CN105617674A - Method and device for switching advancing modes of battle equipment - Google Patents

Abstract

The invention discloses a method and device for switching advancing modes of battle equipment and belongs to the field of equipment control. The method comprises the steps that an advancing mode switching instruction sent by control equipment is received, wherein the advancing mode switching instruction is used for indicating that the battle equipment should be switched into the upright walking mode, and the upright walking mode is a mode that the battle equipment moves with part of wheels touching the land at the upright state; the normal advancing mode is switched into the upright advancing mode according to the advancing mode switching instruction, wherein the normal advancing mode is a mode that the battle equipment moves at the state that all wheels touch the land; the battle equipment is controlled to execute preset actions in the upright advancing mode. The method and device solve the problems that existing battle equipment can only move in the normal advancing mode, and the moving mode is single. The upright advancing mode is newly added for the baffle equipment based on the original advancing mode, the battle equipment can execute several actions in the upright advancing mode, and the effect that moving modes of the battle equipment are enriched is achieved.

Description

Battle equipment traveling mode switching method and device

Technical field

The embodiment of the present invention relates to device control field, fights equipment traveling mode switching method and device in particular to one.

Background technology

Along with the development of remote control technology, people can use special wireless remote control device control battle equipment to fight. Battle equipment can be Intelligent fighting toy car, Intelligent fighting toy aircraft etc.

For Intelligent fighting toy car, under the control of wireless remote control device, fighting toy car can complete the operations such as advance, retrogressing, left-hand rotation, right-hand rotation and offensive attack with normal traveling mode.

In the process realizing the embodiment of the present invention, contriver finds that above-mentioned technology at least exists following problem: fighting toy car can only move with normal traveling mode, and motion pattern is comparatively single.

Summary of the invention

In order to solve the problem of above-mentioned technology, embodiments provide a kind of battle equipment traveling mode switching method and device. Described technical scheme is as follows:

First aspect according to embodiments of the present invention, it is provided that a kind of battle equipment traveling mode switching method, the method comprises:

The traveling mode switching command that receiving control apparatus sends, traveling mode switching command is used to indicate battle equipment and switches to upright traveling mode, and upright traveling mode refers to the pattern of motion under the erectility that battle equipment lands at part wheel;

Switching to upright traveling mode according to traveling mode switching command by normal traveling mode, normal traveling mode refers to the pattern that battle equipment moves under full wheel lands state;

Control battle equipment performs predetermined action under upright traveling mode.

Second aspect according to embodiments of the present invention, it is provided that a kind of battle equipment traveling mode shifter, this device comprises:

Receiver module, for the traveling mode switching command that receiving control apparatus sends, traveling mode switching command is used to indicate battle equipment and switches to upright traveling mode, and upright traveling mode refers to the pattern of motion under the erectility that battle equipment lands at part wheel;

Handover module, for switching to upright traveling mode according to traveling mode switching command by normal traveling mode, normal traveling mode refers to the pattern that battle equipment moves under full wheel lands state;

Control module, performs predetermined action for controlling battle equipment under upright traveling mode.

The third aspect according to embodiments of the present invention, it provides a kind of battle equipment, it is characterised in that, this battle equipment comprises: battle apparatus body, wheel, control chip, communications component, sensor module and driving assembly;

It is inner that control chip, communications component, sensor module and driving assembly are arranged on battle apparatus body;

Assembly is driven to be connected by linkage structure with wheel;

Control chip is electrical connected with communications component, sensor module and driving assembly respectively;

Control chip comprises the battle equipment traveling mode shifter as described in second aspect.

The useful effect that the technical scheme that the embodiment of the present invention provides is brought is:

By the traveling mode switching command sent according to operating device, switch to upright traveling mode by normal traveling mode, and control battle equipment further and perform predetermined action under upright traveling mode; Solve existing battle equipment to move with normal traveling mode, the problem that motion pattern is comparatively single; Reach on the basis of original normal traveling mode, it is the newly-increased a kind of upright traveling mode of battle equipment, and battle equipment can perform various motion under upright traveling mode, thus the effect of abundant battle equipment moving pattern.

Accompanying drawing explanation

In order to the technical scheme being illustrated more clearly in the embodiment of the present invention, below the accompanying drawing used required in embodiment being described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Figure 1A is the schematic diagram of the wheel distribution of the battle equipment that one embodiment of the invention provides;

Figure 1B is the schematic diagram of the wheel distribution of the battle equipment that another embodiment of the present invention provides;

Fig. 2 is the schema of the battle equipment traveling mode switching method that one embodiment of the invention provides;

Fig. 3 A is the schema of the battle equipment traveling mode switching method that another embodiment of the present invention provides;

Fig. 3 B is the schematic diagram of the volume coordinate system that the traveling mode switching method of battle equipment shown in Fig. 3 A is set up;

Fig. 3 C is the schema of the equipment Dip countion process involved by the traveling mode switching method of battle equipment shown in Fig. 3 A;

Fig. 3 D and Fig. 3 F is the schema that battle equipment carries out balancing control process;

Fig. 3 E is the schema of the battle equipment traveling mode switching method that another embodiment of the present invention provides;

Fig. 3 G is the structural representation of the battle equipment involved by the traveling mode switching method of battle equipment shown in Fig. 3 E;

Fig. 4 is the block diagram of the battle equipment traveling mode shifter that one embodiment of the invention provides;

Fig. 5 is the block diagram of the battle equipment traveling mode shifter that another embodiment of the present invention provides;

Fig. 6 is the structural representation of the battle equipment that one embodiment of the invention provides.

