glow sticks can be linked and combined, and the action of the glow stick can be identified to achieve a specific effect, so that the product has expandability and playability.

[0113] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A multifunctional graphic programming self-organizing network light stick control system, characterized by: It includes an information acquisition module, an MCU control module, an image processing and color recognition module, an LED light-emitting module, a wireless transmission module, and a power supply module; the information acquisition module is used to collect the posture information of the light stick, the MCU control module is used to analyze and process the information, and the image processing and color recognition module is used to analyze and process the image information and image color; The LED light-emitting module is used to control the light emission of the LED; the wireless transmission module is used to transmit information wirelessly; the power supply module is used to provide power to the MCU control module; The information acquisition module transmits the posture information of the light stick to the MCU control module; the MCU control module controls the LED control module through the image processing and color recognition module; the MCU controls the wireless transmission module; The information collection module includes a posture sensor, and the posture sensor is used to collect the posture information of the light stick; The attitude sensor obtains attitude angle information by rotating the light stick; the attitude angle information is obtained by a change matrix formula, and the change matrix formula is as follows: When calculating the attitude angle of the glow stick, the angle change information of the glow stick after rotation relative to the previous rotation can be equivalent to the compound obtained by the object rotating around three axes in sequence. The heading angle ψ of the object is defined as the rotation around the z-axis, the pitch angle γ of the object is defined as the rotation around the y-axis, and the roll angle θ of the object is defined as the rotation around the x-axis. First, the transformation matrices of the object around the three axes are derived respectively, and finally the angle information of the object relative to the geographic coordinate system is obtained by compounding the three transformation matrices.

2. The multifunctional graphic programming self-organizing network light stick control system according to claim 1 is characterized in that: The posture sensor includes an acceleration sensor, and the acceleration sensor is used to obtain acceleration information of the glow stick.

3. The multifunctional graphic programming self-organizing network light stick control system according to claim 1 is characterized in that: The attitude sensor includes a gyroscope, which is used to obtain the gravity value of the attitude sensor; the formula for obtaining the gravity value is: The Vx, Vy, and Vz are gravity component values ​​respectively; Rotations in the plane (x, y) can be represented by complex numbers, and similarly rotations in three dimensions can be described by unit quaternions; define a quaternion: Among them, q0, q1, q2, q3 are real numbers, i, j, k are both mutually orthogonal units and imaginary units. .

4. The multifunctional graphic programming self-organizing network light stick control system according to claim 1 is characterized in that: The MCU control module includes an audio controller and an audio player. The MCU control module controls the audio player to play audio through the audio controller.

5. The multifunctional graphic programming self-organizing network light stick control system according to claim 4 is characterized in that: The MCU control module includes a storage module, and the storage module is used to store information.

6. The multifunctional graphic programming self-organizing network light stick control system according to claim 5 is characterized in that: The wireless transmission module includes a Bluetooth transmission module.

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