CN104049633B - Servo control method, servo device and servo system - Google Patents
Servo control method, servo device and servo system Download PDFInfo
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- CN104049633B CN104049633B CN201410265679.7A CN201410265679A CN104049633B CN 104049633 B CN104049633 B CN 104049633B CN 201410265679 A CN201410265679 A CN 201410265679A CN 104049633 B CN104049633 B CN 104049633B
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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, it relates to a kind of follow-up control method, hunting gear and
Servo system.
Background technology
People in daily life or work, such as when going window-shopping, do shopping, travel or going on business, generally all take shopping cart or
Luggage case, needs shopping cart or luggage case in tow to follow it and oneself moves together, be very much inconvenience during owner's walk.Another is most
Original random movement method is exactly to find someone to follow with oneself, and this people is retinue, is pushed away by him, draws shopping cart or luggage case.It is modern
Society human cost is high, finds someone follow unrealistic with oneself at any time.If being realized being servo-actuated with technology, highest technology
Should be exactly to design a robot retinue, it can carry luggage and follow owner, and wherein servo technology scheme is exactly to solve
Certainly follow the key of problem.
Accordingly, it would be desirable to a kind of following control technical and hunting gear, are to realize servo-actuated providing safeguard.
The content of the invention
The technical problem to be solved in the present invention is that the shopping cart existed for prior art or luggage case etc. can not be voluntarily
The problem for following owner to move, there is provided a kind of follow-up control method, hunting gear and servo system.
The technical solution adopted for the present invention to solve the technical problems is：A kind of follow-up control method is provided, including it is as follows
Step：
A, reception carry out the wireless control signal of master, and the wireless control signal includes that radio signal, magnetic field are believed
Number, at least one in ultrasonic signal, infrared signal；
B, the distance that hunting gear and main controller are judged according to the wireless control signal；
C, when hunting gear and main controller distance exceed predetermined value when, judge main controller place direction, or real-time judge
Main controller place direction；And drive hunting gear to move to main controller direction, so that hunting gear is less than with the distance of main controller
The predetermined value, realizes servo-actuated；
Wherein, the wireless control signal carries the ID code information of main controller and/or hunting gear, and step A includes：
A1, by the ID codes included in the ID codes information and the main controller and/or hunting gear being pre-stored in hunting gear
ID codes be compared, and perform follow-up step B and step C when such a match occurs.
In follow-up control method of the present invention, the wireless control signal is radio signal, and step B includes：
B1, according to the RSSI information of the radio signal, by tabling look-up or empirical equation is calculated corresponding distance.
In follow-up control method of the present invention, the wireless control signal be field signal, the ID codes information
The magnetic field changed by predetermined rule is defined, and step B includes：
B2, according to the intensity in the magnetic field of the predetermined rule change, by table look-up or empirical equation be calculated it is corresponding
Distance.
In follow-up control method of the present invention, the wireless control signal is ultrasonic signal, and step B includes：
B3, according to the ultrasonic signal from the time for being transmitted into reception, table look-up or empirical equation be calculated ultrasound wave
Transmitting-receiving time corresponding distance.
In follow-up control method of the present invention, the wireless control signal is infrared signal, and step B includes：
B4, at least two groups or two sensed on main controller by the infrared positioning shooting head that is arranged on hunting gear are red
The infrared light of outer LED emission, the distance of the infrared light by being calculated described at least two groups or two infrared LED transmittings, looks into
Table or empirical equation are calculated described apart from the distance between corresponding main controller and hunting gear.
In follow-up control method of the present invention,
Judge that main controller place direction includes in step C：
The hunting gear itself is driven to rotate and/or all around move, antenna rotates and/or all around moves,
And/or antenna stands in disk border and does circle or elliptic orbit movement by disc rotary drive, while sensing the controlled in wireless letter
Number Strength Changes, to determine main controller place direction.
In follow-up control method of the present invention, the ID codes are exclusive ID codes and/or public ID codes.
