A rotating imaging system, method and rotating device for a rotating device

Abstract

The application relates to the field of rotary imaging, in particular to a rotary imaging system and method of a rotary device and the rotary device. The rotary imaging system of the rotary device comprises a rotary main body with a lamp strip module; a circuit board arranged on the rotary main body, the circuit board rotates synchronously with the rotary main body; an acceleration detection assembly arranged at a predetermined position on the circuit board, used for acquiring acceleration detection data of the predetermined position when the circuit board rotates; and a control module, which obtains an acceleration value of the predetermined position based on the acceleration detection data, further obtains a rotating speed value of the circuit board based on the acceleration value and a position parameter corresponding to the predetermined position, and drives the lamp strip module to realize rotary imaging based on the rotating speed value. The application can quickly calculate the instantaneous rotating speed of the rotary device based on the detection data of the accelerometer, and has extremely high response speed.

Description

Technical Field

[0001] This invention relates to the field of rotational imaging, and more particularly to a rotational imaging system, method, and rotating device. Background Technology

[0002] By attaching light strips to a high-speed spinning gyroscope or rotating aircraft, rotational imaging can be achieved through the light strips. Specifically, the gyroscope or aircraft can display patterns or text during its rotation, thereby increasing its appeal.

[0003] During the rotation imaging process of the light strip, most methods use photoelectric encoders or Hall effect sensors to measure the light strip's rotation speed. These methods require a stationary reference point for calculation. For example, Chinese patent CN206950652U discloses a fidget gyroscope that uses an upper or lower cover to provide a stationary reference point for the rotating light strip. Another example is Chinese patent CN207503607U, which uses a drone as a stationary reference point to calculate the light strip's rotation speed.

[0004] When the light strip carrier rotates as a whole or is in motion relative to the ground, different characteristics will appear due to the influence of gravity. The method of calculating the rotation speed using a stationary reference point is usually no longer applicable. At the same time, when the light strip carrier rotates as a whole, its rotation speed will change due to user operation requirements or external forces. The rotation imaging of the light strip requires very high real-time control of the light strip rotation speed, which depends on the accurate measurement of the light strip rotation speed.

[0005] The rotational speed of a rotating body can also be measured using a gyroscope. However, the maximum range of existing gyroscopes is usually ±2000° / sec, which is only suitable for rotating bodies with low rotational speed. For objects rotating at high speed, using a gyroscope to measure the rotational speed is obviously not ideal.

[0006] Therefore, how to calculate the rotation speed of the rotating device carrying the light strip, accurately measure the rotation speed of the light strip, and perform rotation imaging of the light strip based on the measured rotation speed has become an urgent technical problem to be solved. Summary of the Invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a rotation imaging system, method and rotation device for a rotating device, which can accurately measure the rotation speed of the light strip and perform rotation imaging of the light strip based on the measured rotation speed.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] On one hand, the present invention provides a rotation imaging system for a rotating device, comprising:

[0010] Rotating main body with LED strip module;

[0011] A circuit board mounted on the rotating body rotates synchronously with the rotating body.

[0012] An acceleration detection component is installed at a predetermined position on the circuit board to acquire acceleration detection data at the predetermined position when the circuit board rotates.

[0013] The control module is mounted on the circuit board and connected to the LED strip module and the acceleration detection component. It obtains the acceleration value at the predetermined position based on the acceleration detection data, and then obtains the rotational speed value of the circuit board based on the acceleration value and the position parameters corresponding to the predetermined position. Based on the rotational speed value, it drives the LED strip module to achieve rotational imaging.

[0014] Furthermore, based on the acceleration detection data, the acceleration value at the predetermined position is obtained, and then based on the acceleration value and the position parameters corresponding to the predetermined position, the rotational speed of the circuit board is obtained, specifically including:

[0015] The acceleration value is obtained based on the acceleration detection data;

[0016] The number of circuit boards is obtained based on the acceleration value and the position parameters;

[0017] The rotational speed value is obtained based on the number of cycles.

[0018] Furthermore, the acceleration detection component includes a first accelerometer and a second accelerometer; the first accelerometer and the second accelerometer are arranged symmetrically on the circuit board with the rotation axis of the rotating body as the center;

[0019] The acceleration detection data includes first detection data obtained by the first accelerometer and second detection data obtained by the second accelerometer; the position parameter includes the first rotation radius of the first accelerometer or the second accelerometer.

[0020] Furthermore, the number of cycles of the circuit board is obtained based on the acceleration value and the position parameters, specifically including:

[0021] The number of cycles is obtained based on the first cycle number calculation formula; the first cycle number calculation formula is:

[0022]

[0023] Where T is the number of cycles; R1 is the first rotation radius; a1 is the first detection data; and a2 is the second detection data.

[0024] Furthermore, the number of cycles of the circuit board is obtained based on the acceleration value and the position parameters, specifically including:

[0025] Obtain the static detection values ​​and position deviation values ​​of the first accelerometer and the second accelerometer;

[0026] The number of cycles is calculated based on the first detection data, the second detection data, the rotation radius, the static detection value, and the position deviation value; the formula for the compensation calculation is:

[0027]

[0028] Where T is the number of cycles; R1 is the radius of rotation; ΔR is the positional deviation between the first accelerometer and the second accelerometer; a1 is the first detection data; a2 is the second detection data; and a0 is the static detection value of the first accelerometer and the second accelerometer.

