CN106293096A - A kind of control method for controlled plant and remote control equipment - Google Patents
A kind of control method for controlled plant and remote control equipment Download PDFInfo
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- CN106293096A CN106293096A CN201610681359.9A CN201610681359A CN106293096A CN 106293096 A CN106293096 A CN 106293096A CN 201610681359 A CN201610681359 A CN 201610681359A CN 106293096 A CN106293096 A CN 106293096A
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000002045 lasting effect Effects 0.000 claims abstract description 40
- 238000012544 monitoring process Methods 0.000 claims abstract description 30
- 230000000877 morphologic effect Effects 0.000 claims description 31
- 230000005021 gait Effects 0.000 claims description 17
- 238000005452 bending Methods 0.000 description 18
- 238000001514 detection method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
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- General Engineering & Computer Science (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a kind of control method for controlled plant and remote control equipment, method is applied in the remote control equipment deformed upon, and described method includes: whether the current form monitoring described remote control equipment is in lasting variable condition；If so, the deformation parameter of described remote control equipment is obtained；In described controlled plant traveling process, based on described deformation parameter, described controlled plant is controlled；As can be seen here, in the present invention, controlled plant can be controlled by user by the current form changing remote control equipment, and therefore, it is the most convenient to operate, and improves Consumer's Experience.
Description
Technical field
The present invention relates to automatic control technology field, a kind of control method for controlled plant
And remote control equipment.
Background technology
Existing controlled plant, as controlled vehicle, controlled aircraft etc. are all controlled by remote control equipment, this remote control equipment
Can be the equipment such as remote controller, mobile phone.Concrete, remote control equipment is provided with various button, operator is by operation button
Realize the control to remote control equipment.
But, aforesaid way needs operator to have the strongest operation skill, is especially controlling controlled plant traveling process
In the cooperation of general multiple buttons, operate the most loaded down with trivial details.
Summary of the invention
In view of this, the present invention provides a kind of control method for controlled plant and remote control equipment, to solve existing skill
For the technical problem that the mode of operation of controlled plant is loaded down with trivial details in art.
For achieving the above object, the present invention provides following technical scheme:
A kind of control method for controlled plant, is applied in the remote control equipment deformed upon, described method bag
Include:
Whether the current form monitoring described remote control equipment is in lasting variable condition；
If so, the deformation parameter of described remote control equipment is obtained；
In described controlled plant traveling process, based on described deformation parameter, described controlled plant is controlled.
Preferably, described deformation parameter includes deformation directioin parameter；
Described based on described deformation parameter, described controlled plant is controlled, including:
Determine the direct of travel corresponding with described deformation directioin parameter；
Control described controlled plant to advance to described direct of travel.
Preferably, described deformation parameter also includes deformation radian parameter and/or speed of deformation parameter；
The described controlled plant of described control, before described direct of travel is advanced, also includes:
Determine the traveling radian corresponding with described deformation radian parameter and/or the traveling corresponding with described speed of deformation parameter
Speed；
Control described controlled plant to advance to described direct of travel, including:
Control described controlled plant to advance to described direct of travel with described traveling radian and/or described gait of march.
Preferably, the deformation parameter of the described remote control equipment of described acquisition, including:
Based on reference direction set in advance in described remote control equipment, determine the deformation directioin parameter of described remote control equipment.
Preferably, monitor after whether the current form of described remote control equipment be in lasting variable condition, also include:
Advance if it is not, control described controlled plant with current direct of travel.
Preferably, whether the current form of the described remote control equipment of described monitoring is in lasting variable condition, including:
Obtain the current morphological parameters of described remote control equipment；
Judge based on described current morphological parameters whether the current form of described remote control equipment is in the deformation persistently increased
State.
A kind of remote control equipment, described remote control equipment includes:
The body that can deform upon；
Sensor, for gathering the current morphological parameters of described body；
Controller, continues for judging whether the current form of described remote control equipment is in based on described current morphological parameters
Variable condition；If so, the deformation parameter of described remote control equipment is obtained；In described controlled plant traveling process, based on described shape
Described controlled plant is controlled by variable element.
