CN104049633A - Servo control method, servo device and servo system - Google Patents
Servo control method, servo device and servo system Download PDFInfo
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- CN104049633A CN104049633A CN201410265679.7A CN201410265679A CN104049633A CN 104049633 A CN104049633 A CN 104049633A CN 201410265679 A CN201410265679 A CN 201410265679A CN 104049633 A CN104049633 A CN 104049633A
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Abstract
The invention relates to a servo control method, a servo device and a servo system. The method includes the following steps that A, wireless control signals from a master controller are received; B, according to the wireless control signals, the distance between the servo device and the master controller is judged; C, the direction of the master controller is judged, the servo device is driven to move in the direction of the master controller so that the distance between the servo device and the master controller is smaller than a preset value and servo motion can be achieved, wherein the wireless control signals carry ID code information of the master controller and/or the servo device and the step A includes the parts that ID codes contained in the ID code information are compared with ID codes, stored in the servo device in advance, of the master controller and/or the servo device, when the ID codes are matched, the following step B and the step C are executed. When the distance between the servo device and the master controller exceeds the preset value, the direction of the master controller can be judged, the servo device is driven to move in the direction of the master controller, the distance between the servo device and the master controller is maintained, and therefore servo motion is achieved.
Description
Technical field
The present invention relates to radio tracking technical field, more particularly, relate to a kind of follow-up control method, hunting gear and servomechanism.
Background technology
People, in daily life or work, for example, when going window-shopping, do shopping, travel or going on business, bring shopping cart or luggage case conventionally, need in tow shopping cart or luggage case to make it follow oneself and move together, be very inconvenience when owner moves one's steps.Another the most original random movement method is found someone exactly and is followed with oneself, and this people is retinue, pushes away, draws shopping cart or luggage case by him.Modern society's human cost is high, and finding someone at any time, it is unrealistic to follow with oneself.If realize servo-actuatedly by technology, hi-tech should design a retinue of robot exactly, and it can carry luggage and follow owner, and wherein servo technology scheme is exactly the key that solves the problem of following.
Therefore, need a kind of following control technical and hunting gear, for realizing servo-actuated providing safeguard.
Summary of the invention
The technical problem to be solved in the present invention is, can not follow voluntarily for shopping cart or the luggage case etc. of prior art existence the problem that owner moves, and a kind of follow-up control method, hunting gear and servomechanism are provided.
The technical solution adopted for the present invention to solve the technical problems is: a kind of follow-up control method is provided, comprises the steps:
A, receive from the wireless control signal of primary controller, described wireless control signal comprises at least one in radio signal, field signal, ultrasonic signal, infrared signal;
B, judge the distance of hunting gear and primary controller according to described wireless control signal;
C, in the time that the distance of hunting gear and primary controller exceedes predetermined value, judge primary controller place direction, or real-time judge primary controller place direction; And drive hunting gear to move to primary controller direction, so that the distance of hunting gear and primary controller is less than described predetermined value, realize servo-actuated;
Wherein, described wireless control signal carries the ID code information of primary controller and/or hunting gear, and steps A comprises:
A1, the ID code comprising in described ID code information is compared with being pre-stored in primary controller in hunting gear and/or the ID code of hunting gear, and in the time that both mate, carry out follow-up step B and step C.
In follow-up control method of the present invention, described wireless control signal is radio signal, and step B comprises:
B1, according to the RSSI information of described radio signal, by tabling look-up or experimental formula calculates corresponding distance.
In follow-up control method of the present invention, described wireless control signal is field signal, and the magnetic field that described ID code information is changed by predetermined rule is defined, and step B comprises:
The intensity in B2, the magnetic field that changes according to described predetermined rule, by tabling look-up or experimental formula calculates corresponding distance.
In follow-up control method of the present invention, described wireless control signal is ultrasonic signal, and step B comprises:
B3, according to described ultrasonic signal from being transmitted into the time of reception, table look-up or experimental formula calculates distance corresponding to ultrasonic transmission/reception time.
