CN105664499B - A kind of gravity's center control method of the controllable tumbler of center of gravity and tumbler - Google Patents
A kind of gravity's center control method of the controllable tumbler of center of gravity and tumbler Download PDFInfo
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- CN105664499B CN105664499B CN201610039801.8A CN201610039801A CN105664499B CN 105664499 B CN105664499 B CN 105664499B CN 201610039801 A CN201610039801 A CN 201610039801A CN 105664499 B CN105664499 B CN 105664499B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H15/00—Other gravity-operated toy figures
- A63H15/06—Self-righting toys
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
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Abstract
The invention discloses a kind of controllable tumbler of center of gravity, including tumbler shell, weight block is provided with tumbler shell, feature is that the first rotational positioning component is provided with tumbler shell, second rotational positioning component, center of gravity locating piece and control module, first rotational positioning component is arranged on the inwall of tumbler shell, second rotational positioning component is arranged on the first rotational positioning component, center of gravity locating piece is arranged on the second rotational positioning component, the rotation direction of second rotational positioning component and the rotation direction of the first rotational positioning component are interlaced, first rotational positioning component and the second rotational positioning component are electrically connected with control module；Advantage is that user can be by control module respectively by controlling the first rotational positioning component and the second rotational positioning component to change the center of gravity of tumbler, tumbler makes corresponding action and user interaction, the interest and scientific and technological content of tumbler are added, the invention also discloses a kind of gravity's center control method to this kind of tumbler.
Description
Technical field
The present invention relates to a kind of tumbler and the control method of tumbler motion state, especially a kind of center of gravity is controllable not
The gravity's center control method of father-in-law and tumbler.
Background technology
Tumbler is a kind of toy with long history, and it inclines in the presence of external force since initial stand up position
, external force will be swung after disappearing, and be then returned to initial erectility, all be indispensable group in toy all the time
Into part.It is few to tumbler but the existing change to tumbler is essentially all the profile for changing tumbler
The other structures of toy are transformed.With gradually stepping up for living standard and level of education, selectable toy type is more next
It is abundanter, and rich in certain scientific and technological content again easily to operate toy not only attract children, while also attracted it is vast into
Year people's especially student consumerism is bought, therefore only increases the interest of tumbler by changing profile, to
Comparatively the attraction at family is gradually reducing, and the competitiveness on toy market is not strong.
The content of the invention
The technical problems to be solved by the invention are to provide the gravity's center control of a kind of controllable tumbler of center of gravity and tumbler
Method, can be positioned by control module to the center of gravity of tumbler so that the action that tumbler shows various needs comes
With user interaction so that tumbler more have interest.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：A kind of controllable tumbler of center of gravity, including bottom
Portion is that the weight block for balance, described tumbler are provided with hemispheric tumbler shell, described tumbler shell
The first rotational positioning component, the second rotational positioning component, center of gravity locating piece and control module, described first are provided with shell
Rotational positioning component is arranged on described tumbler shell, and the second described rotational positioning component is arranged on the first described rotation
Turn on positioning component, described center of gravity locating piece is arranged on the second described rotational positioning component, the second described rotation is fixed
First rotational positioning interlaced, described with the rotation direction of the first described rotational positioning component of the rotation direction of hyte part
Component and the second described rotational positioning component are electrically connected with described control module.
