CN109144121A - A kind of control method for sport toy - Google Patents
A kind of control method for sport toy Download PDFInfo
- Publication number
- CN109144121A CN109144121A CN201710455674.4A CN201710455674A CN109144121A CN 109144121 A CN109144121 A CN 109144121A CN 201710455674 A CN201710455674 A CN 201710455674A CN 109144121 A CN109144121 A CN 109144121A
- Authority
- CN
- China
- Prior art keywords
- shake
- toy
- control
- frequency
- acceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- 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
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/34—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power
- G05D13/36—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power using regulating devices with proportional band, i.e. P regulating devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/34—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power
- G05D13/46—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power using regulating devices with proportional band and integral action, i.e. PI regulating devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/34—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power
- G05D13/60—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power using regulating devices with proportional band, derivative and integral action, i.e. PID regulating devices
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
The present invention relates to the technical fields of toy control, disclose a kind of control method for sport toy, it include: to shake the step of establishing communication connection between carrier and sport toy, the step of detection shakes the shake acceleration of carrier and/or shakes frequency, and the step of according to the movement velocity of the shake acceleration and/or shake frequency control sport toy.The present invention realizes the speed control to sport toy using the shake acceleration and/or frequency that shake carrier, change the mode of conventional remote controls toy, the interest and experience sense of game are improved, while human motion and Toy Motion being combined, the effect taken exercises can be played.
Description
Technical field
The present invention relates to the technical fields more particularly to a kind of control method for sport toy of toy control.
Background technique
Currently, occurring miscellaneous remote-control toy on the market, with its lively moulding, changeable function, capture
More and more consumption markets.The movement of existing remote-control toy is generally controlled by remote control for toys, and operator passes through to object for appreciation
Have the operation of remote controler, the various movements such as advance, retrogressing, left-hand rotation, right-hand rotation of remote-control toy is completed, due to existing toy remote control
Device uses key or operating stick generally to control the movement of remote-control toy, in use, needs to strike key or stirs
Operating stick, it is inconvenient for operation for age smaller, meanwhile, access times and the frequency of use ratio of key or operating stick
It is higher, it is easily damaged, to influence the service life of remote control for toys；It there are also remote control for toys is perceived by gravity
Or the mode touched controls the movement of remote-control toy, for operator, movable amplitude is smaller, movement effect is not achieved
Fruit.
Summary of the invention
The present invention provides a kind of control method for sport toy, solve existing remote control for toys service life it is short,
The problems such as movement effects are not achieved.
The present invention can be achieved through the following technical solutions:
A kind of control method for sport toy, including shaking foundation communication connection between carrier and sport toy
The step of step, detection shakes the shake acceleration of carrier and/or shakes frequency, and according to the shake acceleration and/or
The step of shaking the movement velocity of frequency control sport toy.
Further, it is wrapped according to the shake acceleration and/or the step of shaking the movement velocity of frequency control sport toy
Include: the shake carrier is by the shake acceleration and/or shakes frequency progress calculation process, obtains the movement speed of sport toy
The control amount is transmitted to the control system of sport toy by the step of control amount of degree, to the big of sport toy movement velocity
The step of small and direction is controlled.
Further, it is wrapped according to the shake acceleration and/or the step of shaking the movement velocity of frequency control sport toy
Include: the shake carrier is by the shake acceleration and/or shakes the step of frequency is transmitted to the control system of sport toy, institute
The control system of sport toy is stated to the shake acceleration received and/or shakes frequency progress calculation process, obtains movement speed
The step of control amount of degree, the step of control according to size and Orientation of the control amount to sport toy movement velocity.
Further, it is wirelessly communicated between shake carrier and the sport toy.
