WO2019071769A1

WO2019071769A1 - Body control system and control method, and projection system

Info

Publication number: WO2019071769A1
Application number: PCT/CN2017/114757
Authority: WO
Inventors: 程文波; 李屹
Original assignee: 深圳光峰科技股份有限公司
Priority date: 2017-10-11
Filing date: 2017-12-06
Publication date: 2019-04-18
Also published as: CN109660775A

Abstract

A body control system and control method and a projection system. The body control system (100) comprises: vibration devices (1), a sensor (2), a processor (3) and adjustment motors (4). The vibration devices (1) are used for generating vibrations according to a motion control signal sent by the processor (3). The sensor (2) is used for detecting the state of the body (10). The processor (3) is connected to the vibration devices (1) and the sensor (2), respectively, and is used for generating a motion control signal of the vibration devices (1), acquiring the state of the body (10) detected by the sensor (2), and generating an adjustment motor control signal for the adjustment motors (4) according to the state of the body (10). The adjustment motors (4) are fixedly provided on the body (10) and connected to the processor (3), and move according to the adjustment motor control signal generated by the processor (3), so as to drive a stand (101) on the body (10) to perform telescopic movement, thereby having rapid adjustment speed, good reliability, and high accuracy.

Description

Body control system and control method and projection system

Technical field

The invention belongs to the technical field of automatic control, and particularly relates to a body control system, a control method and a projection system.

Background technique

At present, most electronic products need to be placed in a horizontal or stable state, and the level or stability of the body is generally adjusted by adjusting feet provided at the bottom of the fuselage.

technical problem

However, in the related art, the body of the electronic product is manually adjusted to balance or stabilize, the adjustment process is cumbersome, the adjustment time is long, and it is difficult to achieve the desired effect. And it is difficult to adjust to the stability or level of the fuselage by hand.

Therefore, it is necessary to provide a new airframe control system and control method and projection system to solve the above problems.

Technical solution

In view of the above deficiencies of the prior art, the present invention provides a body control system, a control method, and a projection system that are fast and reliable.

In order to solve the above technical problems, the present invention provides a body control system including: a vibration device, a sensor, a processor, and an adjustment motor;

The vibration device is configured to generate vibration according to a motion control signal sent by the processor;

The sensor is configured to detect a state of the body;

The processor is respectively connected to the vibration device and the sensor, configured to generate a motion control signal of the vibration device, and acquire the state of the body detected by the sensor, according to the body state Generating an adjustment motor control signal to the adjustment motor;

The adjusting motor is fixed on the body and connected to the processor, and moves according to the adjustment motor control signal generated by the processor, thereby driving the legs on the body to perform a telescopic movement.

The present invention also provides a method of controlling a body, comprising a fuselage, the body comprising at least three legs, the legs being telescopically adjustable; the method comprising the steps of:

Body state acquisition: providing a sensor by which the state of the fuselage of the fuselage is obtained;

The generation of the adjustment signal: providing a processor, wherein the state of the fuselage is analyzed by the processor according to a preset rule, and an adjustment signal is generated and output;

Body state adjustment: at least three adjustment motors are provided, and the adjustment motor receives the adjustment signal and drives the corresponding legs to expand and contract, so that the body is adjusted to a horizontal state or a stable state.

The present invention also provides a projection system including a body, the body is provided with legs, and further includes a body control system as described above, the body control system is placed on the body for control The movement of the legs.

Beneficial effect

Compared with the related art, in the airframe control system, the control method and the projection system of the present invention, the state of the fuselage of the fuselage is detected by a sensor: a two-dimensional angle of the first state of the plane of the fuselage and the horizontal plane at rest, and a second state two-dimensional angle of the plane and the horizontal plane of the fuselage after the vibration of the fuselage or a pressure of the foot to the placement surface; the processor determines whether the airframe is based on whether the two-dimensional angle of the first state is zero Level, determining whether the body is stable according to whether the two-dimensional angle is zero or whether the pressure is zero according to the second state, thereby controlling a corresponding foot of the corresponding adjusting motor to perform telescopic adjustment to the body level or stable. The airframe control system has a simple structure, and the adjustment method is convenient, fast, accurate, and reliable.

