CN105688415B - A kind of controllable tumbler of center of gravity and the method for controlling tumbler center of gravity - Google Patents
A kind of controllable tumbler of center of gravity and the method for controlling tumbler center of gravity Download PDFInfo
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- CN105688415B CN105688415B CN201610039097.6A CN201610039097A CN105688415B CN 105688415 B CN105688415 B CN 105688415B CN 201610039097 A CN201610039097 A CN 201610039097A CN 105688415 B CN105688415 B CN 105688415B
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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, it is hemispheric tumbler shell including bottom, the bottom of tumbler shell is provided with the weight block for balance, feature is that rotating disk positioning component is provided with tumbler shell, swing positioning component, center of gravity locating piece and control module, rotating disk positioning component is arranged in weight block, positioning component is swung to be arranged on rotating disk positioning component, center of gravity locating piece is arranged on swing positioning component, control module is electrically connected with rotating disk positioning component and swing positioning component respectively, control module is used to control rotating disk positioning component to rotate and control swing positioning component swing；Advantage is that user is respectively navigated to center of gravity locating piece at the locus of needs by controlling rotating disk positioning component and swinging positioning component by control module, and tumbler makes corresponding action, considerably increases the interesting and interactive of tumbler；The present invention also discloses the method for this kind of tumbler center of gravity of control.
Description
Technical field
The present invention relates to a kind of tumbler and the method for controlling tumbler, the controllable tumbler of especially a kind of center of gravity and control
The method of tumbler center of gravity processed.
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 not only attract children but also with certain interactive toy easy to operate while, while also attracting
Vast adult especially student consumerism is bought, therefore only increases the entertaining of tumbler by changing profile
Comparatively property, the attraction to user 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 a kind of controllable tumbler of center of gravity and control tumbler center of gravity
Method, can be controlled the internal structure of tumbler to realize by control module and the center of gravity of tumbler is positioned so that do not fallen
Father-in-law show various needs action come 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 hemispheric tumbler shell, and the bottom of described tumbler shell is provided with the weight block for balance, it is described not
Rotating disk positioning component is provided with the shell of falling father-in-law, positioning component, center of gravity locating piece and control module is swung, described rotating disk positioning
Component is arranged in described weight block, and described swing positioning component is arranged on described rotating disk positioning component, described
Center of gravity locating piece is arranged on described swing positioning component, described control module respectively with described rotating disk positioning component and
Described swing positioning component electrical connection, described control module is used to control described rotating disk positioning component to rotate and control
Described swing positioning component is swung.
Described rotating disk positioning component includes bottom bracket, the first motor and locating turntable, described swing positioning
Component includes the second motor, the first swing curved bar, the second swing curved bar and gantry pillars, and described bottom bracket, which is fixed, to be set
Put in described weight block, the first described motor is fixedly installed on described bottom bracket, the first described drive
The drive shaft of dynamic motor is fixedly connected with the bottom of described locating turntable, the second described motor and described swing branch
Seat fixed symmetrical is arranged on described locating turntable, and described first swings one end of curved bar and the second described motor
Drive shaft be fixedly connected, one end of described second swing curved bar is connected with described gantry pillars rotation, described center of gravity
Locating piece is arranged between the other end of the other end of the first described swing curved bar and the second described swing curved bar, described
First motor and the second described motor are electrically connected with described control module.The drive shaft of first motor
Locating turntable is driven to rotate, the drive shaft of the second motor drives first to swing curved bar and swung so that center of gravity locating piece and the
Two swing curved bars are swung therewith, and the different mobile status of center of gravity locating piece makes the gravity motion of tumbler to different positions, from
And tumbler is made corresponding action.
The second described motor is used to drive the first described swing curved bar to swing on described locating turntable
Amplitude swings back and forth for 180 °.More convenient control module is controlled to the first motor and the second motor.
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.
The method for controlling the center of gravity of above-described tumbler, comprises 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 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 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 by control module respectively by controlling rotating disk to determine
Hyte part and swing positioning component navigate to center of gravity locating piece at the locus of needs, so as to change the weight of tumbler
The heart, tumbler makes corresponding action according to the mobile status of center of gravity locating piece and user's progress is interactive, considerably increases to fall
Father-in-law's is interesting and interactive, has effectively expanded the scope of application of product.
