CN107115679A - A kind of autonomous system and its control method - Google Patents
A kind of autonomous system and its control method Download PDFInfo
- Publication number
- CN107115679A CN107115679A CN201710394372.0A CN201710394372A CN107115679A CN 107115679 A CN107115679 A CN 107115679A CN 201710394372 A CN201710394372 A CN 201710394372A CN 107115679 A CN107115679 A CN 107115679A
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- microcontroller
- intelligent toy
- module
- autonomous
- toy equipment
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
Abstract
The technical problem to be solved in the present invention is to provide a kind of autonomous system and its control method, a kind of autonomous system includes：Microcontroller, attitude detection module, obstacle detection module detects induction module, power set；Pass through the systematic difference, intelligent toy equipment can get current attitude angle in real time, can be to around carrying out detection of obstacles, can with detecting real-time sense surrounding environment in object characteristic information and trigger its start or terminate move, avoidance during control strategy can be formulated according to default direction or purpose and carries out the steering of accurate angle and moves, and then autonomous can be carried out according to default direction or purpose.
Description
Technical field
The present invention relates to intelligent toy equipment technical field, more particularly to a kind of autonomous system and its control method.
Background technology
A kind of existing play equipment mobile control system, play equipment be by control device such as remote control, mobile phone
Its movement is controlled, turns to and completes some specific actions.In such systems, play equipment can not realize autonomous work(
Energy.
Sensor for avoidance is installed on existing another play equipment mobile control system, play equipment, when
Play equipment detects front when closely having barrier in movement forward, lasting steering can be carried out, in steering procedure
In, when avoidance sensor detects front, and barrier closely is not present, play equipment stops turning to and continuing to move along.
In such systems, play equipment can not carry out the steering of accurate angle in autonomous and can not get on accurate direction
Obstacle information, it is impossible to optimal control policy is formulated, in addition, play equipment can not return to original mobile side after avoidance
To so that direction or autotelic autonomous can not have been realized.
With the rise in Intelligent hardware field, the sensor technology of various miniaturizations is rapidly developed, such as inertia is passed
Sensor, infrared sensor, ultrasonic sensor, wireless induction sensor etc., a kind of autonomous system of the invention and its control
Method processed contains multiple sensors technology.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of autonomous system and its control method, pass through the system
Using intelligent toy equipment can get current attitude angle in real time, can be to around carrying out detection of obstacles, can be real-time
Detecting sensing surrounding environment in object characteristic information and trigger its start or terminate move, intelligent toy equipment can be according to pre-
If direction or purpose formulate control strategy and carry out accurate angle steering and it is mobile in avoidance, and then intelligent toy equipment can
To carry out autonomous according to default direction or purpose.
In order to solve the above-mentioned technical problem, technical solution of the present invention provides a kind of autonomous system, and the system is applied to
Intelligent toy apparatus control system, including：
Microcontroller；
The attitude detection module being connected with the microcontroller；
The obstacle detection module being connected with the microcontroller；
The detecting induction module being connected with the microcontroller；
The power set being connected with the microcontroller.
Further, the attitude detection module includes gyro sensor, acceleration transducer, Magnetic Sensor.
Optionally, the obstacle detection module includes infrared sensor module, ultrasonic sensor modules, laser sensor
At least one of module, microwave radar, laser radar.
Optionally, the detecting induction module is adopted including inducted switch module, wireless induction module, sensing module, audio
Collect at least one of module, video acquisition module, human-computer interaction module.
In order to solve the above-mentioned technical problem, technical solution of the present invention also provides a kind of controlling party of above-mentioned autonomous system
Method, including：
Trigger condition and the institute of the intelligent toy equipment beginning and end autonomous are preset with the microcontroller
State direction or the purpose of intelligent toy equipment autonomously movement；
The attitude detection module is used to measure the current tri-axis angular rate of the intelligent toy equipment, the acceleration of three axles in real time
The data message of degree and three axle geomagnetic field intensities is simultaneously sent to the microcontroller in real time；
The obstacle detection module is used to detect in the certain distance of the intelligent toy equipment whether there is barrier in real time
And the distance of barrier and dyspoiesis detection information, the obstacle detection module sends the obstacle detection information in real time
To the microcontroller；
The detecting induction module be used for detecting real-time sense around the intelligent toy equipment in certain limit one or
The characteristic information of one group of object, the detecting induction module handles the characteristic information of the object and generates detecting induction information,
The detecting induction information is sent to the microcontroller by the detecting induction module in real time；
The power set are used to drive the intelligent toy equipment to move and turn to, and the microcontroller sends control letter
Number to the power set and being moved and course changing control to the intelligent toy equipment by the power set.