Embodiment

For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.

The battle equipment traveling mode switching method that each embodiment of the present invention provides, it is applicable to the battle equipment being undertaken moving by wheel construction, this battle equipment can be Intelligent fighting toy car, Intelligent fighting toy tank etc., having at least three wheels in this battle equipment, these at least three wheels comprise wheel after two concentrics being positioned at side after battle equipment. Such as, as shown in Figure 1A, when this battle equipment has three wheels, it is respectively wheel 11, when wheel 12 and wheel 13, three wheels are in the arrangement in isosceles triangle of the bottom 21 of battle equipment, and are positioned at the wheel 12 on isosceles triangle base and wheel 13 is trailing wheel, are being just front-wheel to the wheel 11 of isosceles triangle base; Again such as, as shown in Figure 1B, when this battle equipment has four wheels, when being respectively wheel 14, wheel 15, wheel 16 and wheel 17, four wheels are in the rectangular arrangement in bottom 21 of battle equipment, wherein, the wheel 14 being arranged side by side and wheel 15 are front-wheel, and the wheel 16 being arranged side by side and wheel 17 are trailing wheel. In the enforcement mode that other are possible, when battle equipment is provided with more than four wheels, wherein at least two wheels being arranged side by side are as the trailing wheel of battle equipment. The number and arrangement mode fighting equipment wheel is not limited by the embodiment of the present invention.

Understand in order to convenient, below the part noun related in the embodiment of the present invention is explained.

Normal traveling mode: refer to the pattern that battle equipment moves when all wheels all land. When battle equipment is advanced under normal traveling mode, all wheels of battle equipment all participate in rotating. Such as, when wheel in battle equipment arrangement as shown in Figure 1A time, namely this normal traveling mode refers to the pattern that battle equipment moves when wheel 11, wheel 12 and wheel 13 all land; Again such as, when wheel in battle equipment arrangement as shown in Figure 1B time, namely this normal traveling mode refers to the pattern that battle equipment moves when wheel 14, wheel 15, wheel 16 and wheel 17 all land.

Upright traveling mode: refer to that battle equipment lands at part wheel, and the pattern of motion under the liftoff erectility of part wheel, wherein, under upright traveling mode, the wheel landed in battle equipment is for providing power. Such as, when wheel in battle equipment arrangement as shown in Figure 1A time, namely this upright traveling mode refers to that battle equipment is liftoff at wheel 11, and the pattern (now wheel 12 and 13 is for providing power) of motion when wheel 12 and wheel 13 land; Again such as, when wheel in battle equipment arrangement as shown in Figure 1B time, namely this upright traveling mode refers to that battle equipment is liftoff at wheel 14 and wheel 15, and the pattern (now wheel 16 and 17 is for providing power) of motion when wheel 16 and wheel 17 land.

Equipment inclination angle: refer in battle equipment moving process, the angle between battle apparatus body and horizontal plane. When the equipment of battle moves on horizontal ground, this equipment inclination angle is 0 ��.

Target-angle: when referring to that battle equipment keeps balancing under upright traveling mode, the angle between battle apparatus body and horizontal plane.

Adjustment inclination angle: the angle difference being used to indicate between equipment inclination angle and target-angle. Such as, when equipment inclination angle is 60 ��, and when target-angle is 66.4 ��, this adjustment inclination angle is 6.4 ��.

Landing wheel: refer to the wheel that battle equipment lands under upright traveling mode, namely upright traveling mode is for providing the wheel of power.

Liftoff take turns: refer to the wheel that battle equipment is liftoff under upright traveling mode, i.e. other wheel except landing wheel under upright traveling mode.

For convenience of description, the battle equipment traveling mode switching method that each embodiment of the present invention provides, is only provided with four wheels to fight equipment, and the arrangement mode of four wheels is as shown in Figure 1B for example is described, and the embodiment of the present invention is not formed and limits.

Please refer to Fig. 2, it illustrates the schema of the battle equipment traveling mode switching method that one embodiment of the invention provides. The present embodiment is applied to the battle equipment shown in Figure 1B with this battle equipment traveling mode switching method and illustrates. The method comprises:

Step 201, the traveling mode switching command that receiving control apparatus sends, this traveling mode switching command is used to indicate battle equipment and switches to upright traveling mode, and upright traveling mode refers to the pattern of motion under the erectility that battle equipment lands at part wheel.

