CN105388851A - Moving body visual control system and method, electromechanical moving body and mobile terminal - Google Patents
Moving body visual control system and method, electromechanical moving body and mobile terminal Download PDFInfo
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- CN105388851A CN105388851A CN201510726713.0A CN201510726713A CN105388851A CN 105388851 A CN105388851 A CN 105388851A CN 201510726713 A CN201510726713 A CN 201510726713A CN 105388851 A CN105388851 A CN 105388851A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41324—Modular servo drive, simo drive
Abstract
The invention provides a moving body visual control system and a method, an electromechanical moving body and a mobile terminal. The moving body visual control system comprises the electromechanical moving body and the mobile terminal; the electromechanical moving body comprises a mechanical structural part and a control device; the control device comprises a motor, a motor driving unit, a control unit and a first communication unit; the mobile terminal comprises a camera unit, a computational processing unit and a second communication unit; the camera unit captures a real-time dynamic image of the electromechanical moving body; the computational processing unit uses the real-time dynamic image to determine the current moving track of the electromechanical moving body; a control signal is generated according to the difference between the current moving track and a reference moving track, and the control signal is sent to the electromechanical moving body; and the motor driving unit outputs a correction driving signal corresponding to the control signal to change the current moving state of the motor, and the current moving track of the mechanical structural part is corrected. The measurement result is accurate, and the moving body track can be corrected more accurately.
Description
Technical field
The present invention relates to Electromechanical Control technology, particularly relate to a kind of movable body vision control system based on mobile terminal and method, electromechanical movement body and mobile terminal.
Background technology
Electromechanical movement body, as electric toy car or giro, is in operation and all needs to control.Control system is generally made up of movement locus specified rate, motion state sensor, motion actuators (driver) and controller, is often that core is built with microprocessor.In the ordinary course of things, electromechanical movement body is all be set together with its control system.But this traditional electromechanical movement body can only adopt usually if the indirect measurement method of measurement motor speed and so on is to obtain the position of movable body, and measurement result is more inaccurate, and needs to build controller specially.
Summary of the invention
Give hereinafter about brief overview of the present invention, to provide about the basic comprehension in some of the present invention.Should be appreciated that this general introduction is not summarize about exhaustive of the present invention.It is not that intention determines key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
Given this, the invention provides a kind of movable body vision control system based on mobile terminal and method, electromechanical movement body and mobile terminal, the indirect measurement method as measured motor speed and so on usually can only being adopted to make the inaccurate problem of measurement result to obtain the position of movable body to solve traditional electromechanical movement body.
According to an aspect of the present invention, provide a kind of movable body vision control system based on mobile terminal, described movable body vision control system comprises electromechanical movement body and mobile terminal, wherein, described electromechanical movement body comprises machine structural parts and control device, described control device comprises motor, electric-motor drive unit, control module and the first communication unit, described motor is connected with described machine structural parts mechanical kilowatt, described electric-motor drive unit and described motor are electrically connected, described control module is electrically connected described electric-motor drive unit and described first communication unit, described mobile terminal comprises image unit, calculation processing unit and second communication unit, described electromechanical movement body controls described electric-motor drive unit by described control module and exports initial driving signal, drives described electric machine rotation and drive described machine structural parts to move to utilize described initial driving signal, described mobile terminal catches the Real-time Motion Image of described electromechanical movement body by described image unit, and the current kinetic track of described electromechanical movement body is determined by the Real-time Motion Image that described calculation processing unit utilizes described image unit to catch, generate control signal with the current kinetic track according to described electromechanical movement body with the difference with reference to movement locus, and by described second communication unit, described control signal is sent to described electromechanical movement body with wireless communication mode, described electromechanical movement body receives described control signal by described first communication unit, and described control signal is sent to described electric-motor drive unit, the correction drive singal corresponding with described control signal is exported to make described electric-motor drive unit, and utilize described correction drive singal to change the current motion state of described motor, revise the current kinetic track of described machine structural parts.
Further, described mobile terminal is one of following equipment: smart mobile phone, panel computer.
