CN104162278A - Air suspension and programmable motion method and system and toy flight vehicle - Google Patents
Air suspension and programmable motion method and system and toy flight vehicle Download PDFInfo
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Abstract
The invention discloses an air suspension and programmable motion method and system and a toy flight vehicle. The method comprises the steps that data of a barometer and/or an ultrasonic transducer are read in real time, and a height value is obtained through table look-up or calculation; a starting instruction and an ascending instruction are executed, and the toy flight vehicle ascends to the preset safe height range; a programming order and a time sequence obtained through user programming are called, and then the flight vehicle is controlled to finish various programming motion orders; a descending instruction is executed, the height difference value is judged in real time for ensuring safe landing, and infrared sensing signals are read in the descending process to avoid the human body. The system and the toy flight vehicle comprise a flight vehicle executing part, the barometer, the ultrasonic transducer, an ultrasonic sensor, a storage unit, a wireless receiving and transmitting unit and a processing unit. The method has the advantages that a player only needs to input moving steps of the toy flight vehicle in the air, various motions of the toy flight vehicle in the air can be realized easily, the control difficulty is greatly reduced, and the safety is improved.
Description
Technical field
The present invention relates to a kind of aircraft control method, especially relate to method, system and the toy aircraft of a kind of air suspension and programmable movements.
Background technology
Popular flying toy in the market, includes helicopter, four axle remote controlled model planes and is for example that application number is 201320361353.5 flight doll.Conventionally, these flying toys are all to need player to use a teleswitch to complete voluntarily complicated operation, need more professional manipulation technical ability.But mostly the player of these flying toys is new hand or even child, new hand or child are difficult to grasp traditional remote controller complex operations, are therefore difficult to play out flight style, lose the interest of the flying toy of playing.In addition, child's sky sexual love is played active, accidentally also easily occurs the situation of hurting sb.'s feelings or breaking flying toy when manipulation flying toy.
Summary of the invention
For the existing problem of above-mentioned prior art, the object of this invention is to provide and a kind ofly can manipulate the air suspension of aircraft and the method for programmable movements, system and the various toy aircraft of playing method simple to operate by programming.
The technical solution adopted for the present invention to solve the technical problems is: a kind of method of air suspension and programmable movements, comprises the following steps:
A, read in real time the data of barometer and/or ultrasonic sensor, and by tabling look-up or calculating height value;
B, execution enabled instruction, preserving current height value is reference altitude value;
C, execution climb command, strengthen the power stage of aircraft execution unit until height value rises to default safe altitude, then the power stage of stable aircraft execution unit keeps height value near safe altitude, and to start in real time to calculate actual height value and the difference of reference altitude value be height difference;
D, program command and time series received and called, control instruction and order persistence time then converted to;
E, control aircraft execution unit are carried out control instruction according to the corresponding order persistence time;
F, judge whether that in addition control instruction is not carried out, if so, return to step e, otherwise execution step G;
G, execution decline instruction, and judge falling head and guarantee that decrease speed is more and more slower by inspection height difference in landing, until height difference be zero or in default deviation range and within the default time falling head constant, stop the work of aircraft execution unit, then detect height value and do not change and complete landing.
Further, described steps A comprises: in the tables of data corresponding with height value at barometric information, by directly searching or interpolation calculation obtains the current corresponding height value of barometrical atmospheric pressure value reading in.
Further, described step C comprises: rise to after safe altitude at aircraft, in the time that the height value of aircraft is greater than the higher limit of safe altitude scope, reduce aircraft execution unit power stage until the height value of aircraft drop within the scope of safe altitude, when the height value of aircraft is less than the lower limit of safe altitude scope, increase aircraft execution unit power stage until the height value of aircraft go back up within the scope of safe altitude.
Further, described program command comprises at least one group of data group being made up of key order and the order duration corresponding with described key order with time series, and described key order and described order duration are inputted and set by outside button or by outside application programming interfaces.
