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WO2019153785A1 - Mobile control system and method - Google Patents

Mobile control system and method Download PDF

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Publication number
WO2019153785A1
WO2019153785A1 PCT/CN2018/110542 CN2018110542W WO2019153785A1 WO 2019153785 A1 WO2019153785 A1 WO 2019153785A1 CN 2018110542 W CN2018110542 W CN 2018110542W WO 2019153785 A1 WO2019153785 A1 WO 2019153785A1
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WO
WIPO (PCT)
Prior art keywords
control information
control
toy device
control signal
toy
Prior art date
Application number
PCT/CN2018/110542
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French (fr)
Chinese (zh)
Inventor
谢进彬
郭伟成
陆桂佑
Original Assignee
深圳市七布创新科技有限公司
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Publication date
Application filed by 深圳市七布创新科技有限公司 filed Critical 深圳市七布创新科技有限公司
Publication of WO2019153785A1 publication Critical patent/WO2019153785A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots 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

Definitions

  • the present invention relates to the field of intelligent control technologies, and in particular, to a mobile control system and method.
  • the intelligent terminal cannot control the toy equipment to perform precise angle steering
  • the present invention provides a mobile control system and method.
  • the control device can obtain the control signal detection result in real time through the application of the system; the toy device can obtain its current attitude angle in real time;
  • the system may determine movement control information for the toy device according to the control signal detection result and the preset trigger conditions for starting movement, movement, reference point adjustment, and stopping movement; the toy device may perform according to the movement control information and the current posture angle of the toy device.
  • the operation corresponding to the movement control information thereby enabling the user to flexibly control the toy device to perform precise angle steering and movement through the control device.
  • the present invention provides a mobile control system comprising:
  • control device has a control module, a wireless communication module connected to the control module, and a control signal detection module connected to the control module;
  • a toy device having a microcontroller, a wireless communication module coupled to the microcontroller, an attitude detection module coupled to the microcontroller, and a power device coupled to the microcontroller;
  • the control device and the toy device establish a connection and interact through the wireless communication module
  • the control device detects the operation of the control device by the user in real time through the control signal detection module, and generates a control signal detection result in real time, and the control device acquires the detection result of the control signal to obtain the toy device.
  • Mobile control information
  • the control device transmits a wireless control signal including the mobile control information to the toy device;
  • the toy device receives and parses the wireless control signal, acquires the movement control information according to the wireless control signal, and performs an operation corresponding to the movement control information by the power device.
  • the wireless communication module is selected from any one of a Bluetooth communication module, a Wi-Fi communication module, a radio frequency communication module, a ZigBee communication module, and an ultra-wideband communication module.
  • the attitude detection module includes a gyro sensor, an acceleration sensor, and a magnetic sensor; the attitude detection module measures and transmits to the microcontroller a current triaxial angular rate, a triaxial acceleration, and the toy device. Attitude detection results of three-axis geomagnetic field strength.
  • the invention also provides a control method of the above control system, comprising the following steps:
  • the control device detects the operation of the control device by the user in real time through the control signal detection module, and generates a control signal detection result in real time, and the control device acquires the toy according to the detection result of the control signal.
  • Mobile control information of the device
  • control device sends a wireless control signal including the mobile control information to the toy device;
  • the toy device receives and parses the wireless control signal, acquires the mobile control information according to the wireless control signal, and performs an operation corresponding to the mobile control information by using the power device.
  • the implementation manner that the control device acquires the mobile control information for the toy device according to the control signal detection result includes the following steps:
  • the control module of the control device is pre-set with a trigger condition for starting movement, movement, reference point adjustment, and ending movement of the toy device;
  • S102 Determine, according to the detection result of the control signal, whether a trigger condition for starting movement and movement is satisfied, and if the trigger condition for starting movement and movement is satisfied, determining advance and retreat control information and steering control information for the toy device;
  • S103 Determine, according to the detection result of the control signal, whether the trigger condition of the reference point adjustment is satisfied, and if the trigger condition of the reference point adjustment is met, determine the reference control information for the toy device;
  • S104 Determine, according to the detection result of the control signal, whether a trigger condition for stopping the movement is satisfied, and if the trigger condition for stopping the movement is met, determining stop control information for the toy device;
  • S105 Determine the movement control information for the toy device according to the advance and retreat control information, the steering control information, the reference control information, and the stop control information.
  • the forward/backward control information acquisition manner in the step S102 includes the following steps: determining, according to the control signal detection result, that the toy device is controlled to advance or retreat and the moving speed of the toy device, according to The toy device is determined as to determine whether to advance or retreat and to move the speed, and to obtain the advance and retreat control information.
  • the advance and retreat control information in the step S102 further includes a limit moving speed information, and when the moving speed of the toy device is greater than or equal to a preset moving speed threshold, determining a preset moving speed threshold is The maximum moving speed of the toy device.
  • the steering control information acquisition manner in the step S102 includes the following steps: determining, according to the detection result of the control signal, a rotation direction and a rotation angle of the toy device, according to a rotation direction and a rotation of the toy device. The result of the determination of the angle results in the steering control information.
  • the steering control information in the step S102 further includes a limited steering angle information.
  • determining a preset rotation angle threshold is The maximum angle of rotation of the toy device.
  • the reference control information acquisition manner in the step S103 includes the following steps: determining, according to the control signal detection result, a reference point adjustment direction of the toy device and a reference point adjustment angle, according to the toy device The reference point adjustment direction and the determination result of the reference point adjustment angle are used to obtain the reference control information.
  • the reference control information in the step S103 further includes a limit reference point adjustment information, and when the reference point adjustment angle of the toy device is greater than or equal to a preset reference point adjustment angle threshold, determining the preset The reference point adjustment angle threshold is the maximum reference point adjustment angle of the toy device.
  • the step S3 implementation method includes the following steps:
  • the microcontroller obtains the mobile control information according to the radio control signal, and the micro controller determines, according to the mobile control information, whether the mobile control information includes stop control information; if yes, step S311 is performed. Otherwise, S302 and subsequent steps are performed;
  • the mobile control information includes the stop control information
  • the microcontroller sends a stop control signal to the power device according to the stop control information
  • the next step is executed S305;
  • the stop control information is not included in the mobile control information, and the micro controller obtains the advance and retreat control information, the steering control information, and the reference control information according to the mobile control information; the micro control Obtaining direction control information and angle control information according to the steering control information and the reference control information;
  • S303 The microprocessor processes, according to the posture detection result, a current accurate attitude angle of the toy device;
  • the microcontroller adjusts the power control output in the power control signal according to the advance and retreat control information, the direction control information, the angle control information, and the current accurate attitude angle of the toy device, and sends a power control signal to the power device.
  • the toy device performs an operation corresponding to the movement control information by a power device.
  • step S302 includes the following steps:
  • the microcontroller acquires an advance and retreat control signal including the toy device being controlled to advance or retreat and the moving speed of the toy device according to the advance and retreat control information in the movement control information; the microcontroller according to the steering control information in the movement control information And the reference control information is processed to obtain angle control information including the direction control information that the toy device is controlled to rotate clockwise or counterclockwise and the precise rotation angle that the toy device is controlled.
  • step S303 includes the following steps:
  • the microcontroller solves the attitude detection result of the toy device by the attitude fusion algorithm including the current triaxial angular rate, the triaxial acceleration and the triaxial geomagnetic field strength of the toy device to obtain the current attitude angle of the toy device; the microcontroller passes The filtering algorithm performs data filtering on the current attitude angle of the toy device to obtain the current accurate attitude angle of the toy device.
  • step S304 includes the following steps:
  • the microcontroller compares the current precise attitude angle of the toy device with the direction control information and the desired steering angle in the angle control information in real time through the PID control technology, and the microcontroller continuously adjusts the control output and forms a closed loop control system, thereby realizing
  • the microcontroller controls the power unit through the power control signal to drive the toy device to perform precise angle steering.
  • the power device is configured to drive the toy device to turn and move; and the microcontroller calculates the attitude according to the attitude including the triaxial angular rate, the triaxial acceleration, and the triaxial magnetic field strength. Obtaining a current attitude angle of the toy device and performing data filtering on the current posture angle, and the microcontroller acquires a current accurate attitude angle of the toy device.
  • the present invention has the following beneficial effects:
  • control signal detection module on the control device and the processing of the detection result of the control signal enable the control system to obtain the movement control information for the toy device in real time;
  • the attitude detection module on the toy device and the processing of the attitude detection result enable the control system to obtain the current accurate attitude angle in real time
  • control system can obtain the movement control information for the toy device in real time by controlling the signal detection result and the preset triggering conditions of starting movement, movement, reference point adjustment, and stopping the movement;
  • the toy device can perform the operation corresponding to the movement control information, thereby realizing that the control device can flexibly control the toy.
  • the device performs precise angle steering and movement.
  • FIG. 1 is a schematic structural diagram of a mobile control system according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of a control method of a mobile control system according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of determining a method for controlling mobile control information for a toy device according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart diagram of a control method for performing operations corresponding to mobile control information according to an embodiment of the present invention.
  • 1 is the control device, 11 is the control module, 12 is the wireless communication module, and 13 is the control signal detection module;
  • 2 is a toy device
  • 21 is a microprocessor
  • 22 is a wireless communication module
  • 23 is an attitude detection module
  • 24 is a power device.
  • an embodiment of the present invention discloses a mobile control system, including:
  • Control device 1 the control device 1 has a control module 11, a wireless communication module 12 connected to the control module 11, a control signal detection module 13 connected to the control module 11;
  • Toy device 2 toy device 2 with a microcontroller 21, a wireless communication module 22 connected to the microcontroller 21, a posture detection module 23 connected to the microcontroller 21, and a power device 24 connected to the microcontroller 2;
  • the control device 1 and the toy device 2 establish a connection and interact through the wireless communication modules 12 and 22;
  • the control device 1 detects the operation of the control device 1 by the user in real time through the control signal detecting module 13, and generates a control signal detection result in real time, and the control device 1 obtains the target according to the detection result of the control signal.