In follow-up control method of the present invention, described wireless control signal is infrared signal, and step B comprises:
B4, by being arranged on the infrared lights of at least two groups on the infrared positioning shooting head sensing primary controller on hunting gear or two infrared LED transmittings, the distance of the infrared light by least two groups described in calculating or two infrared LED transmittings, tables look-up or experimental formula calculates the distance between described distance corresponding primary controller and hunting gear.
In follow-up control method of the present invention,
In step C, judge that primary controller place direction comprises:
Drive described hunting gear self rotation and/or all around move, antenna rotation and/or all around move, and/or antenna stands in, and disk border does circle by disc rotary drive or elliptical orbit moves, the Strength Changes of wireless control signal described in sensing simultaneously, to determine primary controller place direction.
In follow-up control method of the present invention, described ID code is exclusive ID code and/or public ID code.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of hunting gear, its bottom is provided with the wheel for driving described hunting gear to move, and described hunting gear comprises:
Wireless control signal receiver, for receiving the wireless control signal from primary controller, described wireless control signal comprises at least one in radio signal, field signal, ultrasonic signal, infrared signal;
Signal deteching circuit, for detection of described wireless control signal;
Controller, comprises Distance Judgment module, direction judge module, follows instruction generation module, wherein:
Distance Judgment module is for judging the distance of hunting gear and primary controller according to described wireless control signal;
Direction judge module, in the time that the distance of hunting gear and primary controller exceedes predetermined value, judges primary controller place direction, or for real-time judge primary controller place direction;
Follow instruction generation module for generation of drive hunting gear to move and/or turn to follow instruction;
And
The first driving circuit, for following wheel turns described in order-driven described in basis, to drive hunting gear to move towards primary controller; And
The ID code information that described wireless control signal comprises primary controller and/or hunting gear, described controller also comprises ID code authentication module, compare with being pre-stored in primary controller in hunting gear and/or the ID code of hunting gear for ID code that described ID code information is comprised, and when both mate, start described Distance Judgment module and carry out Distance Judgment and operate.
In hunting gear of the present invention,
Described wireless control signal is radio signal;
Described signal deteching circuit is radio signal testing circuit; And
Described Distance Judgment module is for according to the RSSI information of described radio signal, by tabling look-up or experimental formula calculates corresponding distance.
In hunting gear of the present invention,
Described wireless control signal is field signal, and the magnetic field that described ID code information is changed by predetermined rule is defined;
Described signal deteching circuit is magnetic field detection circuit; And
Described Distance Judgment module is for the intensity in the magnetic field that changes according to described rule, by tabling look-up or experimental formula calculates corresponding distance.
In hunting gear of the present invention,
Described wireless control signal is ultrasonic signal, and described primary controller is provided with ultrasonic generator;
Described signal deteching circuit is ultrasonic signal testing circuit; And
Described Distance Judgment module for according to described ultrasonic signal from being transmitted into the time of reception, table look-up or experimental formula calculates distance corresponding to ultrasonic transmission/reception time.
In hunting gear of the present invention,
Described wireless control signal is infrared signal, and described hunting gear is provided with infrared positioning shooting head, for the infrared lights of at least two groups on sensing primary controller or two infrared LED transmittings;
Described signal deteching circuit comprises described infrared positioning shooting head and connected image-signal processor; And
Described Distance Judgment module is for the distance of the infrared light by least two groups described in calculating or two infrared LED transmittings, tables look-up or experimental formula calculates the distance between described distance corresponding primary controller and hunting gear.
In hunting gear of the present invention,
Described direction judge module, by detecting instruction to described the first driving circuit sending direction, is controlled described the first driving circuit and is driven described hunting gear self rotation and/or all around move; Accept the information from the Strength Changes of the wireless control signal of signal deteching circuit simultaneously, and determine primary controller place direction according to the information of described Strength Changes; Or
Described wireless control signal receiver is connected with antenna, described antenna is connected with the second driving circuit, described direction judge module is by detecting instruction to described the second driving circuit sending direction, control described the second driving circuit and drive described antenna rotation and/or all around move, and/or antenna stands in, and disk border does circle by disc rotary drive or elliptical orbit moves; Accept the information from the Strength Changes of the wireless control signal of signal deteching circuit simultaneously, and determine primary controller place direction according to the information of described Strength Changes.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of servomechanism, it comprises the primary controller that is provided with wireless control signal transmitter, and hunting gear as above.