Further, described electromechanical movement body is electric toy car, described machine structural parts is two rear wheels of described electric toy car, described motor comprises two direct-flow deceleration electric motors, each described rear wheel connects a described direct-flow deceleration electric motor separately, described electric-motor drive unit comprises two L298N type motor drive ics, and each described direct-flow deceleration electric motor is driven by a described L298N type motor drive ic respectively, and described control module adopts C8051F020 type microprocessor; Described mobile terminal is smart mobile phone, and described image unit adopts OV5640 type CMOS photographing module; Described first communication unit and described second communication unit are USR-WIFI232-T type WIFI communication module.
In addition, according to a further aspect in the invention, additionally provide a kind of movable body visual spatial attention method based on mobile terminal, described movable body visual spatial attention method comprises: start the control module in described movable body, and export initial driving signal by the electric-motor drive unit that described control module controls in described movable body, drive the electric machine rotation in described movable body to utilize described initial driving signal and drive the machine structural parts in described movable body to move; The Real-time Motion Image of described electromechanical movement body is caught by described mobile terminal, and utilize described Real-time Motion Image to determine the current kinetic track of described electromechanical movement body, generate control signal with the current kinetic track according to described electromechanical movement body with the difference with reference to movement locus, and generated control signal is sent to described electromechanical movement body with wireless communication mode from described mobile terminal; And after described movable body receives described control signal, described electric-motor drive unit is made to export the correction drive singal corresponding with described control signal, and utilize described correction drive singal to change the current motion state of described motor, revise the current kinetic track 1 of described machine structural parts.
According to a further aspect in the invention, additionally provide a kind of electromechanical movement body, described electromechanical movement body comprises machine structural parts and control device, described control device comprises motor, electric-motor drive unit, control module and the first communication unit, wherein, described motor is connected with described machine structural parts mechanical kilowatt, and described electric-motor drive unit and described motor are electrically connected, and described control module is electrically connected described electric-motor drive unit and described first communication unit; Described control module is used for: control described electric-motor drive unit and export initial driving signal, drive described electric machine rotation and drive described machine structural parts to move to utilize described initial driving signal; Control described first communication unit by the mobile terminal reception control signal of wireless communication mode from outside, and described control signal is forwarded to described electric-motor drive unit, export the correction drive singal corresponding with described control signal to make described electric-motor drive unit; And utilize described correction drive singal to change the current motion state of described motor, to revise the current kinetic track of described machine structural parts.
According to other aspects of the invention, additionally provide a kind of mobile terminal, described mobile terminal comprises: image unit, for catching the Real-time Motion Image of the electromechanical movement body of specifying; Calculation processing unit, for the Real-time Motion Image of catching according to described image unit, determines the current kinetic track of described electromechanical movement body, and by the current kinetic track of the described electromechanical movement body of calculating and the difference with reference to movement locus, generates control signal; And second communication unit, be sent to described electromechanical movement body for the control signal generated by described calculation processing unit by wireless communication mode, to revise the current kinetic track of described electromechanical movement body.
Further, described mobile terminal is one of following equipment: smart mobile phone, panel computer.
Movable body vision control system based on mobile terminal of the present invention comprises electromechanical movement body and mobile terminal two parts, by the Real-time Motion Image of the image unit catching machine coron body in mobile terminal, to utilize this dynamic image to carry out calculating to obtain control signal, thus complete track correct.This system view-based access control model sensing detection obtains the position of movable body, is direct metering system, and compared to indirect inspection of the prior art, measurement result of the present invention is more accurate, so make the correction of movable body track also more accurate.In prior art, owing to sensor and movable body to be arranged to obtain very near (being such as wholely set), vision sensor substantially cannot be used to carry out motion to movable body and to detect, therefore cannot realize above-mentioned effect of the present invention.
In addition, the present invention does not need to build controller specially, and the processor in the mobile terminal of such as smart mobile phone and so on and microprocessor can be utilized to realize.
In addition, the mode that the present invention utilizes visual sensing to detect can reach high-precision closed-loop control among a small circle, and compared to prior art, even adopt the position control technology of GPS location to be also difficult to realize.
