CN108415426A - A kind of mobile control system and method - Google Patents
A kind of mobile control system and method Download PDFInfo
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- CN108415426A CN108415426A CN201810132715.0A CN201810132715A CN108415426A CN 108415426 A CN108415426 A CN 108415426A CN 201810132715 A CN201810132715 A CN 201810132715A CN 108415426 A CN108415426 A CN 108415426A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 230000005358 geomagnetic field Effects 0.000 claims description 5
- 238000002156 mixing Methods 0.000 claims description 3
- 230000009897 systematic effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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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
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0033—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
Abstract
The present invention discloses a kind of mobile control system and method, the control system include：Control device, the control device is with control module, the wireless communication module being connect with the control module, the control signal detection module being connect with the control module；Play equipment, the play equipment is with microcontroller, the wireless communication module being connect with the microcontroller, the attitude detection module being connect with the microcontroller, the power plant being connect with the microcontroller；The control device is established by the wireless communication module with the play equipment and connects and interact.The present invention can get control signal detecting result in real time by the systematic difference, control device；Play equipment can get its current attitude angle in real time, so that user can neatly control the steering and movement that play equipment carries out accurate angle by control device.
Description
Technical field
The present invention relates to field of intelligent control technology, more particularly to a kind of mobile control system and method.
Background technology
Nowadays, in existing mobile control system, more and more play equipments use intelligent terminal as its control
Equipment, user can set toy to reach by operating virtual direction disk or/and virtual key on intelligent terminal display screen
The standby purpose controlled, for example, the operations such as advance, retrogressing, left-hand rotation, right-hand rotation.But, this mobile control system often exists
Following defect：
(1), intelligent terminal is unable to control the steering that play equipment carries out accurate angle；
(2), it needs to watch display screen attentively in control due to user, is easy the attention of dispersion user so that user can not
It is absorbed in play equipment itself, causes user to lack flexibility to the control of play equipment, user experience is poor.
Therefore there are problems for the prior art, require further improvement.
Invention content
In view of the problems of the existing technology, a kind of mobile control system of present invention offer and method, pass through the system
Using control device can get control signal detecting result in real time；Play equipment can get its current appearance in real time
State angle；The control system according to control signal detecting result and preset can start mobile, mobile, datum mark and adjust and stop
The trigger condition only moved determines the mobile control information for play equipment；Play equipment can according to mobile control information and
The current attitude angle of play equipment executes operation corresponding with mobile control information, so that user can pass through control
Equipment neatly controls the steering and movement that play equipment carries out accurate angle.
First, the present invention provides a kind of mobile control system comprising：
Control device, the control device with control module, connect with the control module wireless communication module, and
The control signal detection module of the control module connection；
Play equipment, the play equipment with microcontroller, connect with the microcontroller wireless communication module, and
The attitude detection module of the microcontroller connection, the power plant being connect with the microcontroller；
The control device is established by the wireless communication module with the play equipment and connects and interact；
The control device detects operation of the user to the control device in real time by the control signal detection module,
And control signal detecting result is generated in real time, the control device is got according to the control signal detecting result for institute
State the mobile control information of play equipment；
The control device is sent to the play equipment comprising the mobile wireless control signal for controlling information；
The play equipment receives and parses through the wireless control signal, is got according to the wireless control signal described
Mobile control information, and operation corresponding with the movement control information is executed by the power plant.
Preferably, the wireless communication module be selected from bluetooth communication, Wi-Fi communication modules, radio-frequency communication module,
ZigBee communication module, ultra-wideband communications mould it is in the block any one.
Preferably, the attitude detection module includes gyro sensor, acceleration transducer, Magnetic Sensor；The appearance
State detection module measure in real time and to microcontroller transmission include that the current tri-axis angular rate of the play equipment, three axis add
The attitude detection result of speed and three axis geomagnetic field intensities.
