CN105617674B - Fight equipment traveling mode switching method and device - Google Patents
Fight equipment traveling mode switching method and device Download PDFInfo
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- CN105617674B CN105617674B CN201511018600.1A CN201511018600A CN105617674B CN 105617674 B CN105617674 B CN 105617674B CN 201511018600 A CN201511018600 A CN 201511018600A CN 105617674 B CN105617674 B CN 105617674B
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/32—Acoustical or optical signalling devices
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/36—Steering-mechanisms for toy vehicles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
Abstract
The invention discloses one kind battle equipment traveling mode switching method and device, belong to equipment control field.Methods described includes：The traveling mode switching command that receiving control apparatus is sent, traveling mode switching command is used to indicate that battle equipment switches to upright traveling mode, and upright traveling mode refers to fight the pattern that equipment is moved under the erectility that piece wheel lands；Upright traveling mode is switched to by normal traveling mode according to traveling mode switching command, normal traveling mode refers to the pattern that battle equipment is moved in the case where full wheel lands state；Control battle equipment performs predetermined action under upright traveling mode.The present invention is solved existing battle equipment and can only moved with normal traveling mode, the problem of motor pattern is more single；Reach on the basis of original normal traveling mode, a kind of upright traveling mode is increased newly for battle equipment, and battle equipment can perform various motion under upright traveling mode, so that the effect of abundant battle equipment moving pattern.
Description
Technical field
The present embodiments relate to equipment control field, more particularly to a kind of battle equipment traveling mode switching method and dress
Put.
Background technology
With the development of telecontrol engineering, people can use special radio remote controller to control battle equipment progress pair
War.It can be Intelligent fighting toy car, Intelligent fighting toy aircraft etc. to fight equipment.
By taking Intelligent fighting toy car as an example, under the control of radio remote controller, fighting toy car can be normally to advance
The operations such as Pattern completion advance, retrogressing, left-hand rotation, right-hand rotation and offensive attack.
During the embodiment of the present invention is realized, inventor has found that above-mentioned technology at least has problems with：Battle is played
Tool car can only be moved with normal traveling mode, and motor pattern is more single.
The content of the invention
The problem of in order to solve above-mentioned technology, equipment traveling mode switching method is fought the embodiments of the invention provide one kind
And device.The technical scheme is as follows：
First aspect according to embodiments of the present invention fights equipment traveling mode switching method, this method bag there is provided one kind
Include：
The traveling mode switching command that receiving control apparatus is sent, traveling mode switching command is used to indicate that battle equipment is cut
Upright traveling mode is changed to, upright traveling mode refers to fight the mould that equipment is moved under the erectility that piece wheel lands
Formula, and battle equipment keeps balance under upright traveling mode, wherein, battle equipment passes through control on the basis of target-angle
Landing wheel could be adjusted to keep balance to equipment inclination angle, when target-angle is used to indicate to keep balance under upright traveling mode
Fight the angle between the body and horizontal plane of equipment；
Upright traveling mode is switched to by normal traveling mode according to traveling mode switching command, normal traveling mode refers to pair
The pattern that war equipment is moved in the case where full wheel lands state；
Control battle equipment performs predetermined action under upright traveling mode.
Second aspect according to embodiments of the present invention fights equipment traveling mode switching device, the device bag there is provided one kind
Include：
Receiving module, the traveling mode switching command sent for receiving control apparatus, traveling mode switching command is used for
Indicate that battle equipment switches to upright traveling mode, upright traveling mode refers to fight the vertical that equipment lands in piece wheel
The pattern moved under state, and battle equipment keeps balance under upright traveling mode, wherein, battle equipment is using target-angle as base
Standard, by controlling landing wheel to could be adjusted to keep balance to equipment inclination angle, target-angle is used to indicate in upright traveling mode
It is lower to keep fighting the angle between the body and horizontal plane of equipment during balance；
Handover module, for switching to upright traveling mode by normal traveling mode according to traveling mode switching command, just
Normal traveling mode refers to the pattern that battle equipment is moved in the case where full wheel lands state；
Control module, for controlling battle equipment to perform predetermined action under upright traveling mode.
The third aspect according to embodiments of the present invention fights equipment there is provided one kind, it is characterised in that the battle equipment bag
Include：Fight apparatus body, wheel, control chip, communication component, sensor cluster and drive component；
Control chip, communication component, sensor cluster and drive component are arranged on inside battle apparatus body；
Drive component is connected with wheel by linkage structure；
Control chip is electrical connected with communication component, sensor cluster and drive component respectively；
Control chip includes the battle equipment traveling mode switching device as described in second aspect.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
By the traveling mode switching command sent according to control device, upright traveling mould is switched to by normal traveling mode
Formula, and further control battle equipment performs predetermined action under upright traveling mode；Solving existing battle equipment can only
Moved with normal traveling mode, the problem of motor pattern is more single；Reach on the basis of original normal traveling mode, be
Battle equipment increases a kind of upright traveling mode newly, and battle equipment can perform various motion under upright traveling mode, so that
The effect of abundant battle equipment moving pattern.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Figure 1A is the schematic diagram of the wheel distribution for the battle equipment that one embodiment of the invention is provided；
Figure 1B is the schematic diagram of the wheel distribution for the battle equipment that another embodiment of the present invention is provided；
Fig. 2 is the flow chart for the battle equipment traveling mode switching method that one embodiment of the invention is provided；
Fig. 3 A are the flow charts for the battle equipment traveling mode switching method that another embodiment of the present invention is provided；
Fig. 3 B are the schematic diagrames for the space coordinates that battle equipment traveling mode switching method shown in Fig. 3 A is set up；
Fig. 3 C are the flows of the equipment Dip countion process involved by battle equipment traveling mode switching method shown in Fig. 3 A
Figure；
Fig. 3 D and Fig. 3 F are to fight the flow chart that equipment is balanced control process；
Fig. 3 E are the flow charts for the battle equipment traveling mode switching method that further embodiment of the present invention is provided；
Fig. 3 G are the structural representations of the battle equipment involved by battle equipment traveling mode switching method shown in Fig. 3 E；
Fig. 4 is the block diagram for the battle equipment traveling mode switching device that one embodiment of the invention is provided；
Fig. 5 is the block diagram for the battle equipment traveling mode switching device that another embodiment of the present invention is provided；
Fig. 6 is the structural representation for the battle equipment that one embodiment of the invention is provided.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
The battle equipment traveling mode switching method that each embodiment of the invention is provided, it is adaptable to transported by wheel construction
Dynamic battle equipment, the battle equipment can be Intelligent fighting toy car, Intelligent fighting toy tank etc., in the battle equipment
With at least three wheels, at least three wheel includes being located at two concentric rear wheels on rear side of battle equipment.Such as,
As shown in Figure 1A, when the battle equipment has three wheels, respectively wheel 11, when wheel 12 and wheel 13, three wheels exist
The bottom 21 for fighting equipment is arranged in isosceles triangle, and the wheel 12 and wheel 13 positioned at isosceles triangle base are trailing wheel,
Wheel 11 just to isosceles triangle base is front-wheel；Again such as, as shown in Figure 1B, when the battle equipment has four wheels,
Respectively wheel 14, wheel 15, wheel 16 and wheel 17 when, four wheels battle equipment the rectangular arrangement in bottom 21, its
In, the wheel 14 and wheel 15 being arranged side by side are front-wheel, and the wheel 16 and wheel 17 being arranged side by side are trailing wheel.It is possible at other
In embodiment, when battle equipment is provided with more than four wheels, the wheel that wherein at least two is arranged side by side is as battle
The trailing wheel of equipment.The embodiment of the present invention is not defined to the number and arrangement mode for fighting equipment wheel.
Understand for convenience, the part noun being related in the embodiment of the present invention is explained below.
Normal traveling mode：Refer to the pattern that battle equipment is moved in the case where all wheels land.Battle equipment exists
When being advanced under normal traveling mode, all wheels of battle equipment both participate in rotation.Such as, when the arrangement of wheel in battle equipment
When as shown in Figure 1A, the normal traveling mode is to refer to battle equipment in wheel 11, in the case that wheel 12 and wheel 13 land
The pattern of motion；Again such as, when fighting the arrangement of wheel in equipment as shown in Figure 1B, the normal traveling mode is to refer to battle to set
The standby pattern moved in the case where wheel 14, wheel 15, wheel 16 and wheel 17 land.
Upright traveling mode：Refer to battle equipment to land in piece wheel, and moved under the liftoff erectility of piece wheel
Pattern, wherein, under upright traveling mode, the wheel that lands is used to provide power in battle equipment.Such as, when battle equipment
The arrangement of middle wheel as shown in Figure 1A when, the upright traveling mode is refer to battle equipment, and wheel 12 and car liftoff in wheel 11
The pattern that wheel 13 is moved in the case of landing (now wheel 12 and 13 is used to provide power)；Again such as, when car in battle equipment
The arrangement of wheel as shown in Figure 1B when, the upright traveling mode is, and the wheel 16 liftoff in wheel 14 and wheel 15 that refer to battle equipment
The pattern moved in the case of being landed with wheel 17 (now wheel 16 and 17 is used to provide power).