Wherein, this operating device can be the equipment connected by wired or wireless mode and battle equipment. Such as, this operating device can be the mobile terminal connected by bluetooth, infrared rays or wireless and battle equipment, this mobile terminal can be smart mobile phone, panel computer or portable computer etc., and the type of operating device is not limited by the embodiment of the present invention.

Step 203, switches to upright traveling mode according to traveling mode switching command by normal traveling mode, and this normal traveling mode refers to the pattern that battle equipment moves under full wheel lands state.

As a kind of possible enforcement mode, this step can specifically comprise:

One, under normal traveling mode, the power system of control battle equipment exports the first motivating force, and the first motivating force is used for as battle equipment provides the first acceleration along the first direction of motion;

Two, when the speed of the equipment of battle reaches pre-set velocity threshold value, the power system of control battle equipment exports two motivating force contrary with the first motivating force, 2nd motivating force is used for as battle equipment provides the 2nd acceleration along the 2nd direction of motion, and the 2nd direction of motion is contrary with the first direction of motion;

Three, the sensing data gathered according to sensor in battle equipment calculates the equipment inclination angle of battle equipment, the angle that equipment inclination angle is used to indicate between the body of battle equipment and horizontal plane, and sensing data at least comprises acceleration information and angular velocity data;

If four equipment inclination angles are greater than predetermined angle threshold value, then switch to upright traveling mode by normal traveling mode;

Five, it is that equipment inclination angle is carried out negative feedback control by benchmark taking target-angle; The angle that target-angle is used to indicate between the body of battle equipment when battle equipment keeps balancing under upright traveling mode and horizontal plane.

Step 205, control battle equipment performs predetermined action under upright traveling mode.

Battle equipment keeps balance under upright traveling mode, it is possible to according to the instruction that operating device sends, and performs corresponding actions. Such as, the movement instruction that battle equipment can send according to operating device, performs the operations such as advance, retrogressing, left-hand rotation and right-hand rotation; Again such as, the attack instruction that battle equipment can also send according to operating device, launches laser signal to other battle equipment or clashes into other battle equipment etc.

In the enforcement mode that other are possible, the top of battle equipment is provided with laser receiver, the laser that this laser receiver is launched for receiving the corresponding laser beam emitting device of other battle equipment, when the traveling mode switching command that battle equipment receives operating device transmission enters upright traveling mode, the laser receiver of this battle equipment cannot receive the laser that laser beam emitting device is launched, thus the attack from other battle equipment, reach the effect of defensive attack.

In sum, the battle equipment traveling mode switching method that the present embodiment provides, by the traveling mode switching command sent according to operating device, switch to upright traveling mode by normal traveling mode, and control battle equipment further and perform predetermined action under upright traveling mode; Solve existing battle equipment to move with normal traveling mode, the problem that motion pattern is comparatively single; Reach on the basis of original normal traveling mode, it is the newly-increased a kind of upright traveling mode of battle equipment, and battle equipment can perform various motion under upright traveling mode, thus the effect of abundant battle equipment moving pattern.

Please refer to Fig. 3 A, it illustrates the schema of the battle equipment traveling mode switching method that another embodiment of the present invention provides. The present embodiment is applied to the battle equipment shown in Figure 1B with this battle equipment traveling mode switching method and illustrates. The method comprises:

Step 301, the traveling mode switching command that receiving control apparatus sends, this traveling mode switching command is used to indicate battle equipment and switches to upright traveling mode, and upright traveling mode refers to the pattern of motion under the erectility that battle equipment lands at part wheel.

Such as, this operating device can be the smart mobile phone being provided with sequence of control, and this smart mobile phone is connected by bluetooth and battle equipment. When user clicks the switching push button in the corresponding control inerface of sequence of control, namely smart mobile phone sends traveling mode switching command by bluetooth to battle equipment, corresponding, battle equipment receives this traveling mode switching command.

Step 302, when receiving traveling mode switching command, under normal traveling mode, the power system of control battle equipment exports the first motivating force, and the first motivating force is used for as battle equipment provides the first acceleration along the first direction of motion.

In order to make battle equipment switch to upright traveling mode by normal traveling mode, even if the part wheel of battle equipment is liftoff, first battle equipment need the power applying one to self, make the accelerated motion under force of battle equipment, then in battle equipment accelerated motion process, apply a reverse power to self instantaneously, impel battle equipment liftoff at inertia effect lower part wheel.

As a kind of possible enforcement mode, when battle equipment receives traveling mode switching command, under normal traveling mode, the power system of control battle equipment exports the first motivating force, and wherein this power system can be the motor for battle equipment offer motivating force. Under the first motivating force effect, battle equipment does accelerated motion along the first direction of motion.

Such as, when this first motivating force direction is battle equipment tailstock direction, under the first motivating force effect, namely battle equipment obtain the first acceleration along afterbody direction, and starts to do accelerated motion backward (accelerating reversing).