The technical solution adopted for the present invention to solve the technical problems is：A kind of hunting gear is constructed, its bottom is provided with
For driving the wheel of the hunting gear movement, the hunting gear to include：
Wireless control signal receptor, for receiving the wireless control signal for carrying out master, the wireless control signal
Including at least one in radio signal, field signal, ultrasonic signal, infrared signal；
Signal deteching circuit, for detecting the wireless control signal；
Controller, including Distance Judgment module, walking direction module, directive generation module is followed, wherein：
Distance Judgment module is used to judge the distance of hunting gear and main controller according to the wireless control signal；
Walking direction module is used for when the distance of hunting gear and main controller exceedes predetermined value, judges main controller place side
To, or for real-time judge main controller place direction；
Follow directive generation module for produce drive hunting gear movement and/or steering follow instruction；
And
First drive circuit, for according to it is described follow order-driven described in wheel rotate, to drive hunting gear direction
Main controller is moved；And
ID code information of the wireless control signal comprising main controller and/or hunting gear, the controller also includes ID
Code authentication module, for the ID codes that will be included in the ID codes information and the main controller being pre-stored in hunting gear and/or servo-actuated
The ID codes of device are compared, and start the Distance Judgment module execution Distance Judgment operation when such a match occurs.
In hunting gear of the present invention,
The wireless control signal is radio signal；
The signal deteching circuit is that radio signal detects circuit；And
The Distance Judgment module is used for according to the RSSI information of the radio signal, by tabling look-up or empirical equation meter
Calculation obtains corresponding distance.
In hunting gear of the present invention,
The wireless control signal is field signal, and the ID codes information is defined by the magnetic field that predetermined rule changes；
The signal deteching circuit is magnetic field detection circuit；And
The Distance Judgment module is used for the intensity in the magnetic field according to rule change, by tabling look-up or empirical equation meter
Calculation obtains corresponding distance.
In hunting gear of the present invention,
The wireless control signal is ultrasonic signal, and the main controller is provided with supersonic generator；
The signal deteching circuit is that ultrasonic signal detects circuit；And
The Distance Judgment module was used for according to the ultrasonic signal from the time for being transmitted into reception, tables look-up or experience is public
Formula is calculated ultrasonic transmission/reception time corresponding distance.
In hunting gear of the present invention,
The wireless control signal is infrared signal, and the hunting gear is provided with infrared positioning shooting head, for sensing
The infrared light of at least two groups or two infrared LED transmittings on main controller；
The signal deteching circuit includes the infrared positioning shooting head and connected image-signal processor；And
The Distance Judgment module is used for the infrared light by being calculated described at least two groups or two infrared LED transmittings
Distance, table look-up or empirical equation be calculated it is described apart from the distance between corresponding main controller and hunting gear.
In hunting gear of the present invention,
The walking direction module controls described first and drives by instructing to the first drive circuit sending direction detection
Hunting gear itself described in dynamic drives rotates and/or all around moves；Receive the nothing from signal deteching circuit simultaneously
The information of the Strength Changes of line control signal, and main controller place direction is determined according to the information of the Strength Changes；Or
The wireless control signal receptor is connected with antenna, and the antenna is connected with the second drive circuit, the direction
Judge module controls second drive circuit and drives the day by instructing to the second drive circuit sending direction detection
Line rotates and/or all around moves, and/or antenna stands in disk border and does circle or elliptic orbit shifting by disc rotary drive
It is dynamic；While receive the information of the Strength Changes of the wireless control signal from signal deteching circuit, and according to the Strength Changes
Information determine main controller place direction.
The technical solution adopted for the present invention to solve the technical problems is：A kind of servo system is constructed, it includes being provided with
The main controller of wireless control signal emitter, and hunting gear as above.
Implement the present invention, have the advantages that：Hunting gear can interpolate that it, can the distance between with main controller
When the distance of hunting gear and main controller exceedes predetermined value or real time discriminating main controller place direction and drive hunting gear to
Main controller direction is moved, and the distance with main controller is kept, to realize being servo-actuated.
Technical scheme has low cost, the high advantage of control accuracy.
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 servo system 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 flow chart of follow-up control method of the present invention.
Specific embodiment
As shown in figure 1, in one embodiment of this invention, servo system include main controller 1 and with its wireless communication connection
Hunting gear 2.
Specifically, wireless control signal emitter 10 is provided with main controller 1, for launching wireless control signal.
Hunting gear 2 includes controller 20, wireless control signal receptor 21, the signal inspection with the communication connection of controller 20
The drive circuit 23 of slowdown monitoring circuit 22 and first, and the wheel for driving hunting gear movement being connected with the first drive circuit 23
31, for example, wheel may be installed hunting gear bottom.Further, controller 20 is sentenced including Distance Judgment module 201, direction
Disconnected module 203, follow directive generation module 205.