DRAWINGS

The invention will be described in detail below with reference to the accompanying drawings. The above and other aspects of the present invention will become more apparent from the detailed description of the appended claims. In the figure:

1 is a schematic structural view of a fuselage control system of the present invention;

2 is a circuit structural diagram of a fuselage control system of the present invention;

3 is a schematic perspective view showing the structure of the fuselage control system of the present invention when applied to a fuselage;

4 is a flow chart of a first embodiment of a method for controlling a body of the present invention;

5 is a flow chart showing the adjustment of the steady state of the airframe in the second embodiment of the airframe control method of the present invention;

6 is a flow chart showing the adjustment of the horizontal state of the airframe in the second embodiment of the airframe control method of the present invention.

Embodiments of the invention

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The specific embodiments and examples described herein are specific embodiments of the present invention, and are intended to be illustrative of the embodiments of the present invention. limit. In addition to the implementations described herein, those skilled in the art will be able to devise other obvious technical solutions based on the disclosure of the present application and the specification, which includes any obvious use of the embodiments described herein. The alternative and modified technical solutions are all within the scope of the present invention.

The airframe control system and control method and projection system of the present invention are suitable for adjustment of a horizontal state or a steady state of a fuselage including three or more legs.

Referring to FIG. 1-2 at the same time, the present invention provides a body control system 100 comprising: a vibration device 1, a sensor 2, a processor 3 and an adjustment motor 4. Hereinafter, the airframe control system 100 is applied to the airframe to automatically adjust the horizontal state or the steady state of the airframe as an example.

Referring to FIG. 3, the body 10 includes four legs 101, and the legs 101 are telescopically adjustable. The four legs 101 are surrounded by a quadrangle, such as a rectangle.

In the present embodiment, the horizontal state refers to a state in which the plane in which the body 10 is located is parallel to the horizontal plane. The steady state means that the leg 101 of the body 10 is in good contact with the placement surface, and does not sway under the action of an external force. Among them, the plane in which the fuselage 10 is located is parallel to the placement surface is a stable state.

The vibration device 1 is used to vibrate the body 10, which may be a vibration motor, an electromagnetic vibration device, or the like, as long as it can vibrate the body according to the motion control signal. In the following embodiments, the vibration device 1 will be described by taking a vibration motor as an example. It will be appreciated that in other embodiments, electromagnetic vibration devices or the like may also be employed. When a vibration motor is used, the vibration motor can be an eccentric vibrator or an electromagnetic vibrator, which is possible.

The vibration device 1 includes at least two and is respectively fixed on two diagonal lines of the plane of the body 10 for generating vibration according to a motion control signal of the vibration device, thereby driving the body 10 to generate vibration. When the vibration device 1 vibrates, the body is in an unstable state or the non-horizontal state is generated by the vibration device 1 to generate vibration. That is to say, each of the vibration devices 1 generates vibrations, and each of the body states generated by the body 10 during the vibration process corresponds to a current state parameter. The current state parameters include parameters in which the body is in a non-horizontal state, parameters in which the body is in an unstable state, and the like.

The sensor 2 is used to detect the state of the body. The body state includes the current state parameters of the fuselage. In other words, state parameters can be used to describe the state of the fuselage. It can also be understood that the sensor 2 is used to detect the current state parameter of the acquisition body 10.

Specifically, the current state parameter includes a first state two-dimensional angle formed by the plane and the horizontal plane when the body 10 is stationary, and a plane corresponding to the horizontal plane when the body 10 generates the maximum amplitude during the vibration of the vibration device 1 The second state is a two-dimensional angle and the pressure exerted by each of the legs 101 on the placement surface when the body 10 is stationary.

That is, the first state two-dimensional angle and the second state two-dimensional angle are angles formed by the intersection of the plane and the horizontal plane when the body 10 is in different states.