[0029] Furthermore, the acceleration detection component includes a third accelerometer; with the line connecting the rotation center of the third accelerometer and the circuit board as the axis, the third accelerometer has a first velocity measurement direction deviating from the axis by a first predetermined angle and a second velocity measurement direction deviating from the axis by a second predetermined angle; the acceleration detection data includes first direction detection data corresponding to the first velocity measurement direction and second direction detection data corresponding to the second velocity measurement direction; the position parameter includes a second rotation radius of the third accelerometer; the sum of the first predetermined angle and the second predetermined angle is 90 degrees;

[0030] The control module is further configured to determine whether the rotating surface of the circuit board is horizontal based on the first direction detection data and the second direction detection data. If so, the number of cycles is obtained using a second cycle number calculation formula based on the first direction detection data, the second direction detection data, and the second rotation radius. The second cycle number calculation formula is as follows:

[0031]

[0032] Where T is the number of cycles; a3 is the detection data in the first direction; a4 is the detection data in the second direction; R2 is the second rotation radius; and θ is the first predetermined angle.

[0033] Furthermore, if the rotating surface is not horizontal, then the following steps are performed:

[0034] The acceleration detection data at the upper zero-crossing point and the lower zero-crossing point are acquired respectively; the upper zero-crossing point is the highest position of the third accelerometer relative to the horizontal plane, and the lower zero-crossing point is the lowest position of the third accelerometer relative to the horizontal plane.

[0035] The number of cycles is obtained using the acceleration detection data at the upper and lower zero points and the second rotation radius, based on the third cycle calculation formula; the third cycle calculation formula is as follows:

[0036] The number of cycles is obtained using the acceleration detection data at the upper and lower zero points and the second rotation radius, based on the third cycle calculation formula; the third cycle calculation formula is as follows:

[0037]

[0038] Where T is the number of cycles, a3up is the detection data in the first direction at the upper zero point, a4up is the detection data in the second direction at the upper zero point, a3down is the detection data in the first direction at the lower zero point, a4down is the detection data in the second direction at the lower zero point, R2 is the second rotation radius, and θ is the first predetermined angle.

[0039] Furthermore, the step of obtaining the rotational speed value of the circuit board specifically includes:

[0040] The number of cycles is obtained by matching the acceleration detection data and the position parameters from the cycle database; the cycle database includes the number of cycles for multiple position parameters under different acceleration values;

[0041] The rotational speed value is obtained based on the number of cycles.

[0042] On the other hand, the present invention provides a rotation imaging method for a rotating device, comprising:

[0043] Acquire acceleration detection data at a predetermined position on the circuit board; the circuit board rotates synchronously with the rotating body of the rotating device;

[0044] The acceleration value at the predetermined position is obtained based on the acceleration detection data;

[0045] The number of cycles is obtained based on the acceleration value and the position parameters corresponding to the predetermined position;

[0046] The rotational speed of the circuit board is obtained based on the number of cycles, and the LED strip module is driven to achieve rotational imaging based on the rotational speed.

[0047] On the other hand, the present invention provides a rotating device and a rotating imaging system using the rotating device.

[0048] Compared with the prior art, the rotation imaging system, method, and rotation device provided by the present invention have the following beneficial effects:

[0049] Using the rotation imaging system provided by this invention, the circuit board is set to rotate synchronously with the rotating body. The acceleration value at a predetermined position on the circuit board is obtained by using acceleration detection data. Then, the rotational speed of the circuit board is obtained by using the acceleration value and position parameters. Since the circuit board and the rotating body rotate synchronously, their rotational speeds are the same. Therefore, rotation imaging can be achieved by adaptive control of the LED strip module. This invention calculates the acceleration value of the rotating device based on the detection data of the accelerometer, and can quickly calculate the instantaneous rotational speed of the rotating device, thus possessing extremely high response speed. Attached Figure Description

[0050] Figure 1 This is a structural block diagram of the rotating imaging system provided by the present invention.

[0051] Figure 2 This is a schematic diagram of one embodiment of the acceleration detection component provided by the present invention.

[0052] Figure 3 This is a schematic diagram of the circuit board provided by the present invention.

[0053] Figure 4 This is a schematic diagram of one embodiment of the acceleration detection component including two accelerometers provided by the present invention.

[0054] Figure 5 This is a schematic diagram of another embodiment of the acceleration detection component provided by the present invention.

[0055] Figure 6 This is a schematic diagram illustrating the defined parameters of an acceleration detection component including an accelerometer provided by the present invention.

[0056] Figure 7 This is a schematic diagram of the rotating device provided by the present invention.

[0057] Figure 8 This is a schematic diagram of the internal structure of the rotating device provided by the present invention.

[0058] Figure 9 This is a flowchart of the rotational imaging method provided by the present invention. Detailed Implementation

[0059] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0060] Those skilled in the art will understand that the foregoing general description and the following detailed description are exemplary and illustrative embodiments of the present invention and are not intended to limit the invention.

[0061] The terms “comprising,” “including,” or any other variations thereof throughout this document are intended to cover non-exclusive inclusion, such that a process or method that includes a list of steps includes not only those steps but may also include other steps not expressly listed or inherent to such a process or method. Similarly, without further limitation, one or more devices or subsystems, elements, structures, or components beginning with “comprising…a” will not exclude the presence of other devices or other subsystems or other elements or other structures or components. Throughout the specification, the phrases “in one embodiment,” “in another embodiment,” and similar language may, but not necessarily, refer to the same embodiment.