Equipment inclination angle：Refer to during battle equipment moving, fight the angle between apparatus body and horizontal plane.When battle is set
For when being moved in level ground, the equipment inclination angle is 0 °.
Target-angle：Refer to battle equipment is kept under upright traveling mode balance when, battle apparatus body and horizontal plane it
Between angle.
Adjust inclination angle：For the angle difference between instruction equipment inclination angle and target-angle.Such as, when equipment inclination angle is
60 °, and target-angle be 66.4 ° when, the adjustment inclination angle is 6.4 °.
Landing wheel：Refer to the wheel that battle equipment lands under upright traveling mode, i.e., upright traveling mode is used to provide dynamic
The wheel of power.
Liftoff wheel：Refer to and remove landing wheel under battle equipment wheel liftoff under upright traveling mode, i.e., upright traveling mode
Other wheels in addition.
Describe for convenience, the battle equipment traveling mode switching method that each embodiment of the invention is provided, only with battle
Equipment is provided with four wheels, and four wheels arrangement mode as shown in Figure 1B exemplified by illustrate, not to of the invention real
Apply example and constitute restriction.
Fig. 2 is refer to, the stream of the battle equipment traveling mode switching method provided it illustrates one embodiment of the invention
Cheng Tu.The present embodiment is applied to the battle equipment shown in Figure 1B to illustrate with the battle equipment traveling mode switching method.
This method includes：
Step 201, the traveling mode switching command that receiving control apparatus is sent, the traveling mode switching command is used to indicate
Battle equipment switches to upright traveling mode, and upright traveling mode refers to battle equipment under the erectility that piece wheel lands
The pattern of motion.
Wherein, the control device can be the equipment being connected by wired or wireless way with battle equipment foundation.Such as,
The control device can set up the mobile terminal being connected, movement end by bluetooth, infrared ray or radio and battle equipment
End can be smart mobile phone, tablet personal computer or portable computer etc., the type of the embodiment of the present invention not to control device
It is defined.
Step 203, upright traveling mode is switched to by normal traveling mode according to traveling mode switching command, the normal row
Enter pattern and refer to the pattern that battle equipment is moved in the case where full wheel lands state.
As a kind of possible embodiment, this step can be specifically included：
First, under normal traveling mode, the dynamical system output First Driving Force of control battle equipment, First Driving Force is used
In providing the first acceleration along first direction of motion for battle equipment；
2nd, when the speed for fighting equipment reaches pre-set velocity threshold value, the dynamical system output and the of control battle equipment
The second opposite driving force of one driving force, the second driving force is used to provide for battle equipment to be accelerated along the second of second direction of motion
Degree, second direction of motion is opposite with first direction of motion；
3rd, the equipment inclination angle for fighting equipment is calculated according to the sensing data that sensor is gathered in battle equipment, equipment is inclined
Angle is used to indicate the angle between the body and horizontal plane of battle equipment, and sensing data at least includes acceleration information and angle speed
Degrees of data；
If the 4, equipment inclination angle is more than predetermined angle threshold value, upright traveling mode is switched to by normal traveling mode；
5th, negative feedback control is carried out to equipment inclination angle on the basis of target-angle；Target-angle is used to indicate battle equipment
Keep fighting the angle between the body and horizontal plane of equipment during balance under upright traveling mode.
Step 205, control battle equipment performs predetermined action under upright traveling mode.
Battle equipment keeps balance under upright traveling mode, it is possible to the instruction sent according to control device, performs phase
It should act.Such as, the movement instruction that battle equipment can be sent according to control device, performs advance, retrogressing, left-hand rotation and right-hand rotation etc.
Operation；Again such as, the attack instruction that battle equipment can also be sent according to control device, to other battle equipment transmitting laser letters
Number or hit other battle equipment etc..
In other possible embodiments, the top of battle equipment is provided with laser receiver, laser pick-off dress
The laser for receiving other battle equipment correspondence laser beam emitting device transmittings is put, is sent when battle equipment receives control device
Traveling mode switching command enter upright traveling mode when, the laser receiver of the battle equipment will be unable to receive laser
The laser of emitter transmitting, so as to from the attack of other battle equipment, reach the effect of defensive attack.
In summary, the battle equipment traveling mode switching method that the present embodiment is provided, by being sent according to control device
Traveling mode switching command, upright traveling mode is switched to by normal traveling mode, and further control battle equipment straight
Predetermined action is performed under vertical traveling mode；Solving existing battle equipment can only be moved with normal traveling mode, motor pattern
More single the problem of；Reach on the basis of original normal traveling mode, a kind of upright traveling mould is increased newly for battle equipment
Formula, and battle equipment can perform various motion under upright traveling mode, so that the effect of abundant battle equipment moving pattern.
Fig. 3 A are refer to, the battle equipment traveling mode switching method provided it illustrates another embodiment of the present invention
Flow chart.The present embodiment is applied to the battle equipment shown in Figure 1B to illustrate with the battle equipment traveling mode switching method
It is bright.This method includes：
Step 301, the traveling mode switching command that receiving control apparatus is sent, the traveling mode switching command is used to indicate
Battle equipment switches to upright traveling mode, and upright traveling mode refers to battle equipment under the erectility that piece wheel lands
The pattern of motion.
Such as, the control device can be the smart mobile phone for being provided with control program, and the smart mobile phone by bluetooth with
Fight equipment and set up connection.When user clicks on the switching push button in control program correspondence control interface, smart mobile phone is to pass through
Bluetooth sends traveling mode switching command to battle equipment, corresponding, and battle equipment receives the traveling mode switching command.
Step 302, when receiving traveling mode switching command, under normal traveling mode, the dynamic of equipment is fought in control
Force system exports First Driving Force, and First Driving Force is used to provide the first acceleration along first direction of motion for battle equipment.
In order that battle equipment switches to upright traveling mode by normal traveling mode, even if the piece wheel of battle equipment
Liftoff, battle equipment is firstly the need of the power for applying one to itself so that battle equipment is accelerated under force, then
Moment applies a reverse power to itself during battle equipment is accelerated, and promotes battle equipment in effect of inertia bottom
Divide wheel lift.
As a kind of possible embodiment, when battle equipment receives traveling mode switching command, in normal traveling mould
Under formula, the dynamical system output First Driving Force of control battle equipment, the wherein dynamical system can be provided for battle equipment
The motor of driving force.Under First Driving Force effect, battle equipment is accelerated along first direction of motion.
Such as, it is right under First Driving Force effect when battle equipment tailstock direction is in the First Driving Force direction
War equipment is to obtain the first acceleration along afterbody direction, and starts to do accelerated motion backward (accelerating reversing).
Step 303, when the speed for fighting equipment reaches pre-set velocity threshold value, the dynamical system output of control battle equipment
Second driving force opposite with First Driving Force, the second driving force is used to provide second along second direction of motion for battle equipment
Acceleration, second direction of motion is opposite with first direction of motion.
When battle equipment is issued to pre-set velocity threshold value in First Driving Force effect, such as, the pre-set velocity threshold value can
Think the maximum back-up speed of battle equipment, battle equipment control dynamical system exports second driving opposite with First Driving Force
Power so that the acceleration direction moment of battle equipment changes.In the presence of inertia, the piece wheel of battle equipment will
It is liftoff.
Wherein, the second driving force is more than the first acceleration that First Driving Force is provided for the second acceleration that battle equipment is provided
Degree.
Step 304, the equipment inclination angle for fighting equipment is calculated according to the sensing data that sensor is gathered in battle equipment, if
Standby inclination angle is used to indicate the angle between the body and horizontal plane of battle equipment, sensing data at least include acceleration information and
Angular velocity data.
By above-mentioned steps 302 and 303, the piece wheel for fighting equipment is liftoff (wheelie for such as fighting equipment),
It is between battle apparatus body and horizontal plane that shape is (i.e. equipment inclination angle) at a certain angle, when the equipment inclination angle reaches to a certain degree
When, battle equipment can adjust the angle by moving forward and backward for landing wheel, and battle equipment is kept upright state；But
Affected by gravity when the equipment inclination angle is too small, the liftoff part of battle equipment can quickly land, and cause battle equipment quick
Normal traveling mode is reduced to from upright traveling mode.Therefore, battle equipment is needed by built-in sensor collection accordingly
Sensing data, the equipment inclination angle for fighting equipment is calculated according to the sensing data, and reach to a certain degree at the equipment inclination angle
When upright traveling mode is switched to by normal traveling mode.Wherein, the sensor can be acceleration transducer and gyroscope.