In the present embodiment, the plane in which the body 10 is located refers to a plane parallel to the upper surface or the lower surface of the body 10 when the body 10 is normally placed on the placement surface, for example, when the body 10 is placed horizontally. When facing, the plane of the fuselage is parallel to the horizontal plane; when the fuselage 10 is perpendicular to the placement surface, the plane of the fuselage is perpendicular to the horizontal plane.

Correspondingly, the sensor 2 comprises a gyroscope 21 and/or a pressure sensor 22.

The gyroscope 21 is fixed to the body 10 for detecting a first state two-dimensional angle and/or a second state two-dimensional angle.

It should be noted that the sensor for detecting the two-dimensional angle of the first state and the two-dimensional angle of the second state is not limited to the gyroscope 21, as long as the sensor capable of detecting the two-dimensional angle of the first state and the two-dimensional angle of the second state can be detected. can.

The pressure sensors 22 are respectively fixed to the bottom surface of each of the legs 101 of the body 10 for detecting the pressure of acquisition.

The processor 3 is connected to the vibration device 1 and the sensor 2 respectively, and the processor 3 and the sensor 2 and the vibration device 1 can be connected through a line or through infrared or Bluetooth to transmit signals. The processor 3 acquires the state of the body detected by the sensor 2, and generates an adjustment motor control signal, and a motion control signal for generating the vibration device 1. In other words, the processor 3 receives the current state parameter acquired by the sensor 2, performs state analysis on the current state parameter according to a preset rule, and issues a corresponding adjustment signal, and controls the vibration device 1 to generate vibration.

The adjusting motor 4 is connected to the processor 3, and receives a control signal of the adjusting motor generated by the processor 3, that is, a commonly-received adjusting signal, and generates a corresponding driving force according to the adjusting signal, and drives the adjusted leg 101 to perform a telescopic action. The body 10 is brought to a horizontal or steady state.

The user can select the adjustment mode, and the adjustment mode of the body can be selected according to the needs of the body level adjustment or the steady state adjustment of the body. That is, when the body 10 uses the body control system 100, the horizontal or steady state of the body 10 can be automatically and quickly adjusted, and the adjustment speed is fast, and the adjustment precision is high.

Body level adjustment:

The first state two-dimensional angle formed by the plane of the body 10 and the horizontal plane when the body 10 is stationary is detected by the gyroscope 21, wherein the horizontal plane is the horizontal reference plane of the gyroscope 21. The processor 3 is two-dimensionally angled according to the first state (the first state is a horizontal state when the two-dimensional angle is equal to 0, otherwise it is a non-horizon state). The tilt direction of the body 10 is obtained by an algorithm, and the adjustment motor 4 that needs to be controlled is analyzed and judged, and an adjustment signal is sent thereto, and the foot adjustment motor 4 drives the corresponding foot 101 to adjust the telescopic adjustment to realize the horizontal state of the body 10. The structure makes the horizontal state adjustment speed of the body 10 fast, and the automatic adjustment of the judgment angle by the gyroscope 21 replaces the artificial visual judgment, thereby achieving the purpose of high adjustment precision.

In the adjustment of the horizontal state of the body of the present embodiment, the legs 101 may be three or more, and the principle is the same.

Body steady state adjustment:

The second state two-dimensional angle formed by the plane of the fuselage and the horizontal plane when the fuselage 10 generates the maximum amplitude during the vibration of the fuselage 10 is detected by the gyroscope 21 (when the vibration motor vibrates, the fuselage does not sway and is stable) Otherwise, it is unstable.) The processor 3 obtains the tilt direction of the body 10 according to the second state two-dimensional angle by an algorithm, and analyzes and determines the adjustment motor 4 that needs to be controlled, and sends an adjustment signal thereto, and the foot adjustment electromechanical 4 drives the corresponding leg 101 to adjust the telescopic adjustment to realize the body. 10 steady state. The structure achieves good reliability when the steady state of the airframe is adjusted, and the vibration of the vibration motor can avoid a pseudo stable state, for example, one of the legs 101 of the fuselage is located on a movable object on the placement surface, or one of the legs of the fuselage Suspended, the pseudo-stable state can be eliminated by vibration, which improves its reliability.