[0062] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] In this application, for convenience, terms such as "middle," "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are used to indicate orientation or positional relationships in conjunction with the accompanying drawings. This is solely for the purpose of facilitating the description of this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this disclosure. The positional relationships of the constituent elements may be appropriately changed depending on the orientation of the constituent elements being described. Therefore, the application is not limited to the terms used in the specification and may be appropriately replaced as appropriate.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0065] The rotational imaging of the LED strip utilizes the POV (persistence of vision) phenomenon, the principle of which is common knowledge and beyond the scope of this article. The ability of the LED strip to display graphics using the POV phenomenon is mainly influenced by three factors: the initial position of the LED beads, the rotational speed of the LED strip, and the lighting program of the LED strip. The initial position of the LED beads is an inherent property of the LED strip, determined when it is manufactured, and therefore not discussed in this article. The rotational speed of the LED strip and its lighting program are interconnected. On one hand, the lighting program can be manually programmed, and the rotational speed of the LED strip can be calculated and controlled by a computer to display graphics. On the other hand, the rotational speed of the LED strip can be calculated first, and then the corresponding lighting program can be written by the computer. Therefore, calculating the rotational speed of the LED strip is a crucial step in enabling the LED strip to display the preset graphics.

[0066] Existing devices using LED strip scanning imaging, as described in the background section of this application, typically require a stationary reference point to help calculate the LED strip's rotational speed. However, when the carrier lacks a stationary reference point, this method of measuring rotational speed becomes ineffective, significantly limiting the development of LED strip scanning imaging technology. Furthermore, the inability to accurately obtain the LED strip's rotational speed also affects the quality of the LED strip scanning image, reducing the user experience.

[0067] In order to solve the problems mentioned above and in the background art, this application provides a rotation imaging method for a rotating device. This method can avoid the drawback of requiring a stationary reference point in the existing measurement methods, and at the same time, it can obtain the instantaneous rotation speed of the light strip, thereby improving the scanning imaging quality of the light strip.

[0068] In rotational speed measurement, accelerometers are widely used in an increasing number of fields due to their high accuracy and low cost. Utilizing their characteristics, if an accelerometer is fixed to a rotating carrier, it can sense multiple physical quantities directly related to the rotation during the process, such as centrifugal acceleration and the change in the component of gravitational acceleration along the measurement axis caused by changes in the accelerometer's orientation. Therefore, by extracting these physical quantities from the accelerometer's output signal, the rotational speed (or velocity) of the carrier can be obtained. Thus, this application uses an accelerometer as the data acquisition device for rotational speed measurement.

[0069] Please see Figure 1 , Figure 7 , Figure 8 This invention provides a rotation imaging system for a rotating device, applied to a rotating device 1, which includes:

[0070] The rotating module 2 includes a rotating module 21 and a driving module 22. The rotating module 21 is disposed at the bottom of the driving module 22 and connected to the driving module 22.

[0071] A control module 3, located on top of the drive module 22, is used to control the normal operation of the drive module 22. The control module 3 includes an acceleration detection component 31, a circuit board 32, a memory 33, and a control module 34. The memory 33 is configured to store acceleration detection data of the measurement axis of the acceleration detection component 31. The control module 34 calculates the rotational speed of the rotating device 1 based on the acceleration detection data of the measurement axis stored in the memory 33, using the rotational speed calculation method provided by this invention. The control module 34 is preferably an MCU or a CPU.

[0072] The light strip module 4 is electrically connected to the circuit board 32 and further connected to the control module 34.

[0073] The rotational imaging system is used to assist in detecting the rotational speed of the rotating device, and then to perform imaging control, specifically including:

[0074] The rotating body has a light strip module 4, and the rotating module and other basic components are also installed on the rotating body to realize the rotation action; furthermore, the rotating body is the main structure of a rotating device commonly used in this field.

[0075] A circuit board mounted on the rotating body rotates synchronously with the rotating body.

[0076] An acceleration detection component is installed at a predetermined position on the circuit board to acquire acceleration detection data at that predetermined position when the circuit board rotates. Specifically, the acceleration detection component includes one or more accelerometers. When there is only one accelerometer, its detection data is directly used as the acceleration value. When there are multiple accelerometers, they are installed on the circuit board according to a predetermined rule, for example, multiple accelerometers are arranged symmetrically on the circuit board along an axis.

[0077] The control module 34, mounted on the circuit board, is connected to the LED strip module 4 and the acceleration detection component. Based on the acceleration detection data, it obtains the acceleration value at the predetermined position. Then, based on the acceleration value and the position parameters corresponding to the predetermined position, it obtains the rotational speed of the circuit board and drives the LED strip module 4 to achieve rotational imaging based on the rotational speed. Specifically, the acceleration value includes tangential acceleration and normal acceleration, obtained using appropriate algorithms according to different requirements. When there are multiple accelerometers, two axisymmetric accelerometers can be used as a group to calculate at least one acceleration value, and then the average value is obtained as the final acceleration value. In the following embodiments, the acceleration value is calculated using normal acceleration as an example. Correspondingly, the real-time acceleration method for tangential acceleration can be set accordingly, and this invention is not limited thereto.

[0078] Using the rotation imaging system provided by this invention, the circuit board is set to rotate synchronously with the rotating body. The acceleration value at a predetermined position on the circuit board is obtained by using acceleration detection data. Then, the rotational speed of the circuit board is obtained by using the acceleration value and position parameters. Since the circuit board and the rotating body rotate synchronously, their rotational speeds are the same. Therefore, rotation imaging can be achieved by adaptive control of the light strip module 4. This invention calculates the acceleration value of the rotating device based on the detection data of the accelerometer, and can quickly calculate the instantaneous rotational speed of the rotating device, thus having an extremely high response speed.

[0079] Furthermore, driving the light strip module 4 to achieve rotational imaging specifically includes:

[0080] The control mode corresponding to the rotation speed value is obtained, and the LED strip module 4 is driven to work based on the control mode to achieve rotational imaging of the LED strip module 4. It should be noted that in this embodiment, the control method adopts conventional operation in the art, and the present invention is not limited thereto.