The acceleration transducer is used to gather acceleration information of the battle equipment at least three directions, such as Fig. 3 B institutes
Show, the acceleration transducer is used to gather acceleration information of the battle equipment in X-axis, Y-axis and Z-direction, wherein X-axis and battle
Equipment headstock direction is vertical, and Y-axis is parallel with battle equipment headstock direction, and Z axis is perpendicular to putting down that X-axis and Y-axis are constituted
Face.Similar, the gyroscope is used to gather angular velocity data of the battle equipment at least three directions, such as, such as Fig. 3 B institutes
Show, the gyroscope is three-axis gyroscope, for gathering when battle equipment rotates around X-axis, rotated around Y-axis and rotated about the z axis
Angular velocity data.
Describe, in following embodiments, only schematically illustrated so that coordinate shown in Fig. 3 B sets up mode as an example for convenience,
The embodiment of the present invention is not constituted and limited.
Acceleration transducer and gyroscope in battle equipment gather sensing data in real time according to default sample frequency,
Such as, the sample frequency can be that 1kHz, i.e. acceleration transducer and gyroscope gather one group of sensing data every 1ms.It is right
Answer, the control chip in battle equipment receives the sensing data.
Influenceed by acceleration of gravity, the acceleration information that acceleration transducer is collected occurs that skew causes calculating
Obtained equipment inclination angle is inaccurate.In order to improve the accuracy for calculating obtained equipment inclination angle, battle equipment is needed to acceleration
Data and angular velocity data carry out data fusion, and carry out filtering process.As a kind of possible embodiment, adopted for kth
The sensing data that the collection moment collects, as shown in Figure 3 C, this step may include steps of.
Step 304A, the acceleration information collected according to the kth collection moment, it is corresponding that calculating obtains the kth collection moment
Measuring apparatus inclination angle.
As shown in Figure 3 B, should when the body for fighting equipment forms angle with ground (plane that i.e. X-axis is constituted with Y-axis)
Angle is located at the plane that Y-axis and Z axis are constituted, and battle equipment can be according to the acceleration information and Z of Y direction in acceleration information
The acceleration information of direction of principal axis calculates and obtains corresponding measuring apparatus inclination angle.The formula for calculating the measuring apparatus inclination angle is：
θSurvey=arctan (ay/az)×180/π
Wherein, ayFor the acceleration information of Y direction, azFor the acceleration information of Z-direction.
Step 304B, the kth -1 obtained according to calculating gathers moment corresponding equipment inclination angle and the collection moment of kth -1 adopts
The angular velocity data collected, calculates kth collection moment corresponding pre- measurement equipment inclination angle.
As shown in Figure 3 B, when the body for fighting equipment forms angle with ground, battle equipment is rotated around X-axis,
And kth collection moment corresponding equipment inclination angle may be considered the base that battle equipment gathers moment corresponding device inclination angle in kth -1
On plinth, moment corresponding angular speed is gathered with kth -1 and rotates what is obtained in the unit sampling time.Therefore, battle equipment can root
The angular velocity data that moment corresponding equipment inclination angle and the collection moment of kth -1 collect, prediction kth collection are gathered according to kth -1
The equipment inclination angle at moment.Its calculation formula is：
θIn advance=θk-1+ωk-1×dt
Wherein, θk-1For the collection moment of kth -1 corresponding equipment inclination angle, ωk-1The angle speed collected for the collection moment of kth -1
Degrees of data, dt is the unit sampling time.
Step 304C, processing is filtered according to measuring apparatus inclination angle, pre- measurement equipment inclination angle and kalman gain, obtains
K gathers moment corresponding equipment inclination angle, and kalman gain is calculated according to the covariance at pre- measurement equipment inclination angle and obtained.
The pre- measurement equipment inclination angle that the measuring apparatus inclination angle and step 304B that battle equipment is obtained to above-mentioned steps 304A are obtained
Merged, and carry out corresponding filtering process, you can obtain kth collection moment corresponding equipment inclination angle.Its calculation formula can
With as follows：
X (k | k)=X (k | k-1)+Kg (k) (Z (k)-HX (k | k-1)
Wherein, X (k | k) is kth collection moment corresponding equipment inclination angle thetak, X (k | k-1) it is that the kth collection moment is corresponding
Pre- measurement equipment inclination angle thetaIn advance, Kg (k) is kth collection moment correspondence kalman gain, and Z (k) is that the corresponding measurement of kth collection moment is set
Standby inclination angle thetaSurvey, H is default correction factor.
And Kg (k) is calculated and obtained according to X (k | k-1) the poor P (k | k-1) that defences jointly, its calculation formula is：
Kg (k)=P (k | k-1) H'/(HP (k | k-1) H'+R)
Wherein, H' is H transposed matrix, and R is default corrected parameter.
By above-mentioned steps 304A to step 304C, battle equipment carries out fusion filter to acceleration information and angular velocity data
Ripple processing, obtains kth collection moment corresponding equipment inclination angle, due to eliminating the skew of acceleration information by filtering process,
The equipment inclination angle is more accurate compared to measuring apparatus inclination angle.
Step 305, if equipment inclination angle is more than predetermined angle threshold value, upright traveling mould is switched to by normal traveling mode
Formula.
Battle equipment detection calculates whether obtained equipment inclination angle is more than predetermined angle threshold value, when equipment inclination angle is less than default
Angle threshold then determines that equipment inclination angle is too small, and battle equipment can not switch to upright traveling mode；If the equipment inclination angle is more than pre-
If angle threshold, then battle equipment is switched into upright traveling mode by normal traveling mode, and perform following step 306.
Such as, the predetermined angle threshold value can be 30 °, when the angle for fighting apparatus body and ground is more than 30 °, battle
Equipment just can switch to upright traveling mode by normal traveling mode.
Step 306, negative feedback control is carried out to equipment inclination angle on the basis of target-angle, target-angle is used to indicate to fight
Equipment keeps fighting the angle between the body and horizontal plane of equipment during balance under upright traveling mode.
Into after upright traveling mode, battle equipment needs further to control battle equipment to keep under upright traveling mode
Balance.As a kind of possible embodiment, battle equipment is on the basis of target-angle, and control landing wheel is moved forward and backward, and makes pair
Target-angle (carrying out negative feedback control) is approached at the equipment inclination angle of war equipment, so as to keep balance under upright traveling mode.
As shown in Figure 3 D, step 306 may include steps of.
Step 306A, according to equipment inclination angle and target-angle, calculates adjustment inclination angle.
In order that battle equipment keeps balance under upright traveling mode, battle equipment is switching to upright traveling mode
Afterwards, it is necessary to which moving forward and backward come adjusting device inclination angle by landing wheel, makes equipment inclination angle close to default target-angle.
In a kind of possible embodiment, battle equipment is calculated with target-angle according to current equipment inclination angle and adjusted
Whole inclination angle, and further landing wheel wheel is controlled according to the adjustment inclination angle.
Such as, the current equipment inclination angle of battle equipment is 35 °, and default target-angle is 66.4 °, then the adjustment inclination angle
For 31.4 °.
Step 306B, carries out PID processing to adjustment inclination angle, obtains PWM control datas.
Calculating is obtained behind kth collection moment corresponding adjustment inclination angle, and battle equipment regard the adjustment inclination angle as PID
The input of (Proportion-Integration-Differentiation, PID) algorithm, enters to adjustment inclination angle
Row PID processing, so that PWM (Pulse Width Modulation, pulse width modulation) control data is obtained, PWM controls
Data can be the PWM duty cycle of motor, fight the motor of equipment and landing wheel can be carried out accordingly according to the PWM duty cycle
Control.
The pid algorithm can be with as follows：
Wherein, u (t) is the PWM control datas of output, KpFor rate mu-factor, e (t) is adjustment inclination angle, TiFor
The time of integration, TdFor derivative time.
For kth sampling instant, battle equipment control chip is in the PWM count evidence that kth sampling instant is exported
Wherein,For integral coefficient,For differential coefficient.
Step 306C, controls motor to drive the landing wheel for fighting equipment to rotate according to PWM control datas.
Calculating is obtained after corresponding PWM control datas, and battle equipment can be true according to the PWM control datas and supply voltage
Surely the voltage of motor is conveyed to, so that motor drives the landing wheel of battle equipment to rotate, so that battle equipment is in upright row
Enter and balance is kept under pattern.
Such as, by the PWM control datas be PWM duty cycle exemplified by, when PWM duty cycle be 0.1, and supply voltage be 5V
When, it is 0.1*5=0.5V that battle equipment control chip, which calculates and obtains the voltage for being conveyed to motor,.
It should be noted that the PWM control datas have directionality, when adjusting inclination angle to bear, the PWM control datas are
Negative, motor drives the landing wheel of battle equipment to reverse；When adjustment inclination angle is timing, the PWM control datas is just, i.e., motor drive
The landing wheel for fighting equipment is rotated forward.
Battle equipment repeats above-mentioned steps 306A to step 306C, so as to keep balance under upright traveling mode.
Step 307, under upright traveling mode, the liftoff wheel of control battle equipment stops operating.