  • the control device 1 transmits a wireless control signal including the movement control information to the toy device 2;
  • the toy device 2 receives and parses the wireless control signal, acquires the movement control information according to the wireless control signal, and performs an operation corresponding to the movement control information by the power device 24.
  • the wireless communication modules 12 and 22 may be, for example, a Bluetooth communication module, a Wi-Fi (Wireless Fidelity) communication module, a radio frequency communication module, a ZigBee communication module, or an ultra-wideband (UWB) communication module.
  • a Bluetooth communication module for example, a Wi-Fi (Wireless Fidelity) communication module, a radio frequency communication module, a ZigBee communication module, or an ultra-wideband (UWB) communication module.
  • Wi-Fi Wireless Fidelity
  • radio frequency communication module a radio frequency communication module
  • ZigBee communication module ZigBee communication module
  • UWB ultra-wideband
  • the attitude detecting module 23 includes a gyro sensor, an acceleration sensor, and a magnetic sensor.
  • control signal detecting module 13 may be, for example, a steering wheel, a rocker, a touch pad, a button, a slide control bar, a push-pull control lever, a pressure sensor, or an attitude sensor.
  • control device 1 can be, for example, a smart device, a smart phone, a smart watch, a game pad, a smart baton, a palmtop computer, or a tablet computer.
  • the toy device 2 may be a steerable electronic toy or a smart toy, such as a pet toy, a balance car, a tank, a battleship, a chariot, a fighter, a robot, an electronic pet, and the like.
  • an embodiment of the present invention further provides a method for controlling a mobile control system, including the following steps:
  • Step S1 The control device 1 detects the operation of the control device 1 by the user in real time through the control signal detecting module 13, and generates a control signal detection result in real time, and the control module 11 determines the movement control information for the toy device 2 according to the detection result of the control signal;
  • Step S2 The control device 1 transmits a wireless control signal including the mobile control information to the toy device 2 through the wireless communication module 12;
  • Step S3 The toy device 2 receives the wireless control signal including the movement control information through the wireless communication module 22, and performs an operation corresponding to the movement control information by the power device 24.
  • the implementation manner of the control device acquiring the mobile control information for the toy device according to the control signal detection result in the step S1 includes the following steps:
  • Step S101 The control module 11 of the control device 1 is pre-set with a trigger condition for the toy device 1 to start moving, moving, adjusting the reference point, and ending the movement;
  • Step S102 judging whether the trigger condition for starting movement and movement is satisfied according to the detection result of the control signal, and if the trigger condition for starting movement and movement is satisfied, determining the advance and retreat control information and the steering control information for the toy device 2 according to the detection result of the control signal;
  • Step S103 judging whether the trigger condition of the reference point adjustment is satisfied according to the detection result of the control signal, and if the trigger condition of the reference point adjustment is satisfied, determining the reference control information for the toy device 2 according to the detection result of the control signal;
  • Step S104 determining, according to the detection result of the control signal, whether the trigger condition for stopping the movement is satisfied, and if the trigger condition for stopping the movement is satisfied, determining the stop control information for the toy device 2 according to the detection result of the control signal;
  • Step S105 Determine the movement control information for the toy device 2 based on the advance and retreat control information, the steering control information, the reference control information, and the stop control information.
  • step S102, step S103, and step S104 do not have strict execution order requirements.
  • the method for acquiring the advance and retreat control information in the step S102 includes the following steps:
  • the control signal detection result it is determined whether the toy device 2 is controlled to advance or retreat and the moving speed of the toy device 2, and the advance and retreat control information is obtained according to the determination result of the toy device 2 being controlled to advance or retreat and the moving speed.
  • the advance and retreat control information further includes a limit moving speed information, and according to the control signal detection result, when the moving speed of the toy device 2 is greater than or equal to a preset moving speed threshold, determining the preset moving speed threshold is the toy device 2 The maximum moving speed.
  • the manner of acquiring the steering control information in the step S102 includes the following steps:
  • the steering direction and the steering angle of the toy device 2 are determined, and the steering control information is obtained based on the determination result of the steering direction and the steering angle of the toy device 2.
  • the steering control information further includes a limited steering angle information, and according to the control signal detection result, when the steering angle of the toy device 2 is greater than or equal to the preset steering angle threshold, determining the preset steering angle threshold is the toy device 2 The maximum steering angle.
  • step S103 the reference control information acquisition manner includes the following steps:
  • the reference point adjustment direction of the toy device 2 and the reference point adjustment angle are determined, and the reference control information is obtained based on the determination result of the reference point adjustment direction of the toy device 2 and the reference point adjustment angle.
  • the reference control information further includes a limit reference point adjustment information, and according to the control signal detection result, when the reference point adjustment angle of the toy device 2 is greater than or equal to a preset reference point adjustment angle threshold, determining the preset The reference point adjustment angle threshold is the maximum reference point adjustment angle of the toy device.
  • step S104 based on the result of the control signal detection, it is determined that the toy device 2 is controlled to stop, and based on the determination result that the toy device 2 is controlled to stop, the stop control information for the toy device 2 is obtained.
  • the specific implementation method of the foregoing step S3 includes the following steps:
  • Step S301 The microcontroller 21 parses and acquires the mobile control information according to the wireless control signal; the microcontroller 21 determines, according to the mobile control information, whether the mobile control information includes stop control information; if yes, step S311 is performed. Otherwise, S302 and subsequent steps are performed.
  • Step S311 If the movement control information includes the stop control information, the microcontroller 21 acquires the stop control information for the toy device 2 based on the movement control information, and transmits a stop control signal to the power device 24; the next step is S305.
  • Step S302 If the stop control information is not included in the movement control information, the microcontroller 21 acquires the advance and retreat control information, the steering control information, and the reference control information according to the movement control information, and the microcontroller 21 according to the steering control information and the reference control information. The process obtains direction control information and angle control information.
  • the microcontroller 21 acquires an advance and retreat control signal including the toy device 2 being controlled to advance or retreat and the moving speed of the toy device 2 according to the advance and retreat control information in the movement control information; the microcontroller 21 is based on The steering control information and the reference control information in the movement control information are processed to obtain angle control information including the direction control information in which the toy device 2 is controlled to rotate clockwise or counterclockwise, and the precise rotation angle at which the toy device 2 is controlled.
  • Step S303 The microprocessor 21 processes the current accurate attitude angle of the toy device 2 according to the posture detection result.
  • the microcontroller 21 solves the received attitude detection result including the current triaxial angular rate, triaxial acceleration and triaxial magnetic field strength of the toy device 2 by the attitude fusion algorithm to obtain the current state of the toy device 2. Attitude angle; the microcontroller 21 performs data filtering on the current attitude angle of the toy device 2 by a filtering algorithm to obtain a current accurate attitude angle of the toy device.
  • Step S304 The microcontroller adjusts the power control output in the power control signal according to the advance and retreat control information, the direction control information, the angle control information, and the current accurate attitude angle of the toy device, and sends a power control signal to the power device.
  • the microcontroller 21 can compare the current accurate attitude angle of the toy device 2 with the direction control information and the desired steering angle in the angle control information in real time by PID (Proportional Proportion, Integral, Derivative) control technology.
  • PID Proportional Proportion, Integral, Derivative
  • the microcontroller 1 continuously adjusts the control output and forms a closed loop control system, thereby enabling the microcontroller 21 to control the power unit 24 to drive the toy device 2 to perform precise angle steering through the power control signal.
  • Step S305 The toy device 2 performs an operation corresponding to the movement control information by the power unit 24.

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Abstract

A mobile control system and method. The control system comprises: a control device (1) having a control module (11), a wireless communication module (12) connected to the control module (11), and a control signal detection module (13) connected to the control module (11); and a toy device (2) having a microcontroller (21), a wireless communication module (22) connected to the microcontroller (21), an attitude detection module (23) connected to the microcontroller (21), and a power device (24) connected to the microcontroller (21). The control device (1) and the toy device (2) are connected and interact by means of the wireless communication modules (12, 22). By applying the system, the control device (1) can obtain the control signal detection result in real time, and the toy device (2) can obtain a current attitude angle thereof in real time, so that a user can flexibly control the toy device (2) to perform precise angle steering and movement by means of the control device (1).

Description

一种移动控制系统及方法Mobile control system and method 技术领域Technical field
本发明涉及智能控制技术领域，特别涉及一种移动控制系统及方法。The present invention relates to the field of intelligent control technologies, and in particular, to a mobile control system and method.
背景技术Background technique
如今，在现有的移动控制系统中，越来越多的玩具设备使用智能终端作为其控制设备，用户可以通过操作智能终端显示屏上的虚拟方向盘或/和虚拟按键，来达到对玩具设备进行控制的目的，例如，前进、后退、左转、右转等操作。不过，这种移动控制系统往往存在以下缺陷：Nowadays, in the existing mobile control system, more and more toy devices use smart terminals as their control devices, and the user can operate the toy devices by operating the virtual steering wheel or/and virtual buttons on the display screen of the smart terminal. The purpose of the control, for example, forward, backward, left turn, right turn, and the like. However, such mobile control systems often have the following drawbacks:
(1)、智能终端无法控制玩具设备进行精确角度的转向；(1) The intelligent terminal cannot control the toy equipment to perform precise angle steering;
(2)、由于用户在控制时需要注视显示屏，容易分散用户的注意力，使得用户无法专注于玩具设备本身，导致用户对玩具设备的控制缺乏灵活性，用户体验较差。(2) Since the user needs to look at the display screen during the control, it is easy to distract the user's attention, so that the user cannot concentrate on the toy device itself, resulting in the user's lack of flexibility in controlling the toy device and the user experience is poor.
因此现有技术存在问题，需要进一步改进。Therefore, the prior art has problems and needs further improvement.