Further, the microcontroller is sent according to the attitude detection module tri-axis angular rate, 3-axis acceleration and
The data message of three axle geomagnetic field intensities, the current attitude angle of the intelligent toy equipment is obtained and to described by attitude algorithm
Current attitude angle carries out data filtering, and then the microcontroller gets the current accurate posture of the intelligent toy equipment
Angle.
Further, the obstacle detection information that the microcontroller is sent according to the obstacle detection module, with reference to institute
Current accurate attitude angle is stated, the obstacle detection information at the current pose angle of the intelligent toy equipment is got.
Further, the microcontroller receives the detecting induction information that the detecting induction module is sent, described micro-
The controller processing detecting induction information simultaneously parses the characteristic information for obtaining the object, and the microcontroller is according to described pre-
If the trigger condition of beginning and end autonomous judge whether the characteristic information of the object is the trigger condition, Jin Ersuo
State the autonomous that microcontroller determines whether to start or terminates the intelligent toy equipment.
Further, the microcontroller is according to the direction of the default autonomous or purpose, described current accurate
Attitude angle, the obstacle detection information at the current pose angle, the characteristic information of the object are formulated or adjustment control strategy.
Further, the microcontroller is according to the control strategy and works as in real time according to the intelligent toy equipment
Preceding accurate attitude angle adjusts the control output in the control signal, and then intelligent toy described in the microprocessor control is set
The standby steering and movement for carrying out accurate angle, direction or purpose of the intelligent toy equipment according to the default autonomous
Carry out autonomous.
Further, optionally, the direction of the default autonomous or purpose can also be believed with the feature of the object
Manner of breathing is closed, and the microcontroller processing detecting induction information simultaneously parses the characteristic information for obtaining the object, the micro-control
Device processed according to the direction or purpose of the default autonomous judge the object characteristic information whether with the direction or mesh
Correlation, and then the microcontroller determines the side that the intelligent toy equipment autonomously is moved according to the characteristic information of the object
To or purpose and formulate or adjustment control strategy.
Compared with prior art, the invention has the advantages that：
(1) in the present invention, by the attitude detection module in intelligent toy equipment and the processing to attitude detection information,
Intelligent toy equipment is set to get current accurate attitude angle in real time.
(2) it is by the obstacle detection module in intelligent toy equipment and currently smart with reference to intelligent toy equipment in the present invention
True attitude angle, allows intelligent toy equipment to get the obstacle detection information at current pose angle.
(3) in the present invention, by the detecting induction module in intelligent toy equipment, intelligent toy equipment is allow to detect in real time
Survey the characteristic information of one or one group object in certain limit around induced intelligent play equipment, it can be determined that the feature letter of object
Whether breath is default trigger condition, and then determines whether to start or terminate movement, is realized based on object in surrounding environment
The sensing triggering of characteristic information.
(4) in the present invention, by obtain in real time the current accurate attitude angle of intelligent toy equipment, current pose angle obstacle
Detection information and the detecting sensing to the characteristic information of object in intelligent toy equipment surrounding environment, make intelligent toy equipment can
Formulated with the direction according to autonomous or purpose or adjust control strategy and the steering of accurate angle can be carried out on the move
And avoidance, and then realize intelligent toy equipment and have direction or autotelic autonomous.
Brief description of the drawings
Fig. 1 is a kind of structural representation of autonomous system of the embodiment of the present invention；
Fig. 2 and Fig. 3 is a kind of schematic flow sheet of autonomous system control method of the embodiment of the present invention；
Fig. 4 is a kind of obstacle detection method schematic diagram of autonomous system control method of the embodiment of the present invention.