In the course of work of servo system, wireless control signal receptor 21 receives the controlled in wireless for carrying out master 1
Signal.Afterwards, 22 pairs of wireless control signals for receiving of signal deteching circuit are detected, and testing result is sent to control
Device 20.
Then, the Distance Judgment module 201 in controller 20 judges hunting gear and main controller according to wireless control signal
Distance；When the distance of hunting gear and main controller exceedes predetermined value, walking direction module 203 judges main controller place side
To, or direction module 203 at any time (real-time) judge and track main controller place direction；Directive generation module 205 is followed to be used for
Produce drive hunting gear movement and/or turn to follow instruction；First drive circuit 23 according to follow order-driven wheel turn
It is dynamic, to drive hunting gear to move towards main controller.
In various embodiments of the present invention, wireless control signal includes radio signal, field signal, ultrasound wave letter
Number, at least one in infrared signal.
Fig. 2 is the schematic block diagram of the hunting gear 2 ' of another embodiment of the present invention.As shown in Fig. 2 with Fig. 1 in servo-actuated dress
Put 2 to compare, except that, hunting gear 2 ' also includes the second drive circuit 24, memorizer with the communication connection of controller 2
25, and the antenna 32 for being connected (not shown) with wireless control signal receptor 21 and being connected with the second drive circuit 24.
In addition, controller 20 also includes ID codes authentication module 207.
In the present embodiment, the ID code information of main controller 1 and/or hunting gear 2 ' is carried in wireless control signal, is controlled
ID codes authentication module 207 in device processed 20 is used in the wireless control signal for receiving wireless control signal receptor 21 comprising ID
ID codes in code information are compared with the ID codes of the main controller and/or hunting gear that are pre-stored in the memorizer 25 of hunting gear
Compared with, and start the execution Distance Judgment operation of Distance Judgment module 201 when such a match occurs.It should be noted that ID codes can be
Exclusive ID codes and/or public ID codes.Exclusive ID facilitates one-to-one, and public facilitates one-to-many.For example, for luggage case, shopping
The hunting gears such as car, need main controller to have one-to-one relation with hunting gear, and ID codes are exclusive ID codes.Again for example, for
Without the need for one-to-one occasion, such as the toy played in family it is servo-actuated, ID codes can be public ID codes.
In certain embodiments, for example, when wireless control signal is radio signal, field signal and/or ultrasound wave letter
In the case of number, when the distance of hunting gear and main controller exceedes predetermined value, the second drive circuit can be according to walking direction mould
The angle detecting instruction that block is sent to, drives antenna 32 to rotate；Receive to believe from the controlled in wireless of signal deteching circuit simultaneously
Number Strength Changes information, and the place direction of main controller 20 is determined according to the information of Strength Changes.
In further embodiments, for example, when wireless control signal is radio signal, field signal and/or ultrasound wave
In the case of signal, when the distance of hunting gear and main controller exceedes predetermined value, walking direction module 203 judges main controller institute
Include in direction：By instructing to the detection of the first drive circuit sending direction, the first drive circuit of control drives walking direction module
Dynamic hunting gear itself rotates and/or all around moves；Simultaneously acceptance is from the wireless control signal of signal deteching circuit
The information of Strength Changes, and main controller place direction is determined according to the information of the Strength Changes.
In certain embodiments, also can real-time judge and track main controller place direction.
Memorizer 25 is used to store the ID codes of the main controller and/or hunting gear matched with hunting gear, and for root
Obtain the data or program required for the distance of hunting gear and main controller according to wireless control signal, for example, signal intensity with away from
From correspondence table, and/or algorithm routine etc..
In one embodiment, wireless control signal is radio signal；Signal deteching circuit is radio signal detection electricity
Road；And Distance Judgment module is used for according to the RSSI strength informations of radio signal, by tabling look-up or empirical equation is calculated
Corresponding distance.
In another embodiment, wireless control signal is field signal, the magnetic field institute that ID codes information is changed by predetermined rule
Definition；Signal deteching circuit is magnetic field detection circuit；Distance Judgment module is used for the intensity in the magnetic field according to rule change, passes through
Table look-up or empirical equation is calculated corresponding distance.