Preferably, described deformation parameter includes deformation directioin parameter；
Described controller is when being controlled described controlled plant based on described deformation parameter, specifically for determining and institute
State the direct of travel that deformation directioin parameter is corresponding, control described controlled plant and advance to described direct of travel.
Preferably, described deformation parameter also includes deformation radian parameter and/or speed of deformation parameter；
Described controller be additionally operable to determine the traveling radian corresponding with described deformation radian parameter and/or with described deformation speed
The gait of march that degree parameter is corresponding；Accordingly, described controller control described controlled plant advance to described direct of travel time,
Advance to described direct of travel with described traveling radian and/or described gait of march specifically for controlling described controlled plant.
A kind of remote control equipment, described remote control equipment is the equipment that can deform upon, including:
First monitoring means, for monitoring whether the current form of described remote control equipment is in lasting variable condition；
First acquiring unit, for when the current form determining described remote control equipment is in lasting variable condition, obtains
The deformation parameter of described remote control equipment；
First control unit, in described controlled plant traveling process, based on described deformation parameter to described controlled
Equipment is controlled.
Understand via above-mentioned technical scheme, compared with prior art, the embodiment of the invention discloses a kind of for controlled
The control method of equipment, the method is applied in the remote control equipment deformed upon, concrete, monitors the current of remote control equipment
Whether form is in lasting variable condition, if so, obtains the deformation parameter of remote control equipment, in controlled plant traveling process, and base
In this deformation parameter, controlled plant is controlled；As can be seen here, in the present invention, user can be by changing remote control equipment
Controlled plant is controlled by current form, and therefore, it is the most convenient to operate, and improves Consumer's Experience.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 is the schematic flow sheet of a kind of control method for controlled plant disclosed in the embodiment of the present invention one；
Fig. 2 is the schematic flow sheet of a kind of control method for controlled plant disclosed in the embodiment of the present invention two；
Fig. 3 is the schematic diagram of a kind of setting means for reference direction disclosed in the embodiment of the present invention two；
Fig. 4 is the schematic flow sheet of a kind of control method for controlled plant disclosed in the embodiment of the present invention three；
Fig. 5 is the schematic flow sheet of a kind of control method for controlled plant disclosed in the embodiment of the present invention four；
Fig. 6 is the structural representation of a kind of remote control equipment disclosed in the embodiment of the present invention five；
Fig. 7 is the structural representation of a kind of remote control equipment disclosed in the embodiment of the present invention nine.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
The embodiment of the present invention one discloses a kind of control method for controlled plant, and the method is applied to shape
In the remote control equipment become.Wherein, it is possible to the electronic equipment deformed upon can be flexible electronic devices, such as flexible mobile phone, flexibility
Panel computer etc..
As it is shown in figure 1, the method comprises the following steps:
Step 101: whether the current form of monitoring remote control equipment is in lasting variable condition；If so, step 102 is entered；
If it is not, continue executing with step 101；
Concrete, the form that the form of the current time that can monitor remote control equipment is equivalent to previous moment is the most identical next
Determine whether current form is in variable condition, and then the current form of remote control equipment can be judged by extending the monitoring time
Whether it is in lasting variable condition.
As the most identical a kind of implementation whether being in lasting variable condition of detection remote control equipment, including following
Process:
(1) the current morphological parameters of described remote control equipment is obtained；
Remote control equipment morphological parameters under different shape is not quite similar, and current morphological parameters is for characterizing electronic equipment
Current form.
(2) judge whether the current form of described remote control equipment is in the shape persistently increased based on described current morphological parameters
Change state.
Current form persistently increases and is characterized as the deformation degree of remote control equipment and persistently increases.Concrete, remote control equipment is the
Gradually bend under the effect of one external force so that the current form of remote control equipment is in the deformed state persistently increased.
When the current form of remote control equipment is in the deformed state persistently increased, it is determined that at the current form of remote control equipment
In lasting variable condition；When the current form of remote control equipment is not in the deformed state that persistently increases, it is determined that remote control equipment
Current form is not in lasting variable condition.