The present invention also provides the control methods of above-mentioned control system, include the following steps：
S1：The control device detects behaviour of the user to the control device in real time by the control signal detection module
Make, and generate control signal detecting result in real time, the control device gets and is directed to according to the control signal detecting result
The mobile control information of the play equipment；
S2：The control device is sent to the play equipment comprising the mobile wireless control signal for controlling information；
S3：The play equipment receives and parses through the wireless control signal, is got according to the wireless control signal
The mobile control information, and operation corresponding with the movement control information is executed by the power plant.
Preferably, the control device gets the shifting for the play equipment according to the control signal detecting result
The realization method of dynamic control information includes the following steps：
S101：The control module of the control device is preset with starts mobile, mobile, base for the play equipment
It adjusts on schedule, terminate mobile trigger condition；
S102：According to the control signal detecting result, judge whether to meet the trigger condition for starting mobile movement, if
Meet and start mobile, mobile trigger condition, determines advance and retreat control information, the course changing control information for the play equipment；
S103：According to the control signal detecting result, judge whether the trigger condition for meeting datum mark adjusting, if meeting
The trigger condition that datum mark is adjusted determines that the benchmark for the play equipment controls information；
S104：According to the control signal detecting result, judges whether to meet the trigger condition for stopping movement, stop if meeting
The trigger condition only moved determines that the stopping for the play equipment controls information；
S105：Information, the course changing control information, benchmark control information and the stopping are controlled according to the advance and retreat
Information is controlled, determines the mobile control information for the play equipment.
Preferably, the advance and retreat control information acquiring pattern in the step S102 includes the following steps：According to described
Signal detecting result is controlled, determines that the play equipment is the mobile speed for being controlled advance or retrogressing and the play equipment
Degree is to be controlled the determining as a result, obtaining the advance and retreat control of advance or retrogressing and movement speed according to the play equipment
Information processed.
Preferably, the advance and retreat control information in the step S102 further includes a limitation translational speed information, works as institute
When stating the movement speed of play equipment more than or equal to preset movement speed threshold value, determine that preset movement speed threshold value is
The maximum movement speed of the play equipment.
Preferably, the course changing control information acquiring pattern in the step S102 includes the following steps：According to described
Signal detecting result is controlled, determines the rotation direction and rotational angle of the play equipment, according to turning for the play equipment
Dynamic direction and rotational angle determine as a result, obtaining the course changing control information.
Preferably, the course changing control information in the step S102 further includes a steering angle limiting information, works as institute
When stating the rotational angle of play equipment more than or equal to preset rotational angle threshold value, determine that preset rotational angle threshold value is
The maximum rotation angle of the play equipment.
Preferably, the benchmark control information acquiring pattern in the step S103 includes the following steps：According to described
Signal detecting result is controlled, determines that the datum mark of the play equipment adjusts direction and datum mark adjusts angle, according to described
The datum mark adjusting direction of play equipment and determining as a result, obtaining the benchmark control information for datum mark adjusting angle.
Preferably, the benchmark control information in the step S103 further includes that a limitation datum mark adjusts information, when
When the datum mark of the play equipment adjusts angle more than or equal to preset datum mark adjusting angle threshold, determine preset
Datum mark adjusts the maximum datum mark that angle threshold is the play equipment and adjusts angle.
Preferably, the step S3 implementation methods include the following steps：
S301：The microcontroller is analyzed and acquired by the mobile control information according to the wireless control signal；It is described
Microcontroller judges whether mobile control information includes stopping controlling information according to the mobile control information；If including if hold
Otherwise row step S311 executes S302 and thereafter step；
S311：The mobile control information includes the stopping control information, and the microcontroller is controlled according to stopping
Information sends to power plant and stops control signal；Its lower step executes S305；
S302：Do not include that the stopping controls information in the mobile control information, the microcontroller is controlled according to mobile
Information processed gets the advance and retreat control information, the course changing control information and benchmark control information；The microcontroller
Information is controlled according to the course changing control information and the benchmark, processing obtains direction controlling information and angle control information；
S303：The microprocessor is according to attitude detection as a result, processing obtains play equipment currently accurate attitude angle；
S304：The microcontroller is according to control information of retreating, direction controlling information, angle control information and play equipment
Current accurate attitude angle adjust the dynamic Control output in dynamic Control signal, send dynamic Control letter to power plant
Number；
S305：The play equipment executes operation corresponding with the movement control information by power plant.