Further, realize input and the setting of described key order and described order duration, comprise the steps:
D1, double-click or the long start key of pressing are to activate programming mode;
D2, press key and lower key to increase respectively and to reduce step distance, thereby the ratio that then calculates step distance and pre-set velocity obtains order duration, or directly press key and lower key with direct setting command duration;
D3, by directionkeys to set the key order of corresponding action in the air direction;
D4, press key and then turn back to step D2 with order duration and the key order of preserving current setting to newly-increased data group, or press key and then turn back to step D2 with order duration and the key order of cancelling current setting, thereby or finish programming mode and transmit the described program command and the time series that are formed by all data groups to preserve all order durations and key order by start key.
Further, described step G comprises: the intensity level of the infrared induction signal in aircraft decline process below sensing aircraft, in the time that intensity level is increasing and exceed default threshold values, control aircraft executing agency work and make the aircraft default height that again rises, then move horizontally successively predeterminable range landing again according to order all around.
A kind of air suspension and programmable movements system, comprise aircraft and remote terminal, and described aircraft comprises: aircraft execution unit, for driving aircraft to carry out sporting flying, be arranged on barometer and/or the ultrasonic sensor of aircraft exterior, the wireless transmit/receive units being connected with described remote terminal, for carrying out transfer of data with remote terminal, be arranged on the memory cell of aircraft inside, for store default control aircraft execution unit control instruction, store data and corresponding tables of data and buffer memory program command and the time series of height value of barometer and/or ultrasonic sensor, be arranged on the processing unit of aircraft inside, described processing unit and described barometer and/or described ultrasonic sensor, described memory cell connects to receive the data that barometer and/or ultrasonic sensor sense, and the tables of data through calculating or retrieve stored unit obtains height value, then described processing unit is transferred to aircraft execution unit with the control instruction that described aircraft execution unit and described memory cell are connected to call in memory cell, thereby controlling aircraft moves, described processing unit is connected to receive program command and the time series that remote terminal is sent with described wireless transmit/receive units, then program command and time series converted to corresponding control instruction and order persistence time data and be transferred to described aircraft execution unit, thereby program command and time series that control aircraft is sent according to remote terminal are moved.
Further, described aircraft also comprises the infrared sensor that is arranged on aircraft exterior, for the infrared heat source object of sensing aircraft below and export infrared induction signal; Described processing unit is connected to read the infrared induction signal of infrared sensor output with described infrared sensor, then trigger default control instruction according to the intensity of infrared induction signal and be transferred to described aircraft execution unit, thereby controlling aircraft action.
Further, described remote terminal comprises: input module, for input and setting program command and time series; Display module, for showing programming human-computer interaction interface, program command and time series and status information; Memory module, inputs in real time program command and time series and preserves default program command and seasonal effect in time series data file for buffer memory; Wireless transport module, for carrying out transfer of data with the wireless transmit/receive units of aircraft.
A kind of air suspension and programmable movements flying toy, comprise profile housing and aircraft body, and described aircraft body comprises: aircraft execution unit, for driving aircraft to carry out sporting flying; Be arranged on barometer and/or ultrasonic sensor on described profile housing; Be connected the wireless transmit/receive units with performing data transmission with long-range remote terminal; Be arranged on the infrared sensor of profile hull outside, for the infrared heat source object of sensing aircraft below and export infrared induction signal; Be arranged on the memory cell of aircraft body interior, for store default control aircraft execution unit control instruction, store data and corresponding tables of data and buffer memory program command and the time series of height value of barometer and/or ultrasonic sensor; Be arranged on the processing unit of aircraft body interior, described processing unit is connected with aircraft execution unit, barometer and/or ultrasonic sensor, wireless transmit/receive units, infrared sensor and memory cell.
The invention has the beneficial effects as follows: player only need to input the skyborne mobile step of flying toy, just can very simply realize the skyborne grandstand play of flying toy, greatly alleviate control difficulty, and complete landing automatically after grandstand play, in landing process, survey height and infrared signal intensity simultaneously, reduce and broken flying toy and unexpected accident of hurting sb.'s feelings, improved security; The more important thing is that player can arbitrarily compile out simple to complicated action, greatly expand the playability of toy, and can also excite child's fighting will by the competition of complexity, programming is produced to very big interest, the knowledge such as later learning physics, computer, automation are buried in advance to the seed of interest.