In figure：1 is microcontroller, and 2 be attitude detection module, and 3 be obstacle detection module, and 4 be detecting induction module, and 5 are
Power set.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used for explaining the present invention, not
For limiting the present invention.
A kind of autonomous system of the embodiment of the present invention, as shown in figure 1, including：
Microcontroller 1；
The attitude detection module 2 being connected with microcontroller 1；
The obstacle detection module 3 being connected with microcontroller 1；
The detecting induction module 4 being connected with microcontroller 1；
The power set 5 being connected with microcontroller 1.
Attitude detection module 2 includes gyro sensor, acceleration transducer, Magnetic Sensor.
Obstacle detection module 3 can be, for example, infrared sensor module, ultrasonic sensor modules, laser sensor mould
Block, microwave radar, laser radar etc..
It can be, for example, inducted switch module, wireless induction module, sensing module, audio collection mould to detect induction module 4
Block, video acquisition module, human-computer interaction module etc..
A kind of control method of autonomous system of the embodiment of the present invention, as shown in Fig. 2 this method can include it is following
Step：
In step S101, the trigger condition of intelligent toy equipment beginning and end autonomous is preset in microcontroller 1
The direction moved with intelligent toy equipment autonomously or purpose；
In step s 201, the current tri-axis angular rate of measurement intelligent toy equipment, three axles add attitude detection module 2 in real time
The data message of speed and three axle geomagnetic field intensities is simultaneously sent to microcontroller 1 in real time；
In step S202, tri-axis angular rate that the processing of microcontroller 1 attitude detection module 2 is sent, 3-axis acceleration and
The data message of three axle geomagnetic field intensities, the current attitude angle of intelligent toy equipment is obtained by attitude algorithm；
In step S203, the current attitude angle of 1 pair of microcontroller carries out data filtering, and then microcontroller 1 is got
The current accurate attitude angle of intelligent toy equipment；
In step S301, whether obstacle detection module 3 is detected in the certain distance of intelligent toy equipment in real time has obstacle
The distance and dyspoiesis detection information of thing and barrier, obstacle detection information is sent to micro- by obstacle detection module 3 in real time
Controller 1；
In step s 302, the obstacle detection information that the processing obstacle detection of microcontroller 1 module 3 is sent, with reference to current essence
True attitude angle, gets the obstacle detection information at the current pose angle of intelligent toy equipment；
In step S401, around the detecting detecting real-time induced intelligent play equipment of induction module 4 one in certain limit
Or the characteristic information of one group of object, detecting induction module 4 processing object characteristic information simultaneously generate detecting induction information, detecting sense
Module 4 is answered to be sent to microcontroller 1 in real time by induction information is detected；
In step S402, the processing of microcontroller 1, which is detected the detecting induction information of the transmission of induction module 4 and parsed, obtains visitor
The characteristic information of body；
In step S403, microcontroller 1 is according to the triggering of default intelligent toy equipment beginning and end autonomous
Whether the characteristic information of condition judgment object is the trigger condition, and then microcontroller 1 determines whether to start or terminates intelligence object for appreciation
Has the autonomous of equipment；
It is direction that microcontroller 1 is moved according to default intelligent toy equipment autonomously or purpose, current in step S501
Accurate attitude angle, the obstacle detection information at current pose angle, the characteristic information of object are formulated or adjustment control strategy；
In step S502, microcontroller 1 is controlled according to the current accurate attitude angle regulation of intelligent toy equipment in real time
Control output in signal, microcontroller 1 sends control signal to power set 5 according to control strategy；
In step S503, power set 5 receive the control signal of microcontroller 1, and power set 5 are according to control signal band
Dynamic intelligent toy equipment carries out the steering and movement of accurate angle, and then realizes intelligent toy equipment according to default direction or mesh
Carry out autonomous.