[0081] Furthermore, as a preferred embodiment, in this embodiment, the acceleration value at the predetermined position is obtained based on the acceleration detection data, and then the rotational speed of the circuit board is obtained based on the acceleration value and the position parameters corresponding to the predetermined position, specifically including:

[0082] The acceleration value is obtained based on the acceleration detection data;

[0083] The number of circuit boards is obtained based on the acceleration value and the position parameters;

[0084] The rotational speed value is obtained based on the number of cycles.

[0085] It should be noted that the predetermined position and the rotation axis of the circuit board form a measuring axis, the measuring axis is oriented in the emission direction of the radius of the predetermined position, the length of the measuring axis is the rotation radius of the acceleration detection component, and the acceleration value is based on the formula a = ω 2 R is calculated, the number of cycles is calculated based on the formula T=2π / ω, and the rotational speed is calculated based on the formula f=1 / T, where a represents the acceleration of the object, R represents the radius of rotation of the object, ω represents the angular velocity of rotation of the object, T represents the rotational period of the object, and f represents the rotational speed of the object.

[0086] For further details, please refer to Figure 2 , Figure 3 As a preferred embodiment, in this embodiment, the acceleration detection component includes a first accelerometer 311 and a second accelerometer 312; the first accelerometer 311 and the second accelerometer 312 are arranged symmetrically on the circuit board with the rotation axis of the rotating body as the center;

[0087] The acceleration detection data includes the first detection data obtained by the first accelerometer 311 and the second detection data obtained by the second accelerometer 312; the position parameter includes the first rotation radius of the first accelerometer 311 or the second accelerometer 312.

[0088] In this embodiment, two accelerometers are used to form the acceleration detection component, and the spatial layout of the two accelerometers is cleverly designed. The two accelerometers are arranged symmetrically on the circuit board, and the two accelerometers have the same rotation radius. Therefore, when participating in the calculation, only the first rotation radius of one accelerometer is used in the calculation.

[0089] Specifically, such as Figure 2 As shown, the measuring axis of the first accelerometer 311 and the measuring axis of the second accelerometer 312 are arranged centrally symmetrically with respect to the rotation axis and rotate synchronously with the rotating device 1; wherein, R1 is the rotation radius of the two accelerometers 31, a1 is the first detection data on the measuring axis when the first accelerometer 311 rotates, and a2 is the first detection data on the measuring axis when the second accelerometer 312 rotates.

[0090] Specifically, such as Figure 4 As shown, the measuring axes of the first accelerometer 311 and the second accelerometer 312 are arranged in a centrally symmetrical manner with respect to the rotation axis of the circuit board 32, which can also be understood as being arranged in a centrally symmetrical manner with respect to the rotation axis of the rotating device. Specifically, there is a receiving space between the first accelerometer 311 and the second accelerometer 312, and the circuit board 32 is disposed in this receiving space. Wherein, Z is the rotation axis of the rotating device; X is the axis perpendicular to and intersecting the rotation axis of the rotating device.

[0091] Specifically, such as Figure 2 As shown, the circuit board 32 is electrically connected to the first accelerometer 311 and the second accelerometer 312 respectively. Specifically, the control module 34 is connected to the first accelerometer 311 and the second accelerometer 312 respectively. The measuring axis of the first accelerometer 311 and the measuring axis of the second accelerometer 312 are arranged in a centrally symmetrical manner with respect to the rotation axis of the rotating device 1. The circuit board 32, the first accelerometer 311 and the second accelerometer 312 rotate synchronously with the rotating device 1.

[0092] Furthermore, as a preferred embodiment, in this embodiment, obtaining the number of cycles of the circuit board based on the acceleration value and the position parameters specifically includes:

[0093] The number of cycles is obtained based on the first cycle number calculation formula; the first cycle number calculation formula is:

[0094]

[0095] Where T is the number of cycles; R1 is the first rotation radius; a1 is the first detection data; and a2 is the second detection data.

[0096] In this embodiment, the process of obtaining the rotational speed value specifically includes:

[0097] Based on the first detection data, the second detection data, and the acceleration value calculation formula, the acceleration value at the predetermined position is calculated. The acceleration value calculation formula is as follows:

[0098] Acceleration value = (a1+a2) / 2; a1 is the first detection data detected on the measuring axis when the first accelerometer 311 rotates; a2 is the first detection data detected on the measuring axis when the second accelerometer 312 rotates.

[0099] The number of cycles of the rotating device 1 is calculated using the acceleration value, including:

[0100] Based on the acceleration value and the formula for calculating the number of cycles, the number of cycles of rotating device 1 is calculated. The formula for calculating the number of cycles is as follows:

[0101] T is the number of cycles, and R1 is the first rotation radius of the first accelerometer 311 and the second accelerometer 312 relative to the rotation axis of the circuit board 32.

[0102] Furthermore, the rotational speed of rotating device 1 is calculated using the formulas for calculating the number of cycles and the rotational speed. The formula for calculating the rotational speed is as follows:

[0103] f = 1 / T, where f is the rotational speed.

[0104] The rotation imaging method of this application, through the symmetrically arranged first accelerometer 311 and second accelerometer 312, can quickly and accurately measure the first and second detection data, and based on this, quickly calculate the rotational speed, thereby obtaining the control mode corresponding to the rotational speed and realizing the rotational imaging of the light strip module 4. Therefore, the rotational imaging method of this application can accurately measure the rotational speed of the light strip and perform rotational imaging of the light strip based on the measured rotational speed.