Further, the shake acceleration and/or shake frequency utilization following equation progress calculation process obtain described
Control amount,
U=K1*a；Or u=K2*f；Or u=K1*a+K2*f/K3；
Or u=(1-W) * K1*a+W*K2*f
Wherein, K1, K2, K3 > 0 is proportionality coefficient, and u is control amount, and a is to shake acceleration, and f is to shake frequency, 0 < W <
1 is weighting coefficient, and the symbol that shake frequency f and shake acceleration a is manually set is consistent.
Further, the control amount is only the control of the size of the movement velocity for sport toy in the same direction of motion
System, then need the processing that takes absolute value to the shake acceleration a.
Further, the carrier that shakes is used including at least the sensor for shaking acceleration and/or shaking frequency detecting
The memory module of the operation application program of acceleration and/or shake frequency is shaken in storage, for executing the operation application journey
The processing module of sequence, and the wireless transmitter module for sending the processing result of the processing module to sport toy；
The sport toy includes at least wireless receiving module, electronic control unit and uses with motor, the wireless receiving module
In the processing result for receiving wireless transmitter module transmission, the electronic control unit is used to receive processing knot according to wireless receiving module
Fruit controls the revolving speed of motor, and the motor is used to control the movement velocity of sport toy.
The present invention is beneficial to be had the technical effect that
It is realized using the shake acceleration and/or frequency that shake carrier to the speed control of sport toy, changes tradition
The mode of remote-control toy, improves the interest and experience sense of game, while human motion and Toy Motion being combined, can
To play the role of taking exercises, in addition, easy to operate, using simple, application is strong, has very big market popularization value.
Detailed description of the invention
Fig. 1 is overall procedure schematic diagram of the invention.
Specific embodiment
With reference to the accompanying drawing and the preferred embodiment specific embodiment that the present invention will be described in detail.
With reference to attached drawing 1, overall procedure schematic diagram of the invention, the invention proposes a kind of controlling parties for sport toy
Method is included in and shakes between carrier and sport toy the step of establishing communication connection, detection shake carrier shake acceleration and/
Or the step of shaking frequency, and the step of according to shaking acceleration and/or shaking the movement velocity of frequency control sport toy.
The shake carrier is included at least for shaking acceleration and/or shaking the sensor of frequency detecting, is shaken for storing
The memory module of dynamic acceleration and/or the operation application program for shaking frequency, for executing the processing module of operation application program,
And the wireless transmitter module for sending the processing result of processing module to sport toy；The sport toy includes at least nothing
Line receiving module, electronic control unit and and motor, wireless receiving module be used for receives shake carrier wireless transmitter module transmission
Processing result, the revolving speed for the processing result control motor that electronic control unit is used to be received according to wireless receiving module, motor are used for
Control the movement velocity of sport toy.
Preferentially, it shakes between carrier and sport toy by wirelessly being communicated, player's utilization can be more convenient in this way
It shakes carrier and controls sport toy by shaking.
Preferentially, include: according to the method shaken acceleration and/or shake the movement velocity that frequency controls sport toy
One, carrier is shaken using processing module to shaking acceleration and/or shaking frequency progress calculation process, is moved
The control amount of the movement velocity of toy, described in detail below:
The processing module is received from sensor shakes acceleration and/or shakes frequency, by low-pass filter, smooth number
According to the big ups and downs of the acceleration and/or frequency that inhibit shake to generate obtain finally, carrying out calculation process using following equation
To control amount,
U=K1*a；Or u=K2*f；Or u=K1*a+K2*f/K3；
Or u=(1-W) * K1*a+W*K2*f
Wherein, K1, K2, K3 > 0 is proportionality coefficient, and u is control amount, and a is to shake acceleration, and f is to shake frequency, 0 < W <
1 is weighting coefficient.
Since the sign symbol of acceleration itself represents the direction of motion, and frequency does not have direction, in order to make acceleration and
Frequency participates in calculating jointly, can artificially be set of frequency symbol, and the symbol of frequency and the symbol of acceleration is made to keep one
It causes, thus can make frequency equally and include the information of the direction of motion.But if being transported facing one direction to sport toy
Dynamic velocity magnitude is controlled, then should take and take absolute value processing to shaking acceleration.