Brief description of the drawings
Fig. 1 is the part-structure schematic diagram of tumbler in the present invention；
Fig. 2 is the structured flowchart of control module in the present invention；
Fig. 3 is the structured flowchart of phonetic order receiving module in embodiment three；
Fig. 4 is the schematic flow sheet of the method for control tumbler center of gravity 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
The bottom of shell 1, which is provided with the weight block 2 for balance, tumbler shell 1, to be provided with rotating disk positioning component 3, swings positioning group
Part 4, center of gravity locating piece 5 and control module 6, rotating disk positioning component 3 are arranged in weight block 2, and swing positioning component 4, which is arranged on, to be turned
On disk positioning component 3, center of gravity locating piece 5 be arranged on swing positioning component 4 on, control module 6 respectively with rotating disk positioning component 3 and
Swing positioning component 4 to electrically connect, control module 6 is used to control rotating disk positioning component 3 to rotate and control swing positioning component 4 to put
Dynamic, rotating disk positioning component 3 includes bottom bracket 31, the first motor 32 and locating turntable 33, and swinging positioning component 4 includes the
Two motors 41, first swing curved bar 42, second and swing curved bar 43 and gantry pillars 44, and bottom bracket 31 is fixedly installed on weight
On thing block 2, the first motor 32 is fixedly installed on bottom bracket 31, the drive shaft and locating turntable of the first motor 32
33 bottom is fixedly connected, and the second motor 41 is arranged on locating turntable 33 with the fixed symmetrical of gantry pillars 44, the first pendulum
One end of dynamic curved bar 42 is fixedly connected with the drive shaft of the second motor 41, and second swings one end of curved bar 43 and gantry pillars
44 rotate connection, center of gravity locating piece 5 be arranged on the other end of the first swing curved bar 42 and the second swing curved bar 43 the other end it
Between, the first motor 32 and the second motor 41 are electrically connected with control module 6.Wherein, control module 6 itself has one
Determine weight, only need to be arranged on the structure function of i.e. replaceable weight block 2 in a box body, play a part of balancing tumbler, section
Material cost is saved.
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 at least two functions,
Each the first instruction to be matched is provided with corresponding calculating sequence number, and the second major class instruction set includes at least two functions not
The second same 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 32 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 the second motor 41 is used to drive
First swing curved bar 42 is made amplitude of fluctuation on locating turntable 33 and swung back and forth for 180 °.
Embodiment three：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.
Example IV：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 five：The method of the center of gravity of tumbler described in control embodiment one, embodiment two and embodiment three, including
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 32 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 32 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.
Wherein, the first action command, the second action command and the 3rd action command may be alternatively provided as other needing tumbler
The action of execution.
Embodiment six：Remainder is identical with embodiment five, 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 seven：Remainder is identical with embodiment five, and its difference is that Motor control parameters include first and driven
The rotation direction of dynamic motor 32, the velocity of rotation of the first motor 32, the rotation time of the first motor 32, 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 (9)
1. a kind of controllable tumbler of center of gravity, including bottom is hemispheric tumbler shell, the bottom of described tumbler shell
Portion is provided with the weight block for balance, it is characterised in that rotating disk positioning component, swing are provided with described tumbler shell
Positioning component, center of gravity locating piece and control module, described rotating disk positioning component are arranged in described weight block, described pendulum
Dynamic positioning component is arranged on described rotating disk positioning component, and described center of gravity locating piece is arranged on described swing positioning component
On, described control module is electrically connected with described rotating disk positioning component and described swing positioning component respectively, described control
Molding block is used to control the swing positioning component swing that described rotating disk positioning component is rotated and control is described.