Please continue to refer to Fig. 2, when it is implemented, making the control method bag of intelligent toy equipment progress accurate angle steering
Include：In step S202, microcontroller 1 is fast by three current shaft angles of the intelligent toy equipment received by posture blending algorithm
The data message of rate, 3-axis acceleration and three axle geomagnetic field intensities resolves and obtains the current attitude angle of intelligent toy equipment；In step
In rapid S203, microcontroller 1 carries out data filtering by the filtering algorithm attitude angle current to intelligent toy equipment and obtains intelligence
The current accurate attitude angle of play equipment；In step S502, microcontroller 1 can pass through PID (ratio Proportion, product
Point Integral, derivative Derivative) control technology is in real time by the current accurate attitude angle of intelligent toy equipment and control plan
Desired steering angle is compared in slightly, and the control of the constantly regulate of microcontroller 1 exports and forms closed-loop control system, Jin Erke
To realize that microcontroller 1 controls the steering of the drive intelligent toy equipment progress accurate angle of power set 5 by control signal.
In the control method of the present embodiment, the direction of default intelligent toy equipment autonomously movement or purpose can also be with
The characteristic information of object is related, as shown in figure 3, in step s 404, microcontroller 1 is according to default intelligent toy equipment autonomously
Mobile direction or purpose judges whether the characteristic information of object is related to the direction or purpose, if related, microcontroller 1 can
To determine direction or purpose and formulation or the adjustment control strategy of the movement of intelligent toy equipment autonomously according to the characteristic information of object.
In the present embodiment, additionally provide a kind of to carrying out omnirange or multidirectional barrier around intelligent toy equipment
Detection method, including：Microcontroller 1 is played by controlling intelligent toy equipment to carry out the steering of accurate angle and obtain intelligence in real time
Have the obstacle detection information at equipment current pose angle, and then microcontroller 1 gets intelligent toy equipment omnirange or multi-direction
Obstacle detection information.So that intelligent toy equipment is moved in the horizontal plane as an example, Fig. 4 is refer to, around intelligent toy equipment
Carry out during omnirange or multidirectional detection of obstacles, microcontroller 1 gets intelligent toy by attitude detection module 2
The current accurate attitude angle of equipment, current accurate attitude angle includes pitching angle theta (Pitch), course angle ψ (Yaw), roll angle Φ
(Roll), microcontroller 1 is examined by obstacle detection module 3 to the barrier in intelligent toy equipment current course angle ψ directions
Current course angle ψ obstacle detection information is surveyed and gets, further, microcontroller 1 can control intelligent toy equipment in institute
Accurate angle △ ψ steering is carried out in the plane and course angle (ψ+△ ψ) direction is got by obstacle detection module 3 in real time
Obstacle detection information, and then microcontroller 1 can get the multidirectional obstacle detection information of intelligent toy equipment, further,
Microcontroller 1 can also be by controlling the steering of 360 degree of intelligent toy equipment progress and getting intelligent toy equipment at place
Omnidirectional obstacle detection information in plane.
Optionally, in intelligent toy equipment autonomously moving process, microcontroller 1 is detected by obstacle detection module 3
When having barrier in the direction of movement, one or more shiftings being combined can be included in the control strategy that microcontroller 1 is formulated
Avoidance mode is moved, the mobile avoidance mode can be, for example,：
Microcontroller 1 is by obstacle detection module 3 to carrying out omnidirectional detection of obstacles around intelligent toy equipment
And omnidirectional obstacle detection information is got, microcontroller 1 plans optimal or suboptimum shifting according to established control strategy
Dynamic avoidance path, the control of microcontroller 1 intelligent toy equipment is continued to move on described optimal or suboptimum mobile route；
Microcontroller 1 is by obstacle detection module 3 to carrying out multidirectional detection of obstacles around intelligent toy equipment
And multidirectional obstacle detection information is got, microcontroller 1 plans optimal or suboptimum shifting according to established control strategy
Dynamic avoidance path, the control of microcontroller 1 intelligent toy equipment is continued to move on described optimal or suboptimum mobile route；
Microcontroller 1 controls intelligent toy equipment to carry out the steering of accurate angle and real-time according to established control strategy
The obstacle detection information at the current pose angle of intelligent toy equipment is obtained, it is micro- when detecting some direction in the absence of barrier
The control of controller 1 intelligent toy equipment is continued to move to the direction；
Microcontroller 1 controls intelligent toy equipment to carry out the steering of accurate angle and real-time according to established control strategy
The obstacle detection information at the current pose angle of intelligent toy equipment is obtained, when detecting some direction obstacle distance farther out,
The control of microcontroller 1 intelligent toy equipment is continued to move to the direction.