发明内容Summary of the invention
针对现有技术存在的问题，本发明提供一种移动控制系统及方法，通过该系统的应用，控制设备可以实时获取到控制信号检测结果；玩具设备可以实时获取到其当前的姿态角；该控制系统可以根据控制信号检测结果和预设的开始移动、移动、基准点调节以及停止移动的触发条件确定针对玩具设备的移动控制信息；玩具设备可以根据移动控制信息和玩具设备当前的姿态角，执行与移动控制信息相对应的操作，进而使得用户可以通过控制设备灵活地控制玩具设备进行精确角度的转向和移动。In view of the problems existing in the prior art, the present invention provides a mobile control system and method. The control device can obtain the control signal detection result in real time through the application of the system; the toy device can obtain its current attitude angle in real time; The system may determine movement control information for the toy device according to the control signal detection result and the preset trigger conditions for starting movement, movement, reference point adjustment, and stopping movement; the toy device may perform according to the movement control information and the current posture angle of the toy device. The operation corresponding to the movement control information, thereby enabling the user to flexibly control the toy device to perform precise angle steering and movement through the control device.
首先，本发明提供一种移动控制系统，其包括：First of all, the present invention provides a mobile control system comprising:
控制设备，所述控制设备带有控制模块、与所述控制模块连接的无线通信模块、与所述控制模块连接的控制信号检测模块；a control device, the control device has a control module, a wireless communication module connected to the control module, and a control signal detection module connected to the control module;
玩具设备，所述玩具设备带有微控制器、与所述微控制器连接的无线通信模块、与所述微控制器连接的姿态检测模块、与所述微控制器连接的动力装置；a toy device having a microcontroller, a wireless communication module coupled to the microcontroller, an attitude detection module coupled to the microcontroller, and a power device coupled to the microcontroller;
所述控制设备与所述玩具设备通过所述无线通信模块建立连接并进行交互；The control device and the toy device establish a connection and interact through the wireless communication module;
所述控制设备通过所述控制信号检测模块实时检测用户对所述控制设备的操作，并实时生成控制信号检测结果，所述控制设备根据所述控制信号检测结果，获取到针对所述玩具设备的移动控制信息；The control device detects the operation of the control device by the user in real time through the control signal detection module, and generates a control signal detection result in real time, and the control device acquires the detection result of the control signal to obtain the toy device. Mobile control information;
所述控制设备向所述玩具设备发送包含所述移动控制信息的无线控制信号；The control device transmits a wireless control signal including the mobile control information to the toy device;
所述玩具设备接收并解析所述无线控制信号，根据所述无线控制信号获取到所述移动控制信息，并通过所述动力装置执行与所述移动控制信息相对应的操作。The toy device receives and parses the wireless control signal, acquires the movement control information according to the wireless control signal, and performs an operation corresponding to the movement control information by the power device.
优选的，所述无线通信模块选自蓝牙通信模块、Wi-Fi通信模块、射频通信模块、ZigBee通信模块、超宽带通信模块中的任意一种。Preferably, the wireless communication module is selected from any one of a Bluetooth communication module, a Wi-Fi communication module, a radio frequency communication module, a ZigBee communication module, and an ultra-wideband communication module.
优选的，所述姿态检测模块包括陀螺仪传感器、加速度传感器、磁传感器；所述姿态检测模块实时测量并向所述微控制器发送包括所述玩具设备当前的三轴角速率、三轴加速度和三轴地磁场强度的姿态检测结果。Preferably, the attitude detection module includes a gyro sensor, an acceleration sensor, and a magnetic sensor; the attitude detection module measures and transmits to the microcontroller a current triaxial angular rate, a triaxial acceleration, and the toy device. Attitude detection results of three-axis geomagnetic field strength.
本发明还提供上述控制系统的控制方法，包括如下步骤：The invention also provides a control method of the above control system, comprising the following steps:
S1：所述控制设备通过所述控制信号检测模块实时检测用户对所述控制设备的操作，并实时生成控制信号检测结果，所述控制设备根据所述控制信号检测结果，获取到针对所述玩具设备的移动控制信息；S1: The control device detects the operation of the control device by the user in real time through the control signal detection module, and generates a control signal detection result in real time, and the control device acquires the toy according to the detection result of the control signal. Mobile control information of the device;
S2：所述控制设备向所述玩具设备发送包含所述移动控制信息的无线控制信号；S2: the control device sends a wireless control signal including the mobile control information to the toy device;
S3：所述玩具设备接收并解析所述无线控制信号，根据所述无线控制信号获取到所述移动控制信息，并通过所述动力装置执行与所述移动控制信息相对应的操作。S3: the toy device receives and parses the wireless control signal, acquires the mobile control information according to the wireless control signal, and performs an operation corresponding to the mobile control information by using the power device.
优选的，所述控制设备根据所述控制信号检测结果获取到针对所述玩具设备的移动控制信息的实现方式包括如下步骤：Preferably, the implementation manner that the control device acquires the mobile control information for the toy device according to the control signal detection result includes the following steps:
S101：所述控制设备的所述控制模块预设有针对所述玩具设备开始移动、移动、基准点调节、结束移动的触发条件；S101: The control module of the control device is pre-set with a trigger condition for starting movement, movement, reference point adjustment, and ending movement of the toy device;
S102：根据所述控制信号检测结果，判断是否满足开始移动、移动的触发条件，若满足开始移动、移动的触发条件，确定针对所述玩具设备的进退 控制信息、转向控制信息；S102: Determine, according to the detection result of the control signal, whether a trigger condition for starting movement and movement is satisfied, and if the trigger condition for starting movement and movement is satisfied, determining advance and retreat control information and steering control information for the toy device;
S103：根据所述控制信号检测结果，判断是否满足基准点调节的触发条件，若满足基准点调节的触发条件，确定针对所述玩具设备的基准控制信息；S103: Determine, according to the detection result of the control signal, whether the trigger condition of the reference point adjustment is satisfied, and if the trigger condition of the reference point adjustment is met, determine the reference control information for the toy device;
S104：根据所述控制信号检测结果，判断是否满足停止移动的触发条件，若满足停止移动的触发条件，确定针对所述玩具设备的停止控制信息；S104: Determine, according to the detection result of the control signal, whether a trigger condition for stopping the movement is satisfied, and if the trigger condition for stopping the movement is met, determining stop control information for the toy device;
S105：根据所述进退控制信息、所述转向控制信息、所述基准控制信息和所述停止控制信息，确定针对所述玩具设备的所述移动控制信息。S105: Determine the movement control information for the toy device according to the advance and retreat control information, the steering control information, the reference control information, and the stop control information.
优选的，所述步骤S102中的所述进退控制信息获取方式包括如下步骤：根据所述控制信号检测结果，确定所述玩具设备是被控制前进或是后退以及所述玩具设备的移动速度，根据所述玩具设备是被控制前进或是后退以及移动速度的确定结果，得出所述进退控制信息。Preferably, the forward/backward control information acquisition manner in the step S102 includes the following steps: determining, according to the control signal detection result, that the toy device is controlled to advance or retreat and the moving speed of the toy device, according to The toy device is determined as to determine whether to advance or retreat and to move the speed, and to obtain the advance and retreat control information.
优选的，所述步骤S102中的所述进退控制信息还包括一限制移动速度信息，当所述玩具设备的移动速度大于或者等于预设的移动速度阈值时，确定预设的移动速度阈值为所述玩具设备的最大移动速度。Preferably, the advance and retreat control information in the step S102 further includes a limit moving speed information, and when the moving speed of the toy device is greater than or equal to a preset moving speed threshold, determining a preset moving speed threshold is The maximum moving speed of the toy device.
优选的，所述步骤S102中的所述转向控制信息获取方式包括如下步骤：根据所述控制信号检测结果，确定所述玩具设备的转动方向以及转动角度，根据所述玩具设备的转动方向和转动角度的确定结果，得出所述转向控制信息。Preferably, the steering control information acquisition manner in the step S102 includes the following steps: determining, according to the detection result of the control signal, a rotation direction and a rotation angle of the toy device, according to a rotation direction and a rotation of the toy device. The result of the determination of the angle results in the steering control information.
优选的，所述步骤S102中的所述转向控制信息还包括一限制转向角度信息，当所述玩具设备的转动角度大于或者等于预设的转动角度阈值时，确定预设的转动角度阈值为所述玩具设备的最大转动角度。Preferably, the steering control information in the step S102 further includes a limited steering angle information. When the rotation angle of the toy device is greater than or equal to a preset rotation angle threshold, determining a preset rotation angle threshold is The maximum angle of rotation of the toy device.
优选的，所述步骤S103中的所述基准控制信息获取方式包括如下步骤：根据所述控制信号检测结果，确定所述玩具设备的基准点调节方向以及基准点调节角度，根据所述玩具设备的基准点调节方向和基准点调节角度的确定结果，得出所述基准控制信息。Preferably, the reference control information acquisition manner in the step S103 includes the following steps: determining, according to the control signal detection result, a reference point adjustment direction of the toy device and a reference point adjustment angle, according to the toy device The reference point adjustment direction and the determination result of the reference point adjustment angle are used to obtain the reference control information.
优选的，所述步骤S103中的所述基准控制信息还包括一限制基准点调节信息，当所述玩具设备的基准点调节角度大于或者等于预设的基准点调节角度阈值时，确定预设的基准点调节角度阈值为所述玩具设备的最大基准点调节角度。Preferably, the reference control information in the step S103 further includes a limit reference point adjustment information, and when the reference point adjustment angle of the toy device is greater than or equal to a preset reference point adjustment angle threshold, determining the preset The reference point adjustment angle threshold is the maximum reference point adjustment angle of the toy device.