Step 303, when the speed of the equipment of battle reaches pre-set velocity threshold value, the power system of control battle equipment exports two motivating force contrary with the first motivating force, 2nd motivating force is used for as battle equipment provides the 2nd acceleration along the 2nd direction of motion, and the 2nd direction of motion is contrary with the first direction of motion.

When battle equipment is issued to pre-set velocity threshold value in the first motivating force effect, such as, this pre-set velocity threshold value can be the maximum reversing speed of battle equipment, battle device control power system exports two motivating force contrary with the first motivating force so that the acceleration direction of battle equipment changes instantaneously. Under the effect of inertia, the part wheel of battle equipment will be liftoff.

Wherein, the 2nd motivating force is greater than the first acceleration that the first motivating force provides for the 2nd acceleration that battle equipment provides.

Step 304, according to the equipment inclination angle of the sensing data calculating battle equipment that sensor in battle equipment gathers, the angle that equipment inclination angle is used to indicate between the body of battle equipment and horizontal plane, sensing data at least comprises acceleration information and angular velocity data.

Through above-mentioned steps 302 and 303, the part wheel of battle equipment is liftoff (such as fighting the wheelie of equipment), by (i.e. equipment inclination angle) at a certain angle for shape between battle apparatus body and horizontal plane, when this equipment inclination angle reaches to a certain degree, battle equipment can adjust this angle by the motion of the front and back of landing wheel, and battle equipment is kept upright state; But when this equipment inclination angle is crossed hour, being subject to the effect of gravity, battle equipment is liftoff, and part can be landed fast, causes battle equipment to be reduced to normal traveling mode from upright traveling mode fast. Therefore, battle equipment needs by the built-in corresponding sensing data of sensor collection, calculates the equipment inclination angle of battle equipment according to this sensing data, and switches to upright traveling mode when this equipment inclination angle reaches to a certain degree by normal traveling mode. Wherein, this sensor can be acceleration transducer and gyrostat.

This acceleration transducer is for gathering the acceleration information of battle equipment at least three directions, as shown in Figure 3 B, this acceleration transducer is for gathering the acceleration information of battle equipment at X-axis, Y-axis and Z direction of principal axis, wherein X-axis is vertical with battle equipment headstock direction, Y-axis is parallel with battle equipment headstock direction, and Z axle is perpendicular to X-axis and the plane of Y-axis formation. Similar, this gyrostat for gathering the angular velocity data of battle equipment at least three directions, such as, as shown in Figure 3 B, this gyrostat is three axle gyrostats, rotates around X-axis for gathering battle equipment, rotates around Y-axis and angular velocity data when Z axle rotates.

For convenience of description, in following embodiment, only set up mode for coordinate shown in Fig. 3 B and schematically illustrate, the embodiment of the present invention is not formed and limit.

Acceleration transducer in battle equipment and gyrostat are according to the real-time pick-up transducers data of default sample frequency, and such as, this sample frequency can be 1kHz, and namely acceleration transducer and gyrostat gather one group of sensing data every 1ms. Corresponding, the control chip in battle equipment receives this sensing data.

The impact being subject to universal gravity constant, the acceleration information that acceleration transducer collects there will be skew and causes the equipment inclination angle calculated inaccurate. The accuracy at the equipment inclination angle calculated to improve, battle equipment needs acceleration information and angular velocity data are carried out data fusion, and carries out filtering process. As a kind of possible enforcement mode, for the sensing data that the kth collection moment collects, as shown in Figure 3 C, this step can comprise the steps.

Step 304A, gathers the acceleration information that collects of moment according to kth, calculates kth and gathers metering facility inclination angle corresponding to moment.

As shown in Figure 3 B, when body and the ground (i.e. the plane of X-axis and Y-axis formation) of the equipment of battle form angle, this angle is positioned at Y-axis and the plane of Z axle formation, and battle equipment can calculate corresponding metering facility inclination angle according to the acceleration information of the acceleration information in Y-axis direction in acceleration information and Z direction of principal axis. The formula calculating this metering facility inclination angle is:

��_Survey=arctan (a_y/a_z)��180/��

Wherein, a_yFor the acceleration information in Y-axis direction, a_zFor the acceleration information of Z direction of principal axis.

Step 304B, the angular velocity data that the equipment inclination angle corresponding according to kth-1 collection moment calculated and kth-1 collection moment collect, the predict device inclination angle that the calculating kth collection moment is corresponding.

As shown in Figure 3 B, when body and the ground formation angle of the equipment of battle, namely battle equipment rotate around X-axis, and kth gathers equipment inclination angle corresponding to moment and can think that battle equipment gathers on the basis at moment corresponding equipment inclination angle in kth-1, gather circular frequency corresponding to moment with kth-1 and rotate in the unit sampling time and to obtain. Therefore, battle equipment can gather equipment inclination angle corresponding to moment according to kth-1 and kth-1 gathers the angular velocity data that the moment collects, and prediction kth gathers the equipment inclination angle in moment. Its calculation formula is:

��_{In advance}=��_k-1+��_k-1��dt

Wherein, ��_k-1For the equipment inclination angle that kth-1 collection moment is corresponding, ��_k-1For the angular velocity data that kth-1 collection moment collects, dt is the unit sampling time.