The first described rotational positioning component includes the first motor, the first locating ring and first support, and described the
Two rotational positioning components include the second motor, the second locating ring and second support, described the first motor with it is described
First support be symmetricly set on the inwall of described tumbler shell, the first described locating ring is arranged on described first
Between motor and described first support, one end of described the first locating ring and the driving of the first described motor
Axle is fixedly connected, and the other end of the first described locating ring is rotated with described first support to be connected, the second described driving electricity
Machine and described second support are symmetricly set on the first described locating ring, and the second described locating ring is arranged on described the
Between two motors and described second support, one end of described the second locating ring and the drive of the second described motor
Moving axis is fixedly connected, and the other end of the second described locating ring is rotated with described second support to be connected, described center of gravity positioning
Block is set on the second described locating ring, and described center of gravity locating piece is located at the second described locating ring and the second described driving
On annulus between the tie point of motor and the second described locating ring and the tie point of described second support, described first
The drive shaft of motor and the drive shaft of the second described motor are interlaced, described the first motor with it is described
The second motor electrically connected with described control module.Due to the drive shaft and the second motor of the first motor
Drive shaft it is interlaced, therefore the first locating ring and the second locating ring can drive center of gravity locating piece with the ring of the first locating ring
The corresponding position of each space angle centered on the heart so that tumbler can one way or another topple over corresponding dynamic to make
Make.
The drive shaft and plane-parallel of the first described motor, the drive shaft of described the second motor and institute
The drive shaft for the first motor stated is mutually perpendicular to.More convenient control module is entered to the first motor and the second motor
Row control.
Described center of gravity locating piece is located at tie point and institute of the second described locating ring with the second described motor
The middle on annulus between the second locating ring for stating and the tie point of described second support.Control module passes through control the
One motor and the second motor are positioned to center of gravity locating piece, so as to change the control effect of the center of gravity of tumbler more
For ideal.
Described control module includes instruction database, command reception module, instructions match module, parameter calculating module and motor
Be stored with instruction set to be matched in control module, described instruction database, and instruction set to be matched includes the first major class instruction set
Close and the second major class instruction set, the first major class instruction set includes the first different instruction to be matched of at least two functions, often
One the first instruction to be matched is provided with corresponding calculating sequence number, and the second major class instruction set includes at least two function differences
The second instruction to be matched, each second it is to be matched instruction be provided with corresponding Motor control parameters；
Described command reception module is used to receiving selects the effective control instruction and this is effective that sends by user
Control instruction is sent to described instructions match module, and effective control instruction is the first effective instruction or the second effective instruction, the
One effective instruction includes an action command and more than one parameter to be calculated corresponding with the action command, and second effectively refers to
Order is only comprising an action command, and action command is used to require that tumbler makes a specific action；
Described instructions match module is used for the effective control instruction received and treating for being stored in described instruction database
Matching instruction set is matched, when the effective control instruction received is the first effective instruction, described instructions match mould
Root tuber is judged in first effective instruction and the first major class instruction set according to the action command included in first effective instruction
One the first instructions match to be matched, and by calculating sequence number corresponding with judging the obtained instruction to be matched of this article first and this
The parameter to be calculated included in one effective instruction is sent to described parameter calculating module；When the effective control instruction received is
During the second effective instruction, the action command of described instructions match module in second effective instruction judges that this is second effective
Instruction and second instructions match to be matched in the second major class instruction set, and will be treated with judging obtained this second
Described motor control module is sent to corresponding Motor control parameters are instructed；
Described parameter calculating module is used to be carried out at corresponding calculating according to the parameter to be calculated and calculating sequence number of acquisition
Manage and obtain corresponding Motor control parameters, then the Motor control parameters for being obtained calculating processing by described parameter calculating module are defeated
Enter described motor control module；
Described motor control module be used to being controlled according to the Motor control parameters of acquisition described the first motor and/
Or the second described motor starts running.First effective instruction include need tumbler perform some specifically act and hold
The capable number of times that this is specifically acted, it is therefore desirable to which related various parameters are sent in parameter calculating module, parameter calculating module
A plurality of function corresponding with the action that each needs is performed respectively is previously stored, a function pair answers a calculating sequence number, because
This is when parameter calculating module receives calculating sequence number and corresponding parameter, so that it may call a function corresponding with calculating sequence number
Corresponding calculating processing is carried out, and the Motor control parameters that calculating is obtained are sent to motor control module to drive to first
Motor and the second motor are controlled accordingly, and the second effective instruction typically only includes some tool for needing tumbler to perform
Body is acted, but not comprising needing to perform the number of times specifically acted, is generally defaulted as performing the once specific action, therefore
The Motor control parameters set in the second instruction to be matched corresponding with the second effective instruction directly can be sent to motor control
Molding block is handled, and the second effective instruction can also be first by command reception module the problem of proposition by user, now to need
The problem is converted into command signal corresponding with the action for needing tumbler to perform, then the command signal being converted to is sent
To instructions match module；User can accurately control the swing state of tumbler by sending effective control instruction, so that
Tumbler show various needs action come with user interaction, make tumbler more have interest, the attraction to user
Power is larger.