优选的，所述步骤S3实现方法包括如下步骤：Preferably, the step S3 implementation method includes the following steps:
S301：所述微控制器根据所述无线控制信号解析获取到所述移动控制信息；所述微控制器根据所述移动控制信息，判断移动控制信息是否包括停止控制信息；若包含则执行步骤S311，否则执行S302及其后步骤；S301: The microcontroller obtains the mobile control information according to the radio control signal, and the micro controller determines, according to the mobile control information, whether the mobile control information includes stop control information; if yes, step S311 is performed. Otherwise, S302 and subsequent steps are performed;
S311：所述移动控制信息中包括所述停止控制信息，所述微控制器根据停止控制信息，向动力装置发送停止控制信号；其下步执行S305；S311: the mobile control information includes the stop control information, the microcontroller sends a stop control signal to the power device according to the stop control information; the next step is executed S305;
S302：所述移动控制信息中不包括所述停止控制信息，所述微控制器根据移动控制信息，获取到所述进退控制信息、所述转向控制信息和所述基准控制信息；所述微控制器根据所述转向控制信息和所述基准控制信息，处理得到方向控制信息和角度控制信息；S302: the stop control information is not included in the mobile control information, and the micro controller obtains the advance and retreat control information, the steering control information, and the reference control information according to the mobile control information; the micro control Obtaining direction control information and angle control information according to the steering control information and the reference control information;
S303：所述微处理器根据姿态检测结果，处理得到玩具设备当前精确的姿态角；S303: The microprocessor processes, according to the posture detection result, a current accurate attitude angle of the toy device;
S304：所述微控制器根据进退控制信息、方向控制信息、角度控制信息和玩具设备的当前精确的姿态角调节动力控制信号中的动力控制输出，向动力装置发送动力控制信号；S304: The microcontroller adjusts the power control output in the power control signal according to the advance and retreat control information, the direction control information, the angle control information, and the current accurate attitude angle of the toy device, and sends a power control signal to the power device.
S305：所述玩具设备通过动力装置执行与所述移动控制信息相对应的操作。S305: The toy device performs an operation corresponding to the movement control information by a power device.
优选的，步骤S302的具体实施方法包括如下步骤：Preferably, the specific implementation method of step S302 includes the following steps:
所述微控制器根据移动控制信息中的进退控制信息，获取到包括玩具设备是被控制前进或是后退以及玩具设备的移动速度的进退控制信号；微控制器根据移动控制信息中的转向控制信息和基准控制信息，处理得到包括玩具设备是被控制顺时针转动或是逆时针转动的方向控制信息和玩具设备被控制的精确转动角度的角度控制信息。The microcontroller acquires an advance and retreat control signal including the toy device being controlled to advance or retreat and the moving speed of the toy device according to the advance and retreat control information in the movement control information; the microcontroller according to the steering control information in the movement control information And the reference control information is processed to obtain angle control information including the direction control information that the toy device is controlled to rotate clockwise or counterclockwise and the precise rotation angle that the toy device is controlled.
优选的，步骤S303的具体实施方法包括如下步骤：Preferably, the specific implementation method of step S303 includes the following steps:
所述微控制器通过姿态融合算法将接收到的包括玩具设备当前的三轴角速率、三轴加速度和三轴地磁场强度的姿态检测结果解算得到玩具设备当前的姿态角；微控制器通过滤波算法对玩具设备当前的姿态角进行数据滤波得到玩具设备当前精确的姿态角。The microcontroller solves the attitude detection result of the toy device by the attitude fusion algorithm including the current triaxial angular rate, the triaxial acceleration and the triaxial geomagnetic field strength of the toy device to obtain the current attitude angle of the toy device; the microcontroller passes The filtering algorithm performs data filtering on the current attitude angle of the toy device to obtain the current accurate attitude angle of the toy device.
优选的，步骤S304的具体实施方法包括如下步骤：Preferably, the specific implementation method of step S304 includes the following steps:
所述微控制器通过PID控制技术实时将玩具设备当前精确的姿态角与方向控制信息、角度控制信息中期望的转向角度进行比较，微控制器不断调节 控制输出并形成闭环控制系统，进而可以实现微控制器通过动力控制信号控制动力装置带动玩具设备进行精确角度的转向。The microcontroller compares the current precise attitude angle of the toy device with the direction control information and the desired steering angle in the angle control information in real time through the PID control technology, and the microcontroller continuously adjusts the control output and forms a closed loop control system, thereby realizing The microcontroller controls the power unit through the power control signal to drive the toy device to perform precise angle steering.
本发明中，所述动力装置用于带动所述玩具设备转向和移动；所述微控制器根据包括三轴角速率、三轴加速度和三轴磁场强度的所述姿态检测结果，通过姿态解算得到所述玩具设备当前的姿态角并对所述当前的姿态角进行数据滤波，进而所述微控制器获取到所述玩具设备当前精确的姿态角。In the present invention, the power device is configured to drive the toy device to turn and move; and the microcontroller calculates the attitude according to the attitude including the triaxial angular rate, the triaxial acceleration, and the triaxial magnetic field strength. Obtaining a current attitude angle of the toy device and performing data filtering on the current posture angle, and the microcontroller acquires a current accurate attitude angle of the toy device.
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
(1)、本发明中，通过控制设备上的控制信号检测模块以及对控制信号检测结果的处理，使该控制系统可以实时获取到针对玩具设备的移动控制信息；(1) In the present invention, the control signal detection module on the control device and the processing of the detection result of the control signal enable the control system to obtain the movement control information for the toy device in real time;
(2)、本发明中，通过玩具设备上的姿态检测模块以及对姿态检测结果的处理，使该控制系统可以实时获取到当前精确的姿态角；(2) In the present invention, the attitude detection module on the toy device and the processing of the attitude detection result enable the control system to obtain the current accurate attitude angle in real time;
(3)、本发明中，通过控制信号检测结果和预设的开始移动、移动、基准点调节以及停止移动的触发条件的处理，使该控制系统可以实时获取到针对玩具设备的移动控制信息；(3) In the present invention, the control system can obtain the movement control information for the toy device in real time by controlling the signal detection result and the preset triggering conditions of starting movement, movement, reference point adjustment, and stopping the movement;
(4)、本发明中，通过针对玩具设备的移动控制信息和设备当前精确的姿态角的处理，使玩具设备可以执行与移动控制信息相对应的操作，进而实现了控制设备可以灵活的控制玩具设备进行精确角度的转向和移动。(4) In the present invention, by the processing of the movement control information of the toy device and the current accurate attitude angle of the device, the toy device can perform the operation corresponding to the movement control information, thereby realizing that the control device can flexibly control the toy. The device performs precise angle steering and movement.
附图说明DRAWINGS
图1为本发明实施例的一种移动控制系统的结构示意图；1 is a schematic structural diagram of a mobile control system according to an embodiment of the present invention;
图2为本发明实施例的一种移动控制系统的控制方法的流程示意图；2 is a schematic flow chart of a control method of a mobile control system according to an embodiment of the present invention;
图3为本发明实施例的一种确定针对玩具设备的移动控制信息控制方法的流程示意图；3 is a schematic flowchart of determining a method for controlling mobile control information for a toy device according to an embodiment of the present invention;
图4为本发明实施例的一种执行与移动控制信息相对应操作的控制方法的流程示意图。FIG. 4 is a schematic flowchart diagram of a control method for performing operations corresponding to mobile control information according to an embodiment of the present invention.
图中：1为控制设备，11为控制模块，12为无线通信模块，13为控制信号检测模块；In the figure: 1 is the control device, 11 is the control module, 12 is the wireless communication module, and 13 is the control signal detection module;
2为玩具设备，21为微处理器，22为无线通信模块，23为姿态检测模块，24为动力装置。2 is a toy device, 21 is a microprocessor, 22 is a wireless communication module, 23 is an attitude detection module, and 24 is a power device.
具体实施方式Detailed ways
以下结合附图和具体实施例，对本发明进一步说明。The invention is further described below in conjunction with the drawings and specific embodiments.
参照图1所示，本发明实施例披露一种移动控制系统，包括：Referring to FIG. 1, an embodiment of the present invention discloses a mobile control system, including:
控制设备1，控制设备1带有控制模块11、与控制模块11连接的无线通信模块12、与控制模块11连接的控制信号检测模块13； Control device 1, the control device 1 has a control module 11, a wireless communication module 12 connected to the control module 11, a control signal detection module 13 connected to the control module 11;
玩具设备2，玩具设备2带有微控制器21、与微控制器21连接的无线通信模块22、与微控制器21连接的姿态检测模块23、与微控制器2连接的动力装置24； Toy device 2, toy device 2 with a microcontroller 21, a wireless communication module 22 connected to the microcontroller 21, a posture detection module 23 connected to the microcontroller 21, and a power device 24 connected to the microcontroller 2;
控制设备1与玩具设备2通过无线通信模块12和22建立连接并进行交互；The control device 1 and the toy device 2 establish a connection and interact through the wireless communication modules 12 and 22;
所述控制设备1通过所述控制信号检测模块13实时检测用户对所述控制设备1的操作，并实时生成控制信号检测结果，所述控制设备1根据所述控制信号检测结果，获取到针对所述玩具设备2的移动控制信息；The control device 1 detects the operation of the control device 1 by the user in real time through the control signal detecting module 13, and generates a control signal detection result in real time, and the control device 1 obtains the target according to the detection result of the control signal. The movement control information of the toy device 2;
所述控制设备1向所述玩具设备2发送包含所述移动控制信息的无线控制信号；The control device 1 transmits a wireless control signal including the movement control information to the toy device 2;
所述玩具设备2接收并解析所述无线控制信号，根据所述无线控制信号获取到所述移动控制信息，并通过所述动力装置24执行与所述移动控制信息相对应的操作。The toy device 2 receives and parses the wireless control signal, acquires the movement control information according to the wireless control signal, and performs an operation corresponding to the movement control information by the power device 24.
无线通信模块12和22可以例如为蓝牙(Bluetooth)通信模块、Wi-Fi(Wireless Fidelity)通信模块、射频通信模块、ZigBee通信模块或超宽带(UWB，Ultra-Wideband)通信模块。The wireless communication modules 12 and 22 may be, for example, a Bluetooth communication module, a Wi-Fi (Wireless Fidelity) communication module, a radio frequency communication module, a ZigBee communication module, or an ultra-wideband (UWB) communication module.