It should be noted that, the invention is not limited in whether this kind of current form detecting remote control equipment is in and persistently become
The implementation of change state, in another embodiment of the invention, it is also possible to joined by the current form of acquired remote control equipment
Number judges whether the current form of remote control equipment is in the deformed state persistently reduced, and if so, determines the current shape of remote control equipment
State is in lasting variable condition, if it is not, determine that the current form of remote control equipment is not in lasting variable condition.Current form continues
Reduction is characterized as the deformation degree of remote control equipment and persistently reduces.Certainly in another embodiment of the present invention, can be by simultaneously
Including above two implementation.Specifically all can be set according to practical situation.
Step 102: obtain the deformation parameter of remote control equipment；
The deformation parameter of remote control equipment is referred to as the remote control equipment morphological parameters at current time with remote control equipment previous
The variable quantity of the morphological parameters in moment.And current time and the concrete interval time of previous moment can preset.
Step 103: in described controlled plant traveling process, based on described deformation parameter, described controlled plant is controlled
System.
In the present invention, the control to controlled plant can be realized based on deformation parameter, as controlled plant turning,
Forward-reverse, up and down flight etc..Controlled plant be can the smart machine that controls of remotely-controlled equipment, such as controlled vehicle, controlled
Aircraft, controlled machine people etc..Function that different controlled plants has is the most incomplete same, accordingly, based on deformation parameter
The mode controlling controlled plant is the most incomplete same.For for controlled aircraft, can be controlled it based on deformation parameter and fly
The height of row, but flight function is not possessed due to controlled vehicle, its flying height the most uncontrollable.Certainly the most controlled fly
Machine or controlled vehicle all can control its turn direction etc. based on deformation parameter.
It is understood that controlled plant can be controlled, such as infrared ray by remote control equipment by controlled in wireless mode
Control mode, wireless network control mode etc..
As can be seen here, in the present embodiment, lasting variable condition whether it is in by the current form of monitoring remote control equipment,
If so, the deformation parameter of remote control equipment is obtained so that in controlled plant traveling process, it is possible to based on this deformation parameter to controlled
Equipment is controlled；It is to say, controlled plant can be controlled by user by the current form changing remote control equipment,
Therefore, it is the most convenient to operate, and improves Consumer's Experience.
The embodiment of the present invention two discloses a kind of control method for controlled plant, as in figure 2 it is shown, the method include with
Lower step:
Step 201: whether the current form of monitoring remote control equipment is in lasting variable condition；If so, step 202 is entered；
If it is not, continue executing with step 201；
Step 202: obtain the deformation parameter of described remote control equipment；
Wherein, deformation parameter includes deformation directioin parameter, and the deformation directioin parameter of remote control equipment is used for characterizing remote control equipment
Bending direction, deformation direction includes bending direction, to the right bending direction to the left, bend forward direction, backward bending direction or
One or more in other any bending directions of person (such as lower-left, bottom right).
Wherein it is possible to determine the deformation directioin parameter of remote control equipment based on reference direction, concrete, obtain remote control equipment
Deformation parameter include: based on reference direction set in advance in remote control equipment, determine the deformation directioin parameter of remote control equipment.
For ease of understanding, illustrate with an instantiation, as it is shown on figure 3, remote control equipment presets two benchmark sides
To, one is the left and right reference direction on the basis of A1-A2, and another is the reference direction up and down on the basis of B1-B2.That
, when user makes remote control equipment bend to the direction as indicated by FA1 arrow in Fig. 3, then may determine that this deformation direction
For bending direction to the right, when user makes remote control equipment bend to the direction as indicated by the FA2 arrow in Fig. 3, the most permissible
Determine this deformation direction for bending direction to the left, when user makes remote control equipment to the direction as indicated by the FB1 arrow in Fig. 3
During bending, then may determine that this deformation direction for being bent downwardly direction, when user makes remote control equipment FB2 arrow in such as Fig. 3
When direction indicated by Tou bends, then may determine that this deformation direction is for direction fully up.Certainly, user is it is also possible that distant
Bend, to bottom right bending etc. under control device left.