Preferably, the specific implementation method of step S302 includes the following steps：
The microcontroller controls information according to the mobile advance and retreat controlled in information, and it is controlled to get including play equipment
System is advanced or the advance and retreat of the movement speed of retrogressing and play equipment control signal；Microcontroller is controlled according to mobile in information
Course changing control information and benchmark control information, processing obtains including play equipment being to be controlled to rotate clockwise or counterclockwise
The angle for the fine rotational angle that the direction controlling information and play equipment of rotation are controlled controls information.
Preferably, the specific implementation method of step S303 includes the following steps：
The microcontroller includes the current tri-axis angular rate of play equipment, three by what is received by posture blending algorithm
The attitude detection result of axle acceleration and three axis geomagnetic field intensities resolves to obtain the current attitude angle of play equipment；Microcontroller is logical
It crosses the filtering algorithm attitude angle progress data filtering current to play equipment and obtains play equipment currently accurate attitude angle.
Preferably, the specific implementation method of step S304 includes the following steps：
The microcontroller by PID control technology, by play equipment, currently with direction controlling believe in real time by accurate attitude angle
Desired steering angle is compared in breath, angle control information, and the control of microcontroller constantly regulate exports and forms closed loop control
System processed, and then microcontroller may be implemented, the accurate angle of power plant drive play equipment progress is controlled by dynamic Control signal
The steering of degree.
In the present invention, the power plant is for driving the play equipment steering and movement；The microcontroller according to
The attitude detection including tri-axis angular rate, 3-axis acceleration and three-axle magnetic field intensity by attitude algorithm as a result, obtain institute
It states the current attitude angle of play equipment and data filtering is carried out to the current attitude angle, and then the microcontroller is got
The current accurate attitude angle of the play equipment.
Compared with prior art, the invention has the advantages that：
(1), in the present invention, by controlling signal detection module and to control signal detecting result on control device
Processing, allows the control system to get the mobile control information for play equipment in real time；
(2), in the present invention, by the attitude detection module on play equipment and the processing to attitude detection result, make
The control system can get current accurate attitude angle in real time；
(3), in the present invention, by control signal detecting result and it is preset start mobile, mobile, datum mark adjust and
The processing for stopping mobile trigger condition allows the control system to get the mobile control letter for play equipment in real time
Breath；
(4), in the present invention, pass through the place of the current accurate attitude angle of the mobile control information and equipment for play equipment
Reason allows play equipment to execute operation corresponding with mobile control information, and then realizing control device can be flexible
Control steering and movement that play equipment carries out accurate angle.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of mobile control system of the embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the control method of mobile control system of the embodiment of the present invention；
Fig. 3 is that a kind of determination of the embodiment of the present invention is shown for the flow of the mobile control information control method of play equipment
It is intended to；
Fig. 4 is that a kind of flow of the control method of execution operation corresponding with mobile control information of the embodiment of the present invention is shown
It is intended to.
In figure：1 equipment in order to control, 11 modules in order to control, 12 be wireless communication module, 13 signal detection modules in order to control；
2 be play equipment, and 21 be microprocessor, and 22 be wireless communication module, and 23 be attitude detection module, and 24 fill for power
It sets.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
Shown in referring to Fig.1, the embodiment of the present invention discloses a kind of mobile control system, including：
Control device 1, control device 1 with control module 11, connect with control module 11 wireless communication module 12, and
The control signal detection module 13 that control module 11 connects；
Play equipment 2, play equipment 2 with microcontroller 21, connect with microcontroller 21 wireless communication module 22, and
The attitude detection module 23 of the connection of microcontroller 21, the power plant 24 being connect with microcontroller 2；
Control device 1 with play equipment 2 establish connection and interact by radio communication by module 12 and 22；
The control device 1 detects user by the control signal detection module 13 to the control device 1 in real time
Operation, and control signal detecting result is generated in real time, the control device 1 is got according to the control signal detecting result
For the mobile control information of the play equipment 2；
The control device 1 is sent to the play equipment 2 comprising the mobile wireless control signal for controlling information；
The play equipment 2 receives and parses through the wireless control signal, and institute is got according to the wireless control signal
Mobile control information is stated, and operation corresponding with the movement control information is executed by the power plant 24.