Brief description of the drawings
Fig. 1 is according to the schematic flow sheet of the method for air suspension of the present invention and programmable movements;
Fig. 2 is according to the structural representation of the system of air suspension of the present invention and programmable movements;
Fig. 3 is the structural representation of the embodiment of flying toy according to the present invention.
Detailed description of the invention
Figure 1 shows that according to the flow chart of steps of the method for air suspension of the present invention and programmable movements.In conjunction with Fig. 1, the step of the method is as follows:
A, read in real time the data of barometer 5 and/or ultrasonic sensor 6, and by tabling look-up or calculating height value.In this step, the time difference that sends sound wave and reception sound wave by obtaining ultrasonic sensor 6 carrys out the height value of calculating aircraft.Or, test obtains the corresponding data table of many group atmospheric pressure values and height value by experiment, then read the atmospheric pressure value that barometer 5 is measured, by directly searching in the tables of data corresponding with height value at atmospheric pressure value or interpolation calculation obtains when the corresponding height value of pre-test atmospheric pressure value.Preferably, in the aircraft flight process with barometer 5 and ultrasonic sensor 6, utilize ultrasonic sensor 6 closely to detect at the same time, barometer 5 carries out remote height detection.
B, execution enabled instruction, preserving current height value is reference altitude value.
C, execution climb command, strengthen the power stage of aircraft execution unit 1 until height value rises to default safe altitude, then the power stage of stable aircraft execution unit 1 keeps height value near safe altitude, and to start in real time to calculate actual height value and the difference of reference altitude value be height difference.In this step, default safe altitude can be the safe altitude value of giving tacit consent to safe altitude or arranging voluntarily by player.In the time that aircraft rises to safe altitude, reduce the power stage of aircraft execution unit 1, the lift that aircraft execution unit 1 produces is equated with the gravity of aircraft, thereby keep aircraft to be suspended in the scope of safe altitude ± offset distance.In a preferred embodiment, in the time that the height value of aircraft is greater than the higher limit of safe altitude scope, reduce aircraft execution unit 1 power stage until height value get back in safe range, when the height value of aircraft is less than the lower limit of safe altitude scope, increase aircraft execution unit 1 power stage until height value get back in safe range, and within the scope of aircraft comes back to safe altitude time, adjust immediately the power stage of aircraft execution unit 1, make lift and gravitational equilibrium.
D, receive and call program command and time series, then convert control instruction and the order persistence time of aircraft execution unit 1 to.Wherein, program command comprises with time series the data group that at least one is made up of key order and the order duration corresponding with described key order, be embodied as the data group that duration of direction of motion order and this command execution forms, then this data group converted to the instruction group of corresponding control instruction and order persistence time and be transferred to aircraft execution unit 1.
E, control aircraft execution unit 1 are carried out control instruction according to the corresponding order persistence time.In this step, the instruction group that aircraft execution unit 1 is generated from program command and time series sequentially, call every a pair of control instruction and order persistence time, after executing a control instruction with the corresponding order persistence time and then carry out next control instruction.
F, judge whether that in addition control instruction is not carried out, if so, return to step e.If the instruction group that does not have new program command and time series to generate is transferred to aircraft execution unit 1, carry out next step G within one default period.
G, execution decline instruction, and judge falling head and guarantee that decrease speed is more and more slower by inspection height difference in landing, until height difference be zero or in default deviation range and within the default time falling head constant, stop the work of aircraft execution unit 1, then detect height value and do not change and complete landing.Preferably, can also be in aircraft decline process the intensity level of the infrared induction signal below sensing aircraft, in the time that intensity level is increasing and exceed default threshold values, control aircraft executing agency work and make the aircraft default height that again rises, then carry out horizontal movement, be specially according to order all around or other order default or that player sets, after moving horizontally successively predeterminable range, again decline, its object is to avoid the thermal source object of aircraft below, it is for example humans and animals, produce warning function by the motion of aircraft simultaneously, and then landing, to guarantee security.