Described command reception module is phonetic order receiving module, and described phonetic order receiving module includes microphone
And sound card, described microphone is for receiving the phonetic order for including effective control instruction inputted by user and being converted
Described sound card is sent to for corresponding analog signal, described sound card is corresponding for the analog signal received to be converted into
Data signal is simultaneously sent to described instructions match module by data signal.Pass through the motion state of Voice command tumbler, control
Process processed is more convenient quick, with higher interactive and interest.
To the gravity's center control method of above-described tumbler, comprise the following steps：
Command reception module receives the effective control instruction sent by user and sends effective control instruction to instruction
Matching module, instructions match module carries out the instruction set to be matched stored in the effective control instruction received and instruction database
Matching, when effective control instruction is the first effective instruction, instructions match module is dynamic according to what is included in first effective instruction
Make instruction and judge first effective instruction and first instructions match to be matched in the first major class instruction set, and perform step
Suddenly；When effective control instruction is the second effective instruction, action of the instructions match module in second effective instruction refers to
Order judges second effective instruction and second instructions match to be matched in the second major class instruction set, and performs step；
Instructions match module by calculating sequence number corresponding with judging the obtained instruction to be matched of this first and this first
The parameter to be calculated included in effective instruction is sent to parameter calculating module, by be calculated ginseng of the parameter calculating module according to acquisition
Number and calculate sequence number and carry out corresponding calculating processing and obtain corresponding Motor control parameters, then by parameter calculating module by calculating
Obtained Motor control parameters input motor control module is managed, motor control module is according to the Motor control parameters of acquisition control the
One motor and/or the second motor start running, and final tumbler performs phase according to the mobile status of center of gravity locating piece
The action answered；
Instructions match module inputs Motor control parameters corresponding with the instruction to be matched of this second for judging to obtain
Motor control module, motor control module controls the first motor and/or the second driving according to the Motor control parameters of acquisition
Motor starts running, and final tumbler performs corresponding action according to the mobile status of center of gravity locating piece.
Described action command is the first action command or the second action command or the 3rd action command, and described first is dynamic
Making instruction is used to make tumbler remain stationary as after toppling over, and the second described action command recovers just again for making tumbler first topple over
Beginning erectility, the 3rd described action command is used to make tumbler persistently rotate with fixed angle.
Parameter to be calculated corresponding with the first described action command includes the direction and inclination angle that tumbler is toppled over, described
Tumbler central shaft deviates the angle of initial position when inclination angle is toppled over for tumbler, corresponding with the second described action command
Parameter to be calculated include toppling over direction, inclination angle, recover upright mode, number of oscillations and duration, it is described
The mode for recovering upright includes directly recovering upright and recovers upright after waving, corresponding with the 3rd described action command to wait to count
Calculating parameter includes the time at inclination angle, the number of turns that tumbler rotates and tumbler rotation.It can be previously stored in parameter calculating module
Have an a plurality of function to be calculated, every function to be calculated be according to correspondence the need for the specific action that performs of tumbler and perform time
Number, is obtained and is prestored in parameter calculating module again by the method for conventional mathematics and physics.
Described Motor control parameters include the rotation direction of the first described motor, the first described motor
Velocity of rotation, the rotation time of described first motor, the rotation direction of the second described motor, described
The rotation time of the velocity of rotation of two motors and the second described motor.