[0105] Furthermore, as a preferred embodiment, in this embodiment, obtaining the number of cycles of the circuit board based on the acceleration value and the position parameters specifically includes:

[0106] Obtain the static detection values ​​and position deviation values ​​of the first accelerometer 311 and the second accelerometer 312;

[0107] The number of cycles is calculated based on the first detection data, the second detection data, the first rotation radius, the static detection value, and the position deviation value; the formula for the compensation calculation is:

[0108]

[0109] Where T is the number of cycles; R1 is the radius of rotation; ΔR is the positional deviation between the first accelerometer 311 and the second accelerometer 312; a1 is the first detection data; a2 is the second detection data; and a0 is the static detection value of the first accelerometer 311 and the second accelerometer 312.

[0110] Specifically, the process of obtaining the compensation calculation formula includes:

[0111] Specifically, let ω be the angular velocity, R be the radius of rotation, ΔR1 and ΔR2 be the radial positional deviations of the two accelerometers, a be the external force (excluding gravity) acceleration, and a1 and a2 be the measured data of the two accelerometers' measuring axes, respectively. 10 a 20 These are the detection data of the measurement axes of the two accelerometers at static moments.

[0112] Since the measuring axes of the first accelerometer 311 and the second accelerometer 312 are centrally symmetrical about the axis of rotation, the phase difference between the first accelerometer 311 and the second accelerometer 312 is π radians (180°). Therefore:

[0113] ③a1-a 10 =ω 2 (R+ΔR1)+a+g sinαcos(ωt);

[0114] a2-a 20 =ω 2 (R+ΔR2)-a+g sinαcos(ωt+π) is equivalent to

[0115] ④a2-a 20 =ω 2 (R+ΔR2)-ag sinαcos(ωt);

[0116] Adding equations ③ and ④ together, we get:

[0117] a1+a2-(a 10 +a 20 )=ω 2 (2R+ΔR1+ΔR2);

[0118] Let a0 = a 10 +a 20 ΔR = ΔR1 + ΔR2;

[0119] We can conclude that: ⑤a1+a2-a0=ω 2 (2R+ΔR),

[0120] Equivalent to ΔR=(a1+a2-a0) / ω 2 -2R;

[0121] Substituting the formula for calculating angular velocity ω=2π / T into equation ⑤, we get:

[0122] a1 + a2 - a0 = (2π / T) 2 (2R+ΔR);

[0123] The compensation calculation expression for the number of cycles can be obtained as follows:

[0124]

[0125] In the above formula, a0 is the sum of the detection data of the two accelerometers at the static moment, which can be easily obtained. ΔR needs to be obtained on a calibration platform with known rotational speed ω. After obtaining the value of ΔR, it is substituted into the period calculation formula along with the value of a0. Then, the rotational speed is calculated using the rotational speed calculation formula f = 1 / T.

[0126] It should be noted that since each accelerometer 31 has a zero-point deviation, the accelerometer 31 can be zero-point calibrated during use to reduce numerical errors. In addition, positional deviations may occur when placing the accelerometer 31, so calibration compensation is necessary before measuring the rotational speed of the rotating device 1.

[0127] For further details, please refer to Figure 5 As a preferred embodiment, in this embodiment, the acceleration detection component includes a third accelerometer 313; with the line connecting the third accelerometer 313 and the rotation center of the circuit board as the axis, the third accelerometer 313 has a first velocity measuring direction deviating from the axis by a first predetermined angle and a second velocity measuring direction deviating from the axis by a second predetermined angle; the acceleration detection data includes first direction detection data corresponding to the first velocity measuring direction and second direction detection data corresponding to the second velocity measuring direction; the position parameter includes a second rotation radius of the third accelerometer 313; the sum of the first predetermined angle and the second predetermined angle is 90 degrees; that is, in this embodiment, the acceleration detection component includes one accelerometer, which can simultaneously detect detection data in two directions. Preferably, when the acceleration component includes only one accelerometer, the accelerometer is a two-axis accelerometer.

[0128] The control module 34 is further configured to determine whether the rotating surface of the circuit board is horizontal based on the first direction detection data and the second direction detection data. If so, the number of cycles is obtained using a second cycle number calculation formula based on the first direction detection data, the second direction detection data, and the second rotation radius. The second cycle number calculation formula is as follows:

[0129]

[0130] Where T is the number of cycles; a3 is the detection data in the first direction; a4 is the detection data in the second direction; R2 is the second rotation radius; and θ is the first predetermined angle.

[0131] When the first predetermined angle is 45 degrees, the corresponding formula for calculating the second period is:

[0132]

[0133] Where T is the number of cycles; a3 is the detection data in the first direction; a4 is the detection data in the second direction; and R2 is the second rotation radius. Additionally, a preferred embodiment is when the first predetermined angle is 45 degrees.

[0134] In this embodiment, the rotating device includes:

[0135] The rotating module 2 includes a rotating module 21 and a driving module 22. The rotating module 21 is disposed at the bottom of the driving module 22 and connected to the driving module 22.

[0136] The control module 3 is located on top of the drive module 22. The control module 3 includes a circuit board 32, a third accelerometer 313, a memory 33, and a control module 34. The control module 34 is electrically connected to the third accelerometer 313. The rotation axis of the drive module 22 coincides with the rotation axis of the circuit board 32. The third accelerometer 313 is offset from the rotation center of the circuit board 32. The line connecting the third accelerometer 313 and the rotation center is defined as the axis. The third accelerometer 313 has a first velocity measuring direction and a second velocity measuring direction that are offset from the axis by 45 degrees.

[0137] LED strip module 4 is electrically connected to circuit board 32;

[0138] Rotational imaging methods include:

[0139] When the drive module 22 drives the rotation module 21, control module 3, and light strip module 4 to rotate, the rotation device forms an angle with the horizontal plane.

[0140] The exact number of cycles is obtained through calculation, and the rotational speed of circuit board 32 is calculated accordingly.

[0141] The control mode corresponding to the rotation speed value is obtained, and the LED strip module 4 is controlled to emit light at a certain rotation speed according to the control mode to achieve rotational imaging.