In another embodiment, wireless control signal is ultrasonic signal, and main controller be provided with ultrasonic transmitter, with
Dynamic device is provided with ultrasonic receiver；Signal deteching circuit detection carrys out the ultrasonic signal of master；And Distance Judgment module
For, from the time for being transmitted into reception, tabled look-up according to ultrasonic signal or empirical equation be calculated the ultrasonic transmission/reception time correspondence
Distance.
In another embodiment, wireless control signal is infrared signal, and hunting gear is provided with infrared positioning shooting head, is used
The infrared light of at least two groups or two infrared LED transmittings on sensing main controller；It is described infrared fixed that signal deteching circuit includes
Position photographic head and connected image-signal processor；And Distance Judgment module be used for by be calculated this at least two groups or
The distance between infrared light of two infrared LED transmittings, tables look-up or empirical equation is calculated this at least two groups or two infrared
The distance between main controller and hunting gear corresponding to the distance between infrared light of LED emission.
In other embodiments, wireless control signal is radio signal, field signal, ultrasonic signal, infrared signal
In the combination of two or more.Correspondingly, radio signal detection circuit, magnetic field detection electricity are provided with hunting gear
The combination of two or more in road, ultrasonic signal detection circuit, infrared positioning shooting head.
As shown in figure 3, follow-up control method of the present invention comprises the steps：
After step is started, in step A, the wireless control signal for carrying out master is received.Then, step is carried out
B.In stepb, the distance of hunting gear and main controller is judged according to wireless control signal.Subsequently, hunting gear and master are judged
Whether the distance of control device exceedes predetermined value.
When the distance of hunting gear and main controller exceedes predetermined value, execution step C.In step C, main controller institute is judged
In direction, and hunting gear is driven to move to main controller direction, so that hunting gear is predetermined less than described with the distance of main controller
Value, realizes servo-actuated.For example, judge that main controller place direction includes in step C：Drive the hunting gear itself rotate and/or
All around move, antenna rotates and/or all around moves, and/or antenna stands in disk border and is done by disc rotary drive
Circle or elliptic orbit movement, to obtain signal judgement, while the Strength Changes of the wireless control signal are sensed, to determine master control
Device place direction.
After step C, follow-up control method proceeds, and for example, return to step A proceeds servo antrol.
When the distance of hunting gear and main controller is not less than predetermined value, return to step A continues to wireless control signal
To carry out servo antrol.
In some other embodiment, step C can be carried out at any time, real-time judge main controller place direction, and drive with
Dynamic device to main controller direction is moved, so that hunting gear is less than predetermined value with the distance of main controller, is realized servo-actuated.
In one embodiment of this invention wireless control signal carries the ID code information of main controller and/or hunting gear,
And step A includes：Step A1 (not shown)：By the ID codes included in the ID codes information be pre-stored in hunting gear
The ID codes of main controller and/or hunting gear are compared, and perform follow-up step B and step C when such a match occurs.
In various embodiments, wireless control signal includes radio signal, field signal, ultrasonic signal, infrared letter
At least one in number.
In one embodiment, wireless control signal is radio signal, and step B includes：Step B1：According to radio signal
RSSI information, by tabling look-up or empirical equation is calculated corresponding distance.
In another embodiment, wireless control signal is field signal, the magnetic field institute that ID codes information is changed by predetermined rule
Definition, step B includes：Step B2：The intensity in the magnetic field changed according to the predetermined rule, by tabling look-up or empirical equation is calculated
To corresponding distance.
In another embodiment, wireless control signal is ultrasonic signal, and step B includes：Step B3：Believed according to ultrasound wave
Number from the time for being transmitted into reception, table look-up or empirical equation is calculated ultrasonic transmission/reception time corresponding distance.
In another embodiment, wireless control signal is infrared signal, and step B includes：Step B4：At least two groups or two
Infrared LED with infrared positioning shooting head respectively in main controller or hunting gear, by the infrared positioning being arranged on hunting gear
The infrared light of at least two groups or two infrared LED transmittings on photographic head sensing main controller, by being calculated described at least two
The distance between group or the infrared light of two infrared LEDs transmitting, table look-up or empirical equation be calculated it is described apart from corresponding master
Control the distance between device and hunting gear.