姿态检测模块23包括陀螺仪传感器、加速度传感器、磁传感器。The attitude detecting module 23 includes a gyro sensor, an acceleration sensor, and a magnetic sensor.
在本实施例中，控制信号检测模块13可以例如为方向盘、摇杆、触摸板、按键、滑动控制条、推拉控制杆、压力传感器或姿态传感器。In the present embodiment, the control signal detecting module 13 may be, for example, a steering wheel, a rocker, a touch pad, a button, a slide control bar, a push-pull control lever, a pressure sensor, or an attitude sensor.
在本实施例中，控制设备1可以例如为智能设备、智能手机、智能手表、游戏手柄、智能指挥棒、掌上电脑或平板电脑。In this embodiment, the control device 1 can be, for example, a smart device, a smart phone, a smart watch, a game pad, a smart baton, a palmtop computer, or a tablet computer.
在本实施例中，玩具设备2可以是可操控的电子玩具或者智能玩具，例如为宠物玩具、平衡车、坦克、战舰、战车、战斗机、机器人、电子宠物等。In this embodiment, the toy device 2 may be a steerable electronic toy or a smart toy, such as a pet toy, a balance car, a tank, a battleship, a chariot, a fighter, a robot, an electronic pet, and the like.
参照图2所示，本发明实施例还提供一种移动控制系统的控制方法，包括如下步骤：Referring to FIG. 2, an embodiment of the present invention further provides a method for controlling a mobile control system, including the following steps:
步骤S1：控制设备1通过控制信号检测模块13实时检测用户对控制设备1的操作，并实时生成控制信号检测结果，控制模块11根据控制信号检测结果，确定针对玩具设备2的移动控制信息；Step S1: The control device 1 detects the operation of the control device 1 by the user in real time through the control signal detecting module 13, and generates a control signal detection result in real time, and the control module 11 determines the movement control information for the toy device 2 according to the detection result of the control signal;
步骤S2：控制设备1通过无线通信模块12向玩具设备2发送包含移动控制信息的无线控制信号；Step S2: The control device 1 transmits a wireless control signal including the mobile control information to the toy device 2 through the wireless communication module 12;
步骤S3：玩具设备2通过无线通信模块22接收包含移动控制信息的无线控制信号，并通过动力装置24执行与移动控制信息相对应的操作。Step S3: The toy device 2 receives the wireless control signal including the movement control information through the wireless communication module 22, and performs an operation corresponding to the movement control information by the power device 24.
请继续参考图3，具体实施时，步骤S1中所述控制设备根据所述控制信号检测结果获取到针对所述玩具设备的移动控制信息的实现方式包括如下步骤：Please refer to FIG. 3 . In a specific implementation, the implementation manner of the control device acquiring the mobile control information for the toy device according to the control signal detection result in the step S1 includes the following steps:
步骤S101：控制设备1的控制模块11预设有针对玩具设备1开始移动、移动、基准点调节、结束移动的触发条件；Step S101: The control module 11 of the control device 1 is pre-set with a trigger condition for the toy device 1 to start moving, moving, adjusting the reference point, and ending the movement;
步骤S102：根据控制信号检测结果，判断是否满足开始移动、移动的触发条件，若满足开始移动、移动的触发条件，根据控制信号检测结果，确定针对玩具设备2的进退控制信息、转向控制信息；Step S102: judging whether the trigger condition for starting movement and movement is satisfied according to the detection result of the control signal, and if the trigger condition for starting movement and movement is satisfied, determining the advance and retreat control information and the steering control information for the toy device 2 according to the detection result of the control signal;
步骤S103：根据控制信号检测结果，判断是否满足基准点调节的触发条件，若满足基准点调节的触发条件，根据控制信号检测结果，确定针对玩具设备2的基准控制信息；Step S103: judging whether the trigger condition of the reference point adjustment is satisfied according to the detection result of the control signal, and if the trigger condition of the reference point adjustment is satisfied, determining the reference control information for the toy device 2 according to the detection result of the control signal;
步骤S104：根据控制信号检测结果，判断是否满足停止移动的触发条件，若满足停止移动的触发条件，根据控制信号检测结果，确定针对玩具设备2的停止控制信息；Step S104: determining, according to the detection result of the control signal, whether the trigger condition for stopping the movement is satisfied, and if the trigger condition for stopping the movement is satisfied, determining the stop control information for the toy device 2 according to the detection result of the control signal;
步骤S105：根据进退控制信息、转向控制信息、基准控制信息和停止控制信息，确定针对玩具设备2的移动控制信息。Step S105: Determine the movement control information for the toy device 2 based on the advance and retreat control information, the steering control information, the reference control information, and the stop control information.
具体实施时，步骤S102、步骤S103和步骤S104没有严格的执行顺序要求。In the specific implementation, step S102, step S103, and step S104 do not have strict execution order requirements.
具体实施时，所述步骤S102中的所述进退控制信息获取方式包括如下步骤：In a specific implementation, the method for acquiring the advance and retreat control information in the step S102 includes the following steps:
根据控制信号检测结果，确定玩具设备2是被控制前进或是后退以及玩具设备2的移动速度，根据玩具设备2是被控制前进或是后退以及移动速度的确定结果，得出进退控制信息。Based on the control signal detection result, it is determined whether the toy device 2 is controlled to advance or retreat and the moving speed of the toy device 2, and the advance and retreat control information is obtained according to the determination result of the toy device 2 being controlled to advance or retreat and the moving speed.
进一步地，该进退控制信息还包括一限制移动速度信息，根据控制信号 检测结果，当玩具设备2的移动速度大于或者等于预设的移动速度阈值时，确定预设的移动速度阈值为玩具设备2的最大移动速度。Further, the advance and retreat control information further includes a limit moving speed information, and according to the control signal detection result, when the moving speed of the toy device 2 is greater than or equal to a preset moving speed threshold, determining the preset moving speed threshold is the toy device 2 The maximum moving speed.
具体实施时，所述步骤S102中的所述转向控制信息获取方式包括如下步骤：In a specific implementation, the manner of acquiring the steering control information in the step S102 includes the following steps:
根据控制信号检测结果，确定玩具设备2的转向方向以及转向角度，根据玩具设备2的转向方向和转向角度的确定结果，得出转向控制信息。Based on the detection result of the control signal, the steering direction and the steering angle of the toy device 2 are determined, and the steering control information is obtained based on the determination result of the steering direction and the steering angle of the toy device 2.
进一步地，该转向控制信息还包括一限制转向角度信息，根据控制信号检测结果，当玩具设备2的转向角度大于或者等于预设的转向角度阈值时，确定预设的转向角度阈值为玩具设备2的最大转向角度。Further, the steering control information further includes a limited steering angle information, and according to the control signal detection result, when the steering angle of the toy device 2 is greater than or equal to the preset steering angle threshold, determining the preset steering angle threshold is the toy device 2 The maximum steering angle.
在步骤S103中，所述基准控制信息获取方式包括如下步骤：In step S103, the reference control information acquisition manner includes the following steps:
根据控制信号检测结果，确定玩具设备2的基准点调节方向以及基准点调节角度，根据玩具设备2的基准点调节方向和基准点调节角度的确定结果，得出所述基准控制信息。Based on the detection result of the control signal, the reference point adjustment direction of the toy device 2 and the reference point adjustment angle are determined, and the reference control information is obtained based on the determination result of the reference point adjustment direction of the toy device 2 and the reference point adjustment angle.
进一步地，该基准控制信息还包括一限制基准点调节信息，根据所述控制信号检测结果，当玩具设备2的基准点调节角度大于或者等于预设的基准点调节角度阈值时，确定预设的基准点调节角度阈值为所述玩具设备的最大基准点调节角度。Further, the reference control information further includes a limit reference point adjustment information, and according to the control signal detection result, when the reference point adjustment angle of the toy device 2 is greater than or equal to a preset reference point adjustment angle threshold, determining the preset The reference point adjustment angle threshold is the maximum reference point adjustment angle of the toy device.
在步骤S104中，根据控制信号检测结果，确定玩具设备2是被控制停止，根据玩具设备2被控制停止的确定结果，得出针对玩具设备2的停止控制信息。In step S104, based on the result of the control signal detection, it is determined that the toy device 2 is controlled to stop, and based on the determination result that the toy device 2 is controlled to stop, the stop control information for the toy device 2 is obtained.
请继续参考图4，具体实施时，上述步骤S3的具体实现方法包括如下步骤：Please continue to refer to FIG. 4. In specific implementation, the specific implementation method of the foregoing step S3 includes the following steps:
步骤S301：所述微控制器21根据所述无线控制信号解析获取到所述移动控制信息；微控制器21根据移动控制信息，判断移动控制信息是否包括停止控制信息；若包含则执行步骤S311，否则执行S302及其后步骤。Step S301: The microcontroller 21 parses and acquires the mobile control information according to the wireless control signal; the microcontroller 21 determines, according to the mobile control information, whether the mobile control information includes stop control information; if yes, step S311 is performed. Otherwise, S302 and subsequent steps are performed.
步骤S311：若移动控制信息中包括停止控制信息，微控制器21根据移动控制信息，获取到针对玩具设备2的停止控制信息，向动力装置24发送停止控制信号；其下步执行S305。Step S311: If the movement control information includes the stop control information, the microcontroller 21 acquires the stop control information for the toy device 2 based on the movement control information, and transmits a stop control signal to the power device 24; the next step is S305.
步骤S302：若移动控制信息中不包括停止控制信息，微控制器21根据移动控制信息，获取到进退控制信息、转向控制信息和基准控制信息，微控制器21根据转向控制信息和基准控制信息，处理得到方向控制信息和角度控制信息。Step S302: If the stop control information is not included in the movement control information, the microcontroller 21 acquires the advance and retreat control information, the steering control information, and the reference control information according to the movement control information, and the microcontroller 21 according to the steering control information and the reference control information. The process obtains direction control information and angle control information.