Step 203: determine the direct of travel corresponding with deformation directioin parameter；
Remote control equipment is previously stored with the first corresponding relation of deformation directioin parameter and direct of travel, corresponding by first
Relation may determine that the direct of travel corresponding with deformation directioin parameter.
Such as, the direct of travel corresponding with bending parameters to the right for bending to right, the traveling corresponding with being bent upwards parameter
Direction is for upwards to fly.
Step 204: in described controlled plant traveling process, controls described controlled plant and advances to described direct of travel.
Wherein, step 203 and step 204 are that step is " in described controlled plant traveling process, based on described deformation parameter
Described controlled plant is controlled " implement.
Such as, in controlled plant traveling process, if it is determined that direct of travel is for bending to right, then then control controlled setting
For bending to right.
As can be seen here, in the present embodiment, lasting variable condition whether it is in by the current form of monitoring remote control equipment,
If so, obtain the deformation directioin parameter of remote control equipment, and determine the direct of travel corresponding with deformation directioin parameter so that controlled
In equipment traveling process, it is possible to control controlled plant to determined by direct of travel advance；It is to say, user can be by changing
The direct of travel of controlled plant is controlled by the current form becoming remote control equipment, and therefore, it is the most convenient to operate, and improves use
Family is experienced.
The embodiment of the present invention three discloses a kind of control method for controlled plant, as shown in Figure 4, the method include with
Lower step:
Step 401: whether the current form of monitoring remote control equipment is in lasting variable condition；If so, step 402 is entered,
If it is not, continue executing with step 401；
Step 402: obtain the deformation parameter of described remote control equipment；
Wherein, deformation parameter includes deformation directioin parameter, also includes deformation radian parameter and/or speed of deformation parameter.
The deformation radian parameter of remote control equipment is referred to as the deformation crooked radian of remote control, such as current time and previous moment phase
The deformation crooked radian of ratio；The speed of deformation parameter of remote control equipment is referred to as the deformation rate of bending of remote control equipment, as time current
Pace of change between morphological parameters and the morphological parameters of previous moment carved.
Step 403: determine the direct of travel corresponding with deformation directioin parameter；
Step 404: determine the traveling radian corresponding with described deformation radian parameter and/or with described speed of deformation parameter pair
The gait of march answered；
Remote control equipment is previously stored with deformation radian parameter second corresponding relation corresponding with traveling radian and/or deformation
The 3rd corresponding relation that speed parameter is corresponding with gait of march, therefore can search in the second corresponding relation and join with deformation radian
Traveling radians that number is corresponding and/or, the 3rd corresponding relation is searched the gait of march corresponding with speed of deformation parameter.The most right
Answering relation value can set according to practical situation, the present invention does not limits.
Step 405: control described controlled plant with described traveling radian and/or described gait of march to described direct of travel
Advance.
Wherein, step 405 is step implementing of " controlling described controlled plant to advance to described direct of travel ".
Such as, direct of travel is for turn to the left, and traveling radian is 90 degree, and gait of march is x1m/s, then then can control
Controlled plant, with the speed of x1m/s, is turned to the left, and the radian of turning is 90 degree.
As can be seen here, in the present embodiment, user can be come controlled plant by the current form changing remote control equipment
Direct of travel, traveling radian and/or gait of march be controlled, therefore, it is the most convenient to operate, and improves Consumer's Experience.
The embodiment of the present invention four discloses a kind of control method for controlled plant, as it is shown in figure 5, the method include with
Lower step:
Step 501: whether the current form of monitoring remote control equipment is in lasting variable condition；If so, step 502 is entered,
If it is not, enter step 504；
Step 502: obtain the deformation parameter of described remote control equipment；
Step 503: in described controlled plant traveling process, based on described deformation parameter, described controlled plant is controlled
System；
Step 505: control described controlled plant and advance with current direct of travel.
When the current form determining remote control equipment is not in lasting variable condition, then maintain the currently side of traveling of controlled plant
To.