In the present embodiment, detecting induction module 4 detecting sensing object characteristic information can be, for example, object whether
In the presence of information such as, the position of object, the state of object, the wireless signal strength of object, the sound of object, the images of object.
Presently preferred embodiments of the present invention is these are only, is not that, for limiting the present invention, any those skilled in the art exist
Do not depart from the spirit and scope of the present invention, may be by the above method and technology contents technical solution of the present invention is made can
The variation and modification of energy, therefore, every content without departing from technical solution of the present invention, the technical spirit according to the present invention is to the above
Any simple modifications, equivalents, and modifications that embodiment is done, belong to the protection domain of technical solution of the present invention.
Claims (10)
1. a kind of autonomous system, applied to intelligent toy apparatus control system, it is characterised in that including：
Microcontroller (1)；
The attitude detection module (2) being connected with the microcontroller (1), the attitude detection module (2) includes gyro sensors
Device, acceleration transducer, Magnetic Sensor, the attitude detection module (2) are current for measuring the intelligent toy equipment in real time
Tri-axis angular rate, the data message of 3-axis acceleration and three axle geomagnetic field intensities and be sent to the microcontroller (1) in real time；
The obstacle detection module (3) being connected with the microcontroller (1), the obstacle detection module (3) is used to detect institute in real time
The distance and dyspoiesis detection information for whether having barrier and barrier in the certain distance of intelligent toy equipment are stated, it is described
The obstacle detection information is sent to the microcontroller (1) by obstacle detection module (3) in real time；
The detecting induction module (4) being connected with the microcontroller (1), the detecting induction module (4) is used for detecting real-time sense
Answer the characteristic information of one or one group object in certain limit around the intelligent toy equipment, the detecting induction module (4)
Handle the characteristic information of the object and generate detecting induction information, the detecting induction module (4) believes the detecting sensing
Breath is sent to the microcontroller (1) in real time；
The power set (5) being connected with the microcontroller (1), the power set (5) are used to drive the intelligent toy to set
Standby mobile and steering, control signal is to the power set (5) and passes through the power set for microcontroller (1) transmission
(5) the intelligent toy equipment is moved and course changing control.
2. a kind of autonomous system according to claim 1, it is characterised in that the obstacle detection module (3) is red
Outer sensor module, ultrasonic sensor modules, laser sensor module, microwave radar or laser radar.
3. a kind of autonomous system according to claim 1, it is characterised in that the detecting induction module (4) is nothing
Line induction module, sensing module, audio collection module, video acquisition module or human-computer interaction module.
4. a kind of control method of any autonomous system of utilization claims 1 to 3, it is characterised in that the micro-control
It is preset with device (1) processed in the trigger condition of the intelligent toy equipment beginning and end autonomous, the microcontroller (1)
It is preset with direction or the purpose of the intelligent toy equipment autonomously movement.
5. a kind of control method of autonomous system according to claim 4, it is characterised in that the microcontroller
(1) data of the tri-axis angular rate, 3-axis acceleration and the three axle geomagnetic field intensities that are sent according to the attitude detection module (2) are believed
Breath, the microcontroller (1) obtains the current attitude angle of the intelligent toy equipment and to described current by attitude algorithm
Attitude angle carries out data filtering, and the microcontroller (1) gets the current accurate attitude angle of the intelligent toy equipment.
6. a kind of control method of autonomous system according to claim 4, it is characterised in that the microcontroller
(1) the obstacle detection information sent according to the obstacle detection module (3), the microcontroller (1) is with reference to described current
Accurate attitude angle gets the obstacle detection information at the current pose angle of the intelligent toy equipment.