此步更具体地，微控制器21根据移动控制信息中的进退控制信息，获取到包括玩具设备2是被控制前进或是后退以及玩具设备2的移动速度的进退控制信号；微控制器21根据移动控制信息中的转向控制信息和基准控制信息，处理得到包括玩具设备2是被控制顺时针转动或是逆时针转动的方向控制信息和玩具设备2被控制的精确转动角度的角度控制信息。More specifically, the microcontroller 21 acquires an advance and retreat control signal including the toy device 2 being controlled to advance or retreat and the moving speed of the toy device 2 according to the advance and retreat control information in the movement control information; the microcontroller 21 is based on The steering control information and the reference control information in the movement control information are processed to obtain angle control information including the direction control information in which the toy device 2 is controlled to rotate clockwise or counterclockwise, and the precise rotation angle at which the toy device 2 is controlled.
步骤S303：微处理器21根据姿态检测结果，处理得到玩具设备2当前精确的姿态角。Step S303: The microprocessor 21 processes the current accurate attitude angle of the toy device 2 according to the posture detection result.
此步更具体地，微控制器21通过姿态融合算法将接收到的包括玩具设备2当前的三轴角速率、三轴加速度和三轴地磁场强度的姿态检测结果解算得到玩具设备2当前的姿态角；微控制器21通过滤波算法对玩具设备2当前的姿态角进行数据滤波得到玩具设备当前精确的姿态角。More specifically, the microcontroller 21 solves the received attitude detection result including the current triaxial angular rate, triaxial acceleration and triaxial magnetic field strength of the toy device 2 by the attitude fusion algorithm to obtain the current state of the toy device 2. Attitude angle; the microcontroller 21 performs data filtering on the current attitude angle of the toy device 2 by a filtering algorithm to obtain a current accurate attitude angle of the toy device.
步骤S304：微控制器根据进退控制信息、方向控制信息、角度控制信息和玩具设备的当前精确的姿态角调节动力控制信号中的动力控制输出，向动力装置发送动力控制信号。Step S304: The microcontroller adjusts the power control output in the power control signal according to the advance and retreat control information, the direction control information, the angle control information, and the current accurate attitude angle of the toy device, and sends a power control signal to the power device.
此步更具体地，微控制器21可以通过PID(比例Proportion、积分Integral、导数Derivative)控制技术实时将玩具设备2当前精确的姿态角与方向控制信息、角度控制信息中期望的转向角度进行比较，微控制器1不断调节控制输出并形成闭环控制系统，进而可以实现微控制器21通过动力控制信号控制动力装置24带动玩具设备2进行精确角度的转向。More specifically, the microcontroller 21 can compare the current accurate attitude angle of the toy device 2 with the direction control information and the desired steering angle in the angle control information in real time by PID (Proportional Proportion, Integral, Derivative) control technology. The microcontroller 1 continuously adjusts the control output and forms a closed loop control system, thereby enabling the microcontroller 21 to control the power unit 24 to drive the toy device 2 to perform precise angle steering through the power control signal.
步骤S305：玩具设备2通过动力装置24执行与移动控制信息相对应的操作。Step S305: The toy device 2 performs an operation corresponding to the movement control information by the power unit 24.
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structural transformation, or direct/indirect use, of the present invention and the contents of the drawings are used in the inventive concept of the present invention. It is included in the scope of the patent protection of the present invention in other related technical fields.

Claims (12)

  1. 一种移动控制系统，包括：A mobile control system comprising:
    控制设备，所述控制设备带有控制模块、与所述控制模块连接的无线通信模块、与所述控制模块连接的控制信号检测模块；a control device, the control device has a control module, a wireless communication module connected to the control module, and a control signal detection module connected to the control module;
    玩具设备，所述玩具设备带有微控制器、与所述微控制器连接的无线通信模块、与所述微控制器连接的姿态检测模块、与所述微控制器连接的动力装置；a toy device having a microcontroller, a wireless communication module coupled to the microcontroller, an attitude detection module coupled to the microcontroller, and a power device coupled to the microcontroller;
    所述控制设备与所述玩具设备通过所述无线通信模块建立连接并进行交互；The control device and the toy device establish a connection and interact through the wireless communication module;
    所述控制设备通过所述控制信号检测模块实时检测用户对所述控制设备的操作，并实时生成控制信号检测结果，所述控制设备根据所述控制信号检测结果，获取到针对所述玩具设备的移动控制信息；The control device detects the operation of the control device by the user in real time through the control signal detection module, and generates a control signal detection result in real time, and the control device acquires the detection result of the control signal to obtain the toy device. Mobile control information;
    所述控制设备向所述玩具设备发送包含所述移动控制信息的无线控制信号；The control device transmits a wireless control signal including the mobile control information to the toy device;
    所述玩具设备接收并解析所述无线控制信号，根据所述无线控制信号获取到所述移动控制信息，并通过所述动力装置执行与所述移动控制信息相对应的操作。The toy device receives and parses the wireless control signal, acquires the movement control information according to the wireless control signal, and performs an operation corresponding to the movement control information by the power device.
  2. 根据权利要求1所述的移动控制系统，其中，所述无线通信模块选自蓝牙通信模块、Wi-Fi通信模块、射频通信模块、ZigBee通信模块、超宽带通信模块中的任意一种。The mobile control system according to claim 1, wherein the wireless communication module is selected from any one of a Bluetooth communication module, a Wi-Fi communication module, a radio frequency communication module, a ZigBee communication module, and an ultra-wideband communication module.
  3. 根据权利要求1所述的移动控制系统，其中，所述姿态检测模块包括陀螺仪传感器、加速度传感器、磁传感器；所述姿态检测模块实时测量并向所述微控制器发送包括所述玩具设备当前的三轴角速率、三轴加速度和三轴地磁 场强度的姿态检测结果。The motion control system of claim 1 wherein said attitude detection module comprises a gyro sensor, an acceleration sensor, a magnetic sensor; said attitude detection module measuring and transmitting to said microcontroller in real time including said toy device The attitude detection results of the triaxial angular rate, the triaxial acceleration, and the triaxial geomagnetic field strength.
  4. 根据权利要求1-3任一项所述的移动控制系统的控制方法，包括以下步骤：The control method of the mobile control system according to any one of claims 1 to 3, comprising the steps of:
    S1：所述控制设备通过所述控制信号检测模块实时检测用户对所述控制设备的操作，并实时生成控制信号检测结果，所述控制设备根据所述控制信号检测结果，获取到针对所述玩具设备的移动控制信息；S1: The control device detects the operation of the control device by the user in real time through the control signal detection module, and generates a control signal detection result in real time, and the control device acquires the toy according to the detection result of the control signal. Mobile control information of the device;
    S2：所述控制设备向所述玩具设备发送包含所述移动控制信息的无线控制信号；S2: the control device sends a wireless control signal including the mobile control information to the toy device;
    S3：所述玩具设备接收并解析所述无线控制信号，根据所述无线控制信号获取到所述移动控制信息，并通过所述动力装置执行与所述移动控制信息相对应的操作。S3: the toy device receives and parses the wireless control signal, acquires the mobile control information according to the wireless control signal, and performs an operation corresponding to the mobile control information by using the power device.
  5. 根据权利要求4所述的移动控制方法，其中，所述控制设备根据所述控制信号检测结果获取到针对所述玩具设备的移动控制信息的实现方式包括如下步骤：The mobile control method according to claim 4, wherein the implementation manner of the control device acquiring the movement control information for the toy device according to the control signal detection result comprises the following steps:
    S101：所述控制设备的所述控制模块预设有针对所述玩具设备开始移动、移动、基准点调节、结束移动的触发条件；S101: The control module of the control device is pre-set with a trigger condition for starting movement, movement, reference point adjustment, and ending movement of the toy device;
    S102：根据所述控制信号检测结果，判断是否满足开始移动、移动的触发条件，若满足开始移动、移动的触发条件，确定针对所述玩具设备的进退控制信息、转向控制信息；S102: Determine, according to the detection result of the control signal, whether the trigger condition for starting movement and movement is satisfied, and if the trigger condition for starting movement and movement is satisfied, determining advance and retreat control information and steering control information for the toy device;
    S103：根据所述控制信号检测结果，判断是否满足基准点调节的触发条件，若满足基准点调节的触发条件，确定针对所述玩具设备的基准控制信息；S103: Determine, according to the detection result of the control signal, whether the trigger condition of the reference point adjustment is satisfied, and if the trigger condition of the reference point adjustment is met, determine the reference control information for the toy device;
    S104：根据所述控制信号检测结果，判断是否满足停止移动的触发条件，若满足停止移动的触发条件，确定针对所述玩具设备的停止控制信息；S104: Determine, according to the detection result of the control signal, whether a trigger condition for stopping the movement is satisfied, and if the trigger condition for stopping the movement is met, determining stop control information for the toy device;
    S105：根据所述进退控制信息、所述转向控制信息、所述基准控制信息 和所述停止控制信息，确定针对所述玩具设备的所述移动控制信息。S105: Determine the movement control information for the toy device according to the advance and retreat control information, the steering control information, the reference control information, and the stop control information.
  6. 根据权利要求5所述的移动控制方法，其中，所述步骤S102中的所述进退控制信息获取方式包括如下步骤：The mobile control method according to claim 5, wherein the manner of acquiring the advance and retreat control information in the step S102 comprises the following steps:
    根据所述控制信号检测结果，确定所述玩具设备是被控制前进或是后退以及所述玩具设备的移动速度，根据所述玩具设备是被控制前进或是后退以及移动速度的确定结果，得出所述进退控制信息；Determining, according to the detection result of the control signal, that the toy device is controlled to advance or retreat and the moving speed of the toy device, according to the determination result that the toy device is controlled to advance or retreat and the moving speed is determined. The advance and retreat control information;
    所述步骤S102中的所述进退控制信息还包括一限制移动速度信息，当所述玩具设备的移动速度大于或者等于预设的移动速度阈值时，确定预设的移动速度阈值为所述玩具设备的最大移动速度。The advance and retreat control information in the step S102 further includes a limit moving speed information. When the moving speed of the toy device is greater than or equal to a preset moving speed threshold, determining a preset moving speed threshold is the toy device. The maximum moving speed.