Two, control amount is sent to the wireless receiving module of sport toy, fortune by the wireless transmitter module of remote control carrier
The electronic control unit of movable toy is controlled according to control amount is received by size and Orientation of the motor to sport toy movement velocity
System.
In conjunction with shake carrier and sport toy actual state, can also will to shake acceleration and/or shake frequency into
The part of row calculation process is arranged in the control system of sport toy, and it is described that the specific method is as follows:
Firstly, shaking the control system that the shake acceleration and/or shake frequency are transmitted to sport toy by carrier, so
Afterwards, the control system of sport toy to the shake acceleration received and/or shakes frequency progress calculation process, obtains movement speed
The control amount of degree, finally, being controlled according to size and Orientation of the above-mentioned control amount to sport toy movement velocity.
In above two processing mode, open loop can be used according to control of the control amount to the movement velocity of sport toy
Control can also use closed-loop control, i.e., after the resulting control amount of operation being carried out speed unit calibration, by the electricity of sport toy
It controls unit publication control instruction and speed control directly is carried out to the motor of sport toy；Or it is the movement of control amount and actual measurement is fast
Degree is made comparisons, and after the processing of P/PI/PID controller, generates pwm signal wave to play movement using PWM signal generator
The revolving speed of the motor of tool is accurately controlled.
Using control method of the invention, the movement velocity control to remote control toy car may be implemented, firstly, will shake
Carrier and remote control toy car establish wireless communication, then, shake acceleration and/or frequency are generated by shaking carrier, to it
It carries out calculation process and generates control amount, the electronic control unit that this control amount is sent to remote control toy car can be completed, it is moved
The control of the size and Orientation of speed then increases the acceleration and/or frequency of shake if necessary to accelerate, and shakes conversely, then reducing
Dynamic acceleration and/or frequency；It equally also can be applied to battle gyro, the acceleration and/or frequency of shake are directly reflected into
The size of gyroscope speed, kangaroo of boxing for another example, the acceleration and/or frequency of shake are directly reflected into the punch speed of kangaroo
The size of size or strength.
The present invention realizes the speed control to sport toy using the shake acceleration and/or frequency that shake carrier, changes
The mode of conventional remote controls toys improves the interest and experience sense of game, while human motion and Toy Motion being combined
Get up, the effect taken exercises can be played, in addition, easy to operate, using simple, application is strong, and there is very big market to push away
Wide value.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, without departing from the principle and essence of the present invention, a variety of changes can be made to these embodiments
It more or modifies, therefore, protection scope of the present invention is defined by the appended claims.
Claims (7)
1. a kind of control method for sport toy, characterized by comprising: established shaking between carrier and sport toy
The step of the step of communication connection, detection shakes the shake acceleration of carrier and/or shakes frequency, and added according to described shake
The step of speed and/or the movement velocity of shake frequency control sport toy.
2. the control method according to claim 1 for sport toy, it is characterised in that according to the shake acceleration
And/or the step of shaking the movement velocity of frequency control sport toy include: the shakes carrier by the shake acceleration with/
Or the step of frequency carries out calculation process, obtains the control amount of the movement velocity of sport toy is shaken, the control amount is transmitted
To the control system of sport toy, the step controlled according to size and Orientation of the control amount to sport toy movement velocity
Suddenly.
3. the control method according to claim 1 for sport toy, it is characterised in that according to the shake acceleration
And/or the step of shaking the movement velocity of frequency control sport toy include: the shakes carrier by the shake acceleration with/
Or shake the step of frequency is transmitted to the control system of sport toy, shake of the control system of the sport toy to receiving
The step of acceleration and/or shake frequency carry out calculation process, obtain the control amount of movement velocity, according to the control amount to fortune
The step of size and Orientation of movable toy movement velocity is controlled.