In the present embodiment, the step of programming is as follows:
D1, double-click or the long start key of pressing are to activate programming mode;
D2, press key and lower key to increase respectively and to reduce step distance, thereby the ratio that then calculates step distance and pre-set velocity obtains order duration, or directly press key and lower key with direct setting command duration;
D3, by directionkeys to set the key order of corresponding action in the air direction;
D4, press key and then turn back to step D2 with order duration and the key order of preserving current setting to newly-increased data group, or press key and then turn back to step D2 with order duration and the key order of cancelling current setting, thereby or finish programming mode and transmit the described program command and the time series that are formed by all data groups to preserve all order durations and key order by start key.
Preferably, in programming mode arbitrary steps, finish programming mode by ESC Escape, can also press and read/preserve key, read/preserve program command and time series in the mode of data file.
It should be noted that in the present embodiment, start key, upper and lower key, directionkeys, ESC Escape, to read/preserve the buttons such as key can be both physical button, can also be the virtual key of dividing on touch-screen.
With reference to Fig. 2, according to the system of air suspension of the present invention and programmable movements, comprise aircraft and remote terminal, wherein aircraft comprises: aircraft execution unit 1, be arranged on barometer 5, ultrasonic sensor 6 and the infrared sensor 7 on aircraft casing surface, be arranged on memory cell 2, wireless transmit/receive units 4 and the processing unit 3 of aircraft inside.Wherein, aircraft execution unit 1 comprises motor, drive circuit, direction sensor and sporting flying mechanism, realizes aircraft direction up and down motion towards front and back by receiving instruction.Infrared sensor 7 is configured to the human body of sense aircraft below or the infrared light that animal sends, if infrared sensor 7, the closer to human body, is exported stronger signal.Memory cell 2, for store default control aircraft execution unit 1 control instruction, store data and corresponding tables of data and buffer memory program command and the time series of height value of barometer 5 and/or ultrasonic sensor 6.Wireless transmit/receive units 4, carries out data and command by radio, WiFi or bluetooth and remote terminal.Processing unit 3 respectively and aircraft execution unit 1, barometer 5, ultrasonic sensor 6, infrared sensor 7, memory cell 2, wireless transmit/receive units 4 be connected to process the transmission of data and instruction between them, and the air suspension shown in execution graph 1 and programmable movements method, below be described in detail the workflow of processing unit 3.
In the present embodiment, the data of barometer 5 and/or ultrasonic sensor 6 are read in or are read in real time in the triggering that processing unit 3 can be subject to reading command signal, calculate height value by receiving and dispatching hyperacoustic time difference, atmospheric pressure value and the tables of data corresponding to height value of searching in memory cell 2 obtain height value.When processing unit 3 receives after the enabled instruction from remote terminal, then the climb command of calling in memory cell 2 is transferred to aircraft execution unit 1, rises to safe altitude thereby control aircraft.Then, processing unit 3 receives program command and the time series of remote terminal output by wireless transmit/receive units 4, and converts corresponding control instruction and order persistence time to, implements the various flare maneuvers of player's programming for controlling aircraft execution unit 1.Preferably, carry out in the process of flare maneuver at aircraft execution unit 1, player can continue programming, and control instruction and order persistence time that processing unit 3 can be converted to current program command and time series are buffered in memory cell 2, with etc. pending.When processing unit 3 judgements draw the complete all control instructions of executed, can from memory cell 2, call or receive the decline instruction that remote terminal sends, then control aircraft execution unit 1 and carry out down maneuver.Preferably, in the process declining at aircraft, processing unit 3 reads the output signal of infrared sensor 7 in real time, when output signal exceedes default intensity level, can think that there are people or pet in aircraft below, control aircraft executing agency re-executes corresponding instruction to be hidden, and then carries out decline instruction.
In the present embodiment, remote terminal comprises input module, display module, memory module and wireless transport module.Input module may be embodied as physical button, rocking bar and/or touch-screen, for input and setting program command and time series.In programming process, display module can show programming operation interface, program command and time series and help information, and memory module can be inputted program command and time series by buffer memory in real time.After programming, program command and time series are sent to the wireless transmit/receive units 4 of aircraft by the mode of radio, WiFi or bluetooth via wireless transport module, can also be kept in memory module for call later with the form of data file.In a specific embodiment, remote terminal may be embodied as remote controller, smart mobile phone or panel computer.