Because under upright traveling mode, the liftoff wheel of battle equipment is not involved in fighting the mass motion of equipment, therefore, in order to
The power resources of battle equipment are saved, under upright traveling mode, battle equipment control is liftoff, and wheel stops operating.
It should be noted that above-mentioned steps 306 and step 307 can be performed simultaneously, the present embodiment is only with step 306 in step
Schematically illustrated exemplified by being performed before rapid 307, the present invention is not constituted and limited.
Step 308, control battle equipment stops original place under upright traveling mode.
When control device indicate battle equipment stop original place (or control device not to battle equipment send it is any motion and attack
Hit instruction) when, battle equipment can keep constant with control targe inclination angle, so that it is guaranteed that battle equipment stops original in an erect condition
Ground.
In summary, the battle equipment traveling mode switching method that the present embodiment is provided, by being sent according to control device
Traveling mode switching command, upright traveling mode is switched to by normal traveling mode, and further control battle equipment straight
Predetermined action is performed under vertical traveling mode；Solving existing battle equipment can only be moved with normal traveling mode, motor pattern
More single the problem of；Reach on the basis of original normal traveling mode, a kind of upright traveling mould is increased newly for battle equipment
Formula, and battle equipment can perform various motion under upright traveling mode, so that the effect of abundant battle equipment moving pattern.
In the present embodiment, acceleration information and the angle of gyroscope collection that battle equipment is gathered according to acceleration transducer
Speed data calculates the equipment inclination angle of battle equipment, and further according to the magnitude relationship between the equipment inclination angle and target-angle
Landing wheel is controlled, so as to ensure that battle equipment keeps balancing in upright traveling mode.
In the present embodiment, when calculating the equipment inclination angle for fighting equipment according to acceleration information and angular velocity data, according to
A upper collection moment corresponding equipment inclination angle and angular velocity data obtain pre- measurement equipment inclination angle, gathered according to the current collection moment
Acceleration information obtains measuring apparatus inclination angle, and is filtered processing to pre- measurement equipment inclination angle and measuring apparatus inclination angle, so as to subtract
The Dip countion error that small acceleration information skew is produced, improves the accuracy controlled under upright traveling mode.
In the present embodiment, because under upright traveling mode, liftoff wheel is not involved in fighting equipment mass motion, therefore,
When starting upright traveling mode, battle equipment control is liftoff, and wheel stops operating, so as to reduce the overall work(under upright traveling mode
Consumption.
Battle equipment can not only keep balance, the instruction that can also be sent according to control device under upright traveling mode
The operations such as advance, retrogressing, left-hand rotation, right-hand rotation and attack are performed, it is as shown in FIGURE 3 E, above-mentioned in a kind of possible embodiment
After step 307, it can also comprise the following steps.
Step 309, the motion mode according to indicated by the movement instruction that control device is sent, control battle equipment is upright
At least one of moved under traveling mode, the motion mode includes advance, retreats, turns left and turn right.
The different motion instruction sent according to control device, battle equipment can perform corresponding action, can as one kind
The embodiment of energy, step 309 may include steps of.
Step 309A, when indicating that battle equipment is advanced under upright traveling mode in movement instruction, by under target-angle
Adjust the first predetermined number of degrees with respect.
The movement instruction that control device is sent is received when fighting equipment, before indicating battle equipment under upright traveling mode
When entering, default target-angle is lowered the first predetermined number of degrees with respect by battle equipment.After target-angle is lowered, battle equipment is according to downward
Target-angle afterwards performs step 306A to step 306C again, the corresponding PWM control datas of the target-angle after being lowered,
And according to the PWM control datas, drive landing wheel to move by motor, realize the forward operation under upright traveling mode.
Step 309B, when indicating that battle equipment is retreated under upright traveling mode in movement instruction, by target-angle
Adjust the second predetermined number of degrees with respect.
It is similar to above-mentioned steps 309A, when battle equipment receives the movement instruction of control device transmission, indicate battle
When equipment is retreated under upright traveling mode, default target-angle is raised the second predetermined number of degrees with respect by battle equipment, and is held again
Row step 306A to step 306C, realizes the back operation under upright traveling mode.It should be noted that the first predetermined number of degrees with respect and
Second predetermined number of degrees with respect is much smaller than target-angle, and the first predetermined number of degrees with respect and the second predetermined number of degrees with respect can be the same or different,
The present invention is defined not to this.
Step 309C, when indicating battle equipment in upright traveling mode infradextroversion in movement instruction, will fight equipment
The first predetermined value of the right corresponding PWM control datas downward of landing wheel, and the corresponding PWM of left landing wheel for fighting equipment is controlled
Data raise the second predetermined value；According to after adjustment PWM control datas control motor drive battle equipment left landing wheel and
Right landing wheel is rotated.
Under normal traveling mode, the power of battle equipment can be provided by trailing wheel, and the front-wheel for fighting equipment is then used to control
Traffic direction processed；And under upright traveling mode, the power and traffic direction for fighting equipment are required to landing wheel and are controlled.
In order to realize cornering operation under upright traveling mode, when the motion that battle equipment receives control device transmission refers to
Order, when indicating that battle equipment is turned, battle equipment needs self-corresponding PWM control datas each to left landing wheel and right landing wheel to enter
Row adjustment so that there is speed difference between left landing wheel and right landing wheel, so as to realize the turning of battle equipment.
When movement instruction indicates that battle equipment is turned right, battle equipment lowers the corresponding PWM control datas of right landing wheel
First predetermined value, and the corresponding PWM control datas of left landing wheel are raised into the second predetermined value so that adjustment rear right landing wheel
Corresponding PWM control datas are less than adjustment rear left landing wheel corresponding PWM control datas, and (speed of i.e. right landing wheel is less than a left side
The speed of land wheel), so as to realize the right-hand rotation of battle equipment.
Step 309D, when indicating battle equipment in upright traveling mode infralevoversion in movement instruction, will fight equipment
The 3rd predetermined value of the right corresponding PWM control datas up-regulation of landing wheel, and the corresponding PWM of left landing wheel for fighting equipment is controlled
Data lower the 4th predetermined value；According to after adjustment PWM control datas control motor drive battle equipment left landing wheel and
Right landing wheel is rotated.
It is similar to above-mentioned steps 309C, when movement instruction indicates that battle equipment is turned left, equipment is fought by right landing wheel
Corresponding PWM control datas raise the 3rd predetermined value, and the corresponding PWM control datas of left landing wheel are lowered into the 4th predetermined number
Value so that the corresponding PWM control datas of adjustment rear right landing wheel are more than the corresponding PWM control datas of adjustment rear left landing wheel (i.e.
The speed of right landing wheel is more than the speed of left landing wheel), so as to realize the left-hand rotation of battle equipment.
It should be noted that the first predetermined value and the second predetermined value can be the same or different, the 3rd predetermined number
Value and the 4th predetermined value be can be the same or different, and the present invention is defined not to this.
Step 310, the attack pattern according to indicated by the attack instruction that control device is sent, control is in battle equipment straight
Attacked under vertical traveling mode, the attack pattern includes：To other battle equipment transmitting laser signals and the other battles of shock
At least one of equipment.
Under upright traveling mode, battle equipment can also complete the attack that can not be completed under normal traveling mode.
Such as, the battle equipment in upright traveling mode can pat the roof of other battle equipment with underbody portion, so as to place
Damaged in the battle equipment of normal traveling mode or even it is turned on one's side.Again such as, when battle equipment headstock be provided with it is sharp
During light emitting devices, the battle equipment in upright traveling mode can be to other battle equipment transmitting laser letter in eminence
Number, so that simulated strike.
In a kind of possible embodiment, when the attack instruction that control device is sent indicates that battle equipment is uprightly being advanced
When under pattern to other battle equipment transmitting laser signals, battle equipment can obtain attack parameter from attack instruction, and will
The attack parameter carried in attack instruction is modulated in laser signal, after built-in Laser emission component transmitting modulation
Laser signal, the other battle equipment for receiving the laser signal after the modulation receive corresponding attack.
In the present embodiment, battle equipment realizes battle equipment in upright traveling mode by adjusting the size of target-angle
Under forward-reverse；By adjusting the corresponding PWM count evidence of each landing wheel so that there is speed difference between each landing wheel, after
And realize that the left-hand rotation under upright traveling mode is turned right, the motor pattern of battle equipment is enriched, the entertaining of battle equipment is added
Property.
When fighting equipment in upright traveling mode, because equipment inclination angle is larger, if the instantaneous angular velocity of wheel is larger, by
To the effect of inertia, battle equipment is easily toppled over.Therefore, Hall encoders are additionally provided with battle equipment, fight equipment
The equipment inclination angle for the battle equipment that the data and calculating gathered according to Hall encoders are obtained, to the PWM control datas of output
It is adjusted, so as to control to fight the speed of equipment landing wheel, it is to avoid battle equipment is toppled under upright traveling mode.