Alternatively, the pressure generated by each of the legs 101 against the placement surface when the body 10 is stationary is detected by the pressure sensor 22. If the pressure of the pressure sensor 22 corresponding to the leg 101 is not zero, it is in a stable state. Otherwise, if the pressure of one of the pressure sensors 22 is zero, it is unstable. The processor 3 acquires the tilt direction of the body 10 according to the pressure condition, and analyzes and determines the adjustment motor 4 that needs to be controlled, and sends an adjustment signal thereto, and the foot adjustment motor 4 drives the corresponding foot 101 to adjust the telescopic adjustment to realize the steady state of the body 10. .

The body control system 100 can timely detect the state of the legs 101 of the body through the pressure sensor 22, thereby realizing real-time stable adjustment of the body, high reliability, and high adjustment precision.

Alternatively, when the length of any of the legs 101 extending beyond the bottom surface of the body 10 reaches a preset maximum value, the adjustment motor 4 automatically adjusts the foot 101 to return to the initial state. In the present embodiment, the preset maximum value is 50% of the length that each leg 101 can extend.

When the length of any one of the legs 101 extending beyond the bottom surface 10 reaches a preset maximum value, the adjusted motor 4 can also adjust the foot 101 to the initial state by a manual reset mode.

Of course, the adjustment mode of the body control system can be automatically adjusted at the startup; or the adjustment button can be set to manually initiate the adjustment.

Compared with the prior art, the airframe control system 100 has a simple structure and is applied to the automatic body state adjustment of the fuselage, and the adjustment speed of the stable and/or horizontal state is fast, the adjustment precision is high, and the reliability is good.

Based on the above various embodiments, the present invention also provides a projection system including a body and a body control system of any of the above embodiments. The fuselage is provided with legs, the fuselage control system is placed on the fuselage, and the fuselage control system controls the legs on the fuselage to perform telescopic movement to adjust the horizontal state of the fuselage or the stable state of the fuselage.

The present invention also provides a method of controlling the body, which is described below in conjunction with the above-described body control system 100:

Embodiment 1

Referring to FIG. 4, the airframe control method includes a body 10. The body 10 includes at least four legs 101 and four legs 101 are formed in a quadrangular shape, and the legs 101 are telescopically adjustable. The method comprises the following steps:

Step S41: The current state parameter is obtained:

A sensor 2 is provided, and the current state parameter of the body 10 is detected by the sensor 2.

Step S42, the generation of the adjustment signal:

The processor 3 is provided, and the current state parameter is analyzed by the processor 3 according to a preset rule to generate and output an adjustment signal.

Step S43, body state adjustment:

At least four adjusting motors 4 are provided. After receiving the adjusting signals, the adjusting motor 4 drives the corresponding legs 101 to expand and contract, so that the body 10 is adjusted to a horizontal state or a stable state.

In this embodiment, the legs 101 may also be three or more, and the principle is the same. When the fuselage is supported by the three legs 101, it can be set such that the length of one of the legs 101 is fixed, and only the length of the other two legs is adjusted, so that not only the adjustment time can be shortened, but also the adjustment motor can be arranged as little as possible, thereby reducing Production cost of the product.

In the body control method, when selecting to adjust the horizontal state of the fuselage:

In step S41, the sensor 2 includes a gyroscope 21, and the current state parameter includes a first state two-dimensional angle of the plane between the plane and the horizontal plane when the body 10 is stationary, and the first state two-dimensional angle is detected by the gyroscope 21. Wherein, the horizontal plane is a horizontal reference surface of the gyroscope 21.

At this time, in step S42, the preset rule is: the first state two-dimensional angle is equal to 0, then the body 10 is in a horizontal state, otherwise it is in a non-horizontal state. The magnitude and positive and negative values of the two-dimensional angle of the first state represent the tilt angle and the tilt direction of the body 10. Of course, the preset rules are not limited to this, but the principle is the same.