Figure 3 shows that according to flying toy of the present invention, comprise profile housing and aircraft body.Profile housing may be embodied as different face shapings, for example helicopter, flying saucer, four-axle aircraft, flight doll, insect and other is animal-shaped.Aircraft body comprises: aircraft execution unit 1, be arranged on barometer 5, ultrasonic sensor 6 and the infrared sensor 7 of aircraft exterior, and be arranged on memory cell 2, wireless transmit/receive units 4 and the processing unit 3 of aircraft inside.The method of operation of intrinsic each assembly of aircraft, with reference to the embodiment shown in Fig. 3, is no longer repeated in this description at this.
The above, be preferred embodiment of the present invention, and the present invention is not limited to above-mentioned embodiment, as long as it reaches technique effect of the present invention with identical means, all should belong to protection scope of the present invention.In protection scope of the present invention, its technical scheme and/or embodiment can have various modifications and variations.
Claims (10)
1. a method for air suspension and programmable movements, is characterized in that, comprises the following steps:
A, read in real time the data of barometer (5) and/or ultrasonic sensor (6), and by tabling look-up or calculating height value;
B, execution enabled instruction, preserving current height value is reference altitude value;
C, execution climb command, strengthen the power stage of aircraft execution unit (1) until height value rises to default safe altitude, then the power stage of stable aircraft execution unit (1) keeps height value near safe altitude, and to start in real time to calculate actual height value and the difference of reference altitude value be height difference;
D, program command and time series received and called, control instruction and order persistence time then converted to;
E, control aircraft execution unit (1) are carried out control instruction according to the corresponding order persistence time;
F, judge whether that in addition control instruction is not carried out, if so, return to step e, otherwise execution step G;
G, execution decline instruction, and judge falling head and guarantee that decrease speed is more and more slower by inspection height difference in landing, until height difference be zero or in default deviation range and within the default time falling head constant, stop the work of aircraft execution unit (1), then detect height value and do not change and complete landing.
2. the method for air suspension according to claim 1 and programmable movements, it is characterized in that, described steps A comprises: in the tables of data corresponding with height value at barometric information, by directly searching or interpolation calculation obtains the corresponding height value of atmospheric pressure value of the current barometer reading in (5).
3. the method for air suspension according to claim 1 and programmable movements, it is characterized in that, described step C comprises: rise to after safe altitude at aircraft, in the time that the height value of aircraft is greater than the higher limit of safe altitude scope, reduce aircraft execution unit (1) power stage until the height value of aircraft drop within the scope of safe altitude, when the height value of aircraft is less than the lower limit of safe altitude scope, increase aircraft execution unit (1) power stage until the height value of aircraft go back up within the scope of safe altitude.
4. the method for air suspension according to claim 1 and programmable movements, it is characterized in that, described program command comprises at least one group of data group being made up of key order and the order duration corresponding with described key order with time series, and described key order and described order duration obtain by receiving external wireless signals.
5. the method for air suspension according to claim 4 and programmable movements, is characterized in that, realizes input and the setting of described key order and described order duration, comprises the steps:
D1, double-click or the long start key of pressing are to activate programming mode;
D2, press key and lower key to increase respectively and to reduce step distance, thereby the ratio that then calculates step distance and pre-set velocity obtains order duration, or directly press key and lower key with direct setting command duration;
D3, by directionkeys to set the key order of corresponding action in the air direction;
D4, press key and then turn back to step D2 with order duration and the key order of preserving current setting to newly-increased data group, or press key and then turn back to step D2 with order duration and the key order of cancelling current setting, thereby or finish programming mode and transmit the described program command and the time series that are formed by all data groups to preserve all order durations and key order by start key.
6. the method for air suspension according to claim 1 and programmable movements, it is characterized in that, described step G comprises: the intensity level of the infrared induction signal in aircraft decline process below sensing aircraft, in the time that intensity level is increasing and exceed default threshold values, control aircraft executing agency work and make the aircraft default height that again rises, then move horizontally landing again after predeterminable range.