Step 304C, carries out filtering process according to metering facility inclination angle, predict device inclination angle and Kalman gain, obtains kth and gathers equipment inclination angle corresponding to moment, and Kalman gain calculates according to the covariance at predict device inclination angle.

Metering facility inclination angle that above-mentioned steps 304A is obtained by battle equipment and the predict device inclination angle that step 304B obtains are merged, and carry out corresponding filtering process, can obtain kth and gather equipment inclination angle corresponding to moment. Its calculation formula can be as follows:

X (k | k)=X (k | k-1)+Kg (k) (Z (k)-H X (k | k-1)

Wherein, X (k | k) for kth gathers equipment inclination angle theta corresponding to moment_k, X (k | k-1) gathers predict device inclination angle theta corresponding to moment for kth_{In advance}, Kg (k) is that kth gathers moment corresponding Kalman gain, and Z (k) gathers metering facility inclination angle theta corresponding to moment for kth_Survey, H is for presetting correction factor.

And Kg (k) calculates according to the poor P (k | k-1) that defences jointly of X (k | k-1), its calculation formula is:

Kg (k)=P (k | k-1) H'/(H P (k | k-1) H'+R)

Wherein, H' is the transposed matrix of H, and R is for presetting corrected parameter.

Through above-mentioned steps 304A to step 304C, acceleration information and angular velocity data are carried out fused filtering process by battle equipment, obtain kth and gather equipment inclination angle corresponding to moment, owing to being eliminated the skew of acceleration information by filtering process, this equipment inclination angle is more accurate compared to metering facility inclination angle.

Step 305, if equipment inclination angle is greater than predetermined angle threshold value, then switches to upright traveling mode by normal traveling mode.

Whether the equipment inclination angle that battle equipment Inspection calculates is greater than predetermined angle threshold value, then determines that equipment inclination angle is excessively little when equipment inclination angle is less than predetermined angle threshold value, and battle equipment cannot switch to upright traveling mode; If this equipment inclination angle is greater than predetermined angle threshold value, then battle equipment is switched to upright traveling mode by normal traveling mode, and perform following step 306.

Such as, this predetermined angle threshold value can be 30 ��, and when the angle fighting apparatus body and ground is greater than 30 ��, battle equipment just can switch to upright traveling mode by normal traveling mode.

Step 306 is that equipment inclination angle is carried out negative feedback control by benchmark taking target-angle, the angle that target-angle is used to indicate between the body of battle equipment when battle equipment keeps balancing under upright traveling mode and horizontal plane.

After entering upright traveling mode, battle equipment needs control battle equipment further to keep balance under upright traveling mode. As a kind of possible enforcement mode, battle equipment is benchmark taking target-angle, controls and moves before and after land wheel, makes the equipment inclination angle of battle equipment approach target-angle (namely carrying out negative feedback control), thus keeps balance under upright traveling mode. As shown in Figure 3 D, step 306 can comprise the steps.

Step 306A, according to equipment inclination angle and target-angle, calculates adjustment inclination angle.

In order to make battle equipment keep balance under upright traveling mode, battle equipment is after switching to upright traveling mode, it is necessary to adjust equipment inclination angle by the motion of the front and back of landing wheel, makes equipment inclination angle close to the target-angle preset.

In a kind of possible enforcement mode, battle equipment calculates adjustment inclination angle according to current equipment inclination angle and target-angle, and is controlled by landing wheel wheel according to this adjustment inclination angle further.

Such as, the current equipment inclination angle of battle equipment is 35 ��, and the target-angle preset is 66.4 ��, then this adjustment inclination angle is 31.4 ��.

Step 306B, carries out PID process to adjustment inclination angle, obtains PWM control data.

Calculate after kth gathers adjustment inclination angle corresponding to moment, battle equipment using this adjustment inclination angle as PID (Proportion-Integration-Differentiation, proportion integration differentiation) input of algorithm, adjustment inclination angle is carried out PID process, thus obtain PWM (PulseWidthModulation, pulse-width modulation) control data, this PWM control data can be the PWM duty cycle of motor, and landing wheel can be controlled accordingly by the motor of battle equipment according to this PWM duty cycle.

This pid algorithm can be as follows:

$u\left(t\right)=K_p\[e\left(t\right)+\frac{1}{T_i}{\∫}_0^{t}e\left(t\right)dt+T_d\frac{de\left(t\right)}{dt}\]$

Wherein, u (t) is the PWM control data of output, K_pFor rate mu-factor, e (t) is adjustment inclination angle, T_iFor integral time, T_dFor differential time.