In a kind of possible embodiment, as illustrated in Figure 3 F, above-mentioned steps 306A to step 306C may alternatively be following steps.
Step 306D, according to equipment inclination angle and target-angle, calculates adjustment inclination angle.
Step 306E, carries out PID processing to adjustment inclination angle, obtains PWM control datas.
Above-mentioned steps 306D to step 306E implementation is similar to step 306B to step 306A, no longer goes to live in the household of one's in-laws on getting married herein
State.
Step 306F, the wheel velocity gathered according to Hall encoders calculates the instantaneous acceleration for fighting equipment.
Hall encoders are additionally provided with battle equipment, the Hall encoders are used to gather wheel velocity.Uprightly advancing
Under pattern, the Hall encoders gather wheel velocity according to preset frequency, and the wink for fighting equipment is calculated according to the wheel velocity
Brief acceleration, wherein, the preset frequency is identical generally with the sample frequency of acceleration transducer and gyroscope.
Such as, Hall encoders collect wheel velocity for v in the sampling instant of kth -1k-1, collected in kth sampling instant
Wheel velocity is vk, and the time interval of the sampling instant of kth -1 and kth sampling instant is Δ t, then kth collection moment battle is set
Standby instantaneous acceleration is (vk-vk-1)/Δt。
Step 306G, according to instantaneous acceleration and equipment Dip countion inclination factor, inclination factor is used to indicate that battle is set
Standby current inclined degree.
Calculate after the instantaneous acceleration for obtaining fighting equipment, battle equipment by the instantaneous acceleration and current device inclination angle it
Business is defined as inclination factor, and according to the inclination factor further determine that battle equipment whether overbank.
Step 306H, if inclination factor is more than predetermined coefficient, control data correction value is determined according to inclination factor.
If the inclination factor is more than predetermined coefficient, it is determined that the inclined degree of battle equipment is excessive, it is necessary to reduce wheel
Movement velocity, it is to avoid battle equipment is toppled over.
As a kind of possible embodiment, the inclination factor can be multiplied by default amplification coefficient and be controlled by battle equipment
Data correction value processed, the embodiment of the present invention is not to determining that the mode of control data correction value is defined according to inclination factor.
Step 306I, is modified according to control data correction value to PWM control datas.
The control data correction value obtained according to step 306H, the PWM controls that battle equipment is obtained to above-mentioned steps 306E
Data are modified.
As a kind of possible embodiment, battle equipment can subtract PWM control datas control data correction value, from
And obtain revised PWM control datas.
Step 306J, controls motor to drive the landing wheel for fighting equipment to rotate according to revised PWM control datas.
According to revised PWM control datas, battle equipment control motor drives the landing wheel of battle equipment to rotate, and
Each ensuing collection moment repeats above-mentioned steps 306D to step 306J, it is ensured that fights and sets under upright traveling mode
Standby even running.
As shown in Figure 3 G, the data that the control chip in battle equipment is gathered to acceleration transducer 31 and gyroscope 32 are entered
Row data fusion and filtering process, obtain the equipment inclination angle inputted as pid algorithm.Meanwhile, control chip is encoded according to Hall
The wheel velocity that device 33 is gathered calculates battle equipment instantaneous velocity and the PWM control datas that pid algorithm is exported is optimized, and will
PWM control datas after optimization are sent to timer 34, and PWM control datas are sent into motor driving module by timer 34
35, make motor driving module 35 according to the PWM control datas drive motor drive corresponding vehicle wheel rotation (in Fig. 3 F, wheel 361
For the near front wheel, wheel 362 is off-front wheel, and wheel 363 is left rear wheel, and wheel 364 is off hind wheel).And Hall encoders 33 are logical
The speed of constantly collection wheel 363 and wheel 364 is crossed, next collection moment is optimized, so that in whole system
Data formation data closed loop, reaches the effect of loop optimization.
In the present embodiment, battle equipment that the data that are gathered according to Hall encoders of battle equipment and calculating are obtained is set
Standby inclination angle, the PWM control datas to output are adjusted, so as to control to fight the speed of equipment landing wheel, it is to avoid battle equipment
Topple under upright traveling mode, further improve the stability that battle equipment is moved under upright traveling mode.
Following is apparatus of the present invention embodiment, for the details of not detailed description in device embodiment, be may be referred to above-mentioned
One-to-one embodiment of the method.
Fig. 4 is refer to, the knot of the battle equipment traveling mode switching device provided it illustrates one embodiment of the invention
Structure block diagram.The battle equipment traveling mode switching device by hardware or software and hardware be implemented in combination with turn into battle equipment
All or part.The battle equipment traveling mode switching device includes：
Receiving module 410, the traveling mode switching command sent for receiving control apparatus, the traveling mode switching refers to
Make for indicating that battle equipment switches to upright traveling mode, the upright traveling mode refers to the battle equipment in part car
Take turns the pattern moved under the erectility landed；
Handover module 420, it is described upright for being switched to according to the traveling mode switching command by normal traveling mode
Traveling mode, the normal traveling mode refers to the pattern that the battle equipment is moved in the case where full wheel lands state；
Control module 430, for controlling the battle equipment to perform predetermined action under the upright traveling mode.
In summary, the battle equipment traveling mode switching device that the present embodiment is provided, by being sent according to control device
Traveling mode switching command, upright traveling mode is switched to by normal traveling mode, and further control battle equipment straight
Predetermined action is performed under vertical traveling mode；Solving existing battle equipment can only be moved with normal traveling mode, motor pattern
More single the problem of；Reach on the basis of original normal traveling mode, a kind of upright traveling mould is increased newly for battle equipment
Formula, and battle equipment can perform various motion under upright traveling mode, so that the effect of abundant battle equipment moving pattern.
Fig. 5 is refer to, the battle equipment traveling mode switching device provided it illustrates another embodiment of the present invention
Block diagram.The pattern fight equipment traveling switching device by hardware or software and hardware be implemented in combination with turn into battle equipment
All or part.The battle equipment traveling mode switching device includes：
Receiving module 510, the traveling mode switching command sent for receiving control apparatus, the traveling mode switching refers to
Make for indicating that battle equipment switches to upright traveling mode, the upright traveling mode refers to the battle equipment in part car
Take turns the pattern moved under the erectility landed；
Handover module 520, it is described upright for being switched to according to the traveling mode switching command by normal traveling mode
Traveling mode, the normal traveling mode refers to the pattern that the battle equipment is moved in the case where full wheel lands state；
Control module 530, for controlling the battle equipment to perform predetermined action under the upright traveling mode.
In an optional embodiment, control module 530, including：
First control unit 531, for controlling the battle equipment to stop original place under the upright traveling mode；
Or,
Second control unit 532, for the motion mode indicated by the movement instruction that is sent according to the control device, control
The system battle equipment is moved under the upright traveling mode, and the motion mode is included in advancing, retreat, turn left and turning right
At least one；
Or,
3rd control unit 533, for the attack pattern according to indicated by the attack instruction that the control device is sent, control
System is attacked in the battle equipment under the upright traveling mode, and the attack pattern includes：To other battle equipment
Launch laser signal and hit at least one of other battle equipment.
In an optional embodiment, handover module 520, including：
First drive control unit 521, the dynamical system under the normal traveling mode, controlling the battle equipment
System output First Driving Force, the First Driving Force is used to provide for the battle equipment to be accelerated along the first of first direction of motion
Degree；
Second drive control unit 522, for when the speed of the battle equipment reaches pre-set velocity threshold value, controlling institute
The dynamical system for stating battle equipment exports second driving force opposite with the First Driving Force, and second driving force is for being
The battle equipment provides the second acceleration along second direction of motion, second direction of motion and first direction of motion
Conversely；
First computing unit 523, described in being calculated according to the sensing data that sensor is gathered in the battle equipment
The equipment inclination angle of equipment is fought, the equipment inclination angle is used to indicate the angle between the body and horizontal plane of the battle equipment,
The sensing data at least includes acceleration information and angular velocity data；
Switch unit 524, if being more than predetermined angle threshold value for the equipment inclination angle, is cut by the normal traveling mode
It is changed to the upright traveling mode
Balancing unit 525, for carrying out negative feedback control to the equipment inclination angle on the basis of target-angle；The target
Inclination angle is used to indicate the body of the battle equipment and institute when the battle equipment keeps balancing under the upright traveling mode
State the angle between horizontal plane.
In an optional embodiment, for kth gather the moment, k ＞ 1, the first computing unit 523, including：
First computation subunit 523A, for the acceleration information collected according to the kth collection moment, is calculated
Obtain the kth collection moment corresponding measuring apparatus inclination angle；
Second computation subunit 523B, for according to calculate obtained kth -1 gather moment corresponding equipment inclination angle and
The angular velocity data that the collection moment of kth -1 collects, calculates the kth collection moment corresponding pre- measurement equipment and inclines
Angle；
3rd computation subunit 523C, for according to the measuring apparatus inclination angle, the pre- measurement equipment inclination angle and Kalman
Gain is filtered processing, obtains the kth collection moment corresponding equipment inclination angle, the kalman gain is according to the prediction
The covariance at equipment inclination angle is calculated and obtained.