7. a kind of control method of autonomous system according to claim 4, it is characterised in that the microcontroller
(1) the detecting induction information that the detecting induction module (4) sends is received, the microcontroller (1) handles the detecting
Induction information simultaneously parses the characteristic information for obtaining the object, and the microcontroller (1) is according to the default beginning and end
The trigger condition of autonomous judges whether the characteristic information of the object is the trigger condition, and the microcontroller (1) determines
Whether start or terminate the autonomous of the intelligent toy equipment.
8. a kind of control method of autonomous system according to claim 4, it is characterised in that the microcontroller
(1) according to the direction of the default autonomous or purpose, the current accurate attitude angle, the current pose angle barrier
Hinder detection information, the characteristic information of the object is formulated or adjustment control strategy.
9. a kind of control method of autonomous system according to claim 8, it is characterised in that the microcontroller
(1) according to the control strategy and in real time according to the current accurate attitude angle regulation control of the intelligent toy equipment
Control output in signal processed, the microcontroller (1) controls the intelligent toy equipment to carry out the steering of accurate angle and make
The intelligent toy equipment carries out autonomous according to the direction of the default autonomous or purpose.
10. the control method of a kind of autonomous system according to claim 8, it is characterised in that also include：It is described pre-
If autonomous direction or purpose it is related to the characteristic information of the object, the microcontroller (1) handles the detecting
Induction information simultaneously parses the characteristic information for obtaining the object, and the microcontroller (1) is according to the default autonomous
Direction or purpose judge whether the characteristic information of the object is related to the direction or purpose, and the microcontroller (1) is according to institute
The characteristic information for stating object determines direction or purpose and formulation or the adjustment control strategy of the intelligent toy equipment autonomously movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710394372.0A CN107115679A (en) | 2017-05-29 | 2017-05-29 | A kind of autonomous system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710394372.0A CN107115679A (en) | 2017-05-29 | 2017-05-29 | A kind of autonomous system and its control method |
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| Publication Number | Publication Date |
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| CN107115679A true CN107115679A (en) | 2017-09-01 |
Family
ID=59730075
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| CN201710394372.0A Pending CN107115679A (en) | 2017-05-29 | 2017-05-29 | A kind of autonomous system and its control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110007679A (en) * | 2019-04-22 | 2019-07-12 | 深圳市七布创新科技有限公司 | A kind of autonomous control method of play equipment |
| WO2021035399A1 (en) * | 2019-08-23 | 2021-03-04 | 尤中乾 | Toy car |
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| CN86205168U (en) * | 1986-07-18 | 1987-09-09 | 彭二洪 | Looping toy car |
| CN102156476A (en) * | 2011-04-14 | 2011-08-17 | 山东大学 | Intelligent space and nurse robot multi-sensor system and information fusion method of intelligent space and nurse robot multi-sensor system |
| CN102196242A (en) * | 2010-02-12 | 2011-09-21 | 王炳立 | Self-adaptive scene image auxiliary system with image enhancing function |
| CN103592944A (en) * | 2013-10-24 | 2014-02-19 | 燕山大学 | Supermarket shopping robot and advancing path planning method thereof |
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- 2017-05-29 CN CN201710394372.0A patent/CN107115679A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86205168U (en) * | 1986-07-18 | 1987-09-09 | 彭二洪 | Looping toy car |
| CN102196242A (en) * | 2010-02-12 | 2011-09-21 | 王炳立 | Self-adaptive scene image auxiliary system with image enhancing function |
| CN102156476A (en) * | 2011-04-14 | 2011-08-17 | 山东大学 | Intelligent space and nurse robot multi-sensor system and information fusion method of intelligent space and nurse robot multi-sensor system |
| CN103592944A (en) * | 2013-10-24 | 2014-02-19 | 燕山大学 | Supermarket shopping robot and advancing path planning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110007679A (en) * | 2019-04-22 | 2019-07-12 | 深圳市七布创新科技有限公司 | A kind of autonomous control method of play equipment |
| WO2021035399A1 (en) * | 2019-08-23 | 2021-03-04 | 尤中乾 | Toy car |
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