Implement the present invention, there is following beneficial effect: hunting gear can judge the distance between itself and primary controller, when the distance that can work as hunting gear and primary controller exceedes predetermined value or real time discriminating primary controller place direction drive hunting gear to move to primary controller direction, the distance of maintenance and primary controller, servo-actuated to realize.
It is low that technical scheme of the present invention has cost, the advantage that control accuracy is high.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the schematic block diagram of servomechanism according to an embodiment of the invention;
Fig. 2 is the schematic block diagram of hunting gear according to an embodiment of the invention;
Fig. 3 is the process flow diagram of follow-up control method of the present invention.
Embodiment
As shown in Figure 1, in one embodiment of this invention, servomechanism comprises primary controller 1 and the hunting gear 2 being connected with its radio communication.
Particularly, in primary controller 1, be provided with wireless control signal transmitter 10, for launching wireless control signal.
Hunting gear 2 comprises controller 20, the wireless control signal receiver 21, signal deteching circuit 22 and the first driving circuit 23 that communicate to connect with controller 20, and the wheel 31 for driving hunting gear to move being connected with the first driving circuit 23, for example, wheel can be arranged on hunting gear bottom.Further, controller 20 comprises Distance Judgment module 201, direction judge module 203, follows instruction generation module 205.
In the course of work of servomechanism, wireless control signal receiver 21 receives the wireless control signal from primary controller 1.Afterwards, signal deteching circuit 22 detects the wireless control signal receiving, and testing result is sent to controller 20.
Then, the Distance Judgment module 201 in controller 20 judges the distance of hunting gear and primary controller according to wireless control signal; In the time that the distance of hunting gear and primary controller exceedes predetermined value, direction judge module 203 judges primary controller place direction, or direction module 203 at any time (in real time) judge and follow the tracks of the direction at primary controller place; Follow instruction generation module 205 for generation of drive hunting gear to move and/or turn to follow instruction; The first driving circuit 23 is according to following order-driven wheel turns, to drive hunting gear to move towards primary controller.
In each embodiment of the present invention, wireless control signal comprises at least one in radio signal, field signal, ultrasonic signal, infrared signal.
Fig. 2 is the schematic block diagram of the hunting gear 2 ' of another embodiment of the present invention.As shown in Figure 2, compared with hunting gear 2 in Fig. 1, difference is, hunting gear 2 ' also comprises the second driving circuit 24, the storer 25 that communicate to connect with controller 2, and the antenna 32 that is connected (not shown) with wireless control signal receiver 21 and is connected with the second driving circuit 24.In addition, controller 20 also comprises ID code authentication module 207.
In the present embodiment, in wireless control signal, carry the ID code information of primary controller 1 and/or hunting gear 2 ', ID code authentication module 207 in controller 20 comprises ID code in ID code information for the wireless control signal that wireless control signal receiver 21 is received and compares with being pre-stored in primary controller in the storer 25 of hunting gear and/or the ID code of hunting gear, and when both mate, starts Distance Judgment module 201 and carry out Distance Judgment and operate.It should be noted that, ID code can be exclusive ID code and/or public ID code.Exclusive ID is convenient one to one, the public one-to-many that facilitates.For example, for the hunting gear such as luggage case, shopping cart, need primary controller and hunting gear to have relation one to one, ID code is exclusive ID code.Again for example, for without occasion one to one, the toy of for example playing in family servo-actuated, ID code can be public ID code.
In certain embodiments, for example, when wireless control signal is in the situation of radio signal, field signal and/or ultrasonic signal, in the time that the distance of hunting gear and primary controller exceedes predetermined value, the second driving circuit can detect instruction to the direction of its transmission according to direction judge module, and driven antenna 32 is rotated; Accept the information from the Strength Changes of the wireless control signal of signal deteching circuit simultaneously, and determine primary controller 20 place directions according to the information of Strength Changes.