In other embodiments, wireless control signal is radio signal, field signal, ultrasonic signal, infrared signal
In the combination of two or more.Correspondingly, follow-up control method also include step B1 to step B4 in two kinds of steps or
The combination of more 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, with
Dynamic school bag, servo-actuated stroller；Servo-actuated toy animals car；And servo-actuated toy airplane.All of hunting gear all drives with power
Dynamic device, it is ensured that hunting gear energy autonomic movement.Main controller can be attached to any position of body of human body, such as arm, lower limb,
The positions such as waist, or on knapsack, footwear, clothes.
A kind of follow-up control method of present inventive concept, including：By keeping constant between main controller and hunting gear
One or more mode in radio strength, field strength values, ultrasonic intensity value, and infrared photography detection is keeping both
The distance between；Coordinate multiple spot detection, multi-direction detection or coordinate one or more mode such as the track detection of inertial sensor
To judge the direction of motion, then displacement is controlled according to the position and the position of itself of main controller by hunting gear, with realize with
Main controller is in the servo-actuated of certain distance scope.
It is strong using default wireless RSSI signal strength values, regularly changing magnetic field between main controller and hunting gear
Angle value, the ultrasound wave of rule change are keeping distance between the two, and infrared signal is tested come the one kind in keeping at a distance
Or it is various.For example, itself rotation, antenna rotation are carried out within the specific limits or all around in move mode by hunting gear
One or more change to sense wireless RSSI intensity, judges peak signal direction, drives hunting gear close to main controller,
Due to nearer with the transmitting terminal of main controller, RSSI is stronger for signal intensity, when RSSI intensity levels reach preset value or distance value, with
Dynamic device stop motion；Also need to before this first set up the decay corresponding data that RSSI wireless signal strengths increase with distance
Storehouse, facilitates direct setpoint distance to determine RSSI intensity levels.Alternatively, can also by empirical equation be calculated it is corresponding away from
From.It is below several embodiments of the present invention.
Embodiment one, distance and direction are determined using the judgement of radio signal strength RSSI.
Receive and send messages to communicate by radio signal between main controller and hunting gear, and according to the information institute for receiving
Comprising ID codes determine whether it is signal that matching main controller sends, if matching is again judging signal intensity RSSI, and
The respective value of corresponding range data, RSSI signal intensitys and distance is found before in data base according to RSSI signal intensitys
Test in determine in advance and preserve.Or corresponding distance is calculated by empirical equation.
In the present embodiment, main controller each has wireless receiving and dispatching module with hunting gear, by sending with ID codes
Signal receives the signal of the ID codes with matching being communicated, and detects RSSI signal intensitys now, whether compares intensity level
In the range of, illustrate servo-actuated apart from moderate in the range of.
When intensity or distance exceed preset value, due to determining direction, being servo-actuated can be by antenna rotation identification signal most
Strong orientation, or hunting gear itself rotation is driven, or turn the circle that a diameter is not zero, or all around move, feel
Most strong sense is measured, main controller direction is judged.
The advantage of this method is not only to be communicated with radio, while also using the RSSI intensity of radio signal
The characteristic decayed with the increasing of receiving terminal and transmitting terminal distance carrys out measurement distance, reduces components and parts, is realizing same work(
Cost is reduced on the premise of energy.
Embodiment two, magnetic field and the relation of distance of assimilated equations change come judging distance and direction.
Magnetic field transceiver is included between main controller and hunting gear, magnetic field is square with certain rhythm and pace of moving things by circuit control
Just receiving terminal is differentiated, and by detecting magnetic field intensity with the corresponding relation of distance the distance of both sides is determined.
It is similar to the RSSI of embodiment one, simply RSSI changes magnetic field into.Main controller carries the magnetic field that can produce rule change,
As sent digital signal：1110000,1110000 ... so continuous variation magnetic field data, in hunting gear end band
There is magnetic field detection circuit (such as Magnetic Sensor, magnetometer), the variation magnetic field of this rule can be recognized, due to this magnetic field
Intensity decays with the increase of distance, can test the relation for obtaining magnetic field intensity and distance, is protected using field strength value
The distance between card main controller and hunting gear.
When intensity or distance exceed preset value, due to determining direction, hunting gear can be by antenna rotation identification letter
Number most strong orientation, or hunting gear itself rotation is driven, or turn the circle that a diameter is not zero, or all around move
It is dynamic, most strong sense is sensed, judge main controller direction.