[0142] Furthermore, in some embodiments, the operation of determining whether the circuit board is horizontal specifically includes:

[0143] In the software, if abs(a3-a4) < (a very small number, such as 1) for a long time (such as 10 consecutive times), it is determined that the plane is not horizontal, which can quickly determine whether the rotating plane is horizontal or not.

[0144] For further details, please refer to Figure 6 As a preferred embodiment, if the rotating surface is not horizontal, then the following is executed:

[0145] Acceleration detection data at the upper and lower zero-crossing points are acquired respectively. The upper zero-crossing point is the highest position relative to the horizontal plane reached by the third accelerometer 313, and the lower zero-crossing point is the lowest position relative to the horizontal plane reached by the third accelerometer 313. Specifically, when the drive module drives the rotation module 21, control module 3, and light strip module 4 to rotate, and the rotation device forms an angle with the horizontal plane, the distance traveled by the third accelerometer 313 in one rotation cycle is defined to obtain the upper and lower zero-crossing segments. The upper zero-crossing segment includes the upper zero-crossing point, and the lower zero-crossing segment includes the lower zero-crossing point. The line connecting the upper and lower zero-crossing points defines the zero-crossing line. The upper zero-crossing point is the highest position relative to the horizontal plane reached by the third accelerometer 313. The accelerometer 313 rotates to the highest point relative to the horizontal plane, and the lower zero point is the point where the third accelerometer 313 rotates to the lowest point relative to the horizontal plane. The detection data of the measuring axis in the first velocity measuring direction of the first accelerometer 311 is defined as a3, and the detection data of the measuring axis in the second velocity measuring direction of the first accelerometer 311 is defined as a4. The gravitational acceleration is g. The first accelerometer 311 rotating to the highest point in the horizontal plane is defined as the "upper zero point", and the first accelerometer 311 rotating to the lowest point in the horizontal plane is defined as the "lower zero point". The line connecting the "upper zero point" and the "lower zero point" is defined as the "zero line". Here, α is the angle between the zero line and the horizontal line, which is the angle formed by the rotating device 1 and the horizontal plane.

[0146] The rotating device forms an angle with the horizontal plane. That is, when the angle α is greater than zero, let the detection data of the first and second velocity measurement axes of the first accelerometer 311 at the upper zero-crossing point be a3up and a4up, respectively; and let the detection data of the first and second velocity measurement axes of the first accelerometer 311 at the lower zero-crossing point be a3down and a4down, respectively. Using this definition and the third cycle number calculation formula, the number of cycles at this point can be calculated.

[0147] The number of cycles is obtained using the acceleration detection data at the upper and lower zero points and the second rotation radius, based on the third cycle calculation formula; the third cycle calculation formula is as follows:

[0148]

[0149] Where T is the number of cycles, a3up is the detection data in the first direction at the upper zero point, a4up is the detection data in the second direction at the upper zero point, a3down is the detection data in the first direction at the lower zero point, a4down is the detection data in the second direction at the lower zero point, R2 is the second rotation radius, and θ is the first predetermined angle.

[0150] When the first predetermined angle is 45 degrees, the corresponding formula for calculating the third cycle number is:

[0151]

[0152] This invention uses hardware filtering to separate the acceleration value caused by rotation, and then calculates the rotational speed. In this embodiment, the instantaneous speed can be calculated by reading the acceleration value at a single point, which has an extremely high response speed. It avoids the drawback of existing calculation methods that require a stationary reference point, and can effectively measure the speed of suspended objects. At the same time, it has good anti-interference ability. Even on any moving or bumpy carrier, it can still accurately measure the rotational speed of the rotating platform relative to the ground without being affected by the carrier. The obtained instantaneous rotational speed also greatly improves the quality of the light strip rotation imaging.

[0153] Furthermore, in practical applications, there are also accelerations caused by gravity, centripetal acceleration, and other external forces in the rotating device 1, such as wind force and external forces caused by contact with other objects. In order to overcome the defect of inaccurate measurement caused by external forces, the installation position of the accelerometer is further restricted in this invention, and based on this position restriction, a detection method based on upper zero crossing and lower zero crossing is specifically defined. That is, in this application, the influence of external forces is filtered out by a specific combination of specific structural restrictions (the accelerometer has a first velocity measurement direction and a second velocity measurement direction that are 45 degrees away from the axis) and corresponding velocity measurement methods. Thus, the velocity measurement affected by other external forces is solved, the velocity measurement efficiency is improved, and the real-time requirements are met.

[0154] Furthermore, as a preferred embodiment, the step of obtaining the rotational speed value of the circuit board specifically includes:

[0155] The number of cycles is obtained by matching the acceleration detection data and the position parameters from the cycle database; the cycle database includes the number of cycles for multiple position parameters under different acceleration values;

[0156] The rotational speed value is obtained based on the number of cycles. In other words, only a table lookup operation is needed to obtain the number of cycles, allowing for a faster and more accurate determination of the rotational speed value.

[0157] In some embodiments, before calculating the rotational speed value, the method further includes:

[0158] Acceleration detection data and cycle numbers at different predetermined positions (i.e., measurement axes with different rotation radii) are compiled into a data table in a one-to-one correspondence manner, thereby forming a cycle database. This allows the corresponding cycle number to be found based on the measured acceleration detection data and the corresponding position parameters when calculating the rotational speed.