In further embodiments, for example, when wireless control signal is in the situation of radio signal, field signal and/or ultrasonic signal, in the time that the distance of hunting gear and primary controller exceedes predetermined value, direction judge module 203 judges that primary controller place direction comprises: direction judge module, by detecting instruction to the first driving circuit sending direction, is controlled the first driving circuit and driven hunting gear self rotation and/or all around move; Accept the information from the Strength Changes of the wireless control signal of signal deteching circuit simultaneously, and determine primary controller place direction according to the information of described Strength Changes.
In certain embodiments, also can real-time judge and follow the tracks of the direction at primary controller place.
Storer 25 is for storing the primary controller that mates with hunting gear and/or the ID code of hunting gear, and for obtain the needed data of distance or the program of hunting gear and primary controller according to wireless control signal, for example, signal intensity and the corresponding table of distance and/or algorithm routine etc.
In one embodiment, wireless control signal is radio signal; Signal deteching circuit is radio signal testing circuit; And Distance Judgment module is for according to the RSSI strength information of radio signal, by tabling look-up or experimental formula calculates corresponding distance.
In another embodiment, wireless control signal is field signal, and the magnetic field that ID code information is changed by predetermined rule is defined; Signal deteching circuit is magnetic field detection circuit; The intensity in magnetic field of Distance Judgment module for changing according to rule, by tabling look-up or experimental formula calculates corresponding distance.
In another embodiment, wireless control signal is ultrasonic signal, and primary controller is provided with ultrasonic transmitter, hunting gear is provided with ultrasonic receiver; Signal deteching circuit detects the ultrasonic signal from primary controller; And Distance Judgment module for according to ultrasonic signal from being transmitted into the time of reception, table look-up or experimental formula calculates distance corresponding to ultrasonic transmission/reception time.
In another embodiment, wireless control signal is infrared signal, and hunting gear is provided with infrared positioning shooting head, for the infrared lights of at least two groups on sensing primary controller or two infrared LED transmittings; Signal deteching circuit comprises described infrared positioning shooting head and connected image-signal processor; And Distance Judgment module is for the distance between the infrared light by calculating this at least two group or the transmitting of two infrared LEDs, table look-up or experimental formula calculates the corresponding primary controller of distance between the infrared light of this at least two group or two infrared LED transmittings and the distance between hunting gear.
In other embodiments, wireless control signal is two or more the combination in radio signal, field signal, ultrasonic signal, infrared signal.Correspondingly, on hunting gear, be provided with two or more the combination in radio signal testing circuit, magnetic field detection circuit, ultrasonic signal testing circuit, infrared positioning shooting head.
As shown in Figure 3, follow-up control method of the present invention comprises the steps:
After starting step, enter in steps A, receive the wireless control signal from primary controller.Then, carry out step B.In step B, judge the distance of hunting gear and primary controller according to wireless control signal.Whether the distance that subsequently, judges hunting gear and primary controller exceedes predetermined value.
In the time that the distance of hunting gear and primary controller exceedes predetermined value, execution step C.In step C, judge primary controller place direction, and drive hunting gear to move to primary controller direction, so that the distance of hunting gear and primary controller is less than described predetermined value, realize servo-actuated.For example, in step C, judge that primary controller place direction comprises: drive described hunting gear self rotation and/or all around move, antenna rotation and/or all around move, and/or antenna stands in, and disk border does circle by disc rotary drive or elliptical orbit moves, to obtain signal judgement, the Strength Changes of wireless control signal described in sensing simultaneously, to determine primary controller place direction.
After step C, follow-up control method is proceeded, and for example, returns to steps A and proceeds servo-actuated control.
In the time that the distance of hunting gear and primary controller does not exceed predetermined value, return to steps A, continue to receive wireless control signal to carry out servo-actuated control.
In some other embodiment, step C can carry out at any time, real-time judge primary controller place direction, and drive hunting gear to move to primary controller direction, so that the distance of hunting gear and primary controller is less than predetermined value, realize servo-actuated.
Wireless control signal carries the ID code information of primary controller and/or hunting gear in one embodiment of this invention, and steps A comprises: steps A 1 (not shown): the ID code comprising in described ID code information is compared with being pre-stored in primary controller in hunting gear and/or the ID code of hunting gear, and in the time that both mate, carry out follow-up step B and step C.