Compared with prior art, the advantage of the invention is that user can be revolved by control first respectively by control module
The mutual cooperation for turning positioning component and the second rotational positioning component navigates to center of gravity locating piece at the locus of needs, so that
The center of gravity of tumbler is changed, tumbler is made corresponding action according to the mobile status of center of gravity locating piece and carried out mutually with user
It is dynamic, the interest of tumbler is considerably increased, and tumbler is possessed certain scientific and technological content, effectively expand user city
.
Brief description of the drawings
Fig. 1 is the part-structure schematic diagram one of tumbler in the present invention；
Fig. 2 is the part-structure schematic diagram two of tumbler in the present invention；
Fig. 3 is the structured flowchart of control module in the present invention；
Fig. 4 is the structured flowchart of phonetic order receiving module in embodiment five；
Fig. 5 is the schematic flow sheet of the gravity's center control method of tumbler in the present invention.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
Embodiment one：A kind of controllable tumbler of center of gravity, including bottom are outside hemispheric tumbler shell 1, tumbler
It is provided with the weight block 2 for balance, tumbler shell 1 to be provided with the first rotational positioning component 3, second and rotate in shell 1 and determines
Hyte part 4, center of gravity locating piece 5 and control module 6, the first rotational positioning component 3 are arranged on tumbler shell 1, the second rotation
Positioning component 4 is arranged on the first rotational positioning component 3, and center of gravity locating piece 5 is arranged on the second rotational positioning component 4, and second
The rotation direction of rotational positioning component 4 and the rotation direction of the first rotational positioning component 3 are interlaced, the first rotational positioning component
3 include the first motor 31, the first locating ring 32 and first support 33, and the second rotational positioning component 4 includes the second driving electricity
Machine 41, the second locating ring 42 and second support 43, the first motor 31 are symmetricly set on tumbler shell 1 with first support 33
Inwall on, the first locating ring 32 is arranged between the first motor 31 and first support 33, one end of the first locating ring 32
It is fixedly connected with the drive shaft of the first motor 31, the other end of the first locating ring 32 is rotated with first support 33 to be connected, the
Two motors 41 are symmetricly set on the first locating ring 32 with second support 43, and the second locating ring 42 is arranged on the second driving electricity
Between machine 41 and second support 43, one end of the second locating ring 42 is fixedly connected with the drive shaft of the second motor 41, and second
The other end of locating ring 42 is rotated with second support 43 and is connected, and center of gravity locating piece 5 is set on the second locating ring 42, center of gravity locating piece
5 be located at the tie point of the second locating ring 42 and the second motor 41 and the second locating ring 42 and the tie point of second support 43 it
Between annulus on, the drive shaft of the first motor 31 and the drive shaft of the second motor 41 are interlaced, first driving electricity
Machine 31 is electrically connected with the second motor 41 with control module 6；
Control module 6 includes instruction database 61, command reception module 62, instructions match module 63, the and of parameter calculating module 64
Be stored with instruction set to be matched in motor control module 65, instruction database 61, and instruction set to be matched is instructed including the first major class
Set and the second major class instruction set, the first major class instruction set include the first different instruction to be matched of three functions, each
The instruction to be matched of bar first is provided with corresponding calculating sequence number, and it is different that the second major class instruction set includes at least two functions
Second instruction to be matched, each the second instruction to be matched is provided with corresponding Motor control parameters；
Command reception module 62 is used to receiving selects an effective control instruction sending and by effective control by user
Instruction is sent to instructions match module 63, and effective control instruction is the first effective instruction or the second effective instruction, and first effectively refers to
Order includes an action command and more than one parameter to be calculated corresponding with the action command, and the second effective instruction is only included
One action command, action command is used to require that tumbler makes a specific action；
Instructions match module 63 is used for the instruction to be matched that will be stored in the effective control instruction received and instruction database 61
Set matched, when the effective control instruction received be the first effective instruction when, instructions match module 63 according to this first
The action command included in effective instruction judges that one first in first effective instruction and the first major class instruction set treats
Calculated with instructions match, and by corresponding with the instruction to be matched of this first for judging to obtain in sequence number and first effective instruction
Comprising parameter to be calculated send to parameter calculating module 64；When the effective control instruction received is the second effective instruction,
Action command of the instructions match module 63 in second effective instruction judges that second effective instruction is instructed with the second major class
Second instructions match to be matched in set, and by motor control corresponding with judging the obtained instruction to be matched of this second
Parameter processed is sent to motor control module 65；
Parameter calculating module 64 is used to be handled according to the parameter to be calculated and the corresponding calculating of calculating sequence number progress of acquisition
To corresponding Motor control parameters, then the Motor control parameters input motor control for being obtained calculating processing by parameter calculating module 64
Molding block 65；
Motor control module 65 is used to be driven according to the first motor of the Motor control parameters of acquisition control 31 and/or second
Dynamic motor 41 starts running.