In another embodiment of the invention, unlike various embodiments above, based on described deformation parameter to described
After controlled plant is controlled, also include: when the current form determining remote control equipment stops change, then maintain controlled plant
State when remote control equipment stops change.
Wherein, stop change being referred to as being become no longer variable condition from lasting variable condition.As controlled plant sets in remote control
The standby state stopped when changing is to right travel, then continue to control controlled plant to right travel.
In another embodiment of the present invention, whether the current form at detection remote control equipment is in the deformation persistently increased
On the basis of state, unlike various embodiments above, based on described deformation parameter, described controlled plant is controlled it
After, also include: when the deformed state determining remote control equipment stops increasing, then maintain controlled plant to stop increasing at remote control equipment
Time state.Wherein, stop increase being referred to as deformed state from persistently increase become no longer changing or become to be gradually reduced.
The embodiment of the present invention five discloses a kind of remote control equipment, and as shown in Figure 6, this remote control equipment includes: body 610, biography
Sensor 620 and controller 630；Wherein:
Body 610 is the body that can deform upon.
Sensor 620, for gathering the current morphological parameters of described body；
Based on described current morphological parameters, controller 630, for judging whether the current form of described remote control equipment is in
Continue variable condition；If so, the deformation parameter of described remote control equipment is obtained；In described controlled plant traveling process, based on institute
State deformation parameter described controlled plant is controlled.
Concrete, controller 630 may be used for monitoring the form of the current time of remote control equipment and is equivalent to previous moment
Form is the most identical determines whether current form is in variable condition, and then can judge remote control by extending the monitoring time
Whether the current form of equipment is in lasting variable condition.
As the most identical a kind of implementation whether being in lasting variable condition of detection remote control equipment, controller
Based on current morphological parameters, 630 can judge whether the current form of remote control equipment is in the deformed state persistently increased.
Current form persistently increases and is characterized as the deformation degree of remote control equipment and persistently increases.Concrete, remote control equipment is the
Gradually bend under the effect of one external force so that the current form of remote control equipment is in the deformed state persistently increased.
It should be noted that, the invention is not limited in whether this kind of current form detecting remote control equipment is in and persistently become
The implementation of change state, in another embodiment of the invention, controller can be used for being judged by current morphological parameters
Whether the current form of remote control equipment is in the deformed state persistently reduced, and if so, determines that the current form of remote control equipment is in
Continue variable condition, if it is not, determine that the current form of remote control equipment is not in lasting variable condition.Current form persistently reduces table
The deformation degree for remote control equipment of levying persistently reduces.Certainly in another embodiment of the present invention, can be by including simultaneously
State two kinds of implementations.Specifically all can be set according to practical situation.
Wherein, the deformation parameter of remote control equipment is referred to as remote control equipment and exists at morphological parameters and the remote control equipment of current time
The variable quantity of the morphological parameters of previous moment.
It is understood that controlled plant can be controlled, such as infrared ray by remote control equipment by controlled in wireless mode
Control mode, wireless network control mode etc..
As can be seen here, in the present embodiment, controller judges whether the current form of remote control equipment is in and persistently changes shape
State, if so, obtains the deformation parameter of remote control equipment so that in controlled plant traveling process, it is possible to based on this deformation parameter pair
Controlled plant is controlled；It is to say, controlled plant can be carried out by user by the current form changing remote control equipment
Controlling, therefore, it is the most convenient to operate, and improves Consumer's Experience.
In the embodiment of the present invention six, deformation parameter includes deformation directioin parameter, and wherein, deformation parameter includes deformation direction
Parameter, the deformation directioin parameter of remote control equipment is for characterizing the bending direction of remote control equipment.Accordingly, described controller based on
When described controlled plant is controlled by described deformation parameter, specifically for determining the traveling corresponding with described deformation directioin parameter
Direction, controls described controlled plant and advances to described direct of travel.
Optionally, controller specifically can determine the shape of remote control equipment based on reference direction set in advance in remote control equipment
Change direction parameter.
As can be seen here, in the present embodiment, user can be come controlled plant by the current form changing remote control equipment
Direct of travel be controlled, therefore, it is the most convenient to operate, and improves Consumer's Experience.