For kth sampling instant, the PWM count certificate that battle device control chip exports in kth sampling instant is

$u\left(k\right)=K_{p}e\left(k\right)+K_i\underset{j=0}{\overset{k}{\Σ}}e\left(j\right)+K_d\[e\left(k\right)-e(k-1)\]$

Wherein,For integral coefficient,For differential coefficient.

Step 306C, controls motor according to PWM control data and drives the landing wheel of battle equipment to rotate.

After calculating corresponding PWM control data, battle equipment can be determined to carry to the voltage of motor according to this PWM control data and voltage of supply, thus make motor drive the landing wheel of battle equipment to rotate, thus battle equipment is made to keep balance under upright traveling mode.

Such as, for this PWM control data as PWM duty cycle, when PWM duty cycle is 0.1, and when voltage of supply is 5V, it is 0.1*5=0.5V that battle device control chip calculates conveying to the voltage of motor.

It should be noted that, this PWM control data has directivity, and when adjusting inclination angle for, time negative, this PWM control data is negative, motor drives the landing wheel reversing of battle equipment; When adjustment inclination angle is timing, this PWM control data is just, namely motor drives the landing wheel of battle equipment to rotate forward.

Battle equipment repeats above-mentioned steps 306A to step 306C, thus keeps balance under upright traveling mode.

Step 307, under upright traveling mode, the liftoff wheel of control battle equipment stops rotating.

Owing to, under upright traveling mode, the liftoff of battle equipment takes turns the overall motion not participating in battle equipment, therefore, in order to save the electricity resource of battle equipment, under upright traveling mode, fight liftoff wheel of device control and stop rotating.

It should be noted that, above-mentioned steps 306 and step 307 can perform simultaneously, and the present embodiment only performed schematically to illustrate for step 306 before step 307, the present invention was not formed restriction.

Step 308, control battle equipment stops original place under upright traveling mode.

When operating device indicates battle equipment to stop original place (or operating device does not send any motion to battle equipment and attacks instruction), battle equipment can remain unchanged at control objectives inclination angle, so that it is guaranteed that battle equipment stops original place in an erect condition.

In sum, the battle equipment traveling mode switching method that the present embodiment provides, by the traveling mode switching command sent according to operating device, switch to upright traveling mode by normal traveling mode, and control battle equipment further and perform predetermined action under upright traveling mode; Solve existing battle equipment to move with normal traveling mode, the problem that motion pattern is comparatively single; Reach on the basis of original normal traveling mode, it is the newly-increased a kind of upright traveling mode of battle equipment, and battle equipment can perform various motion under upright traveling mode, thus the effect of abundant battle equipment moving pattern.

In the present embodiment, the acceleration information that battle equipment gathers according to acceleration transducer and the angular velocity data that gyrostat gathers calculate the equipment inclination angle of battle equipment, and controlled by landing wheel according to the magnitude relationship between this equipment inclination angle and target-angle further, thus ensure that battle equipment keeps balance at upright traveling mode.

In the present embodiment, when calculating the equipment inclination angle of battle equipment according to acceleration information and angular velocity data, the equipment inclination angle corresponding according to a upper collection moment and angular velocity data obtain predict device inclination angle, metering facility inclination angle is obtained according to the current acceleration information gathering moment collection, and predict device inclination angle and metering facility inclination angle are carried out filtering process, thus reduce the Dip countion error that acceleration information skew produces, it is to increase the accuracy of control under upright traveling mode.

In the present embodiment, owing to, under upright traveling mode, liftoff wheel does not participate in the entirety motion of battle equipment, therefore, when starting upright traveling mode, fight liftoff wheel of device control and stop rotating, thus reduce the overall power under upright traveling mode.

Battle equipment is possible not only under upright traveling mode to keep balance, the operations such as advance, retrogressing, left-hand rotation, right-hand rotation and attack can also be performed, in a kind of possible enforcement mode, as shown in FIGURE 3 E according to the instruction that operating device sends, after above-mentioned steps 307, it is also possible to comprise the steps.

Step 309, the mode of motion indicated by the movement instruction that operating device sends, control battle equipment moves under upright traveling mode, and this mode of motion comprises at least one in advance, retrogressing, left-hand rotation and right-hand rotation.

According to the different motion instruction that operating device sends, battle equipment can perform corresponding action, and as a kind of possible enforcement mode, step 309 can comprise the steps.

Step 309A, when indicating battle equipment to advance under upright traveling mode at movement instruction, lowers the first predetermined number of degrees with respect by target-angle.

When battle equipment receives the movement instruction of operating device transmission, when instruction battle equipment advances under upright traveling mode, default target-angle is lowered the first predetermined number of degrees with respect by battle equipment. After target-angle is lowered, battle equipment performs step 306A to step 306C again according to the target-angle after downward, the PWM control data that target-angle after being lowered is corresponding, and according to this PWM control data, landing wheel motion is driven, it is achieved the forward operation under upright traveling mode by motor.

Step 309B, when indicating battle equipment to retreat under upright traveling mode at movement instruction, raises the 2nd predetermined number of degrees with respect by target-angle.