In embodiment one, it can be pre-set in the first major class instruction set corresponding with parameter to be calculated standby silent
Recognize value, when originally designed can parameter to be calculated corresponding with the action command in effective control instruction to be multiple, it is and actual
Parameter to be calculated corresponding with action command will than the parameter to be calculated originally designed in the effective control instruction sent by user
When lacking more than one, standby default value is used to replace the parameter to be calculated lacked and is commanded matching with existing parameter to be calculated
Module 63 sends to parameter calculating module 64 and carries out calculating conversion process.
Embodiment two：Remainder is identical with embodiment one, and its difference is that center of gravity locating piece 5 is located at the second positioning
On annulus between the tie point and the second locating ring 42 and the tie point of second support 43 of the motor 41 of ring 42 and second
Middle.
Embodiment three：Remainder is identical with embodiment one, and its difference is the drive shaft of the first motor 31
With plane-parallel, the drive shaft of the second motor 41 and the drive shaft of the first motor 31 are mutually perpendicular to.
Example IV：Remainder is identical with embodiment three, and its difference is that center of gravity locating piece 5 is located at the second positioning
On annulus between the tie point and the second locating ring 42 and the tie point of second support 43 of the motor 41 of ring 42 and second
Middle.It can be pre-set in parameter calculating module 64 for calculating according to parameter to be calculated and calculating sequence number and obtaining motor
The function to be calculated of control parameter, using the tumbler of structure described in example IV, passes through conventional mathematics and physical method pair
The process that function to be calculated is configured is relatively simple.
Embodiment five：Remainder is identical with embodiment one, and its difference is that command reception module 62 refers to for voice
Receiving module is made, phonetic order receiving module includes microphone 71 and sound card 72, and microphone 71 is used to receive what is inputted by user
Include the phonetic order of effective control instruction and be translated into corresponding analog signal and be sent to sound card 72, sound card 72 is used for
The analog signal received is converted into corresponding data signal and data signal is sent to instructions match module 63.Instruction connects
The mobile terminal command reception mould for being used for receiving the instruction sent by the program on mobile terminal can also be used by receiving module 62
Block, or the infrared signal command reception module of the infrared control instructions match sent with remote control.
Embodiment six：Remainder is identical with embodiment one, and its difference is that the first major class instruction set includes two
The first different instruction to be matched of bar function, the second major class instruction set includes the second different instruction to be matched of two functions.