In each embodiment, wireless control signal comprises at least one in radio signal, field signal, ultrasonic signal, infrared signal.
In one embodiment, wireless control signal is radio signal, and step B comprises: step B1: according to the RSSI information of radio signal, by tabling look-up or experimental formula calculates corresponding distance.
In another embodiment, wireless control signal is field signal, the magnetic field that ID code information is changed by predetermined rule is defined, and step B comprises: step B2: the intensity in the magnetic field changing according to this predetermined rule, and by tabling look-up or experimental formula calculates corresponding distance.
In another embodiment, wireless control signal is ultrasonic signal, and step B comprises: step B3:, table look-up or experimental formula calculates distance corresponding to ultrasonic transmission/reception time from being transmitted into the time of reception according to ultrasonic signal.
In another embodiment, wireless control signal is infrared signal, step B comprises: step B4: at least two groups or two infrared LEDs and infrared positioning shooting head are respectively at primary controller or hunting gear, by being arranged at least two groups or two infrared lights that infrared LED is launched on the infrared positioning shooting head sensing primary controller on hunting gear, by the distance between the infrared light of at least two groups described in calculating or two infrared LED transmittings, table look-up or experimental formula calculates the distance between described distance corresponding primary controller and hunting gear.
In other embodiments, wireless control signal is two or more the combination in radio signal, field signal, ultrasonic signal, infrared signal.Correspondingly, follow-up control method also comprises that step B1 is to two kinds of steps in step B4 or the more combination of multi-step.
In actual applications, hunting gear of the present invention can be designed as: compliant platform; Servo-actuated shopping cart, servo-actuated leather trunk, servo-actuated school bag, servo-actuated perambulator; Servo-actuated toy animals car; And servo-actuated toy airplane.All hunting gears all have Power Drive Unit, ensure hunting gear energy autokinetic movement.Primary controller can be attached to any position of health of human body, such as positions such as arm, leg, waists, or is arranged on knapsack, footwear, clothes.
The present invention conceives a kind of follow-up control method, comprise: by keep constant radio strength, field strength values, ultrasonic intensity value between primary controller and hunting gear, and infrared photography detect in one or more modes keep distance between the two; One or more modes such as the track detection of the detection of cooperation multiple spot, multi-direction detection or cooperation inertial sensor judge direction of motion, again by hunting gear according to the position of the position of primary controller and self, control displacement, to realize with primary controller servo-actuated in certain distance scope.
Between primary controller and hunting gear, adopt the field strength values of default wireless RSSI signal strength values, regular variation, the ultrasound wave that rule changes to keep distance between the two, and one or more in testing to keep at a distance of infrared signal.For example, by hunting gear carry out within the specific limits self rotation, antenna rotation or all around one or more in move mode carry out the variation of the wireless RSSI intensity of sensing, judge peak signal direction, drive hunting gear close to primary controller, due to nearer with the transmitting terminal of primary controller, signal intensity RSSI is stronger, in the time that RSSI intensity level reaches preset value or distance value, and hunting gear stop motion; Also need before this first to set up the decay correspondence database that RSSI wireless signal strength increases with distance, facilitate direct setpoint distance to determine RSSI intensity level.As selection, also can calculate corresponding distance by experimental formula.Be below several embodiments of the present invention.
Embodiment mono-, utilizes the judgement of radio signal strength RSSI to determine distance and direction.
Between primary controller and hunting gear by the radio signal communication of receiving and sending messages, and the ID code comprising according to the information of receiving determines whether it is the signal that the primary controller that matches sends, if coupling judges signal intensity RSSI again, and in database, find corresponding range data according to RSSI signal intensity, the respective value of RSSI signal intensity and distance determines in advance and preserves in test before.Or calculate corresponding distance by experimental formula.
In the present embodiment, primary controller and hunting gear have wireless receiving and dispatching module separately, the signal by transmission with ID code carries out communication, receive the signal of the ID code with coupling, detect RSSI signal intensity now, relatively intensity level, whether in scope, illustrates that in scope servo-actuated distance is moderate.