Wireless communication module 12 and 22 can be, for example, bluetooth (Bluetooth) communication module, Wi-Fi (Wireless
Fidelity) communication module, radio-frequency communication module, ZigBee communication module or ultra wide band (UWB, Ultra-Wideband) communication
Module.
Attitude detection module 23 includes gyro sensor, acceleration transducer, Magnetic Sensor.
In the present embodiment, control signal detection module 13 can be, for example, steering wheel, rocking bar, touch tablet, button, sliding
Control strip, push-and-pull control-rod, pressure sensor or attitude transducer.
In the present embodiment, control device 1 can be, for example, smart machine, smart mobile phone, smartwatch, game paddle,
Intelligent baton, palm PC or tablet computer.
In the present embodiment, play equipment 2 can be controllable electronic toy or intelligent toy, and for example, pet plays
Tool, balance car, tank, battleship, battlebus, fighter plane, robot, electronic pet etc..
With reference to shown in Fig. 2, the embodiment of the present invention also provides a kind of control method of mobile control system, including walks as follows
Suddenly：
Step S1：Control device 1 detects operation of the user to control device 1 in real time by controlling signal detection module 13,
And control signal detecting result is generated in real time, control module 11 is determined according to control signal detecting result for play equipment 2
Mobile control information；
Step S2：Module 12 sends the nothing for including mobile control information to play equipment 2 to control device 1 by radio communication
Line control signal；
Step S3：Module 22 receives the wireless control signal for including mobile control information to play equipment 2 by radio communication,
And operation corresponding with mobile control information is executed by power plant 24.
With continued reference to FIG. 3, when it is implemented, control device described in step S1 is according to the control signal detecting result
The realization method got for the mobile control information of the play equipment includes the following steps：
Step S101：The control module 11 of control device 1 is preset with starts mobile, mobile, datum mark for play equipment 1
It adjusts, terminate mobile trigger condition；
Step S102：According to control signal detecting result, judge whether to meet the trigger condition for starting mobile movement, if
Meet and start mobile, mobile trigger condition, according to control signal detecting result, determines that the advance and retreat for play equipment 2 control
Information, course changing control information；
Step S103：According to control signal detecting result, judge whether the trigger condition for meeting datum mark adjusting, if meeting
The trigger condition that datum mark is adjusted determines that the benchmark for play equipment 2 controls information according to control signal detecting result；
Step S104：According to control signal detecting result, judges whether to meet the trigger condition for stopping movement, stop if meeting
The trigger condition only moved determines that the stopping for play equipment 2 controls information according to control signal detecting result；
Step S105：According to control information of retreating, course changing control information, benchmark control information and stop control information, really
Surely it is directed to the mobile control information of play equipment 2.
When it is implemented, step S102, step S103 and the not stringent execution sequence requirements of step S104.
When it is implemented, the advance and retreat control information acquiring pattern in the step S102 includes the following steps：
According to control signal detecting result, determine that play equipment 2 is to be controlled advance or retrogressing and play equipment 2
Movement speed is to be controlled the determining as a result, showing that advance and retreat control of advance or retrogressing and movement speed according to play equipment 2
Information.
Further, the advance and retreat control information further include a limitation translational speed information, according to control signal detecting result,
When the movement speed of play equipment 2 is more than or equal to preset movement speed threshold value, preset movement speed threshold value is determined
For the maximum movement speed of play equipment 2.