Embodiment seven：To in embodiment one, embodiment two, embodiment three, example IV and the above example of embodiment five
Tumbler gravity's center control method, comprise the following steps：
Command reception module 62 receives the effective control instruction sent by user and sends effective control instruction to finger
Make matching module 63, the instruction to be matched that instructions match module 63 will be stored in the effective control instruction received and instruction database 61
Set is matched, and when effective control instruction is the first effective instruction, instructions match module 63 is according to first effective instruction
In the action command that includes judge first effective instruction and first instruction to be matched in the first major class instruction set
Match somebody with somebody, and perform step；When effective control instruction be the second effective instruction when, instructions match module 63 according to this second effectively finger
Action command in order judges second effective instruction and second instructions match to be matched in the second major class instruction set,
And perform step；Action command is the first action command or the second action command or the 3rd action command, the first action command
For making tumbler be remained stationary as after toppling over, the second action command recovers initial erectility again for making tumbler first topple over,
3rd action command is used to make tumbler persistently rotate with fixed angle；
Instructions match module 63 by calculating sequence number corresponding with judging the obtained instruction to be matched of this article first and this
The parameter to be calculated included in one effective instruction is sent to parameter calculating module 64, by the treating according to acquisition of parameter calculating module 64
Calculating parameter and calculating sequence number carry out corresponding calculating processing and obtain corresponding Motor control parameters, then by parameter calculating module 64
Calculating is handled into obtained Motor control parameters and inputs motor control module 65, motor control module 65 is according to the motor control of acquisition
State modulator the first motor 31 and/or the second motor 41 processed start running, and final tumbler is according to center of gravity locating piece 5
Mobile status perform corresponding action；
Instructions match module 63 will be defeated with the corresponding Motor control parameters of the instruction to be matched of this second for judging to obtain
Enter motor control module 65, motor control module 65 according to the Motor control parameters of acquisition control the first motor 31 and/or
Second motor 41 starts running, and final tumbler performs corresponding action according to the mobile status of center of gravity locating piece 5.
Embodiment eight：Remainder is identical with embodiment seven, and its difference is treat corresponding with the first action command
Calculating parameter includes the direction and inclination angle that tumbler is toppled over, and tumbler central shaft deviates initial place when inclination angle is toppled over for tumbler
The angle of position, direction that parameter to be calculated corresponding with the second action command includes toppling over, inclination angle, recover upright mode,
Number of oscillations and duration, the mode for recovering upright include directly recovering upright and recover upright after waving, with the 3rd
The corresponding parameter to be calculated of action command includes the time at inclination angle, the number of turns that tumbler rotates and tumbler rotation.Wherein it is possible to
Process tumbler is dumped forward from initial position, toppled over, return again to initial position backward again is defined as once swinging.
Embodiment nine：Remainder is identical with embodiment seven, and its difference is that Motor control parameters include first and driven
The rotation direction of dynamic motor 31, the velocity of rotation of the first motor 31, the rotation time of the first motor 31, the second driving
The rotation time of the rotation direction of motor 41, the velocity of rotation of the second motor 41 and the second motor 41.
Claims (10)
1. a kind of controllable tumbler of center of gravity, including bottom are to be set in hemispheric tumbler shell, described tumbler shell
It is equipped with the weight block for balance, it is characterised in that the first rotational positioning component, second are provided with described tumbler shell
Rotational positioning component, center of gravity locating piece and control module, the first described rotational positioning component are arranged on outside described tumbler
On shell, the second described rotational positioning component is arranged on the first described rotational positioning component, and described center of gravity locating piece is set
Put on the second described rotational positioning component, the rotation direction of the second described rotational positioning component rotates with described first
The rotation direction of positioning component is interlaced, described the first rotational positioning component and the second described rotational positioning component with
Described control module electrical connection.
2. a kind of controllable tumbler of center of gravity according to claim 1, it is characterised in that the first described rotational positioning group
Part includes the first motor, the first locating ring and first support, and the second described rotational positioning component includes the second driving electricity
Machine, the second locating ring and second support, described the first motor and described first support be symmetricly set on it is described not
On the inwall for the shell of falling father-in-law, the first described locating ring be arranged on the first described motor and described first support it
Between, one end of the first described locating ring is fixedly connected with the drive shaft of the first described motor, the first described positioning
The other end of ring is rotated with described first support and is connected, and the second described motor is symmetrical arranged with described second support
On the first described locating ring, the second described locating ring is arranged on the second described motor and described second support
Between, one end of the second described locating ring is fixedly connected with the drive shaft of the second described motor, and described second is fixed
The other end of position ring is rotated with described second support to be connected, and described center of gravity locating piece is set on the second described locating ring,
Described center of gravity locating piece is located at the tie point and described second of the second described locating ring and the second described motor
On annulus between locating ring and the tie point of described second support, the drive shaft of described the first motor with it is described
The drive shaft of second motor is interlaced, described the first motor and the second described motor with it is described
Control module is electrically connected.