When intensity or apart from exceeding preset value, owing to cannot determining direction, servo-actuatedly antenna can be rotated to the orientation that identification signal is the strongest, or drive hunting gear self to rotate, or turn a circle that diameter is non-vanishing, or all around move, sense the strongest sense, judge primary controller direction.
The advantage of this method is, not only carry out communication with radio, the characteristic of simultaneously also utilizing the RSSI intensity of radio signal to decay along with the increasing of receiving end and transmitting terminal distance is carried out measuring distance, has reduced components and parts, under the prerequisite that realizes said function, has reduced cost.
Embodiment bis-, utilizes the magnetic field of rule variation and the relation of distance to come judging distance and direction.
Between primary controller and hunting gear, comprise magnetic field R-T unit, magnetic field, by circuit control, has certain rhythm and pace of moving things, facilitates receiving end to differentiate, and determines both sides' distance by detecting the corresponding relation of magnetic field intensity and distance.
RSSI with embodiment mono-is similar, and just RSSI changes magnetic field into.Primary controller is with the magnetic field that can produce rule variation, as sent digital signal: 1110000,1110000 ... continuous like this variation magnetic field data, at hunting gear end for example, with magnetic field detection circuit (Magnetic Sensor, magnetometer), variation magnetic field that can this rule of identification, because the increase of the intensity distance in this magnetic field decays, can test the relation that obtains magnetic field intensity and distance, utilize field strength value to ensure the distance between primary controller and hunting gear.
When intensity or apart from exceeding preset value, owing to cannot determining direction, hunting gear can rotate the orientation that identification signal is the strongest by antenna, or drive hunting gear self to rotate, or turn a circle that diameter is non-vanishing, or all around move, sense the strongest sense, judge primary controller direction.
The advantage of this method is, disturbs under larger environment and still can normally work at aerogram, unaffected.
Embodiment tri-, primary controller and hunting gear utilize the combination of infrared LED and camera.
Between primary controller and hunting gear, include at least 2 infrared LEDs and at least one camera, distance and direction between the size of the distance between the infrared light sending by two groups of opposite ends of detection infrared LED group and orientation judge.
Primary controller is with at least two infrared LEDs, and point has certain distance.On hunting gear with at least one CMOS alignment sensor, for example, utilize a circle infrared LED around primary controller, what facilitate that camera sees from any angle is all the bright wisp of the same length, such as the both feet band infrared LED ring of light, or on neck, be with a ring of light, on the camera of installing on hunting gear, see that the length of infrared LED striation length is converted into distance, and direction is provided, certainly also can have set up before the corresponding relation database of bright wisp length and distance.Or calculate corresponding distance by experimental formula.
The benefit of this method is not to be subject to outside electromagnetic interference completely.
Embodiment tetra-, utilizes ultrasonic ranging.
Between primary controller and hunting gear, comprise ultrasonic receiving device, guarantee both sides' distance (primary controller transmission loop-shaped ultrasound) by ultrasonic ranging.
On primary controller, with ultrasonic transmitter, on hunting gear, with ultrasonic receiver, transmitter is launched in the form of a ring, and receiver received ultrasonic signal carrys out judging distance.Such as in ultrasonic signal with launch time, primary controller and hunting gear are put together and powered on, now receive the ultrasonic signal that primary controller sends, difference between time and the system time of hunting gear oneself comprising in solution read output signal is as the reference value of both sides' zero distance, recycle manually or automatically mode or laboratory test mode primary controller and hunting gear are pulled open to certain distance, and this using in the signal of receiving with time and the difference of the system time of hunting gear inside as suitable servo-actuated distance, an and then definite deviate, as long as both mistimings are within the scope of deviate, just can judge that both are appropriate apart from keeping.Certainly also can set up before the poor corresponding relation database with distance of ultrasonic signal transmitting time of reception.Or calculate corresponding distance by experimental formula.
When the mistiming or apart from exceeding preset value, owing to cannot determining direction, servo-actuatedly antenna can be rotated to the orientation that identification signal is the strongest, or drive hunting gear self rotation, or turn a circle that diameter is non-vanishing, or all around move, or antenna stands in, and disk border does circle by disc rotary drive or elliptical orbit moves, to obtain signal judgement, sense the strongest sense, judge primary controller direction.