4. the control method according to claim 1 for sport toy, it is characterised in that: the shake carrier and movement
It is wirelessly communicated between toy.
5. the control method according to claim 2 or 3 for sport toy, it is characterised in that: the shake acceleration
And/or shake frequency utilization following equation progress calculation process and obtain the control amount,
U=K1*a；Or u=K2*f；Or u=K1*a+K2*f/K3；
Or u=(1-W) * K1*a+W*K2*f
Wherein, K1, K2, K3 > 0 is proportionality coefficient, and u is control amount, and a is to shake acceleration, and f is to shake frequency, and 0 < W < 1 is
Weighting coefficient, the symbol that shake frequency f and shake acceleration a is manually set are consistent.
6. the control method according to claim 5 for sport toy, it is characterised in that: the control amount be only for
The control of the size of movement velocity of the sport toy in the same direction of motion then needs to take absolutely the shake acceleration a
To value processing.
7. the control method according to claim 2 for sport toy, it is characterised in that: the shake carrier at least wraps
It includes for shaking acceleration and/or shaking the sensor of frequency detecting, for storing the fortune shaken acceleration and/or shake frequency
The memory module for calculating application program, for executing the processing module of the operation application program, and for by the processing mould
The processing result of block is sent to the wireless transmitter module of sport toy；
The sport toy include at least wireless receiving module, electronic control unit and and motor, the wireless receiving module is for connecing
The processing result that wireless transmitter module is sent is received, the electronic control unit is used to receive processing result control according to wireless receiving module
The revolving speed of motor processed, the motor are used to control the movement velocity of sport toy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710455674.4A CN109144121A (en) | 2017-06-16 | 2017-06-16 | A kind of control method for sport toy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710455674.4A CN109144121A (en) | 2017-06-16 | 2017-06-16 | A kind of control method for sport toy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109144121A true CN109144121A (en) | 2019-01-04 |
Family
ID=64830188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710455674.4A Pending CN109144121A (en) | 2017-06-16 | 2017-06-16 | A kind of control method for sport toy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109144121A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112363508A (en) * | 2020-11-13 | 2021-02-12 | 深圳天行创新科技有限公司 | Toy motion control method and device, toy and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201426978Y (en) * | 2009-07-02 | 2010-03-24 | 杭州共远科技有限公司 | Novel toy |
| EP2205334A1 (en) * | 2007-09-21 | 2010-07-14 | Robonica (Proprietary) Limited | Display of information in a mobile toy gaming system |
| US20100198406A1 (en) * | 2009-02-04 | 2010-08-05 | Ming-Shu Lin | Electronic pet system and control method of an electronic pet |
| CN201912775U (en) * | 2010-12-06 | 2011-08-03 | 浙江大学 | Wireless motion sensing toy for computer game |
| CN102614669A (en) * | 2012-01-04 | 2012-08-01 | 杭州合力电子有限公司 | Hand-held waving sounding toy |
-
2017
- 2017-06-16 CN CN201710455674.4A patent/CN109144121A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2205334A1 (en) * | 2007-09-21 | 2010-07-14 | Robonica (Proprietary) Limited | Display of information in a mobile toy gaming system |
| US20100198406A1 (en) * | 2009-02-04 | 2010-08-05 | Ming-Shu Lin | Electronic pet system and control method of an electronic pet |
| CN201426978Y (en) * | 2009-07-02 | 2010-03-24 | 杭州共远科技有限公司 | Novel toy |
| CN201912775U (en) * | 2010-12-06 | 2011-08-03 | 浙江大学 | Wireless motion sensing toy for computer game |
| CN102614669A (en) * | 2012-01-04 | 2012-08-01 | 杭州合力电子有限公司 | Hand-held waving sounding toy |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112363508A (en) * | 2020-11-13 | 2021-02-12 | 深圳天行创新科技有限公司 | Toy motion control method and device, toy and storage medium |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190104 |
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| WD01 | Invention patent application deemed withdrawn after publication |