In the embodiment of the present invention seven, deformation parameter except including deformation directioin parameter, also include deformation radian parameter and/
Or speed of deformation parameter.Wherein, the deformation radian parameter of remote control equipment is referred to as the deformation crooked radian of remote control, such as current time
Deformation crooked radian compared with previous moment；The speed of deformation parameter of remote control equipment is referred to as the deformation bending speed of remote control equipment
Degree, such as the pace of change between morphological parameters and the morphological parameters of previous moment of current time.
Accordingly, controller be additionally operable to determine the traveling radian corresponding with described deformation radian parameter and/or with described shape
Becoming the gait of march that speed parameter is corresponding, controller, when the described controlled plant of control is advanced to described direct of travel, is specifically used
Advance to described direct of travel with described traveling radian and/or described gait of march in controlling described controlled plant.
As can be seen here, in the present embodiment, user can be come controlled plant by the current form changing remote control equipment
Direct of travel, traveling radian and/or gait of march be controlled, therefore, it is the most convenient to operate, and improves Consumer's Experience.
In the embodiment of the present invention eight, whether controller is in lasting variable condition in the current form of monitoring remote control equipment
Afterwards, it is additionally operable to when the current form determining remote control equipment is not in lasting variable condition, controls described controlled plant to work as
Front direct of travel is advanced.
In an alternative embodiment of the invention, unlike various embodiments above, controller is based on described deformation parameter
After described controlled plant is controlled, it is additionally operable to when the current form determining remote control equipment stops change, then maintain and be subject to
The control equipment state when remote control equipment stops change.Wherein, stop change being referred to as being become no longer becoming from lasting variable condition
Change state.
In another embodiment of the present invention, whether the current form at detection remote control equipment is in the deformation persistently increased
On the basis of state, unlike various embodiments above, described controlled plant is carried out by controller based on described deformation parameter
After control, it is additionally operable to when the deformed state determining remote control equipment stops increasing, then maintain controlled plant to stop at remote control equipment
State when only increasing.Wherein, stop increase being referred to as deformed state from persistently increase become no longer changing or becoming gradually
Reduce.
The embodiment of the present invention nine also discloses a kind of remote control equipment, and this remote control equipment is the equipment that can deform upon.As
Shown in Fig. 7, a kind of remote control equipment includes: the first monitoring means the 701, first acquiring unit 702 and the first control unit 703；
Wherein:
First monitoring means 701, for monitoring whether the current form of described remote control equipment is in lasting variable condition；
Concrete, the first monitoring means 701 may be used for monitoring the form of the current time of remote control equipment and is equivalent to previous
The form in moment is the most identical determines whether current form is in variable condition, and then can sentence by extending the monitoring time
Whether the current form of disconnected remote control equipment is in lasting variable condition.
As a kind of implementation, the first monitoring means includes: the first acquisition module and the first judge module；First obtains
Delivery block is for obtaining the current morphological parameters of remote control equipment, and the first judge module is for judging remote control based on current morphological parameters
Whether the current form of equipment is in lasting enlarging state.
Current form persistently increases and is characterized as the deformation degree of remote control equipment and persistently increases.Concrete, remote control equipment is the
Gradually bend under the effect of one external force so that the current form of remote control equipment is in the deformed state persistently increased.
It should be noted that, the invention is not limited in this kind of implementation, in an alternative embodiment of the invention, the first inspection
Survey unit includes: the second acquisition module and the second judge module, and the second acquisition module is for obtaining the current shape of remote control equipment
State parameter, the second judge module persistently reduces for judging whether the current form of remote control equipment is in based on current morphological parameters
State.Current form persistently reduces and is characterized as the deformation degree of remote control equipment and persistently reduces.Certainly in the another enforcement of the present invention
In example, can be by including above two implementation simultaneously.Specifically all can be set according to practical situation.