Hunting gear (telecar, telecontrolled aircraft, electric trunk etc.) starts power and advances by the direction of pointing to primary controller, in the time that distance arrives the distance of setting, stops.
The benefit of this method is not to be subject to the interference of external electromagnetic and sunshine.
Embodiment five arranges respectively the sensing module being made up of acceleration transducer, gyroscope and/or geomagnetic sensor on primary controller and hunting gear; The place that powers on that primary controller and hunting gear are put together is as motion reference point, by sensing motion separately, and three dimensional space coordinate separately will be obtained after sense data computing, further obtain again movement locus and direction, taking primary controller position as reference point, primary controller and hunting gear sensor sense movement track union operation are separately obtained distance and direction by hunting gear.
It should be noted that, the present invention can also adopt complex method to realize servo-actuated control, can form complex method by the one or more servo-actuated method in above embodiment mono-to five, to carry out complementation and optimization that is:.
In addition, on the basis of above technology, the present invention can also utilize in primary controller and hunting gear end inside with acceleration transducer, gyroscope and geomagnetic sensor, for sensing displacement, and send data by wireless mode, primary controller will obtain sending with respect to the last time relative coordinate of position when data after the exercise data computing of self, it is the coordinate of self that hunting gear sensing displacement obtains receiving primary controller coordinate with respect to the last time, two comprehensive computings of coordinate, obtain the coordinate of this relative primary controller, thereby obtain from the direction of coordinate points primary controller, the distance obtaining in previous methods and direction are carried out to comprehensive computing and obtain more high-precision distance and direction, guarantee that hunting gear and primary controller keep the servo-actuated of certain distance.
Above embodiment is only explanation technical conceive of the present invention and feature, and its object is to allow person skilled in the art can understand content of the present invention and implement accordingly, can not limit the scope of the invention.All equalizations of doing with the claims in the present invention scope change and modify, and all should belong to the covering scope of the claims in the present invention.
Claims (14)
1. a follow-up control method, is characterized in that, comprises the steps:
A, receive from the wireless control signal of primary controller, described wireless control signal comprises at least one in radio signal, field signal, ultrasonic signal, infrared signal;
B, judge the distance of hunting gear and primary controller according to described wireless control signal;
C, in the time that the distance of hunting gear and primary controller exceedes predetermined value, judge primary controller place direction; Or real-time judge primary controller place direction; And drive hunting gear to move to primary controller direction, so that the distance of hunting gear and primary controller is less than described predetermined value, realize servo-actuated;
Wherein, described wireless control signal carries the ID code information of primary controller and/or hunting gear, and steps A comprises:
A1, the ID code comprising in described ID code information is compared with being pre-stored in primary controller in hunting gear and/or the ID code of hunting gear, and in the time that both mate, carry out follow-up step B and step C.
2. follow-up control method according to claim 1, is characterized in that, described wireless control signal is radio signal, and step B comprises:
B1, according to the RSSI information of described radio signal, by tabling look-up or experimental formula calculates corresponding distance.
3. follow-up control method according to claim 1, is characterized in that, described wireless control signal is field signal, and the magnetic field that described ID code information is changed by predetermined rule is defined, and step B comprises:
The intensity in B2, the magnetic field that changes according to described predetermined rule, by tabling look-up or experimental formula calculates corresponding distance.
4. follow-up control method according to claim 1, is characterized in that, described wireless control signal is ultrasonic signal, and step B comprises:
B3, according to described ultrasonic signal from being transmitted into the time of reception, table look-up or experimental formula calculates distance corresponding to ultrasonic transmission/reception time.
5. follow-up control method according to claim 1, is characterized in that, described wireless control signal is infrared signal, and step B comprises:
B4, by being arranged on the infrared lights of at least two groups on the infrared positioning shooting head sensing primary controller on hunting gear or two infrared LED transmittings, the distance of the infrared light by least two groups described in calculating or two infrared LED transmittings, tables look-up or experimental formula calculates the distance between described distance corresponding primary controller and hunting gear.