[0159] It should be noted that, in order to avoid complex floating-point calculations such as square root extraction, the number of cycles corresponding to the detection data of each accelerometer 31's measuring axis can be pre-calculated by a computer and a data table can be pre-made. During the actual speed measurement process, the rotational speed of the rotating device 1 can be quickly calculated by looking up the table. In some other embodiments, the rotating device 1 can also be equipped with a control module 34 capable of performing complex mathematical operations. During the LED strip scanning imaging process, mathematical calculations are performed in real time to obtain the real-time rotational speed value, thereby controlling the LED strip imaging in real time.

[0160] Furthermore, the range of the accelerometer in the above embodiments is preferably ±16g. In the calculation method provided by the present invention, the maximum rotational speed that the accelerometer with this range can measure is 36.8. When the rotational speed of the rotating device 1 exceeds this threshold, the reading of the accelerometer will overflow, that is, the final calculated rotational speed will deviate from the actual rotational speed of the rotating device 1.

[0161] Therefore, in some embodiments of this application, in order to calculate faster rotational speeds, the spatial arrangement of the accelerometer is configured to be closer to the rotation axis, i.e., the rotation center of the circuit board 32, to obtain a smaller rotation radius, thereby calculating faster rotational speeds. In some embodiments, the accelerometer can also be rotated at an angle so that the acceleration value generated when the rotating device 1 rotates is not entirely reflected in one axis of the accelerometer, but rather the component decomposed by an angle is reflected in one axis of the accelerometer. This will also improve the problem of accelerometer overflow to some extent. In this application, the secure placement of the accelerometer is also one of the important conditions for preventing accelerometer overflow.

[0162] Accordingly, please refer to Figure 9 The present invention provides a rotation imaging method for a rotating device, comprising:

[0163] Acquire acceleration detection data at a predetermined position on the circuit board; the circuit board rotates synchronously with the rotating body of the rotating device;

[0164] The acceleration value at the predetermined position is obtained based on the acceleration detection data;

[0165] The number of cycles is obtained based on the acceleration value and the position parameters corresponding to the predetermined position;

[0166] The rotational speed of the circuit board is obtained based on the number of cycles, and the LED strip module 4 is driven to achieve rotational imaging based on the rotational speed.

[0167] Accordingly, the present invention provides a rotating device and a rotating imaging system using the rotating device.

[0168] This application also provides a rotating device 1 for implementing the above-described rotating imaging method. The rotating device 1 includes:

[0169] The rotating module 2 includes a rotating module 21 and a driving module 22. The rotating module 21 is disposed at the bottom of the driving module 22 and connected to the driving module 22.

[0170] The control module 3 is located on top of the drive module 22. The control module 3 includes a circuit board 32, a first accelerometer 311, and a second accelerometer 312. The circuit board 32 is electrically connected to the first accelerometer 311 and the second accelerometer 312. The rotation center of the drive module 22 coincides with the rotation center of the circuit board 32. The first accelerometer 311 and the second accelerometer 312 are symmetrically arranged on the circuit board 32 with the rotation center of the circuit board 32 as the origin.

[0171] LED strip module 4 is electrically connected to circuit board 32;

[0172] The drive module 22 is used to drive the rotation module 21, control module 3, and light strip module 4 to rotate. The circuit board 32 is used to calculate the current rotation speed based on the detection data of the first accelerometer 311 and the second accelerometer 312, and control the light strip module 4 to display the user-preset graphic according to the rotation speed.

[0173] It should be noted that, as Figure 3 As shown, the circuit board 32 also includes a memory 33 and a control module 34. The memory 33 is electrically connected to the first accelerometer 311 and the second accelerometer 312 respectively. The memory 33 is used to store the detection data of the measuring axes of the first accelerometer 311 and the second accelerometer 312. The control module 34 is electrically connected to the memory 33 and the light strip module 4 respectively. The control module 34 is used to calculate the rotation speed of the rotating device 1 according to the detection data of the measuring axes stored in the memory 33, and control the light strip module 4 to display graphics according to the rotation speed.

[0174] It should be noted that the circuit board 32 is also provided with an input terminal and an output terminal. The input terminal is used to acquire the detection data of the accelerometer 31 measuring the axis, and the output terminal is used to output the rotational speed data calculated by the control module 34. In addition, the circuit board 32 is also provided with a circuit (not shown in the figure), which can provide a data channel for the input terminal and the output terminal, as well as the memory 33 and the control module 34 therein.

[0175] It should be noted that the LED strip module 4 rotates 360° around its axis and is divided into multiple display areas according to preset graphic data. Each display area has corresponding display content. The LED strip displays the corresponding content within the display area according to the rotation speed of the rotating device 1. The content displayed in multiple display areas is combined to form a complete preset graphic. Since the LED strip acquires the instantaneous rotation speed of the rotating device 1, the scanning imaging quality of the LED strip is higher, and the displayed graphic is more stable and clearer.

[0176] It should be noted that, as Figure 8 As shown, the rotating module 21 includes a propeller 211, and the driving module 22 includes a bracket 221. The bracket 221 is equipped with a power supply (not shown in the figure), a motor and a transmission gear. The propeller 211 is fixedly connected to the bracket 221, and the motor is connected to the bracket 221 through the transmission gear.

[0177] In this embodiment, the motor drives the bracket 221 to rotate, and the bracket 221 then drives the propeller 211 to rotate, ultimately causing the rotating device 1 to rotate.

[0178] It should be noted that, as Figure 8 As shown, in order to make the rotating device 1 more stable when rotating, this embodiment also provides a central shaft 5, which coincides with the rotation axis of the rotating device 1, so that the overall rotation of the rotating device 1 can be more stable.

[0179] It should be noted that, for the sake of convenience in introducing the solution, Figure 8 The rotating device shown is an inverted example; in actual use, the rotor should face upwards.