First acquiring unit 702, for when the current form determining described remote control equipment is in lasting variable condition, obtains
Take the deformation parameter of described remote control equipment；
The deformation parameter of remote control equipment is referred to as the remote control equipment morphological parameters at current time with remote control equipment previous
The variable quantity of the morphological parameters in moment.
First control unit 703, in described controlled plant traveling process, is subject to described based on described deformation parameter
Control equipment is controlled.
It is understood that controlled plant can be controlled, such as infrared ray by remote control equipment by controlled in wireless mode
Control mode, wireless network control mode etc..
As can be seen here, in the present embodiment, lasting variable condition whether it is in by the current form of monitoring remote control equipment,
If so, the deformation parameter of remote control equipment is obtained so that in controlled plant traveling process, it is possible to based on this deformation parameter to controlled
Equipment is controlled；It is to say, controlled plant can be controlled by user by the current form changing remote control equipment,
Therefore, it is the most convenient to operate, and improves Consumer's Experience.
The embodiment of the present invention ten discloses a kind of remote control equipment, in the present embodiment, the shape acquired in the first acquiring unit
Variable element includes deformation directioin parameter；The deformation directioin parameter of remote control equipment is for characterizing the bending direction of remote control equipment.
Optionally, the first acquiring unit is specifically for based on reference direction set in advance in described remote control equipment, determining
The deformation directioin parameter of described remote control equipment.
First control unit includes: first determines module and the first control module；Wherein:
First determines that module is for determining the direct of travel corresponding with described deformation directioin parameter；
First control module, in described controlled plant traveling process, controls described controlled plant to described traveling side
To traveling.
The embodiment of the present invention 11 discloses a kind of remote control equipment, in the present embodiment, acquired in the first acquiring unit
Deformation parameter, in addition to including deformation directioin parameter, also includes deformation radian parameter and/or speed of deformation parameter.
The deformation radian parameter of remote control equipment is referred to as the deformation crooked radian of remote control, such as current time and previous moment phase
The deformation crooked radian of ratio；The speed of deformation parameter of remote control equipment is referred to as the deformation rate of bending of remote control equipment, as time current
Pace of change between morphological parameters and the morphological parameters of previous moment carved.
Accordingly, the first control unit also includes that second determines module, is used for determining corresponding with described deformation radian parameter
Traveling radian and/or the gait of march corresponding with described speed of deformation parameter；
The first control module in first control unit, in described controlled plant traveling process, controls described controlled
Equipment is advanced to described direct of travel with described traveling radian and/or described gait of march.
The embodiment of the present invention 12 discloses a kind of remote control equipment, including: the first monitoring means, the first acquiring unit, the
One control unit and the second control unit；Wherein:
First monitoring means, for monitoring whether the current form of described remote control equipment is in lasting variable condition；
First acquiring unit, for when the current form determining described remote control equipment is in lasting variable condition, obtains
The deformation parameter of described remote control equipment；
First control unit, in described controlled plant traveling process, based on described deformation parameter to described controlled
Equipment is controlled.
Second control unit, when the current form determining described remote control equipment is not in lasting variable condition, controls institute
State controlled plant to advance with current direct of travel.
In another embodiment of the invention, unlike various embodiments above, remote control equipment also includes: first maintains
Unit, during for stopping change when the current form determining remote control equipment, maintains controlled plant when remote control equipment stops change
State.
Wherein, stop change being referred to as being become no longer variable condition from lasting variable condition.As controlled plant sets in remote control
The standby state stopped when changing is to right travel, then continue to control controlled plant to right travel.
In another embodiment of the present invention, whether locate for the current form detecting remote control equipment at the first acquiring unit
On the basis of the deformed state persistently increased, unlike various embodiments above, remote control equipment also includes: second remains single
Unit, during for stopping when the deformed state determining remote control equipment increasing, then maintains controlled plant when remote control equipment stops increasing
State.Wherein, stop increase being referred to as deformed state from persistently increase become no longer changing or become to be gradually reduced.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment, identical similar portion sees mutually.For device disclosed in embodiment
For, owing to it corresponds to the method disclosed in Example, so describe is fairly simple, relevant part sees method part and says
Bright.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (10)
1. the control method for controlled plant, it is characterised in that be applied in the remote control equipment deformed upon, institute
The method of stating includes:
Whether the current form monitoring described remote control equipment is in lasting variable condition；
If so, the deformation parameter of described remote control equipment is obtained；
In described controlled plant traveling process, based on described deformation parameter, described controlled plant is controlled.