By below in conjunction with the detailed description of accompanying drawing to most preferred embodiment of the present invention, these and other advantage of the present invention will be more obvious.
Accompanying drawing explanation
The present invention can be better understood by reference to hereinafter given by reference to the accompanying drawings description, wherein employs same or analogous Reference numeral in all of the figs to represent identical or similar parts.Described accompanying drawing comprises in this manual together with detailed description below and forms the part of this instructions, and is used for illustrating the preferred embodiments of the present invention further and explaining principle and advantage of the present invention.In the accompanying drawings:
Fig. 1 is the view of the example arrangement that movable body vision control system of the present invention, electromechanical movement body and mobile terminal are shown;
Fig. 2 is the process flow diagram of the exemplary process that movable body visual spatial attention method of the present invention is shown.
The element that it will be appreciated by those skilled in the art that in accompanying drawing be only used to simple and clear for the purpose of illustrate, and not necessarily to draw in proportion.Such as, in accompanying drawing, the size of some element may be exaggerated relative to other elements, to contribute to improving the understanding to the embodiment of the present invention.
Embodiment
To be described one exemplary embodiment of the present invention by reference to the accompanying drawings hereinafter.For clarity and conciseness, all features of actual embodiment are not described in the description.But, should understand, must make a lot specific to the decision of embodiment in the process of any this practical embodiments of exploitation, to realize the objectives of developer, such as, meet those restrictive conditions relevant to system and business, and these restrictive conditions may change to some extent along with the difference of embodiment.In addition, although will also be appreciated that development is likely very complicated and time-consuming, concerning the those skilled in the art having benefited from present disclosure, this development is only routine task.
At this, also it should be noted is that, in order to avoid the present invention fuzzy because of unnecessary details, illustrate only in the accompanying drawings with according to the closely-related apparatus structure of the solution of the present invention and/or treatment step, and eliminate other details little with relation of the present invention.
The embodiment provides a kind of movable body vision control system based on mobile terminal, described movable body vision control system comprises electromechanical movement body and mobile terminal, wherein, described electromechanical movement body comprises machine structural parts and control device, described control device comprises motor, electric-motor drive unit, control module and the first communication unit, described motor is connected with described machine structural parts mechanical kilowatt, described electric-motor drive unit and described motor are electrically connected, and described control module is electrically connected described electric-motor drive unit and described first communication unit; Described mobile terminal comprises image unit, calculation processing unit and second communication unit; Described electromechanical movement body controls described electric-motor drive unit by described control module and exports initial driving signal, drives described electric machine rotation and drive described machine structural parts to move to utilize described initial driving signal; Described mobile terminal catches the Real-time Motion Image of described electromechanical movement body by described image unit, and the current kinetic track of described electromechanical movement body is determined by the Real-time Motion Image that described calculation processing unit utilizes described image unit to catch, generate control signal with the current kinetic track according to described electromechanical movement body with the difference with reference to movement locus, and by described second communication unit, described control signal is sent to described electromechanical movement body with wireless communication mode; Described electromechanical movement body receives described control signal by described first communication unit, and described control signal is sent to described electric-motor drive unit, the correction drive singal corresponding with described control signal is exported to make described electric-motor drive unit, and utilize described correction drive singal to change the current motion state of described motor, revise the current kinetic track of described machine structural parts.
Below, composition graphs 1 describes an example of the movable body vision control system based on mobile terminal of the present invention.
Movable body vision control system of the present invention comprises electromechanical movement body 1 and mobile terminal 2.Electromechanical movement body 1 can be such as electric toy car or giro etc., and mobile terminal 2 can be such as smart mobile phone, panel computer etc.
As shown in Figure 1, electromechanical movement body 1 comprises machine structural parts 110 and control device 120.Machine structural parts 110 can be such as wheel or other parts that can move of electromechanical movement body 1.
In addition, see Fig. 1, control device 120 comprises motor 120-1, electric-motor drive unit 120-2, control module 120-3 and the first communication unit 120-4.Wherein, motor 120-1 is connected with machine structural parts 110 mechanical kilowatt, can be moved by driving mechanical structure member 110 by the rotation of motor 120-1.Electric-motor drive unit 120-2 and motor 120-1 is electrically connected and for drive motor 120-1.Control module 120-3 is electrically connected electric-motor drive unit 120-2 and the first communication unit 120-4, for controlling electric-motor drive unit 120-2 and the first communication unit 120-4.