When it is implemented, the course changing control information acquiring pattern in the step S102 includes the following steps：
According to control signal detecting result, the steering direction and steering angle of play equipment 2 are determined, according to play equipment
2 steering direction and steering angle determine as a result, obtaining course changing control information.
Further, which further includes a steering angle limiting information, according to control signal detecting result,
When the steering angle of play equipment 2 is more than or equal to preset steering angle threshold value, preset steering angle threshold value is determined
For the steering locking angle degree of play equipment 2.
In step s 103, the benchmark control information acquiring pattern includes the following steps：
According to control signal detecting result, determine that the datum mark of play equipment 2 adjusts direction and datum mark adjusts angle,
Direction and datum mark, which are adjusted, according to the datum mark of play equipment 2 adjusts the determining as a result, showing that the benchmark controls information of angle.
Further, benchmark control information further includes that a limitation datum mark adjusts information, is examined according to the control signal
It surveys as a result, when the datum mark of play equipment 2 adjusts angle and is more than or equal to preset datum mark adjusting angle threshold, determines
Preset datum mark adjusts the maximum datum mark that angle threshold is the play equipment and adjusts angle.
In step S104, according to control signal detecting result, determine that play equipment 2 is to be controlled to stop, according to toy
What equipment 2 was controlled to stop determines as a result, showing that the stopping for play equipment 2 controls information.
With continued reference to FIG. 4, when it is implemented, the concrete methods of realizing of above-mentioned steps S3 includes the following steps：
Step S301：The microcontroller 21 is analyzed and acquired by the mobile control letter according to the wireless control signal
Breath；Microcontroller 21 controls information according to mobile, judges whether mobile control information includes stopping control information；If including if hold
Otherwise row step S311 executes S302 and thereafter step.
Step S311：If mobile control information includes stopping control information, microcontroller 21 controls information according to mobile,
The stopping control information for play equipment 2 is got, is sent to power plant 24 and stops control signal；Its lower step executes
S305。
Step S302：If not including stopping control information in mobile control information, microcontroller 21 is believed according to mobile control
Breath, gets advance and retreat control information, course changing control information and benchmark control information, microcontroller 21 according to course changing control information and
Benchmark controls information, and processing obtains direction controlling information and angle control information.
This step is more specifically, microcontroller 21 is got according to the mobile advance and retreat control information controlled in information including playing
Tool equipment 2 is that the advance and retreat for the movement speed for being controlled advance or retrogressing and play equipment 2 control signal；Microcontroller 21
Control information according to the mobile course changing control information controlled in information and benchmark, processing obtain include play equipment 2 be controlled it is suitable
The angle for the fine rotational angle that the direction controlling information and play equipment 2 that hour hands are rotated or rotated counterclockwise are controlled controls
Information.
Step S303：Microprocessor 21 is according to attitude detection as a result, processing obtains the current accurate posture of play equipment 2
Angle.
This step is more specifically, microcontroller 21 by posture blending algorithm includes that play equipment 2 is current by what is received
The attitude detection result of tri-axis angular rate, 3-axis acceleration and three axis geomagnetic field intensities resolves to obtain the current appearance of play equipment 2
State angle；Microcontroller 21 obtains play equipment by the filtering algorithm attitude angle progress data filtering current to play equipment 2 and works as
Preceding accurate attitude angle.
Step S304：Microcontroller is according to control information of retreating, direction controlling information, angle control information and play equipment
Current accurate attitude angle adjust the dynamic Control output in dynamic Control signal, send dynamic Control letter to power plant
Number.
This step is more specifically, microcontroller 21 can pass through PID (ratio Proportion, integral Integral, derivative
Derivative) the current accurate attitude angle of play equipment 2 is controlled information by control technology with direction controlling information, angle in real time
In desired steering angle be compared, the control of 1 constantly regulate of microcontroller, which exports, simultaneously forms closed-loop control system, and then can be with
Realize that microcontroller 21 controls the steering that power plant 24 drives play equipment 2 to carry out accurate angle by dynamic Control signal.