3. the controllable tumbler of a kind of center of gravity according to claim 2, it is characterised in that the first described motor
Drive shaft and plane-parallel, the drive shaft and the drive shaft of the first described motor of described the second motor are mutual
Vertically.
4. a kind of controllable tumbler of center of gravity according to Claims 2 or 3, it is characterised in that described center of gravity locating piece position
In the second described locating ring and the tie point and described the second locating ring and described second of the second described motor
The middle on annulus between the tie point of support.
5. the controllable tumbler of a kind of center of gravity according to Claims 2 or 3, it is characterised in that described control module includes
Deposited in instruction database, command reception module, instructions match module, parameter calculating module and motor control module, described instruction database
Instruction set to be matched is contained, instruction set to be matched includes the first major class instruction set and the second major class instruction set, first
Major class instruction set includes the first different instruction to be matched of at least two functions, and each the first instruction to be matched is provided with
Corresponding calculating sequence number, the second major class instruction set includes different the second instruction to be matched of at least two functions, each article the
Two instructions to be matched are provided with corresponding Motor control parameters；
Described command reception module is used to receiving selects an effective control instruction sending and by effective control by user
Instruction is sent to described instructions match module, and effective control instruction is the first effective instruction or the second effective instruction, and first has
Effect instruction includes an action command and more than one parameter to be calculated corresponding with the action command, and the second effective instruction is only
Comprising an action command, action command is used to require that tumbler makes a specific action；
Described instructions match module be used for by the effective control instruction received with stored in described instruction database it is to be matched
Instruction set is matched, when the effective control instruction received is the first effective instruction, described instructions match module root
Judge first effective instruction and one in the first major class instruction set according to the action command included in first effective instruction
First instructions match to be matched, and by calculating sequence number corresponding with judging the obtained instruction to be matched of this first and this first have
The parameter to be calculated included in effect instruction is sent to described parameter calculating module；When the effective control instruction received is second
During effective instruction, the action command of described instructions match module in second effective instruction judges second effective instruction
With second instructions match to be matched in the second major class instruction set, and it will refer to judging that obtained this second is to be matched
Corresponding Motor control parameters are made to be sent to described motor control module；
Described parameter calculating module is used to be handled according to the parameter to be calculated and the corresponding calculating of calculating sequence number progress of acquisition
To corresponding Motor control parameters, then the Motor control parameters input institute for being obtained calculating processing by described parameter calculating module
The motor control module stated；
Described motor control module is used for the first motor and/or institute according to being controlled the Motor control parameters of acquisition
The second motor stated starts running.
6. a kind of controllable tumbler of center of gravity according to claim 5, it is characterised in that described command reception module is
Phonetic order receiving module, described phonetic order receiving module includes microphone and sound card, and described microphone is used to receive
The phonetic order for including effective control instruction that is inputted by user and be translated into corresponding analog signal be sent to it is described
Sound card, described sound card is used to the analog signal received is converted into corresponding data signal and data signal is sent to
Described instructions match module.