2. a kind of controllable tumbler of center of gravity according to claim 1, it is characterised in that described rotating disk positioning component bag
Bottom bracket, the first motor and locating turntable are included, described swing positioning component includes the second motor, the first swing
Curved bar, second swing curved bar and gantry pillars, and described bottom bracket is fixedly installed in described weight block, and described first
Motor is fixedly installed on described bottom bracket, the drive shaft and described locating turntable of described the first motor
Bottom be fixedly connected, described the second motor is arranged on described locating turntable with described gantry pillars fixed symmetrical
On, one end of the first described swing curved bar is fixedly connected with the drive shaft of the second described motor, the second described pendulum
One end of dynamic curved bar is rotated with described gantry pillars to be connected, and described center of gravity locating piece is arranged on described first and swings curved bar
The other end and described second swing between the other end of curved bar, the first described motor and the second described driving electricity
Machine is electrically connected with described control module.
3. the controllable tumbler of a kind of center of gravity according to claim 2, it is characterised in that the second described motor is used
Make amplitude of fluctuation on described locating turntable in the first swing curved bar described in drive to swing back and forth for 180 °.
4. the controllable tumbler of a kind of center of gravity according to claim 2, it is characterised in that described control module includes referring to
Make in storehouse, command reception module, instructions match module, parameter calculating module and motor control module, described instruction database and storing
Need matching instruction set, instruction set to be matched includes the first major class instruction set and the second major class instruction set, and first is big
Class instruction set includes different the first instruction to be matched of at least two functions, and each the first to be matched instruct is provided with pair
The calculating sequence number answered, the second major class instruction set includes the second different instruction to be matched of at least two functions, each second
Instruction to be matched is 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.
5. a kind of controllable tumbler of center of gravity according to claim 4, 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.
6. control the method for the center of gravity of the tumbler described in claim 4, it is characterised in that comprise the following steps：
Command reception module receives the effective control instruction sent by user and sends effective control instruction to instructions match mould
Block, instructions match module is matched the effective control instruction received with the instruction set to be matched stored in instruction database,
When effective control instruction is the first effective instruction, instructions match module is according to the action command included in first effective instruction
Judge first effective instruction and first instructions match to be matched in the first major class instruction set, and perform step；
When effective control instruction is the second effective instruction, action command of the instructions match module in second effective instruction judges
Second effective instruction and second instructions match to be matched in the second major class instruction set, and perform step；
Instructions match module calculates sequence number and the first effective finger by corresponding with judging the obtained instruction to be matched of this first
The parameter to be calculated included in order is sent to parameter calculating module, by be calculated parameter and meter of the parameter calculating module according to acquisition
Calculate the corresponding calculating processing of sequence number progress and obtain corresponding Motor control parameters, then obtained calculating processing by parameter calculating module
Motor control parameters input motor control module, motor control module according to the Motor control parameters of acquisition control first drive
Motor and/or the second motor start running, and final tumbler performs corresponding dynamic according to the mobile status of center of gravity locating piece
Make；
Motor control parameters corresponding with the instruction to be matched of this second for judging to obtain are inputted motor control by instructions match module
Molding block, motor control module controls the first motor and/or the second motor to open according to the Motor control parameters of acquisition
Begin to operate, final tumbler performs corresponding action according to the mobile status of center of gravity locating piece.
7. a kind of method for controlling tumbler center of gravity according to claim 6, 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.
8. a kind of method for controlling tumbler center of gravity according to claim 7, 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.
9. a kind of method of control tumbler center of gravity according to claim 6 or 7 or 8, 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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| CN201610039097.6A CN105688415B (en) | 2016-01-20 | 2016-01-20 | A kind of controllable tumbler of center of gravity and the method for controlling tumbler center of gravity |
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| CN201610039097.6A CN105688415B (en) | 2016-01-20 | 2016-01-20 | A kind of controllable tumbler of center of gravity and the method for controlling tumbler center of gravity |
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| CN107029433A (en) * | 2016-11-06 | 2017-08-11 | 李宁 | A kind of spherical not design of falling vehicle structure |
| CN108201699B (en) * | 2018-02-13 | 2020-11-03 | 深圳儒博智能科技有限公司 | Tumbler control method and module and tumbler |
| CN109316760B (en) * | 2018-11-22 | 2021-06-22 | 深圳儒博智能科技有限公司 | Tumbler control method, device, equipment and storage medium |
| 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 |
-
2016
- 2016-01-20 CN CN201610039097.6A patent/CN105688415B/en active Active
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