Step S305：Play equipment 2 executes operation corresponding with mobile control information by power plant 24.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
In the scope of patent protection that other related technical areas are included in the present invention.
Claims (10)
1. a kind of mobile control system, which is characterized in that including：
Control device, the control device with control module, connect with the control module wireless communication module, with it is described
The control signal detection module of control module connection；
Play equipment, the play equipment with microcontroller, connect with the microcontroller wireless communication module, with it is described
The attitude detection module of microcontroller connection, the power plant being connect with the microcontroller；
The control device is established by the wireless communication module with the play equipment and connects and interact；
The control device detects operation of the user to the control device in real time by the control signal detection module, and real
Shi Shengcheng controls signal detecting result, and the control device is got according to the control signal detecting result for the object for appreciation
Has the mobile control information of equipment；
The control device is sent to the play equipment comprising the mobile wireless control signal for controlling information；
The play equipment receives and parses through the wireless control signal, and the movement is got according to the wireless control signal
Information is controlled, and operation corresponding with the movement control information is executed by the power plant.
2. mobile control system according to claim 1, which is characterized in that the wireless communication module is selected from Bluetooth communication
Module, Wi-Fi communication modules, radio-frequency communication module, ZigBee communication module, ultra-wideband communications mould it is in the block any one.
3. mobile control system according to claim 1, which is characterized in that the attitude detection module includes that gyroscope passes
Sensor, acceleration transducer, Magnetic Sensor；It includes institute that the attitude detection module, which is measured and sent to the microcontroller in real time,
State the attitude detection result of the current tri-axis angular rate of play equipment, 3-axis acceleration and three axis geomagnetic field intensities.
4. according to the control method of claim 1-3 any one of them mobile control systems, which is characterized in that including following step
Suddenly：
S1：The control device detects operation of the user to the control device in real time by the control signal detection module,
And control signal detecting result is generated in real time, the control device is got according to the control signal detecting result for institute
State the mobile control information of play equipment；
S2：The control device is sent to the play equipment comprising the mobile wireless control signal for controlling information；
S3：The play equipment receives and parses through the wireless control signal, is got according to the wireless control signal described
Mobile control information, and operation corresponding with the movement control information is executed by the power plant.
5. control method for movement according to claim 4, which is characterized in that the control device is according to the control signal
Testing result gets the realization method for the mobile control information of the play equipment and includes the following steps：
S101：The control module of the control device is preset with starts mobile, mobile, datum mark for the play equipment
It adjusts, terminate mobile trigger condition；
S102：According to the control signal detecting result, judge whether to meet the trigger condition for starting mobile movement, if meeting
Start mobile, mobile trigger condition, determines advance and retreat control information, course changing control information for the play equipment；
S103：According to the control signal detecting result, judge whether the trigger condition for meeting datum mark adjusting, if meeting benchmark
The trigger condition that point is adjusted determines that the benchmark for the play equipment controls information；
S104：According to the control signal detecting result, judge whether to meet the trigger condition for stopping movement, stops moving if meeting
Dynamic trigger condition determines that the stopping for the play equipment controls information；
S105：Information, the course changing control information, benchmark control information and stopping control being controlled according to the advance and retreat
Information determines the mobile control information for the play equipment.
6. control method for movement according to claim 5, which is characterized in that the advance and retreat control in the step S102
Information acquiring pattern includes the following steps：
According to the control signal detecting result, determine that the play equipment is to be controlled advance or retrogressing and the toy
The movement speed of equipment, according to the play equipment be controlled advance or retrogressing and the determination of movement speed as a result,
Go out the advance and retreat control information；
Advance and retreat control information in the step S102 further includes a limitation translational speed information, when the play equipment
When movement speed is more than or equal to preset movement speed threshold value, determine that preset movement speed threshold value is the play equipment
Maximum movement speed.