7. the gravity's center control method of the controllable tumbler of a kind of center of gravity described in pair claim 5, it is characterised in that including following
Step：
Command reception module receives the effective control instruction sent by user and sends effective control instruction to instructions match
Module, instructions match module carries out the instruction set to be matched stored in the effective control instruction received and instruction database
Match somebody with somebody, when effective control instruction is the first effective instruction, instructions match module is according to the action included in first effective instruction
Instruction judges first effective instruction and first instructions match to be matched in the first major class instruction set, and performs step；When effective control instruction is the second effective instruction, action command of the instructions match module in second effective instruction
Judge second effective instruction and second instructions match to be matched in the second major class instruction set, and perform step；
Instructions match module is by calculating sequence number corresponding with judging the obtained instruction to be matched of this first and this is first effective
The parameter to be calculated included in instruction is sent to parameter calculating module, by parameter calculating module according to the parameter to be calculated of acquisition and
Calculate the corresponding calculating processing of sequence number progress and obtain corresponding Motor control parameters, then handled calculating by parameter calculating module
The Motor control parameters input motor control module arrived, motor control module drives according to the Motor control parameters of acquisition control first
Dynamic motor and/or the second motor start running, and final tumbler performs corresponding according to the mobile status of center of gravity locating piece
Action；
Motor control parameters corresponding with the instruction to be matched of this second for judging to obtain are inputted motor by instructions match module
Control module, motor control module controls the first motor and/or the second motor according to the Motor control parameters of acquisition
Start running, final tumbler performs corresponding action according to the mobile status of center of gravity locating piece.
8. a kind of gravity's center control method of tumbler according to claim 7, it is characterised in that described action command is
First action command or the second action command or the 3rd action command, described the first action command are used to making after tumbler topples over
Remain stationary as, the second described action command recovers initial erectility again for making tumbler first topple over, and described the 3rd is dynamic
Making instruction is used to make tumbler persistently rotate with fixed angle.
9. the gravity's center control method of a kind of tumbler according to claim 8, it is characterised in that with the first described action
Corresponding parameter to be calculated is instructed to include direction and inclination angle that tumbler is toppled over, tumbler when described inclination angle is toppled over for tumbler
Central shaft deviates the angle of initial position, and parameter to be calculated corresponding with the second described action command includes the side toppled over
To, inclination angle, recover upright mode, number of oscillations and duration, the upright mode of described recovery includes directly extensive
Multiple uprightly and after waving to recover upright, parameter to be calculated corresponding with the 3rd described action command includes inclination angle, tumbler rotation
The time of the number of turns and the tumbler rotation turned.
10. a kind of gravity's center control method of tumbler according to claim 7 or 8 or 9, it is characterised in that described motor
It is the rotation direction of control parameter including the first described motor, the velocity of rotation of the first described motor, described
The rotation time of first motor, the rotation direction of the second described motor, the rotation of the second described motor
The rotation time of speed and the second described motor.
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| CN201610039801.8A CN105664499B (en) | 2016-01-20 | 2016-01-20 | A kind of gravity's center control method of the controllable tumbler of center of gravity and tumbler |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854845A (en) * | 2017-10-24 | 2018-03-30 | 黄世业 | Tumbler swing system |
| CN107648863A (en) * | 2017-10-30 | 2018-02-02 | 南宁市浩发科技有限公司 | It is remotely controlled tumbler |
| CN108748114B (en) * | 2018-08-20 | 2020-04-21 | 安徽爱依特科技有限公司 | Non-falling structure of robot for preschool education |
| CN108939568A (en) * | 2018-10-12 | 2018-12-07 | 苏州征之魂专利技术服务有限公司 | A kind of top drive formula spill spin block disk adjusts and reform direction and waves tumbler utensil |
| CN109011599A (en) * | 2018-10-12 | 2018-12-18 | 苏州七巧板日用品科技有限公司 | A kind of bottom driving is without the universal self-regulated live-action version tumbler entertainment body building device in dead angle |
| CN109011600A (en) * | 2018-10-12 | 2018-12-18 | 苏州七巧板日用品科技有限公司 | It is a kind of to fill out weight formula tumbler fitness equipment with adjusting block |
| CN112023411B (en) * | 2020-07-31 | 2022-08-02 | 好孩子儿童用品有限公司 | Voice-controlled tumbler toy |
| CN112973142A (en) * | 2021-04-09 | 2021-06-18 | 董林 | Tumbler with adjustable gravity center |
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| KR200462932Y1 (en) * | 2010-04-26 | 2012-10-16 | 왕현민 | Tumbler by torque driving |
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