  7. 根据权利要求5所述的移动控制方法，其中，所述步骤S102中的所述转向控制信息获取方式包括如下步骤：The mobile control method according to claim 5, wherein the steering control information acquisition manner in step S102 comprises the following steps:
    根据所述控制信号检测结果，确定所述玩具设备的转动方向以及转动角度，根据所述玩具设备的转动方向和转动角度的确定结果，得出所述转向控制信息；Determining a rotation direction and a rotation angle of the toy device according to the detection result of the control signal, and obtaining the steering control information according to a determination result of a rotation direction and a rotation angle of the toy device;
    所述步骤S102中的所述转向控制信息还包括一限制转向角度信息，当所述玩具设备的转动角度大于或者等于预设的转动角度阈值时，确定预设的转动角度阈值为所述玩具设备的最大转动角度。The steering control information in the step S102 further includes a limited steering angle information. When the rotation angle of the toy device is greater than or equal to a preset rotation angle threshold, determining a preset rotation angle threshold is the toy device. The maximum angle of rotation.
  8. 根据权利要求5所述的移动控制方法，其中，所述步骤S103中的所述基准控制信息获取方式包括如下步骤：The mobile control method according to claim 5, wherein the reference control information acquisition manner in step S103 comprises the following steps:
    根据所述控制信号检测结果，确定所述玩具设备的基准点调节方向以及基准点调节角度，根据所述玩具设备的基准点调节方向和基准点调节角度的确定结果，得出所述基准控制信息；Determining a reference point adjustment direction of the toy device and a reference point adjustment angle according to the detection result of the control signal, and obtaining the reference control information according to a determination result of a reference point adjustment direction of the toy device and a reference point adjustment angle ;
    所述步骤S103中的所述基准控制信息还包括一限制基准点调节信息，当所述玩具设备的基准点调节角度大于或者等于预设的基准点调节角度阈值时，确定预设的基准点调节角度阈值为所述玩具设备的最大基准点调节角度。The reference control information in the step S103 further includes a limit reference point adjustment information, and when the reference point adjustment angle of the toy device is greater than or equal to a preset reference point adjustment angle threshold, determining a preset reference point adjustment The angle threshold is the maximum reference point adjustment angle of the toy device.
  9. 根据权利要求5所述的移动控制方法，其中，所述步骤S3实现方法包括如下步骤：The mobile control method according to claim 5, wherein the step S3 implementing method comprises the following steps:
    S301：所述微控制器根据所述无线控制信号解析获取到所述移动控制信息；所述微控制器根据所述移动控制信息，判断移动控制信息是否包括停止控制信息；若包含则执行步骤S311，否则执行S302及其后步骤；S301: The microcontroller obtains the mobile control information according to the radio control signal, and the micro controller determines, according to the mobile control information, whether the mobile control information includes stop control information; if yes, step S311 is performed. Otherwise, S302 and subsequent steps are performed;
    S311：所述移动控制信息中包括所述停止控制信息，所述微控制器根据停止控制信息，向动力装置发送停止控制信号；其下步执行S305；S311: the mobile control information includes the stop control information, the microcontroller sends a stop control signal to the power device according to the stop control information; the next step is executed S305;
    S302：所述移动控制信息中不包括所述停止控制信息，所述微控制器根据移动控制信息，获取到所述进退控制信息、所述转向控制信息和所述基准控制信息；所述微控制器根据所述转向控制信息和所述基准控制信息，处理得到方向控制信息和角度控制信息；S302: the stop control information is not included in the mobile control information, and the micro controller obtains the advance and retreat control information, the steering control information, and the reference control information according to the mobile control information; the micro control Obtaining direction control information and angle control information according to the steering control information and the reference control information;
    S303：所述微处理器根据姿态检测结果，处理得到玩具设备当前精确的姿态角；S303: The microprocessor processes, according to the posture detection result, a current accurate attitude angle of the toy device;
    S304：所述微控制器根据进退控制信息、方向控制信息、角度控制信息和玩具设备的当前精确的姿态角调节动力控制信号中的动力控制输出，向动力装置发送动力控制信号；S304: The microcontroller adjusts the power control output in the power control signal according to the advance and retreat control information, the direction control information, the angle control information, and the current accurate attitude angle of the toy device, and sends a power control signal to the power device.
    S305：所述玩具设备通过动力装置执行与所述移动控制信息相对应的操作。S305: The toy device performs an operation corresponding to the movement control information by a power device.
  10. 根据权利要求9所述的移动控制方法，其中，所述步骤S302包括如下步骤：The mobile control method according to claim 9, wherein said step S302 comprises the following steps:
    所述微控制器根据移动控制信息中的进退控制信息，获取到包括玩具设 备是被控制前进或是后退以及玩具设备的移动速度的进退控制信号；微控制器根据移动控制信息中的转向控制信息和基准控制信息，处理得到包括玩具设备是被控制顺时针转动或是逆时针转动的方向控制信息和玩具设备被控制的精确转动角度的角度控制信息；The microcontroller acquires an advance and retreat control signal including the toy device being controlled to advance or retreat and the moving speed of the toy device according to the advance and retreat control information in the movement control information; the microcontroller according to the steering control information in the movement control information And the reference control information, the processing results include angle control information including the direction control information that the toy device is controlled to rotate clockwise or counterclockwise, and the precise rotation angle that the toy device is controlled;
    步骤S303包括如下步骤：Step S303 includes the following steps:
    所述微控制器通过姿态融合算法将接收到的包括玩具设备当前的三轴角速率、三轴加速度和三轴地磁场强度的姿态检测结果解算得到玩具设备当前的姿态角；微控制器通过滤波算法对玩具设备当前的姿态角进行数据滤波得到玩具设备当前精确的姿态角；The microcontroller solves the attitude detection result of the toy device by the attitude fusion algorithm including the current triaxial angular rate, the triaxial acceleration and the triaxial geomagnetic field strength of the toy device to obtain the current attitude angle of the toy device; the microcontroller passes The filtering algorithm performs data filtering on the current attitude angle of the toy device to obtain a current accurate attitude angle of the toy device;
    步骤S304包括如下步骤：Step S304 includes the following steps:
    所述微控制器通过PID控制技术实时将玩具设备当前精确的姿态角与方向控制信息、角度控制信息中期望的转向角度进行比较，微控制器不断调节控制输出并形成闭环控制系统，进而可以实现微控制器通过动力控制信号控制动力装置带动玩具设备进行精确角度的转向。The microcontroller compares the current precise attitude angle of the toy device with the direction control information and the desired steering angle in the angle control information in real time through the PID control technology, and the microcontroller continuously adjusts the control output and forms a closed loop control system, thereby realizing The microcontroller controls the power unit through the power control signal to drive the toy device to perform precise angle steering.
  11. 一种移动控制系统，包括：A mobile control system comprising:
    控制设备，所述控制设备带有控制模块、与所述控制模块连接的无线通信模块、与所述控制模块连接的控制信号检测模块；a control device, the control device has a control module, a wireless communication module connected to the control module, and a control signal detection module connected to the control module;
    玩具设备，所述玩具设备带有微控制器、与所述微控制器连接的无线通信模块、与所述微控制器连接的姿态检测模块、与所述微控制器连接的动力装置；a toy device having a microcontroller, a wireless communication module coupled to the microcontroller, an attitude detection module coupled to the microcontroller, and a power device coupled to the microcontroller;
    所述控制设备与所述玩具设备通过所述无线通信模块建立连接并进行交互；The control device and the toy device establish a connection and interact through the wireless communication module;
    所述控制设备通过所述控制信号检测模块实时检测用户对所述控制设备的操作，并实时生成控制信号检测结果，所述控制设备根据所述控制信号检 测结果，获取到针对所述玩具设备的移动控制信息；The control device detects the operation of the control device by the user in real time through the control signal detection module, and generates a control signal detection result in real time, and the control device acquires the detection result of the control signal to obtain the toy device. Mobile control information;
    所述控制设备向所述玩具设备发送包含所述移动控制信息的无线控制信号；The control device transmits a wireless control signal including the mobile control information to the toy device;
    所述玩具设备接收并解析所述无线控制信号，根据所述无线控制信号获取到所述移动控制信息，并通过所述动力装置执行与所述移动控制信息相对应的操作；The toy device receives and parses the wireless control signal, acquires the movement control information according to the wireless control signal, and performs an operation corresponding to the movement control information by the power device;
    其中，所述无线通信模块选自蓝牙通信模块、Wi-Fi通信模块、射频通信模块、ZigBee通信模块、超宽带通信模块中的任意一种；The wireless communication module is selected from any one of a Bluetooth communication module, a Wi-Fi communication module, a radio frequency communication module, a ZigBee communication module, and an ultra-wideband communication module;
    其中，所述姿态检测模块包括陀螺仪传感器、加速度传感器、磁传感器；所述姿态检测模块实时测量并向所述微控制器发送包括所述玩具设备当前的三轴角速率、三轴加速度和三轴地磁场强度的姿态检测结果。The attitude detecting module includes a gyro sensor, an acceleration sensor, and a magnetic sensor; the attitude detecting module measures and transmits to the microcontroller a current triaxial angular rate, a triaxial acceleration, and a third The attitude detection result of the axial magnetic field strength.