Mobile terminal 2 comprises image unit 210, calculation processing unit 220 and second communication unit 230.Wherein, image unit 210 is for the Real-time Motion Image of catching machine coron body 1, calculation processing unit 220, for carrying out computing according to above-mentioned Real-time Motion Image, obtains control signal, and second communication unit 230 is then for wirelessly sending control signal.
With reference to figure 1, after electromechanical movement body 1 starts (actual is start control module 120-3), control module 120-3 controls electric-motor drive unit 120-2 and exports initial driving signal, and this initial driving signal is and the electric current of the type adaptation of motor 120-1 or other types signal.Motor 120-1 rotates by after initial driving signal drives, thus driving mechanical structure member 110 moves.Such as, initial driving signal is set, makes the rotating speed of motor 120-1 be preset rotation speed, and be forward or reverse, make machine structural parts 110 move according to projected path (such as diameter is the circular trace of 2 meters) thus.
At electromechanical movement body 1 according between projected path moving period, due to some factors (such as Uneven road, misoperation etc.), electromechanical movement body 1 may be caused to depart from this projected path.Like this, mobile terminal 2 is arranged in preposition, make mobile terminal 2 can capture the whole movement locus of electromechanical movement body 1 completely (such as, when electromechanical movement body 1 is the circular motion of 2 meters with diameter, the capture range of the image unit 210 of mobile terminal 2 can be made to cover certain area outside this circular trace, such as its capture range is be the border circular areas of 5 meters with the diameter of this circular trace concentric), thus can by the image of image unit 210 catching machine coron in real time body 1, thus obtain the Real-time Motion Image of electromechanical movement body 1.
Calculation processing unit 220 utilizes these Real-time Motion Images (forming one group of image sequence), calculates the current kinetic track S1 of electromechanical movement body 1.Wherein, those skilled in the art can calculate according to existing image procossing the method obtaining and extract the movement locus of object from image sequence, no longer describes in detail here.
Then, current kinetic track S1 and the preset reference movement locus S0 of the electromechanical movement body 1 that calculation processing unit 220 is calculated compare, obtain current kinetic track S1 and the difference with reference to movement locus S0, and generate the control signal for controlling electric-motor drive unit 120-2 according to this difference.
Then, the control signal of generation is sent to electromechanical movement body 1 with wireless communication mode by second communication unit 230.
Like this, electromechanical movement body 1 receives this control signal by the first communication unit 120-4, and this control signal is issued electric-motor drive unit 120-2.Thus, control signal controls electric-motor drive unit 120-2 and exports corresponding drive singal, as correction drive singal, change the current motion state of motor 120-1 via this correction drive singal, thus realize the correction to machine structural parts 110 current kinetic track S1.
In actual applications, after completing above correction step, mobile terminal 2 can continue the Real-time Motion Image of catching machine coron body 1, and the movement locus S2 calculated thus now, if the difference of movement locus S2 now and current kinetic track S1 is higher than the threshold value preset, then can continue to utilize the difference of S2 and S0 to carry out the movement locus of straightener coron body 1, the process of correction is similar as above, repeats no more here.
Further, calculation processing unit 220 can generate above-mentioned control signal by built-in controller.Such as, accessible site PID controller in calculation processing unit 220, produces above-mentioned control signal by being input in PID controller with the difference with reference to movement locus S0 by the current kinetic track S1 of electromechanical movement body 1.
An application example of the movable body vision control system according to the embodiment of the present invention is described below.
In this example, electromechanical movement body 1 is electric toy car, mobile terminal 2 is smart mobile phone, machine structural parts 110 is two rear wheels of electric toy car, motor 120-1 comprises two direct-flow deceleration electric motors (such as model is GA12-N20), and each rear wheel connects a direct-flow deceleration electric motor separately.Electric-motor drive unit 120-2 comprises two L298N type motor drive ics, each direct-flow deceleration electric motor is driven by a L298N type motor drive ic (there are 2 bridge-type DC chopper circuits the inside) respectively, and control module 120-3 adopts C8051F020 type microprocessor.First communication unit 120-4 adopts USR-WIFI232-T type WIFI communication module to realize.