7. air suspension and a programmable movements system, comprise aircraft and remote terminal, it is characterized in that, described aircraft comprises:
Aircraft execution unit (1), for driving aircraft to carry out sporting flying;
Be arranged on barometer (5) and/or the ultrasonic sensor (6) of aircraft surface;
The wireless transmit/receive units (4) being connected with described remote terminal, for carrying out transfer of data with remote terminal;
Be arranged on the memory cell (2) of aircraft inside, for store default control aircraft execution unit (1) control instruction, store barometer (5) and/or data and corresponding tables of data and buffer memory program command and the time series of height value of ultrasonic sensor (6);
Be arranged on the processing unit (3) of aircraft inside, described processing unit (3) and described barometer (5) and/or described ultrasonic sensor (6), described memory cell (2) connects the data that sense to receive barometer (5) and/or ultrasonic sensor (6), and the tables of data through calculating or retrieve stored unit (2) obtains height value, the control instruction that described processing unit (3) is connected with described aircraft execution unit (1) and described memory cell (2) to call in memory cell (2) is then transferred to aircraft execution unit (1), thereby controlling aircraft moves, described processing unit (3) is connected program command and the time series sent to receive remote terminal with described wireless transmit/receive units (4), then program command and time series converted to corresponding control instruction and order persistence time data and be transferred to described aircraft execution unit (1), thereby program command and time series that control aircraft is sent according to remote terminal are moved.
8. air suspension according to claim 7 and programmable movements system, it is characterized in that: described aircraft also comprises the infrared sensor (7) that is arranged on aircraft exterior, for the infrared heat source object of sensing aircraft below and export infrared induction signal; Described processing unit (3) is connected to read the infrared induction signal of infrared sensor (7) output with described infrared sensor (7), then trigger default control instruction according to the intensity of infrared induction signal and be transferred to described aircraft execution unit (1), thereby controlling aircraft action.
9. air suspension according to claim 7 and programmable movements system, is characterized in that, described remote terminal comprises:
Input module, for input and setting program command and time series;
Display module, for showing programming human-computer interaction interface, program command and time series and status information;
Memory module, inputs in real time program command and time series and preserves default program command and seasonal effect in time series data file for buffer memory;
Wireless transport module, for carrying out transfer of data with the wireless transmit/receive units (4) of aircraft.
10. air suspension and a programmable movements flying toy, comprises profile housing and aircraft body, it is characterized in that described aircraft body comprises:
Aircraft execution unit (1), for driving aircraft to carry out sporting flying;
Be arranged on barometer (5) and/or ultrasonic sensor (6) on described profile housing;
Be connected the wireless transmit/receive units (4) with performing data transmission with long-range remote terminal;
Be arranged on the infrared sensor (7) of profile hull outside, for the infrared heat source object of sensing aircraft below and export infrared induction signal;
Be arranged on the memory cell (2) of aircraft body interior, for store default control aircraft execution unit (1) control instruction, store barometer (5) and/or data and corresponding tables of data and buffer memory program command and the time series of height value of ultrasonic sensor (6);
Be arranged on the processing unit (3) of aircraft body interior, described processing unit (3) and described barometer (5) and/or described ultrasonic sensor (6), described memory cell (2) connects the data that sense to receive barometer (5) and/or ultrasonic sensor (6), and the tables of data through calculating or retrieve stored unit (2) obtains height value, the control instruction that described processing unit (3) is connected with described aircraft execution unit (1) and described memory cell (2) to call in memory cell (2) is then transferred to aircraft execution unit (1), thereby controlling aircraft moves, described processing unit (3) is connected program command and the time series sent to receive remote terminal with described wireless transmit/receive units (4), then program command and time series converted to corresponding control instruction and order persistence time data and be transferred to described aircraft execution unit (1), thereby program command and time series that control aircraft is sent according to remote terminal are moved, described processing unit (3) is connected to read the infrared induction signal of infrared sensor (7) output with described infrared sensor (7), then trigger default control instruction and be transferred to described aircraft execution unit (1) according to the intensity of infrared induction signal, thereby control aircraft action.
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