7. control method for movement according to claim 5, which is characterized in that the course changing control in the step S102
Information acquiring pattern includes the following steps：
According to the control signal detecting result, the rotation direction and rotational angle of the play equipment are determined, according to described
The rotation direction of play equipment and determining as a result, obtaining the course changing control information for rotational angle.
The course changing control information in the step S102 further includes a steering angle limiting information, when the play equipment
When rotational angle is more than or equal to preset rotational angle threshold value, determine that preset rotational angle threshold value is the play equipment
Maximum rotation angle.
8. control method for movement according to claim 5, which is characterized in that the benchmark control in the step S103
Information acquiring pattern includes the following steps：
According to the control signal detecting result, determine that the datum mark of the play equipment adjusts direction and datum mark adjustment angle
Degree adjusts direction and datum mark according to the datum mark of the play equipment and adjusts the determining as a result, obtaining the benchmark control of angle
Information processed.
Benchmark control information in the step S103 further includes that a limitation datum mark adjusts information, when the play equipment
Datum mark adjust angle be more than or equal to preset datum mark adjust angle threshold when, determine preset datum mark adjustment angle
It spends the maximum datum mark that threshold value is the play equipment and adjusts angle.
9. control method for movement according to claim 5, which is characterized in that the step S3 implementation methods include following step
Suddenly：
S301：The microcontroller is analyzed and acquired by the mobile control information according to the wireless control signal；The micro-control
Device processed judges whether mobile control information includes stopping controlling information according to the mobile control information；If including if execute step
Otherwise rapid S311 executes S302 and thereafter step；
S311：The mobile control information includes the stopping control information, and the microcontroller controls information according to stopping,
It is sent to power plant and stops control signal；Its lower step executes S305；
S302：Do not include that the stopping controls information in the mobile control information, the microcontroller is believed according to mobile control
Breath gets the advance and retreat control information, the course changing control information and benchmark control information；The microcontroller according to
The course changing control information and the benchmark control information, and processing obtains direction controlling information and angle control information；
S303：The microprocessor is according to attitude detection as a result, processing obtains play equipment currently accurate attitude angle；
S304：The microcontroller is worked as according to control information of retreating, direction controlling information, angle control information and play equipment
Preceding accurate attitude angle adjusts the dynamic Control output in dynamic Control signal, and dynamic Control signal is sent to power plant；
S305：The play equipment executes operation corresponding with the movement control information by power plant.
10. control method for movement according to claim 9, which is characterized in that step S302 includes the following steps：
The microcontroller controls information according to the mobile advance and retreat controlled in information, and it is before being controlled to get including play equipment
Into or retreat and play equipment movement speed advance and retreat control signal；Microcontroller turns according to mobile control in information
Information is controlled to control information and benchmark, processing obtains including play equipment being to be controlled to rotate clockwise or rotate counterclockwise
Direction controlling information and the angle of fine rotational angle that is controlled of play equipment control information；
Step S303 includes the following steps：
The microcontroller is added the tri-axis angular rate current including play equipment, three axis that receive by posture blending algorithm
Speed and the attitude detection result of three axis geomagnetic field intensities resolve to obtain the current attitude angle of play equipment；Microcontroller passes through filter
The wave algorithm attitude angle current to play equipment carries out data filtering and obtains play equipment currently accurate attitude angle.
Step S304 includes the following steps：
The microcontroller by PID control technology in real time by play equipment currently accurate attitude angle and direction controlling information,
Desired steering angle is compared in angle control information, and the control of microcontroller constantly regulate exports and forms closed-loop control system
System, and then microcontroller may be implemented, power plant drive play equipment progress accurate angle is controlled by dynamic Control signal
It turns to.
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| WO2019153785A1 (en) * | 2018-02-09 | 2019-08-15 | 深圳市七布创新科技有限公司 | Mobile control system and method |
| CN110888449A (en) * | 2019-10-31 | 2020-03-17 | 高新兴物联科技有限公司 | Vehicle attitude control method, apparatus, and storage medium |
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