In this example, adopt GA12-N20 type direct-flow deceleration electric motor, have the advantages such as moulding is small and exquisite, quality is little, rotating torque is large, convenient installation, the original power of its inside is very large, outside reduction gearing of installing, thus torsion is strengthened.
L298N type motor drive ic is a kind of two-phase and four phase motor drive ics, can export TTL logic level signal control L298N type motor drive ic, drive motor then by single-chip microcomputer.
In addition, in this example, the image unit 210 of mobile terminal 2 adopts OV5640 type CMOS photographing module to realize.OV5640 type CMOS photographing module is the built-in assembly of advanced, energy-conservation high precision camera, it combines the CMOS realizing high-quality VGA image with highly integrated image processor, embedded power supply and high-quality lens combination, jpeg image or video image can be exported, provide complete image solution; Support 8/10 bit digital transmission jpeg image and YCbCr interface.Its small and exquisite volume, even if allow designer still can increase photographing module in minimum application.Highly integrated owing to having, this photographing module no longer needs to be equipped with any external devices, can be applied easily.
Second communication unit 230 adopts USR-WIFI232-T type WIFI communication module to realize, can with have WIFI function mobile phone, communicate mutually between notebook computer and desktop computer, controller coron body 1 can be carried out by mobile phone, notebook computer or desktop computer and second communication unit 230 thus.
USR-WIFI232-T type WIFI communication module is the small and exquisite module being integrated with all Wi-Fi functions, and size is 22mmx13.5mmx6mm only.For applications such as illumination and sockets, have employed 1x10 pin two mm contact pin connector, be easy to be welded on the hardware single board circuit of the product of client.This WIFI communication module is equipped with special pad or external antenna connector, is applicable to the application of various external antenna.Super low-power consumption embedded Wi-Fi module provides a kind of physical equipment by user and is connected on Wi-Fi wireless network, and provides the solution of the interface transmission data such as UART serial ports.This module hardware is integrated with MAC, baseband chip, Transmit Receive Unit and power amplifier; Embedded firmware then supports Wi-Fi agreement and configuration, and the ICP/IP protocol stack of networking.USR-WIFI232-T type WIFI communication module adopts the Low Power Loss Solution of the 802.11b/g/nWi-Fi of integration, by this module, the equipment that traditional low side serial equipment or MCU control all can access Wi-Fi wireless network very easily, thus realizes internet of things control and management.
Known by describing above, movable body vision control system based on mobile terminal of the present invention comprises electromechanical movement body and mobile terminal two parts, by the Real-time Motion Image of the image unit catching machine coron body in mobile terminal, to utilize this dynamic image to carry out calculating to obtain control signal, thus complete track correct.This system view-based access control model sensing detection obtains the position of movable body, is direct metering system, and compared to indirect inspection of the prior art, measurement result of the present invention is more accurate, so make the correction of movable body track also more accurate.In prior art, owing to sensor and movable body to be arranged to obtain very near (being such as wholely set), vision sensor substantially cannot be used to carry out motion to movable body and to detect, therefore cannot realize above-mentioned effect of the present invention.
In addition, the present invention does not need to build controller specially, and the processor in the mobile terminal of such as smart mobile phone and so on and microprocessor can be utilized to realize.
In addition, the mode that the present invention utilizes visual sensing to detect can reach high-precision closed-loop control among a small circle, and compared to prior art, even adopt the position control technology of GPS location to be also difficult to realize.