It should be noted that, in step S43, after the adjustment motor 4 is adjusted, if the body 10 is in the horizontal state, the process ends; otherwise, the adjustment process of steps S41 to S43 is repeated.

When choosing to adjust the steady state of the fuselage:

It should be noted that when the vibration device (vibrating motor) is used to adjust the steady state of the airframe, the body control method is applicable to the case where the body includes four or more legs. In the embodiment, the body includes four legs as an example for description. :

Before step S41, the method further includes: step S40, setting of the vibration device:

At least two vibrating devices 1 are provided, which are respectively fixed to two diagonal lines formed by the four legs 101 of the body 10, and are respectively perpendicular to the corresponding diagonal lines. The two vibration devices 1 are controlled by the processor 3 to sequentially generate vibrations to vibrate the body 10.

Specifically, the two vibrating devices 1 respectively vibrate in a time-sharing manner, and at the same time, the gyroscope 21 detects the state change of the body 10, that is, after the vibrating device 1 vibrates to complete the body stationary, the gyroscope 21 detects the state of the body. Next, the other vibrating device 1 vibrates, and after the vibration completes the stationary body, the gyroscope 21 detects the state of the body. During the vibration of the vibration motor, a pressure is applied to the body 10. If there is instability, the body 10 will oscillate, and the gyro 21 detects the swing angle, and the suspended foot 101 can be judged.

In step S41, the current state parameter includes a second state two-dimensional angle formed by the plane of the body 10 and the horizontal plane when the body 10 is vibrated to generate the maximum amplitude during the vibration of the vibration device 1, and the second state is passed through the gyro at a two-dimensional angle. Instrument 21 detects the acquisition.

At this time, in step S42, the preset rule is: the second state has a constant two-dimensional angle, which is a fixed value (or within the allowable error range), and the body 10 is in a stable state, otherwise it is in a non-horizontal state. The magnitude and positive and negative values of the second state two-dimensional angle represent the tilt angle and tilt direction that the body 10 can produce.

In this embodiment, preferably, in step S43, the processor 3 receives the second state two-dimensional angle detected by the gyro 21, and performs filtering processing on the second state two-dimensional angle to filter out the vibration of the vibration device 1. Signal to improve the adjustment accuracy.

In step S43, when the adjustment motor 4 is adjusted, such as when the body 10 is in a steady state, the process ends; otherwise, the adjustment process of steps S41 to S43 is repeated.

Embodiment 2

This embodiment is basically the same as the first embodiment described above, except that the sensor for adjusting the steady state of the body is different, and is a pressure sensor. In the body control method of the present embodiment, the legs 101 of the body 10 may be three or more, and the four legs 101 are also taken as an example for illustration.

Please refer to FIG. 5 to adjust the horizontal state of the airframe (the same as the method for adjusting the horizontal state of the airframe in the first embodiment):

The body control method includes the following steps:

Step S51: The current state parameter is obtained:

The sensor 2 includes a gyroscope 21, and the current state parameter includes a first state two-dimensional angle of the plane in which the body 10 is stationary and a horizontal plane, and the first state two-dimensional angle is detected by the gyroscope 21. Wherein, the horizontal plane is a horizontal reference surface of the gyroscope 21.

Step S52, generating an adjustment signal:

The processor 3 is provided, and the current state parameter is analyzed by the processor 3 according to a preset rule, and an adjustment signal output is generated.

The preset rule is: the first state two-dimensional angle is equal to 0, then the fuselage 10 is in a horizontal state, otherwise it is in a non-horizontal state. The magnitude and positive and negative values of the two-dimensional angle of the first state represent the tilt angle and the tilt direction of the body 10.

Step S53, body state adjustment:

At least four adjustment motors 4 are provided. After the adjustment motor 4 receives the adjustment signal, the corresponding legs 101 are driven to expand and contract, so that the body 10 is adjusted to a horizontal state.