6. according to the follow-up control method described in any one in claim 2 to 4, it is characterized in that,
In step C, judge that primary controller place direction comprises:
Drive described hunting gear self rotation and/or all around move, antenna rotation and/or all around move, and/or antenna stands in, and disk border does circle by disc rotary drive or elliptical orbit moves, the Strength Changes of wireless control signal described in sensing simultaneously, to determine primary controller place direction.
7. follow-up control method according to claim 1, is characterized in that, described ID code is exclusive ID code and/or public ID code.
8. a hunting gear, its bottom is provided with the wheel for driving described hunting gear to move, and it is characterized in that, and described hunting gear comprises:
Wireless control signal receiver, for receiving the wireless control signal from primary controller, described wireless control signal comprises at least one in radio signal, field signal, ultrasonic signal, infrared signal;
Signal deteching circuit, for detection of described wireless control signal;
Controller, comprises Distance Judgment module, direction judge module, follows instruction generation module, wherein:
Distance Judgment module is for judging the distance of hunting gear and primary controller according to described wireless control signal;
Direction judge module, in the time that the distance of hunting gear and primary controller exceedes predetermined value, judges primary controller place direction, or for real-time judge primary controller place direction;
Follow instruction generation module for generation of drive hunting gear to move and/or turn to follow instruction;
And
The first driving circuit, for following wheel turns described in order-driven described in basis, to drive hunting gear to move towards primary controller; And
The ID code information that described wireless control signal comprises primary controller and/or hunting gear, described controller also comprises ID code authentication module, compare with being pre-stored in primary controller in hunting gear and/or the ID code of hunting gear for ID code that described ID code information is comprised, and when both mate, start described Distance Judgment module and carry out Distance Judgment and operate.
9. hunting gear according to claim 8, is characterized in that,
Described wireless control signal is radio signal;
Described signal deteching circuit is radio signal testing circuit; And
Described Distance Judgment module is for according to the RSSI information of described radio signal, by tabling look-up or experimental formula calculates corresponding distance.
10. hunting gear according to claim 8, is characterized in that,
Described wireless control signal is field signal, and the magnetic field that described ID code information is changed by predetermined rule is defined;
Described signal deteching circuit is magnetic field detection circuit; And
Described Distance Judgment module is for the intensity in the magnetic field that changes according to described rule, by tabling look-up or experimental formula calculates corresponding distance.
11. hunting gears according to claim 8, is characterized in that,
Described wireless control signal is ultrasonic signal, and described primary controller is provided with ultrasonic generator;
Described signal deteching circuit is ultrasonic signal testing circuit; And
Described Distance Judgment module for according to described ultrasonic signal from being transmitted into the time of reception, table look-up or experimental formula calculates distance corresponding to ultrasonic transmission/reception time.
12. hunting gears according to claim 8, is characterized in that,
Described wireless control signal is infrared signal, and described hunting gear is provided with infrared positioning shooting head, for the infrared lights of at least two groups on sensing primary controller or two infrared LED transmittings;
Described signal deteching circuit comprises described infrared positioning shooting head and connected image-signal processor; And
Described Distance Judgment module is for the distance of the infrared light by least two groups described in calculating or two infrared LED transmittings, tables look-up or experimental formula calculates the distance between described distance corresponding primary controller and hunting gear.
13. according to the hunting gear described in any one in claim 9 to 11, it is characterized in that,
Described direction judge module, by detecting instruction to described the first driving circuit sending direction, is controlled described the first driving circuit and is driven described hunting gear self rotation and/or all around move; Accept the information from the Strength Changes of the wireless control signal of signal deteching circuit simultaneously, and determine primary controller place direction according to the information of described Strength Changes; Or
Described wireless control signal receiver is connected with antenna, described antenna is connected with the second driving circuit, described direction judge module is by detecting instruction to described the second driving circuit sending direction, control described the second driving circuit and drive described antenna rotation and/or all around move, and/or antenna stands in, and disk border does circle by disc rotary drive or elliptical orbit moves; Accept the information from the Strength Changes of the wireless control signal of signal deteching circuit simultaneously, and determine primary controller place direction according to the information of described Strength Changes.
14. 1 kinds of servomechanisms, is characterized in that, comprise the primary controller that is provided with wireless control signal transmitter, and hunting gear as described in any one in claim 8 to 13.
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