The advantage of this method is to remain able to normal work in the case where aerogram disturbs larger environment, unaffected.
Embodiment three, main controller utilizes the combination of infrared LED and photographic head with hunting gear.
Include at least 2 infrared LEDs and at least one photographic head between main controller and hunting gear, it is right by detecting
The distance between hold the size and orientation of the distance between the infrared light that two groups of infrared LED groups send to judge and direction.
Main controller carries at least two infrared LEDs, and separately has certain distance.At least one is carried on hunting gear
CMOS alignment sensors, for example, using a circle infrared LED around main controller, facilitate photographic head to see all from any angle
The bright wisp of the same length, such as the double-legged band infrared LED ring of light, or one ring of light of neck upper band, that what is installed on hunting gear takes the photograph
As the length that infrared LED Rhizoma Dioscoreae (peeled) length is seen on head is converted into distance, and there is provided direction, can also set up before certainly
The corresponding relation database of bright wisp length and distance.Or corresponding distance is calculated by empirical equation.
The benefit of this method is not receive outside electromagnetic interference completely.
Example IV, using ultrasonic ranging.
Between main controller and hunting gear include ultrasonic receiving device, guaranteed by ultrasonic ranging both sides away from
From (main controller transmission loop-shaped ultrasound).
Ultrasonic transmitter is carried on main controller, ultrasonic receiver is carried on hunting gear, emitter is annular in shape
Transmitting, receptor received ultrasonic signal carrys out judging distance.Such as in ultrasonic signal carry launch time, by main controller with
Hunting gear is put together upper electricity, now receives the ultrasonic signal of main controller transmission, interprets the time included in signal
And the difference between the system time of hunting gear oneself is used as the reference value of both sides' zero distance, manually or automatically mode is recycled
Or both main controller and hunting gear are pulled open certain distance by laboratory test mode, and here will be carried in the signal for receiving
Then the difference of the system time inside time and hunting gear determines again a deviation as appropriate servo-actuated distance, as long as two
The time difference of person is in the range of deviation, it is possible to judge that both distances keep being appropriate.Certainly can also set up before
Ultrasonic signal transmitting receives the corresponding relation database of time difference and distance.Or be calculated by empirical equation corresponding
Distance.
It is servo-actuated antenna to be rotated identification signal due to direction cannot be determined when time difference or distance exceed preset value
Most strong orientation, or hunting gear itself rotation is driven, or turn the circle that a diameter is not zero, or all around move,
Or antenna stands in disk border and does circle or elliptic orbit movement by disc rotary drive, to obtain signal judgement, senses most strong
Sense, judge main controller direction.
Hunting gear (telecar, telecontrolled aircraft, electric trunk etc.) starts power and advances by the direction for pointing to main controller,
When distance reach setting apart from when stop.
The benefit of this method is not disturbed by external electromagnetic and sunlight.
Embodiment five, is respectively provided with main controller and hunting gear and is passed by acceleration transducer, gyroscope and/or earth magnetism
The sensing module that sensor is constituted；The upper electric place that main controller and hunting gear are put together as motion reference point, by sense
Survey respective motion, and respective three dimensional space coordinate will be obtained after sensing data computing, further obtain movement locus and
Direction, with main controller position as reference point, hunting gear moves main controller and the respective sensor sensing of hunting gear
Track union operation obtains distance and direction.
It should be noted that the present invention can also realize servo antrol using complex method, i.e.,：Can implement by more than
One or more follow-up methods in example one to five constitute complex method, to carry out complementation and optimization.
In addition, on the basis of above technology, the present invention can also be utilized and carried inside main controller and hunting gear end
Acceleration transducer, gyroscope and geomagnetic sensor, for sensing displacement, and wirelessly send data, master control
Device will obtain the relative coordinates relative to position during last transmission data, hunting gear after the exercise data computing of itself
It is the coordinate of itself that sensing displacement is obtained relative to the last main controller coordinate that receives, and two coordinate synthesis computings are obtained
The coordinate of this relative main controller, so as to obtain from coordinate pointing to the direction of main controller, by the distance obtained in previous methods and
Direction carries out distance and the direction that comprehensive computing obtains higher precision, it is ensured that hunting gear and main controller keep certain distance with
It is dynamic.