In addition, embodiments of the invention additionally provide a kind of electromechanical movement body, electromechanical movement body comprises machine structural parts and control device, control device comprises motor, electric-motor drive unit, control module and the first communication unit, wherein, motor is connected with machine structural parts mechanical kilowatt, and electric-motor drive unit and motor are electrically connected, control module electrical connection electric-motor drive unit and the first communication unit; Control module is used for: control electric-motor drive unit and export initial driving signal, rotates and the motion of driving mechanical structure member to utilize initial driving signal drive motor; Control the first communication unit by the mobile terminal reception control signal of wireless communication mode from outside, and control signal is forwarded to electric-motor drive unit, export the correction drive singal corresponding with control signal to make electric-motor drive unit; And utilize the current motion state revising drive singal change motor, to revise the current kinetic track of machine structural parts.
Wherein, this electromechanical movement body can have the structure of the electromechanical movement body 1 in above movable body vision control system described in conjunction with Figure 1, and can realize identical function and effect, repeats no more here.
In addition, embodiments of the invention additionally provide a kind of mobile terminal, and mobile terminal comprises: image unit, for catching the Real-time Motion Image of the electromechanical movement body of specifying; Calculation processing unit, for the Real-time Motion Image of catching according to image unit, determines the current kinetic track of electromechanical movement body, and by the current kinetic track of computing machine coron body and the difference of reference movement locus, generates control signal; And second communication unit, be sent to electromechanical movement body for the control signal generated by calculation processing unit by wireless communication mode, with the current kinetic track of straightener coron body.This mobile terminal can be such as smart mobile phone, panel computer etc.
Further, accessible site PID controller in calculation processing unit 220, produces above-mentioned control signal by being input in PID controller with the difference with reference to movement locus by the current kinetic track of electromechanical movement body.
Wherein, this mobile terminal can have the structure of the mobile terminal 2 in above movable body vision control system described in conjunction with Figure 1, and can realize identical function and effect, repeats no more here.
In addition, embodiments of the invention additionally provide a kind of movable body visual spatial attention method based on mobile terminal.Movable body visual spatial attention method comprises step as shown in Figure 2.
As shown in Figure 2, in step s 201, start the control module in movable body, export initial driving signal by the electric-motor drive unit in control module controlled motion body, to utilize the electric machine rotation in initial driving signal actuation movement body and the motion of the machine structural parts in brought into motion body.
Then, in step S202, by the Real-time Motion Image of mobile terminal catching machine coron body, and the current kinetic track of Real-time Motion Image determination electromechanical movement body is utilized.
Then, in step S203, the current kinetic track according to electromechanical movement body generates control signal with the difference with reference to movement locus, and generated control signal is sent to electromechanical movement body with wireless communication mode from mobile terminal.
Then, in step S204, after movable body receives control signal, electric-motor drive unit is made to export the correction drive singal corresponding with control signal, and utilize the current motion state revising drive singal change motor, revise the current kinetic track of machine structural parts.
Further, control signal such as produces by being input in PID controller with the difference with reference to movement locus by the current kinetic track of electromechanical movement body.
Wherein, movable body visual spatial attention method can perform the process identical with above movable body vision control system described in conjunction with Figure 1, and can realize identical function and effect, repeats no more here.
Although the embodiment according to limited quantity describes the present invention, benefit from description above, those skilled in the art understand, in the scope of the present invention described thus, it is contemplated that other embodiment.In addition, it should be noted that the language used in this instructions is mainly in order to object that is readable and instruction is selected, instead of select to explain or limiting theme of the present invention.Therefore, when not departing from the scope and spirit of appended claims, many modifications and changes are all apparent for those skilled in the art.For scope of the present invention, be illustrative to disclosing of doing of the present invention, and nonrestrictive, and scope of the present invention is defined by the appended claims.