In an optional embodiment, balancing unit 525, including：
4th computation subunit 525A, for according to equipment inclination angle and target-angle, calculating adjustment inclination angle；
First processing subelement 525B, for carrying out PID PID processing to the adjustment inclination angle, obtains pulse
Width modulated PWM control datas；
First control subelement 525C, for controlling motor to drive the battle equipment according to the PWM control datas
Landing wheel is rotated.
In an optional embodiment, Hall encoders are also included in battle equipment, Hall encoders are used for acquisition pair
The wheel velocity for equipment of fighting；
Balancing unit 525, including：
5th computation subunit 525D, for according to equipment inclination angle and target-angle, calculating adjustment inclination angle；
Second processing subelement 525E, for carrying out PID PID processing to the adjustment inclination angle, obtains pulse
Width modulated PWM control datas；
6th computation subunit 525F, the wheel velocity for being gathered according to the Hall encoders calculates the battle and set
Standby instantaneous acceleration；
7th computation subunit 525G, for according to the instantaneous acceleration and the equipment Dip countion inclination factor,
The inclination factor is used for the inclined degree for indicating that the battle equipment is current；
Determination subelement 525H, if being more than predetermined coefficient for the inclination factor, is determined according to the inclination factor
Control data correction value；
Revise subelemen 525I, for being modified according to the control data correction value to the PWM control datas；
Second control subelement 525J is described right for being driven according to the revised PWM control datas control motor
The landing wheel for equipment of fighting is rotated.
In an optional embodiment, the first control unit 531 is additionally operable to control the target-angle to keep constant.
In an optional embodiment, when the movement instruction that the control device is sent indicates the battle equipment
When advancing or retreating,
Second control unit 532, including：
Subelement 532A is lowered, indicates the battle equipment in the upright traveling mode in the movement instruction for working as
During lower advance, the target-angle is lowered into the first predetermined number of degrees with respect；
Subelement 532B is raised, indicates the battle equipment in the upright traveling mode in the movement instruction for working as
During lower retrogressing, the target-angle is raised into the second predetermined number of degrees with respect.
In an optional embodiment, when the movement instruction that the control device is sent indicates the battle equipment
When turning left or turning right,
Second control unit 532, in addition to：
Right-hand rotation subelement 532C, indicates the battle equipment in the upright traveling mode for working as in the movement instruction
During infradextroversion, the corresponding PWM control datas of right landing wheel of the battle equipment are lowered into the first predetermined value, and by institute
The corresponding PWM control datas of left landing wheel for stating battle equipment raise the second predetermined value；According to the PWM after adjustment
Control data control motor drives the left landing wheel and right landing wheel of the battle equipment to rotate.
Left-hand rotation subelement 532D, indicates the battle equipment in the upright traveling mode for working as in the movement instruction
During infralevoversion, the corresponding PWM control datas of right landing wheel of the battle equipment are raised into the 3rd predetermined value, and by institute
The corresponding PWM control datas of left landing wheel for stating battle equipment lower the 4th predetermined value；According to the PWM after adjustment
Control data control motor drives the left landing wheel and right landing wheel of the battle equipment to rotate.
In an optional embodiment, when the attack instruction that the control device is sent indicates the battle equipment in institute
When stating under upright traveling mode to other battle equipment transmitting laser signals,
3rd control unit 533, including：
Modulation subunit 533A, for the attack parameter carried in the attack instruction to be modulated into the laser signal
In；
Launch subelement 533B, for passing through the laser signal after built-in Laser emission component transmitting modulation.
In an optional embodiment, control module 530, in addition to：
4th control unit 534, under the upright traveling mode, controls the liftoff wheel of the battle equipment to stop turning
It is dynamic.
In summary, the battle equipment traveling mode switching method that the present embodiment is provided, by being sent according to control device
Traveling mode switching command, upright traveling mode is switched to by normal traveling mode, and further control battle equipment straight
Predetermined action is performed under vertical traveling mode；Solving existing battle equipment can only be moved with normal traveling mode, motor pattern
More single the problem of；Reach on the basis of original normal traveling mode, a kind of upright traveling mould is increased newly for battle equipment
Formula, and battle equipment can perform various motion under upright traveling mode, so that the effect of abundant battle equipment moving pattern.
In the present embodiment, acceleration information and the angle of gyroscope collection that battle equipment is gathered according to acceleration transducer
Speed data calculates the equipment inclination angle of battle equipment, and further according to the magnitude relationship between the equipment inclination angle and target-angle
Landing wheel is controlled, so as to ensure that battle equipment keeps balancing in upright traveling mode.
In the present embodiment, when calculating the equipment inclination angle for fighting equipment according to acceleration information and angular velocity data, according to
A upper collection moment corresponding equipment inclination angle and angular velocity data obtain pre- measurement equipment inclination angle, gathered according to the current collection moment
Acceleration information obtains measuring apparatus inclination angle, and is filtered processing to pre- measurement equipment inclination angle and measuring apparatus inclination angle, so as to subtract
The Dip countion error that small acceleration information skew is produced, improves the accuracy controlled under upright traveling mode.
In the present embodiment, because under upright traveling mode, liftoff wheel is not involved in fighting equipment mass motion, therefore,
When starting upright traveling mode, battle equipment control is liftoff, and wheel stops operating, so as to reduce the overall work(under upright traveling mode
Consumption.
In the present embodiment, battle equipment realizes battle equipment in upright traveling mode by adjusting the size of target-angle
Under forward-reverse；By adjusting the corresponding PWM count evidence of each landing wheel so that there is speed difference between each landing wheel, after
And realize that the left-hand rotation under upright traveling mode is turned right, the motor pattern of battle equipment is enriched, the entertaining of battle equipment is added
Property.
In the present embodiment, battle equipment that the data that are gathered according to Hall encoders of battle equipment and calculating are obtained is set
Standby inclination angle, the PWM control datas to output are adjusted, so as to control to fight the speed of equipment landing wheel, it is to avoid battle equipment
Topple under upright traveling mode, further improve the stability that battle equipment is moved under upright traveling mode.
Fig. 6 shows the structural representation for the battle equipment that one embodiment of the invention is provided.Specifically：
Fighting equipment 600 includes battle apparatus body 610, wheel 620, control chip 630, communication component 640, sensor
650th, Hall encoders 660, timer 670, drive component 680 and memory 690.
Control chip 630, communication component 640, sensor 650, Hall encoders 660, timer 670, drive component 680
It is arranged at memory 690 inside battle apparatus body 610, and drive component 680 passes through linkage structure phase with wheel 620
Even, so as to be rotated with motor car wheel 620.
Each controlling switch of control chip 630 respectively with communication component 640, sensor 650, Hall encoders 660, fixed
When device 670, drive component 680 and memory 690 be electrical connected, for control battle equipment 600 overall operation.
Communication component 640 is used to carry out short range wireless transmission with control device, and the communication component 640 can be WIFI
(wireless fidelity, Wireless Fidelity) module, bluetooth module or infrared module etc..Battle equipment 600 passes through communication set
Part 640 can enter the transmission of row information with the communication component being correspondingly arranged on control device.
Sensor 650 specifically includes acceleration transducer and gyroscope.Wherein, acceleration transducer is set for gathering battle
Standby 600 acceleration information；Gyroscope is used for the angular velocity data for gathering battle equipment 600.
Hall encoders 660 are used for the wheel velocity for gathering battle equipment 600.
Timer 670 is used to control sensor 650 and Hall encoders 660 according to predetermined frequency acquisition gathered data, and
The data of collection are sent to control chip 630.
The PWM control datas drive motor that drive component 680 is used to be produced according to control chip 630 works, and passes through connection
Dynamic structure drives corresponding vehicle wheel rotation.
Memory 690 use storage medium include RAM, ROM, EPROM, EEPROM, flash memory or other solid-state storages its
Technology, CD-ROM, DVD or other optical storages, cassette, tape, disk storage or other magnetic storage apparatus etc..This is deposited
Be stored with one or more than one program in reservoir 690, and the program is configured to be performed by control chip 630.
Battle equipment 600 also includes the power supply (not shown) powered to all parts, it is preferred that power supply can pass through
Power-supply management system and control chip 630 are logically contiguous, thus by power-supply management system realize management charging, electric discharge and
The functions such as power managed.Power supply can also include one or more direct current or AC power, recharging system, power supply event
The random component such as barrier detection circuit, power supply changeover device or inverter, power supply status indicator.
It should be noted that can also include laser transmitting-receiving device in battle equipment 600, the laser transmitting-receiving device is used to connect
Receive the laser signal from other battle equipment or send laser signal to other battle equipment, so as to realize the effect of simulation battle
Really, the present embodiment will not be repeated here.