  12. 根据权利要求1-3任一项所述的移动控制系统的控制方法，包括以下步骤：The control method of the mobile control system according to any one of claims 1 to 3, comprising the steps of:
    S1：所述控制设备通过所述控制信号检测模块实时检测用户对所述控制设备的操作，并实时生成控制信号检测结果，所述控制设备根据所述控制信号检测结果，获取到针对所述玩具设备的移动控制信息；S1: The control device detects the operation of the control device by the user in real time through the control signal detection module, and generates a control signal detection result in real time, and the control device acquires the toy according to the detection result of the control signal. Mobile control information of the device;
    S2：所述控制设备向所述玩具设备发送包含所述移动控制信息的无线控制信号；S2: the control device sends a wireless control signal including the mobile control information to the toy device;
    S3：所述玩具设备接收并解析所述无线控制信号，根据所述无线控制信号获取到所述移动控制信息，并通过所述动力装置执行与所述移动控制信息相对应的操作；S3: the toy device receives and parses the wireless control signal, acquires the mobile control information according to the wireless control signal, and performs an operation corresponding to the mobile control information by using the power device;
    其中，所述控制设备根据所述控制信号检测结果获取到针对所述玩具设备的移动控制信息的实现方式包括如下步骤：The implementation manner of the control device acquiring the movement control information for the toy device according to the detection result of the control signal includes the following steps:
    S101：所述控制设备的所述控制模块预设有针对所述玩具设备开始移动、移动、基准点调节、结束移动的触发条件；S101: The control module of the control device is pre-set with a trigger condition for starting movement, movement, reference point adjustment, and ending movement of the toy device;
    S102：根据所述控制信号检测结果，判断是否满足开始移动、移动的触发条件，若满足开始移动、移动的触发条件，确定针对所述玩具设备的进退控制信息、转向控制信息；S102: Determine, according to the detection result of the control signal, whether the trigger condition for starting movement and movement is satisfied, and if the trigger condition for starting movement and movement is satisfied, determining advance and retreat control information and steering control information for the toy device;
    S103：根据所述控制信号检测结果，判断是否满足基准点调节的触发条件，若满足基准点调节的触发条件，确定针对所述玩具设备的基准控制信息；S103: Determine, according to the detection result of the control signal, whether the trigger condition of the reference point adjustment is satisfied, and if the trigger condition of the reference point adjustment is met, determine the reference control information for the toy device;
    S104：根据所述控制信号检测结果，判断是否满足停止移动的触发条件，若满足停止移动的触发条件，确定针对所述玩具设备的停止控制信息；S104: Determine, according to the detection result of the control signal, whether a trigger condition for stopping the movement is satisfied, and if the trigger condition for stopping the movement is met, determining stop control information for the toy device;
    S105：根据所述进退控制信息、所述转向控制信息、所述基准控制信息和所述停止控制信息，确定针对所述玩具设备的所述移动控制信息；S105: Determine, according to the advance and retreat control information, the steering control information, the reference control information, and the stop control information, the movement control information for the toy device;
    其中，所述步骤S102中的所述进退控制信息获取方式包括如下步骤：The method for obtaining the advance and retreat control information in the step S102 includes the following steps:
    根据所述控制信号检测结果，确定所述玩具设备是被控制前进或是后退以及所述玩具设备的移动速度，根据所述玩具设备是被控制前进或是后退以及移动速度的确定结果，得出所述进退控制信息；Determining, according to the detection result of the control signal, that the toy device is controlled to advance or retreat and the moving speed of the toy device, according to the determination result that the toy device is controlled to advance or retreat and the moving speed is determined. The advance and retreat control information;
    所述步骤S102中的所述进退控制信息还包括一限制移动速度信息，当所述玩具设备的移动速度大于或者等于预设的移动速度阈值时，确定预设的移动速度阈值为所述玩具设备的最大移动速度；The advance and retreat control information in the step S102 further includes a limit moving speed information. When the moving speed of the toy device is greater than or equal to a preset moving speed threshold, determining a preset moving speed threshold is the toy device. Maximum moving speed;
    其中，所述步骤S102中的所述转向控制信息获取方式包括如下步骤：The method for obtaining the steering control information in the step S102 includes the following steps:
    根据所述控制信号检测结果，确定所述玩具设备的转动方向以及转动角度，根据所述玩具设备的转动方向和转动角度的确定结果，得出所述转向控制信息；Determining a rotation direction and a rotation angle of the toy device according to the detection result of the control signal, and obtaining the steering control information according to a determination result of a rotation direction and a rotation angle of the toy device;
    所述步骤S102中的所述转向控制信息还包括一限制转向角度信息，当所述玩具设备的转动角度大于或者等于预设的转动角度阈值时，确定预设的转动角度阈值为所述玩具设备的最大转动角度；The steering control information in the step S102 further includes a limited steering angle information. When the rotation angle of the toy device is greater than or equal to a preset rotation angle threshold, determining a preset rotation angle threshold is the toy device. Maximum angle of rotation;
    其中，所述步骤S103中的所述基准控制信息获取方式包括如下步骤：The method for obtaining the reference control information in the step S103 includes the following steps:
    根据所述控制信号检测结果，确定所述玩具设备的基准点调节方向以及 基准点调节角度，根据所述玩具设备的基准点调节方向和基准点调节角度的确定结果，得出所述基准控制信息；Determining a reference point adjustment direction of the toy device and a reference point adjustment angle according to the detection result of the control signal, and obtaining the reference control information according to a determination result of a reference point adjustment direction of the toy device and a reference point adjustment angle ;
    所述步骤S103中的所述基准控制信息还包括一限制基准点调节信息，当所述玩具设备的基准点调节角度大于或者等于预设的基准点调节角度阈值时，确定预设的基准点调节角度阈值为所述玩具设备的最大基准点调节角度；The reference control information in the step S103 further includes a limit reference point adjustment information, and when the reference point adjustment angle of the toy device is greater than or equal to a preset reference point adjustment angle threshold, determining a preset reference point adjustment The angle threshold is a maximum reference point adjustment angle of the toy device;
    其中，所述步骤S3实现方法包括如下步骤：The step S3 implementation method includes the following steps:
    S301：所述微控制器根据所述无线控制信号解析获取到所述移动控制信息；所述微控制器根据所述移动控制信息，判断移动控制信息是否包括停止控制信息；若包含则执行步骤S311，否则执行S302及其后步骤；S301: The microcontroller obtains the mobile control information according to the radio control signal, and the micro controller determines, according to the mobile control information, whether the mobile control information includes stop control information; if yes, step S311 is performed. Otherwise, S302 and subsequent steps are performed;
    S311：所述移动控制信息中包括所述停止控制信息，所述微控制器根据停止控制信息，向动力装置发送停止控制信号；其下步执行S305；S311: the mobile control information includes the stop control information, the microcontroller sends a stop control signal to the power device according to the stop control information; the next step is executed S305;
    S302：所述移动控制信息中不包括所述停止控制信息，所述微控制器根据移动控制信息，获取到所述进退控制信息、所述转向控制信息和所述基准控制信息；所述微控制器根据所述转向控制信息和所述基准控制信息，处理得到方向控制信息和角度控制信息；S302: the stop control information is not included in the mobile control information, and the micro controller obtains the advance and retreat control information, the steering control information, and the reference control information according to the mobile control information; the micro control Obtaining direction control information and angle control information according to the steering control information and the reference control information;
    S303：所述微处理器根据姿态检测结果，处理得到玩具设备当前精确的姿态角；S303: The microprocessor processes, according to the posture detection result, a current accurate attitude angle of the toy device;
    S304：所述微控制器根据进退控制信息、方向控制信息、角度控制信息和玩具设备的当前精确的姿态角调节动力控制信号中的动力控制输出，向动力装置发送动力控制信号；S304: The microcontroller adjusts the power control output in the power control signal according to the advance and retreat control information, the direction control information, the angle control information, and the current accurate attitude angle of the toy device, and sends a power control signal to the power device.
    S305：所述玩具设备通过动力装置执行与所述移动控制信息相对应的操作；S305: the toy device performs an operation corresponding to the movement control information by using a power device;
    其中，所述步骤S302包括如下步骤：The step S302 includes the following steps:
    所述微控制器根据移动控制信息中的进退控制信息，获取到包括玩具设备是被控制前进或是后退以及玩具设备的移动速度的进退控制信号；微控制 器根据移动控制信息中的转向控制信息和基准控制信息，处理得到包括玩具设备是被控制顺时针转动或是逆时针转动的方向控制信息和玩具设备被控制的精确转动角度的角度控制信息；The microcontroller acquires an advance and retreat control signal including the toy device being controlled to advance or retreat and the moving speed of the toy device according to the advance and retreat control information in the movement control information; the microcontroller according to the steering control information in the movement control information And the reference control information, the processing results include angle control information including the direction control information that the toy device is controlled to rotate clockwise or counterclockwise, and the precise rotation angle that the toy device is controlled;
    步骤S303包括如下步骤：Step S303 includes the following steps:
    所述微控制器通过姿态融合算法将接收到的包括玩具设备当前的三轴角速率、三轴加速度和三轴地磁场强度的姿态检测结果解算得到玩具设备当前的姿态角；微控制器通过滤波算法对玩具设备当前的姿态角进行数据滤波得到玩具设备当前精确的姿态角；The microcontroller solves the attitude detection result of the toy device by the attitude fusion algorithm including the current triaxial angular rate, the triaxial acceleration and the triaxial geomagnetic field strength of the toy device to obtain the current attitude angle of the toy device; the microcontroller passes The filtering algorithm performs data filtering on the current attitude angle of the toy device to obtain a current accurate attitude angle of the toy device;
    步骤S304包括如下步骤：Step S304 includes the following steps:
    所述微控制器通过PID控制技术实时将玩具设备当前精确的姿态角与方向控制信息、角度控制信息中期望的转向角度进行比较，微控制器不断调节控制输出并形成闭环控制系统，进而可以实现微控制器通过动力控制信号控制动力装置带动玩具设备进行精确角度的转向。The microcontroller compares the current precise attitude angle of the toy device with the direction control information and the desired steering angle in the angle control information in real time through the PID control technology, and the microcontroller continuously adjusts the control output and forms a closed loop control system, thereby realizing The microcontroller controls the power unit through the power control signal to drive the toy device to perform precise angle steering.
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