It should be noted that, in step S53, after the adjustment motor 4 is adjusted, if the body 10 is in the horizontal state, the process ends; otherwise, the adjustment process of step S51 - step S53 is repeated.

Please refer to Figure 6 to adjust the stability of the body:

The body control method includes the following steps:

Step S61: The current state parameter is obtained:

Specifically, in this step, the sensor 2 includes a pressure sensor 22, and a plurality of pressure sensors 22 are provided, and the pressure sensors 22 are respectively fixed to the bottom surface of each of the legs 101.

The current state parameter includes the pressure generated by each leg 101 on the placement surface of the body 10, and the pressure is detected by the pressure sensor 22.

Step S62, generating an adjustment signal:

The preset rule is that the pressure of the pressure sensor 22 corresponding to each leg 101 is not zero, and the body 10 is in a stable state. Otherwise, as long as the pressure of any one of the pressure sensors 22 is zero, the corresponding leg 101 is suspended. Then, the body 10 is in an unstable state. The foot 101 corresponding to the pressure sensor 22 having a zero pressure needs to be adjusted to be elongated or the other legs 101 are adjusted to be shortened.

Step S63, body state adjustment:

At least four adjustment motors 4 are provided. After the adjustment motor 4 receives the adjustment signal, the corresponding legs 101 are driven to expand and contract, so that the body 10 is adjusted to a stable state.

In step S63, when the adjustment motor 4 is adjusted, such as when the body 10 is in a steady state, the process ends; otherwise, the adjustment process of steps S61 to S63 is repeated.

It should be noted that, in all the above embodiments provided by the present invention, preferably, the adjustment signal causes the adjustment motor 4 to drive each of the legs 101 to extend beyond a predetermined maximum value of a length that does not exceed the extendable length thereof. The maximum value can be 50% of the length of the leg, 60% of the length of the leg, 70% of the length of the leg, and the like. When the length of any one of the legs 101 extending beyond the bottom surface of the body 10 reaches a preset maximum value, the adjustment motor 4 automatically adjusts the foot 101 to return to the initial state. For example, when the processor 3 determines that only one of the legs 101 has a protruding length exceeding a preset maximum value of its extendable length, the firing processor 3 automatically drives the leg 101 to retract to an initial state to achieve reset. The processor 3 can determine the length of the corresponding leg extension by detecting the number of turns of each of the adjustment motors.

In addition, when the length of any one of the legs 101 extending beyond the bottom surface 10 reaches a preset maximum value, the adjusted motor 4 can also adjust the foot 101 to the initial state by a manual reset mode.

It should be noted that, in order to achieve the accuracy and rapidity of the adjustment, when the body 10 is turned on, all the legs 101 are first reset, such as manual reset, or a reset button is set to implement a key reset, wherein one key reset can be passed through the machine. After the body 10 is powered on, the processor 3 is directly triggered to drive the reset button to implement a key reset. Then, the processor 3 controls the adjustment motor 4 to drive the expansion and contraction of the corresponding leg 101 to achieve the purpose of adjustment, and achieve stable or horizontal state adjustment of the body. The processor 3 controls the respective adjustment motors 4 to rotate the same number of turns to realize that the respective legs 101 extend the same length, thereby achieving a horizontal or steady state of the body. Alternatively, the processor 3 controls the respective adjustment motors 4 to rotate a predetermined number of turns according to the preset parameters, so that the respective legs extend a predetermined length. For example, when the fuselage has three legs, the lengths of the two legs in front of the fuselage are the same, that is, the lengths of the two legs in the direction of the lens are the same, and the length of one leg in the back is longer than that of the two legs in the front. The short length makes the body tilted but stable, that is, the lens is tilted slightly upward. For another example, when the fuselage has four legs, the lengths of the two legs in front of the fuselage are the same, and the lengths of the two legs at the back of the fuselage are also the same, but the length of the two rear legs is longer than that of the front two legs. The length is short, and the body is tilted but stable.