It should be noted that：The battle equipment traveling mode switching device that above-described embodiment is provided, only with above-mentioned each function
The division progress of module is for example, in practical application, as needed can distribute above-mentioned functions by different function moulds
Block is completed, and the internal structure that will fight equipment is divided into different functional modules, to complete whole described above or portion
Divide function.In addition, the battle equipment traveling mode switching device that above-described embodiment is provided is with fighting equipment traveling mode switching side
Method embodiment belongs to same design, and it implements process and refers to embodiment of the method, repeats no more here.
It should be appreciated that it is used in the present context, unless context clearly supports exception, singulative " one
It is individual " (" a ", " an ", " the ") be intended to also include plural form.It is to be further understood that "and/or" used herein is
Referring to includes any of one or more than one project listed in association and is possible to combine.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can be by hardware
To complete, the hardware of correlation can also be instructed to complete by program, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (23)
1. one kind battle equipment traveling mode switching method, it is characterised in that methods described includes：
The traveling mode switching command that receiving control apparatus is sent, the traveling mode switching command is used to indicate that battle equipment is cut
Upright traveling mode is changed to, the upright traveling mode refers to that the battle equipment is transported under the erectility that piece wheel lands
Dynamic pattern, and the battle equipment keeps balance under the upright traveling mode, wherein, the battle equipment is inclined with target
On the basis of angle, by controlling landing wheel to could be adjusted to keep balance to equipment inclination angle, the target-angle is used to indicate in institute
State the angle between the body and horizontal plane of battle equipment when balance is kept under upright traveling mode；
The upright traveling mode, the normal traveling are switched to by normal traveling mode according to the traveling mode switching command
Pattern refers to the pattern that the battle equipment is moved in the case where full wheel lands state；
The control battle equipment performs predetermined action under the upright traveling mode.
2. according to the method described in claim 1, it is characterised in that the control battle equipment is in the upright traveling mould
Predetermined action is performed under formula, including：
The control battle equipment stops original place under the upright traveling mode；
Or,
The motion mode indicated by movement instruction sent according to the control device, controls the battle equipment described upright
At least one of moved under traveling mode, the motion mode includes advance, retreats, turns left and turn right；
Or,
Attack pattern according to indicated by the attack instruction that the control device is sent, control is in the battle equipment described straight
Attacked under vertical traveling mode, the attack pattern includes：It is other right to other battle equipment transmitting laser signals and shock
At least one of equipment of fighting.
3. method according to claim 2, it is characterised in that it is described according to the traveling mode switching command by normal row
Enter pattern and switch to the upright traveling mode, including：
Under the normal traveling mode, the dynamical system output First Driving Force of the battle equipment is controlled, described first drives
Power is used to provide the first acceleration along first direction of motion for the battle equipment；
When the speed of the battle equipment reaches pre-set velocity threshold value, dynamical system output and the institute of the battle equipment are controlled
The second opposite driving force of First Driving Force is stated, second driving force is used to provide along second side of moving for the battle equipment
To the second acceleration, second direction of motion is opposite with first direction of motion；
The equipment inclination angle of the battle equipment is calculated according to the sensing data that sensor is gathered in the battle equipment, it is described to set
Standby inclination angle is used to indicate the angle between the body and horizontal plane of the battle equipment, and the sensing data at least includes accelerating
Degrees of data and angular velocity data；
If the equipment inclination angle is more than predetermined angle threshold value, the upright traveling mould is switched to by the normal traveling mode
Formula；
Negative feedback control is carried out to the equipment inclination angle on the basis of target-angle；The target-angle is used to indicate the battle
Equipment keeps the angle between the body and the horizontal plane for fighting equipment during balance under the upright traveling mode.
4. method according to claim 3, it is characterised in that gather the moment for kth, k ＞ 1 are described according to described right
The sensing data that sensor is gathered in equipment of fighting calculates the equipment inclination angle of the battle equipment, including：
The acceleration information collected according to the kth collection moment, calculating obtains the kth collection moment corresponding survey
Measure equipment inclination angle；
The kth -1 obtained according to calculating gathers the institute that moment corresponding equipment inclination angle and the kth -1 collection moment collect
Angular velocity data is stated, the kth collection moment corresponding pre- measurement equipment inclination angle is calculated；
Processing is filtered according to the measuring apparatus inclination angle, the pre- measurement equipment inclination angle and kalman gain, the kth is obtained
Moment corresponding equipment inclination angle is gathered, the kalman gain is calculated according to the covariance at the pre- measurement equipment inclination angle and obtained.
5. method according to claim 3, it is characterised in that described to be entered on the basis of target-angle to the equipment inclination angle
Row negative feedback control, including：
According to the equipment inclination angle and the target-angle, adjustment inclination angle is calculated；
PID PID processing is carried out to the adjustment inclination angle, pulse width modulation (PWM) control data is obtained；
Motor is controlled to drive the landing wheel of the battle equipment to rotate according to the PWM control datas.
6. method according to claim 3, it is characterised in that also include Hall encoders in the battle equipment, described
Hall encoders are used for the wheel velocity for obtaining the battle equipment；
It is described that feedback control is carried out to the equipment inclination angle on the basis of target-angle, including：
According to the equipment inclination angle and the target-angle, adjustment inclination angle is calculated；
PID PID processing is carried out to the adjustment inclination angle, pulse width modulation (PWM) control data is obtained；
The wheel velocity gathered according to the Hall encoders calculates the instantaneous acceleration of the battle equipment；
According to the instantaneous acceleration and the equipment Dip countion inclination factor, the inclination factor is used to indicate the battle
The current inclined degree of equipment；
If the inclination factor is more than predetermined coefficient, control data correction value is determined according to the inclination factor；
The PWM control datas are modified according to the control data correction value；
The landing wheel of the battle equipment is driven to rotate according to the revised PWM control datas control motor.
7. method according to claim 3, it is characterised in that the control battle equipment is in the upright traveling mould
Original place is stopped under formula, including：
The target-angle is controlled to keep constant.
8. method according to claim 3, it is characterised in that when the movement instruction that the control device is sent is indicated
When the battle equipment is advanced or retreated,
The motion mode according to indicated by the movement instruction that the control device is sent, controls the battle equipment described
Moved under upright traveling mode, including：
When indicating that the battle equipment is advanced under the upright traveling mode in the movement instruction, by the target-angle
Lower the first predetermined number of degrees with respect；
When indicating that the battle equipment is retreated under the upright traveling mode in the movement instruction, by the target-angle
Raise the second predetermined number of degrees with respect.
9. the method according to claim 5 or 6, it is characterised in that the movement instruction sent when the control device
When indicating that the battle equipment is turned left or turned right,
The motion mode according to indicated by the movement instruction that the control device is sent, controls the battle equipment described
Moved under upright traveling mode, in addition to：
When indicating the battle equipment in the upright traveling mode infradextroversion in the movement instruction, by the battle equipment
The corresponding PWM control datas of right landing wheel lower the first predetermined value, and by the left landing wheel pair of the battle equipment
The PWM control datas answered raise the second predetermined value；Institute is driven according to the PWM control datas control motor after adjustment
The left landing wheel and right landing wheel for stating battle equipment are rotated；
When indicating the battle equipment in the upright traveling mode infralevoversion in the movement instruction, by the battle equipment
The corresponding PWM control datas of right landing wheel raise the 3rd predetermined value, and by the left landing wheel pair of the battle equipment
The PWM control datas answered lower the 4th predetermined value；Institute is driven according to the PWM control datas control motor after adjustment
The left landing wheel and right landing wheel for stating battle equipment are rotated.
10. method according to claim 2, it is characterised in that when the attack instruction that the control device is sent indicates institute
State battle equipment under the upright traveling mode to other battle equipment transmitting laser signals when,
The attack pattern according to indicated by the attack instruction that the control device is sent, control is in the battle equipment in institute
State and attacked under upright traveling mode, including：
The attack parameter carried in the attack instruction is modulated in the laser signal；
Pass through the laser signal after built-in Laser emission component transmitting modulation.
11. according to any described method of claims 1 to 3, it is characterised in that the control battle equipment is described straight
Predetermined action is performed under vertical traveling mode, in addition to：
Under the upright traveling mode, the liftoff wheel of the battle equipment is controlled to stop operating.
12. one kind battle equipment traveling mode switching device, it is characterised in that described device includes：
Receiving module, the traveling mode switching command sent for receiving control apparatus, the traveling mode switching command is used for
Indicate that battle equipment switches to upright traveling mode, the upright traveling mode refers to that the battle equipment lands in piece wheel
Erectility under the pattern moved, and the battle equipment keeps balancing under the upright traveling mode, wherein, it is described right
Equipment of fighting is on the basis of target-angle, and by controlling landing wheel to could be adjusted to keep balance to equipment inclination angle, the target is inclined
Angle is used to indicate to keep the angle between the body and horizontal plane for fighting equipment during balance under the upright traveling mode；
Handover module, for switching to the upright traveling mould by normal traveling mode according to the traveling mode switching command
Formula, the normal traveling mode refers to the pattern that the battle equipment is moved in the case where full wheel lands state；
Control module, for controlling the battle equipment to perform predetermined action under the upright traveling mode.