[0180] It should be noted that, as Figure 7 As shown, in order to protect the rotating device 1, this embodiment also provides a protective device 6. The protective device 6 is composed of multiple ribs made of elastic material that are connected to each other and fixedly connected to the bracket 221. It can effectively buffer the external force on the rotating device 1 and provide effective protection for the components inside the protective device 6.

[0181] In this embodiment, the drive module 22 is electrically connected to the control module 3 to drive the rotation of the rotation module 21. The light strip module 4 is electrically connected to the control module 3 and is connected to the drive module 22 for transmission, and is used to display a preset graphic when the rotation device 1 rotates.

[0182] In order to display the graphic displayed by the LED strip module 4 more clearly, in this embodiment, the LED strip module 4 is configured to be disposed on the protective device 6. In some embodiments, in order to protect the LED strip module 4, the LED strip module 4 may also be disposed inside the protective device 6.

[0183] It is understood that those skilled in the art can make equivalent substitutions or modifications to the technical solution and inventive concept of the present invention, and all such substitutions or modifications should fall within the protection scope of the appended claims.

Claims

1. A rotational imaging system of a rotating device, characterized by, include: Rotating main body with LED strip module; A circuit board mounted on the rotating body rotates synchronously with the rotating body. An acceleration detection component is installed at a predetermined position on the circuit board to acquire acceleration detection data at the predetermined position when the circuit board rotates. The control module is mounted on the circuit board and is connected to the light strip module and the acceleration detection component respectively. Based on the acceleration detection data, it obtains the acceleration value at the predetermined position, and then obtains the rotational speed value of the circuit board based on the acceleration value and the position parameters corresponding to the predetermined position. Based on the rotational speed value, it drives the light strip module to achieve rotational imaging. Based on the acceleration detection data, the acceleration value at the predetermined position is obtained, and then based on the acceleration value and the position parameters corresponding to the predetermined position, the rotational speed of the circuit board is obtained, specifically including: The acceleration value is obtained based on the acceleration detection data; The number of circuit boards is obtained based on the acceleration value and the position parameters; The rotational speed value is obtained based on the number of cycles; The acceleration detection component includes a first accelerometer and a second accelerometer; the first accelerometer and the second accelerometer are arranged symmetrically on the circuit board with the rotation axis of the rotating body as the center; The acceleration detection data includes first detection data acquired by the first accelerometer and second detection data acquired by the second accelerometer; the position parameter includes the first rotation radius of the first accelerometer or the second accelerometer. The number of circuit boards is obtained based on the acceleration value and the position parameters, specifically including: Obtain the static detection values ​​and position deviation values ​​of the first accelerometer and the second accelerometer; The number of cycles is calculated based on the first detection data, the second detection data, the first rotation radius, the static detection value, and the position deviation value; the formula for the compensation calculation is: ； Where T is the number of cycles; R1 is the first rotation radius; The positional deviation value between the first accelerometer and the second accelerometer; This is the first detection data; This is the second set of test data; These are the static detection values ​​of the first accelerometer and the second accelerometer.

2. The rotation imaging system of the rotating device according to claim 1, characterized in that, The acceleration detection component includes a third accelerometer; with the line connecting the rotation center of the third accelerometer and the circuit board as the axis, the third accelerometer has a first velocity measurement direction deviating from the axis by a first predetermined angle and a second velocity measurement direction deviating from the axis by a second predetermined angle; the acceleration detection data includes first direction detection data corresponding to the first velocity measurement direction and second direction detection data corresponding to the second velocity measurement direction; the position parameter includes a second rotation radius of the third accelerometer; the sum of the first predetermined angle and the second predetermined angle is 90 degrees; The control module is further configured to determine whether the rotating surface of the circuit board is horizontal based on the first direction detection data and the second direction detection data. If so, the number of cycles is obtained using a second cycle number calculation formula based on the first direction detection data, the second direction detection data, and the second rotation radius. The second cycle number calculation formula is as follows: ； in, The number of cycles; This refers to the detection data in the first direction; This refers to the detection data in the second direction; The second rotation radius; This is the first predetermined angle.

3. The rotation imaging system of the rotating device according to claim 2, characterized in that, If the rotating surface is not horizontal, then execute: The acceleration detection data at the upper zero-crossing point and the lower zero-crossing point are acquired respectively; the upper zero-crossing point is the highest position of the third accelerometer relative to the horizontal plane, and the lower zero-crossing point is the lowest position of the third accelerometer relative to the horizontal plane. The number of cycles is obtained using the third cycle number calculation formula based on the acceleration detection data at the upper and lower zero points and the second rotation radius; the third cycle number calculation formula is as follows: ； in, For the number of periods, The detection data is for the first direction that crosses zero. This refers to the detection data in the second direction that crosses zero. This refers to the detection data in the first direction at the point below zero. This refers to the detection data in the second direction at the point below zero. The second rotation radius; This is the first predetermined angle.

4. The rotation imaging system of the rotating device according to claim 1, characterized in that, The steps for obtaining the rotational speed value of the circuit board specifically include: The number of cycles is obtained by matching the acceleration detection data and the position parameters from the cycle database; the cycle database includes the number of cycles for multiple position parameters under different acceleration values; The rotational speed value is obtained based on the number of cycles.

5. A rotating device, characterized in that, A rotational imaging system using the rotational device described in any one of claims 1-4.

6. A rotational imaging method using the rotating device according to claim 5, characterized in that, include: Acquire acceleration detection data at predetermined locations on the circuit board; The circuit board rotates synchronously with the rotating body of the rotating device; The acceleration value at the predetermined position is obtained based on the acceleration detection data; The number of cycles is obtained based on the acceleration value and the position parameters corresponding to the predetermined position; The rotational speed of the circuit board is obtained based on the number of cycles, and the LED strip module is driven to achieve rotational imaging based on the rotational speed.

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