Claims (7)
1. based on the movable body vision control system of mobile terminal, it is characterized in that, described movable body vision control system comprises electromechanical movement body and mobile terminal, wherein, described electromechanical movement body comprises machine structural parts and control device, described control device comprises motor, electric-motor drive unit, control module and the first communication unit, described motor is connected with described machine structural parts mechanical kilowatt, described electric-motor drive unit and described motor are electrically connected, and described control module is electrically connected described electric-motor drive unit and described first communication unit; Described mobile terminal comprises image unit, calculation processing unit and second communication unit;
Described electromechanical movement body controls described electric-motor drive unit by described control module and exports initial driving signal, drives described electric machine rotation and drive described machine structural parts to move to utilize described initial driving signal;
Described mobile terminal catches the Real-time Motion Image of described electromechanical movement body by described image unit, and the current kinetic track of described electromechanical movement body is determined by the Real-time Motion Image that described calculation processing unit utilizes described image unit to catch, generate control signal with the current kinetic track according to described electromechanical movement body with the difference with reference to movement locus, and by described second communication unit, described control signal is sent to described electromechanical movement body with wireless communication mode;
Described electromechanical movement body receives described control signal by described first communication unit, and described control signal is sent to described electric-motor drive unit, the correction drive singal corresponding with described control signal is exported to make described electric-motor drive unit, and utilize described correction drive singal to change the current motion state of described motor, revise the current kinetic track of described machine structural parts.
2. movable body vision control system according to claim 1, is characterized in that, described mobile terminal is one of following equipment: smart mobile phone, panel computer.
3. movable body vision control system according to claim 1 and 2, is characterized in that:
Described electromechanical movement body is electric toy car, described machine structural parts is two rear wheels of described electric toy car, described motor comprises two direct-flow deceleration electric motors, each described rear wheel connects a described direct-flow deceleration electric motor separately, described electric-motor drive unit comprises two L298N type motor drive ics, each described direct-flow deceleration electric motor is driven by a described L298N type motor drive ic respectively, and described control module adopts C8051F020 type microprocessor; Described mobile terminal is smart mobile phone, and described image unit adopts OV5640 type CMOS photographing module; Described first communication unit and described second communication unit are USR-WIFI232-T type WIFI communication module.
4. based on the movable body visual spatial attention method of mobile terminal, it is characterized in that, described movable body visual spatial attention method comprises:
Start the control module in described movable body, and export initial driving signal by the electric-motor drive unit that described control module controls in described movable body, drive the electric machine rotation in described movable body to utilize described initial driving signal and drive the machine structural parts in described movable body to move;
The Real-time Motion Image of described electromechanical movement body is caught by described mobile terminal, and utilize described Real-time Motion Image to determine the current kinetic track of described electromechanical movement body, generate control signal with the current kinetic track according to described electromechanical movement body with the difference with reference to movement locus, and generated control signal is sent to described electromechanical movement body with wireless communication mode from described mobile terminal; And
After described movable body receives described control signal, described electric-motor drive unit is made to export the correction drive singal corresponding with described control signal, and utilize described correction drive singal to change the current motion state of described motor, revise the current kinetic track of described machine structural parts.
5. electromechanical movement body, it is characterized in that, described electromechanical movement body comprises machine structural parts and control device, described control device comprises motor, electric-motor drive unit, control module and the first communication unit, wherein, described motor is connected with described machine structural parts mechanical kilowatt, and described electric-motor drive unit and described motor are electrically connected, and described control module is electrically connected described electric-motor drive unit and described first communication unit;
Described control module is used for:
Control described electric-motor drive unit and export initial driving signal, drive described electric machine rotation to utilize described initial driving signal and drive described machine structural parts to move;
Control described first communication unit by the mobile terminal reception control signal of wireless communication mode from outside, and described control signal is forwarded to described electric-motor drive unit, export the correction drive singal corresponding with described control signal to make described electric-motor drive unit; And
Described correction drive singal is utilized to change the current motion state of described motor, to revise the current kinetic track of described machine structural parts.
6. mobile terminal, is characterized in that, described mobile terminal comprises:
Image unit, for catching the Real-time Motion Image of the electromechanical movement body of specifying;
Calculation processing unit, for the Real-time Motion Image of catching according to described image unit, determines the current kinetic track of described electromechanical movement body, and by the current kinetic track of the described electromechanical movement body of calculating and the difference with reference to movement locus, generates control signal; And
Second communication unit, is sent to described electromechanical movement body for the control signal generated by described calculation processing unit by wireless communication mode, to revise the current kinetic track of described electromechanical movement body.
7. mobile terminal according to claim 6, is characterized in that, described mobile terminal is one of following equipment: smart mobile phone, panel computer.
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