Similar to above-mentioned steps 309A, when battle equipment receives the movement instruction of operating device transmission, when instruction battle equipment retreats under upright traveling mode, default target-angle is raised the 2nd predetermined number of degrees with respect by battle equipment, and again perform step 306A to step 306C, it is achieved the back operation under upright traveling mode. It should be noted that, the first predetermined number of degrees with respect and the 2nd predetermined number of degrees with respect are all much smaller than target-angle, and the first predetermined number of degrees with respect and the 2nd predetermined number of degrees with respect can be the same or different, and this is not limited by the present invention.

Step 309C, when indicating battle equipment to turn right under upright traveling mode at movement instruction, PWM control data corresponding for the right landing wheel of battle equipment is lowered the first predetermined value, and PWM control data corresponding for the left landing wheel of battle equipment is raised the 2nd predetermined value; The left landing wheel of battle equipment and right landing wheel is driven to rotate according to the PWM control data control motor after adjustment.

Under normal traveling mode, the power of battle equipment can be provided by trailing wheel, and the front-wheel fighting equipment is then for controlling run direction; And under upright traveling mode, power and the operation direction of battle equipment all need landing wheel to control.

In order to realize cornering operation under upright traveling mode, when battle equipment receives the movement instruction of operating device transmission, when instruction battle equipment is turned, battle equipment needs each self-corresponding PWM control data of left landing wheel and right landing wheel to be adjusted, make to there is velocity contrast between left landing wheel and right landing wheel, thus realize the turning of battle equipment.

When movement instruction indicates battle equipment to turn right, PWM control data corresponding for right landing wheel is lowered the first predetermined value by battle equipment, and PWM control data corresponding for left landing wheel is raised the 2nd predetermined value, make to adjust PWM control data corresponding to rear right landing wheel and it is less than PWM control data (namely the speed of right landing wheel is less than the speed of left landing wheel) corresponding to adjustment rear left landing wheel, thus realize the right-hand rotation of battle equipment.

Step 309D, when indicating battle equipment to turn left under upright traveling mode at movement instruction, PWM control data corresponding for the right landing wheel of battle equipment is raised the 3rd predetermined value, and PWM control data corresponding for the left landing wheel of battle equipment is lowered the 4th predetermined value; The left landing wheel of battle equipment and right landing wheel is driven to rotate according to the PWM control data control motor after adjustment.

Similar to above-mentioned steps 309C, when movement instruction indicates battle equipment to turn left, PWM control data corresponding for right landing wheel is raised the 3rd predetermined value by battle equipment, and PWM control data corresponding for left landing wheel is lowered the 4th predetermined value, make to adjust PWM control data corresponding to rear right landing wheel and it is greater than PWM control data (namely the speed of right landing wheel is greater than the speed of left landing wheel) corresponding to adjustment rear left landing wheel, thus realize the left-hand rotation of battle equipment.

It should be noted that, the first predetermined value and the 2nd predetermined value can be the same or different, and the 3rd predetermined value and the 4th predetermined value can be the same or different, and this is not limited by the present invention.

Step 310, attack mode indicated by the attack instruction that operating device sends, control is attacked under upright traveling mode at battle equipment, and this attack mode comprises: at least one launched laser signal to other battle equipment and clash in other battle equipment.

Under upright traveling mode, the attack that battle equipment cannot complete under can also completing normal traveling mode. Such as, the battle equipment being in normal traveling mode by the roof patting other battle equipment bottom car, thus can be damaged and even make it turn on one's side by the battle equipment being in upright traveling mode. Again such as, when the headstock of the equipment of battle is provided with laser beam emitting device, the battle equipment being in upright traveling mode can launch laser signal to other battle equipment being in eminence, thus simulated strike.

In a kind of possible enforcement mode, when the attack instruction instruction battle equipment that operating device sends launches laser signal to other battle equipment under upright traveling mode, battle equipment can obtain attack parameter from attacking instruction, and it is modulated in laser signal by attacking in instruction the attack parameter carried, launching the laser signal after modulating eventually through built-in Laser emission assembly, namely other battle equipment receiving the laser signal after this modulation receive corresponding attack.

In the present embodiment, battle equipment is by regulating the size of target-angle, it is achieved the forward-reverse of battle equipment under upright traveling mode; By the PWM count certificate regulating each landing wheel corresponding so that there is velocity contrast between each landing wheel, then realize the left-hand rotation under upright traveling mode and turn right, enriched the motion pattern of battle equipment, added the interest of battle equipment.

When battle equipment is in upright traveling mode, owing to equipment inclination angle is relatively big, if the instantaneous circular frequency of wheel is relatively big, being subject to the effect of inertia, battle equipment is easily toppled over. Therefore, battle equipment is also provided with Hall encoder, battle equipment is according to the data of Hall encoder collection and the equipment inclination angle of battle equipment that calculates, the PWM control data exported is regulated, thus control the speed of battle equipment landing wheel, avoid battle equipment to topple under upright traveling mode. In a kind of possible enforcement mode, as illustrated in Figure 3 F, above-mentioned steps 306A to step 306C can be replaced by following steps.