Above example technology design only to illustrate the invention and feature, its object is to allow person skilled in the art
Scholar will appreciate that present disclosure and implement accordingly, can not limit the scope of the invention.It is all to want with right of the present invention
The impartial change that scope is done and modification are asked, the covering scope of the claims in the present invention all should be belonged to.
Claims (10)
1. a kind of follow-up control method, it is characterised in that comprise the steps：
A, reception carry out the wireless control signal of master, and the wireless control signal includes radio signal, field signal, surpasses
At least one in acoustic signals, infrared signal, the main controller is correspondingly provided with wireless receiving and dispatching module, can produce rule change
At least one in emitter, ultrasonic transmitter, the Infrared Projector in the magnetic field of change；
B, the distance that hunting gear and main controller are judged according to the wireless control signal；
C, when hunting gear and main controller distance exceed predetermined value when, judge main controller place direction；Or real-time judge master control
Device place direction；And drive hunting gear to move to main controller direction so that hunting gear and the distance of main controller be less than it is described
Predetermined value, realizes servo-actuated；
Wherein, the wireless control signal carries the ID code information of main controller and/or hunting gear, and step A includes：
A1, by the ID codes included in the ID codes information and the main controller being pre-stored in hunting gear and/or the ID of hunting gear
Code is compared, and performs follow-up step B and step C when such a match occurs；
Wherein,
When the wireless control signal is radio signal, step B includes：
B1, according to the RSSI information of the radio signal, by tabling look-up or empirical equation is calculated corresponding distance；Or
Person,
When the wireless control signal is field signal, the ID codes information is defined by the magnetic field that predetermined rule changes, step B
Including：
B2, according to the intensity in the magnetic field of the predetermined rule change, by tabling look-up or empirical equation is calculated corresponding distance；
Or,
When the wireless control signal is ultrasonic signal, step B includes：
B3, according to the ultrasonic signal from the time for being transmitted into reception, table look-up or empirical equation be calculated ultrasonic transmission/reception
Time corresponding distance；Or,
When the wireless control signal is infrared signal, step B includes：
B4, at least two groups or two infrared sensed by the infrared positioning shooting head being arranged on hunting gear on main controller
The infrared light of LED emission, the distance of the infrared light by being calculated described at least two groups or two infrared LED transmittings, tables look-up
Or empirical equation be calculated it is described apart from the distance between corresponding main controller and hunting gear；
Wherein,
The main controller and hunting gear end inside carry acceleration transducer, gyroscope and geomagnetic sensor, for sensing certainly
Body is moved, and wirelessly sends data, and main controller will obtain being sent out relative to last after the exercise data computing of itself
The relative coordinates of position when sending data, hunting gear sensing displacement obtains receiving main controller coordinate relative to last
It is the coordinate of itself, two coordinate synthesis computings obtain the coordinate of this relative main controller, so as to obtain pointing to master control from coordinate
The direction of device, carries out distance and direction that comprehensive computing obtains higher precision, really by the distance obtained in previous methods and direction
Protect hunting gear and keep the servo-actuated of certain distance with main controller.
2. follow-up control method according to claim 1, it is characterised in that
Judge that main controller place direction includes in step C：
The hunting gear itself is driven to rotate and/or all around move, antenna rotates and/or all around moves, and/or
Antenna stands in disk border and does circle or elliptic orbit movement by disc rotary drive, while sensing the strong of the wireless control signal
Degree change, to determine main controller place direction.
3. follow-up control method according to claim 1, it is characterised in that the ID codes are exclusive ID codes and/or public
ID codes.