Compared with the related art, the airframe control system, the control method and the projection system of the present invention detect the first state two-dimensional angle of the fuselage plane and the horizontal plane when the fuselage is at rest, and the fuselage is generated during the vibration of the fuselage. The maximum amplitude is the second state of the plane corresponding to the horizontal plane corresponding to the horizontal plane or the pressure of the foot to the placement surface; the processor determines whether the fuselage is horizontal according to whether the two-dimensional angle of the first state is zero or not, according to the second state, two-dimensional Whether the angle is zero or whether the pressure is zero to determine whether the fuselage is stable, thereby controlling the corresponding pin of the corresponding adjustment motor drive to adjust the telescopic adjustment to the level or stability of the fuselage. The fuselage control system has a simple structure, and the adjustment method is convenient, fast, accurate and reliable.

It should be noted that the various embodiments described above with reference to the accompanying drawings are only to illustrate the invention and not to limit the scope of the invention, and those of ordinary skill in the art should understand that without departing from the spirit and scope of the invention Modifications or equivalents to the invention are intended to be included within the scope of the invention. In addition, unless the context indicates otherwise, words in the singular include plural and vice versa. In addition, all or a portion of any embodiment can be used in combination with all or a portion of any other embodiment, unless otherwise stated.

Claims

A body control system, comprising: a vibration device, a sensor, a processor, and an adjustment motor;

The sensor is configured to detect a state of the body;

2. The airframe control system according to claim 1, wherein the body state comprises a first state two-dimensional angle formed by the plane of the fuselage and the horizontal plane when the fuselage is stationary.

3. The airframe control system according to claim 1, wherein the vibration device comprises a vibration motor, and the vibration motor is at least two, respectively fixed on two diagonal lines of the plane of the fuselage.

4. The airframe control system according to claim 2, wherein said airframe state further comprises said machine when said vibration device vibrates to cause said fuselage to produce a maximum amplitude in a direction perpendicular to said placement surface. The second state of the second state formed by the plane and the horizontal plane.

The airframe control system according to claim 4, wherein the sensor comprises a gyroscope, and the gyroscope is fixed to the body for detecting the first state two-dimensional angle and/or Or the second state is a two-dimensional angle.

6. The airframe control system of claim 1 wherein said body condition comprises pressure exerted by each of said legs on a placement surface when said body is stationary.

The airframe control system according to claim 6, wherein the sensor comprises a pressure sensor, and the pressure sensor is respectively fixed to a bottom surface of each of the legs of the body for detecting an acquisition center. Stress.

8. A method of controlling a body, comprising a fuselage, the body comprising at least three legs, the legs being telescopically adjustable, wherein the method comprises the steps of:

The airframe control method according to claim 8, wherein in the step of acquiring the body state, the sensor comprises a gyroscope, and the body state comprises the A first state two-dimensional angle of a plane in which the fuselage is located and a horizontal plane, the first state two-dimensional angle being obtained by the gyroscope detection.

The airframe control method according to claim 9, further comprising the following steps before the step of acquiring the airframe state:

The arrangement of the vibration device: the legs comprise four and enclose a quadrilateral, and at least two vibration devices are provided, and the two vibration devices are respectively fixed on two diagonal lines formed by the four legs of the fuselage, And respectively perpendicular to the corresponding diagonal line, the two vibration devices are controlled by the processor to sequentially generate vibrations to vibrate the body;

In the step of acquiring the airframe state, the airframe state further includes a second state two-dimensional angle of a plane of the fuselage and a horizontal plane when the fuselage generates a maximum amplitude during the vibration of the fuselage, The second state two-dimensional angle is obtained by the gyroscope detection.

The airframe control method according to claim 8 or 9, wherein in the step of acquiring the airframe state, the airframe state further comprises a pressure generated by each of the legs on a placement surface;

A plurality of pressure sensors are provided, each of which is fixed to a bottom surface of each of the legs, the pressure being detected by the pressure sensor.

12. A projection system comprising a body, the body being provided with legs, characterized by further comprising a body control system according to any one of claims 1 to 7, the body control system being placed The body is used to control the movement of the legs.