13. device according to claim 12, it is characterised in that the control module, including：
First control unit, for controlling the battle equipment to stop original place under the upright traveling mode；
Or,
Second control unit, for the motion mode indicated by the movement instruction that is sent according to the control device, control is described
Battle equipment is moved under the upright traveling mode, and the motion mode is included in advancing, retreat, turn left and turning right at least
It is a kind of；
Or,
3rd control unit, for the attack pattern according to indicated by the attack instruction that the control device is sent, is controlled in institute
State battle equipment to be attacked under the upright traveling mode, the attack pattern includes：Swash to other battle equipment transmittings
At least one of optical signal and the other battle equipment of shock.
14. device according to claim 13, it is characterised in that the handover module, including：
First drive control unit, the dynamical system output under the normal traveling mode, controlling the battle equipment
First Driving Force, the First Driving Force is used to provide the first acceleration along first direction of motion for the battle equipment；
Second drive control unit, for when the speed of the battle equipment reaches pre-set velocity threshold value, controlling the battle
The dynamical system of equipment exports second driving force opposite with the First Driving Force, and second driving force is used for be described right
Equipment of fighting provides the second acceleration along second direction of motion, and second direction of motion is opposite with first direction of motion；
First computing unit, for calculating the battle equipment according to the sensing data that sensor is gathered in the battle equipment
Equipment inclination angle, the equipment inclination angle be used for indicate it is described battle equipment body and horizontal plane between angle, the sensing
Device data at least include acceleration information and angular velocity data；
Switch unit, if being more than predetermined angle threshold value for the equipment inclination angle, institute is switched to by the normal traveling mode
State upright traveling mode；
Balancing unit, for carrying out negative feedback control to the equipment inclination angle on the basis of target-angle；The target-angle is used
The body and the level of the battle equipment when indicating that the battle equipment keeps balance under the upright traveling mode
Angle between face.
15. device according to claim 14, it is characterised in that gather moment, k ＞ 1, first calculating for kth
Unit, including：
First computation subunit, for the acceleration information collected according to the kth collection moment, calculating obtains described
Kth gathers moment corresponding measuring apparatus inclination angle；
Second computation subunit, the kth -1 for being obtained according to calculating gathers moment corresponding equipment inclination angle and the kth -1
The angular velocity data that the collection moment collects, calculates the kth collection moment corresponding pre- measurement equipment inclination angle；
3rd computation subunit, for being carried out according to the measuring apparatus inclination angle, the pre- measurement equipment inclination angle and kalman gain
Filtering process, obtains the kth collection moment corresponding equipment inclination angle, the kalman gain is according to the pre- measurement equipment inclination angle
Covariance calculate obtain.
16. device according to claim 14, it is characterised in that the balancing unit, including：
4th computation subunit, for according to the equipment inclination angle and the target-angle, calculating adjustment inclination angle；
First processing subelement, for carrying out PID PID processing to the adjustment inclination angle, obtains pulse width modulation
PWM control datas；
First control subelement, for controlling motor to drive the rotation that lands for fighting equipment according to the PWM control datas
It is dynamic.
17. device according to claim 14, it is characterised in that also include Hall encoders, institute in the battle equipment
State the wheel velocity that Hall encoders are used to obtain the battle equipment；
The balancing unit, including：
5th computation subunit, for according to the equipment inclination angle and the target-angle, calculating adjustment inclination angle；
Second processing subelement, for carrying out PID PID processing to the adjustment inclination angle, obtains pulse width modulation
PWM control datas；
6th computation subunit, the wheel velocity for being gathered according to the Hall encoders calculates the instantaneous of the battle equipment
Acceleration；
7th computation subunit, for according to the instantaneous acceleration and the equipment Dip countion inclination factor, the inclination
Coefficient is used for the inclined degree for indicating that the battle equipment is current；
Determination subelement, if being more than predetermined coefficient for the inclination factor, control data is determined according to the inclination factor
Correction value；
Revise subelemen, for being modified according to the control data correction value to the PWM control datas；
Second control subelement, for driving the battle equipment according to the revised PWM control datas control motor
Landing wheel is rotated.
18. device according to claim 14, it is characterised in that first control unit, is additionally operable to control the mesh
Mark inclination angle and keep constant.
19. device according to claim 14, it is characterised in that when the movement instruction that the control device is sent refers to
When showing that the battle equipment is advanced or retreated,
Second control unit, including：
Subelement is lowered, for advancing when in the movement instruction instruction battle equipment under the upright traveling mode
When, the target-angle is lowered into the first predetermined number of degrees with respect；
Subelement is raised, for being retreated when in the movement instruction instruction battle equipment under the upright traveling mode
When, the target-angle is raised into the second predetermined number of degrees with respect.
20. the device according to claim 16 or 17, it is characterised in that when the motion that the control device is sent refers to
When order indicates that the battle equipment is turned left or turned right,
Second control unit, in addition to：
Right-hand rotation subelement, indicates the battle equipment in the upright traveling mode infradextroversion for working as in the movement instruction
When, the corresponding PWM control datas of right landing wheel of the battle equipment are lowered into the first predetermined value, and by the battle
The corresponding PWM control datas of left landing wheel of equipment raise the second predetermined value；Number is controlled according to the PWM after adjustment
The left landing wheel and right landing wheel for driving the battle equipment according to control motor are rotated；
Left-hand rotation subelement, indicates the battle equipment in the upright traveling mode infralevoversion for working as in the movement instruction
When, the corresponding PWM control datas of right landing wheel of the battle equipment are raised into the 3rd predetermined value, and by the battle
The corresponding PWM control datas of left landing wheel of equipment lower the 4th predetermined value；Number is controlled according to the PWM after adjustment
The left landing wheel and right landing wheel for driving the battle equipment according to control motor are rotated.
21. device according to claim 13, it is characterised in that when the attack instruction that the control device is sent indicates institute
State battle equipment under the upright traveling mode to other battle equipment transmitting laser signals when,
3rd control unit, including：
Modulation subunit, for the attack parameter carried in the attack instruction to be modulated in the laser signal；
Launch subelement, for passing through the laser signal after built-in Laser emission component transmitting modulation.
22. according to any described device of claim 12 to 14, it is characterised in that the control module, in addition to：
4th control unit, under the upright traveling mode, controls the liftoff wheel of the battle equipment to stop operating.
23. one kind battle equipment, it is characterised in that the battle equipment includes：Fight apparatus body, it is wheel, control chip, logical
Believe component, sensor cluster and drive component；
The control chip, the communication component, the sensor cluster and the drive component are arranged on the battle equipment
Body interior；
The drive component is connected with the wheel by linkage structure；
The control chip is electrical connected with the communication component, the sensor cluster and the drive component respectively；
The control chip includes the battle equipment traveling mode switching device as described in claim 12 to 22 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511018600.1A CN105617674B (en) | 2015-12-30 | 2015-12-30 | Fight equipment traveling mode switching method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511018600.1A CN105617674B (en) | 2015-12-30 | 2015-12-30 | Fight equipment traveling mode switching method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105617674A CN105617674A (en) | 2016-06-01 |
| CN105617674B true CN105617674B (en) | 2017-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201511018600.1A Active CN105617674B (en) | 2015-12-30 | 2015-12-30 | Fight equipment traveling mode switching method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021042261A1 (en) * | 2019-09-03 | 2021-03-11 | 尤中乾 | Control method for toy car, and toy car |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201431779Y (en) * | 2009-03-13 | 2010-03-31 | 东莞康特尔电子有限公司 | Toy robot force capable of automatically transforming |
| CN201727958U (en) * | 2010-04-29 | 2011-02-02 | 晋江恒盛玩具有限公司 | Novel remote control toy car |
| CN201760096U (en) * | 2010-04-08 | 2011-03-16 | 邹建华 | Remote-control fighting toy car |
| CN103239864A (en) * | 2013-05-24 | 2013-08-14 | 武汉工业学院 | Human shape and car shape configuration transformable mechanical toy |
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2015
- 2015-12-30 CN CN201511018600.1A patent/CN105617674B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201431779Y (en) * | 2009-03-13 | 2010-03-31 | 东莞康特尔电子有限公司 | Toy robot force capable of automatically transforming |
| CN201760096U (en) * | 2010-04-08 | 2011-03-16 | 邹建华 | Remote-control fighting toy car |
| CN201727958U (en) * | 2010-04-29 | 2011-02-02 | 晋江恒盛玩具有限公司 | Novel remote control toy car |
| CN103239864A (en) * | 2013-05-24 | 2013-08-14 | 武汉工业学院 | Human shape and car shape configuration transformable mechanical toy |
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| CN105617674A (en) | 2016-06-01 |
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