Method the most according to claim 1, it is characterised in that described deformation parameter includes deformation directioin parameter；
Described based on described deformation parameter, described controlled plant is controlled, including:
Determine the direct of travel corresponding with described deformation directioin parameter；
Control described controlled plant to advance to described direct of travel.
Method the most according to claim 2, it is characterised in that described deformation parameter also include deformation radian parameter and/or
Speed of deformation parameter；
The described controlled plant of described control, before described direct of travel is advanced, also includes:
Determine the traveling radian corresponding with described deformation radian parameter and/or the traveling corresponding with described speed of deformation parameter speed
Degree；
Control described controlled plant to advance to described direct of travel, including:
Control described controlled plant to advance to described direct of travel with described traveling radian and/or described gait of march.
Method the most according to claim 2, it is characterised in that the deformation parameter of the described remote control equipment of described acquisition, including:
Based on reference direction set in advance in described remote control equipment, determine the deformation directioin parameter of described remote control equipment.
Method the most according to claim 1, it is characterised in that monitor the current form of described remote control equipment and whether be in and hold
After continuous variable condition, also include:
Advance if it is not, control described controlled plant with current direct of travel.
Method the most according to claim 1, it is characterised in that whether the current form of the described remote control equipment of described monitoring is located
In lasting variable condition, including:
Obtain the current morphological parameters of described remote control equipment；
Judge based on described current morphological parameters whether the current form of described remote control equipment is in the deformed state persistently increased.
7. a remote control equipment, it is characterised in that described remote control equipment includes:
The body that can deform upon；
Sensor, for gathering the current morphological parameters of described body；
Controller, persistently changes for judging whether the current form of described remote control equipment is in based on described current morphological parameters
State；If so, the deformation parameter of described remote control equipment is obtained；In described controlled plant traveling process, join based on described deformation
Several described controlled plant is controlled.
Remote control equipment the most according to claim 7, it is characterised in that described deformation parameter includes deformation directioin parameter；
Described controller is when being controlled described controlled plant based on described deformation parameter, specifically for determining and described shape
The direct of travel that parameter of changing direction is corresponding, controls described controlled plant and advances to described direct of travel.
Remote control equipment the most according to claim 8, it is characterised in that described deformation parameter also includes deformation radian parameter
And/or speed of deformation parameter；
Described controller is additionally operable to determine the traveling radian corresponding with described deformation radian parameter and/or join with described speed of deformation
The gait of march that number is corresponding；Accordingly, described controller is when the described controlled plant of control is advanced to described direct of travel, specifically
Advance to described direct of travel with described traveling radian and/or described gait of march for controlling described controlled plant.
10. a remote control equipment, it is characterised in that described remote control equipment is the equipment that can deform upon, including:
First monitoring means, for monitoring whether the current form of described remote control equipment is in lasting variable condition；
First acquiring unit, for when the current form determining described remote control equipment is in lasting variable condition, obtains described
The deformation parameter of remote control equipment；
First control unit, in described controlled plant traveling process, based on described deformation parameter to described controlled plant
It is controlled.
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| CN201610681359.9A CN106293096A (en) | 2016-08-17 | 2016-08-17 | A kind of control method for controlled plant and remote control equipment |
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| CN201610681359.9A CN106293096A (en) | 2016-08-17 | 2016-08-17 | A kind of control method for controlled plant and remote control equipment |
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Cited By (1)
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| CN108777737A (en) * | 2018-04-27 | 2018-11-09 | 努比亚技术有限公司 | Associate device control method, bendable pack terminal and computer readable storage medium |
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| CN103492832A (en) * | 2011-04-08 | 2014-01-01 | 株式会社村田制作所 | Displacement sensor, displacement detecting apparatus, and operation device |
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