4. a kind of hunting gear, its bottom is provided with the wheel for driving the hunting gear movement, it is characterised in that described
Hunting gear includes：
Wireless control signal receptor, for receiving the wireless control signal for carrying out master, the wireless control signal includes
At least one in radio signal, field signal, ultrasonic signal, infrared signal, the main controller is correspondingly provided with nothing
In line transmitting-receiving module, emitter, ultrasonic transmitter, the Infrared Projector in the magnetic field that can produce rule change at least one
Kind；
Signal deteching circuit, for detecting the wireless control signal；
Controller, including Distance Judgment module, walking direction module, directive generation module is followed, wherein：
Distance Judgment module is used to judge the distance of hunting gear and main controller according to the wireless control signal；
Walking direction module is used for when the distance of hunting gear and main controller exceedes predetermined value, judges main controller place direction,
Or for real-time judge main controller place direction；
Follow directive generation module for produce drive hunting gear movement and/or steering follow instruction；
And
First drive circuit, for according to it is described follow order-driven described in wheel rotate, to drive hunting gear towards master control
Device is moved；And
ID code information of the wireless control signal comprising main controller and/or hunting gear, the controller is also tested including ID codes
Card module, for by the ID codes included in the ID codes information and the main controller and/or hunting gear being pre-stored in hunting gear
ID codes be compared, and start the Distance Judgment module when such a match occurs and perform Distance Judgment operation；
Wherein,
The main controller and hunting gear end inside carry acceleration transducer, gyroscope and geomagnetic sensor, for sensing certainly
Body is moved, and wirelessly sends data, and main controller will obtain being sent out relative to last after the exercise data computing of itself
The relative coordinates of position when sending data, hunting gear sensing displacement obtains receiving main controller coordinate relative to last
It is the coordinate of itself, two coordinate synthesis computings obtain the coordinate of this relative main controller, so as to obtain pointing to master control from coordinate
The direction of device, carries out distance and direction that comprehensive computing obtains higher precision, really by the distance obtained in previous methods and direction
Protect hunting gear and keep the servo-actuated of certain distance with main controller.
5. hunting gear according to claim 4, it is characterised in that
The wireless control signal is radio signal；
The signal deteching circuit is that radio signal detects circuit；And
The Distance Judgment module is used for according to the RSS I information of the radio signal, by tabling look-up or empirical equation is calculated
Obtain corresponding distance.
6. hunting gear according to claim 4, it is characterised in that
The wireless control signal is field signal, and the ID codes information is defined by the magnetic field that predetermined rule changes；
The signal deteching circuit is magnetic field detection circuit；And
The Distance Judgment module is used for the intensity in the magnetic field according to rule change, by tabling look-up or empirical equation is calculated
To corresponding distance.
7. hunting gear according to claim 4, it is characterised in that
The wireless control signal is ultrasonic signal, and the main controller is provided with supersonic generator；
The signal deteching circuit is that ultrasonic signal detects circuit；And
The Distance Judgment module was used for according to the ultrasonic signal from the time for being transmitted into reception, tabled look-up or empirical equation meter
Calculation obtains ultrasonic transmission/reception time corresponding distance.
8. hunting gear according to claim 4, it is characterised in that
The wireless control signal is infrared signal, and the hunting gear is provided with infrared positioning shooting head, for sensing master control
The infrared light of at least two groups or two infrared LED transmittings on device；
The signal deteching circuit includes the infrared positioning shooting head and connected image-signal processor；And
The Distance Judgment module be used for the infrared light by being calculated described at least two groups or two infrared LED transmittings away from
From, table look-up or empirical equation be calculated it is described apart from the distance between corresponding main controller and hunting gear.
9. the hunting gear according to any one of claim 5 to 7, it is characterised in that
The walking direction module controls described first and drives electricity by instructing to the first drive circuit sending direction detection
Road drives hunting gear itself rotation and/or all around moves；Receive the wireless controlled from signal deteching circuit simultaneously
The information of the Strength Changes of signal processed, and main controller place direction is determined according to the information of the Strength Changes；Or
The wireless control signal receptor is connected with antenna, and the antenna is connected with the second drive circuit, the walking direction
Module controls second drive circuit and drives the antenna rotation by instructing to the second drive circuit sending direction detection
Turn and/or all around move, and/or antenna stands in disk border and does circle or elliptic orbit movement by disc rotary drive；Together
When receive wireless control signal from signal deteching circuit Strength Changes information, and according to the information of the Strength Changes
Determine main controller place direction.
10. a kind of servo system, it is characterised in that including the main controller for being provided with wireless control signal emitter, and as weighed
Profit requires the hunting gear any one of 4 to 9, wherein the wireless control signal include radio signal, field signal,
At least one in ultrasonic signal, infrared signal, the main controller is correspondingly provided with wireless receiving and dispatching module, can produce rule
At least one in emitter, ultrasonic transmitter, the Infrared Projector in the magnetic field of change.
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| CN201410265679.7A CN104049633B (en) | 2014-06-13 | 2014-06-13 | Servo control method, servo device and servo system |
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| CN201410265679.7A CN104049633B (en) | 2014-06-13 | 2014-06-13 | Servo control method, servo device and servo system |
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