Step 306D, according to equipment inclination angle and target-angle, calculates adjustment inclination angle.

Step 306E, carries out PID process to adjustment inclination angle, obtains PWM control data.

The implementation of above-mentioned steps 306D to step 306E is similar to step 306B to step 306A, does not repeat them here.

Step 306F, according to the transient acceleration of the wheel velocity calculating battle equipment that Hall encoder gathers.

Also being provided with Hall encoder in battle equipment, this Hall encoder is for gathering wheel velocity. Under upright traveling mode, this Hall encoder is according to predetermined frequency collection wheel velocity, and calculates the transient acceleration of battle equipment according to this wheel velocity, and wherein, this predetermined frequency is usually identical with the sample frequency of acceleration transducer and gyrostat.

Such as, Hall encoder collects wheel velocity in kth-1 sampling instant is v_k-1, collecting wheel velocity in kth sampling instant is v_k, and the timed interval of kth-1 sampling instant and kth sampling instant be �� t, then kth gather the moment battle equipment transient acceleration is (v_k-v_k-1)/��t��

Step 306G, according to transient acceleration and equipment Dip countion inclination factor, inclination factor is used to indicate the current inclined degree of battle equipment.

After calculating the transient acceleration of battle equipment, the business of this transient acceleration and current equipment inclination angle is defined as inclination factor by battle equipment, and determines whether battle equipment tilts excessively further according to this inclination factor.

Step 306H, if inclination factor is greater than predetermined coefficient, then determines control data modified value according to inclination factor.

If this inclination factor is greater than predetermined coefficient, then determine that the inclined degree of battle equipment is excessive, it is necessary to reduce the movement velocity of wheel, avoid battle equipment to topple over.

As a kind of possible enforcement mode, this inclination factor can be multiplied by default scale-up factor and obtain control data modified value by battle equipment, to according to inclination factor, the embodiment of the present invention does not determine that the mode of control data modified value limits.

Step 306I, revises PWM control data according to control data modified value.

According to the control data modified value that step 306H obtains, the PWM control data that above-mentioned steps 306E is obtained by battle equipment is revised.

As a kind of possible enforcement mode, PWM control data can be subtracted control data modified value by battle equipment, thus the PWM control data after being revised.

Step 306J, drives the landing wheel of battle equipment to rotate according to the PWM control data control motor after revising.

According to the PWM control data after correction, battle device control motor drives the landing wheel of battle equipment to rotate, and repeat above-mentioned steps 306D to step 306J in each collection moment ensuing, fight the smooth running of equipment under ensureing upright traveling mode.

As shown in Figure 3 G, the data that acceleration transducer 31 and gyrostat 32 gather are carried out data fusion and filtering process by the control chip in battle equipment, obtain the equipment inclination angle as pid algorithm input. Simultaneously, the PWM control data that pid algorithm is exported by the wheel velocity calculating battle equipment momentary velocity that control chip gathers according to Hall encoder 33 is optimized, and the PWM control data after optimizing is sent to timer 34, by timer 34, PWM control data is sent to motor driving module 35, motor driving module 35 is made to drive corresponding vehicle wheel rotation (in Fig. 3 F according to this PWM control data CD-ROM drive motor, wheel 361 is the near front wheel, wheel 362 is off-front wheel, wheel 363 is taken turns for left back, and wheel 364 is taken turns for right back). And Hall encoder 33 is by constantly gathering the speed of wheel 363 and wheel 364, next collection moment is optimized, so that the data in whole system form data closed loop, reaches the effect that circulation is optimized.

In the present embodiment, battle equipment is according to the data of Hall encoder collection and the equipment inclination angle of battle equipment that calculates, the PWM control data exported is regulated, thus control the speed of battle equipment landing wheel, avoid battle equipment to topple under upright traveling mode, improve the stability that battle equipment moves under upright traveling mode further.

Following is apparatus of the present invention embodiment, for the details of description not detailed in device embodiment, it is possible to reference to above-mentioned embodiment of the method one to one.

Please refer to Fig. 4, it illustrates the block diagram of the battle equipment traveling mode shifter that one embodiment of the invention provides. This battle equipment traveling mode shifter realizes becoming the whole or a part of of battle equipment by the combination of hardware or software and hardware. This battle equipment traveling mode shifter comprises:

Receiver module 410, for the traveling mode switching command that receiving control apparatus sends, described traveling mode switching command is used to indicate battle equipment and switches to upright traveling mode, and described upright traveling mode refers to the pattern of motion under the erectility that described battle equipment lands at part wheel;

Handover module 420, for switching to described upright traveling mode according to described traveling mode switching command by normal traveling mode, described normal traveling mode refers to the pattern that described battle equipment moves under full wheel lands state;

Control module 430, performs predetermined action for controlling described battle equipment under described upright traveling mode.

In sum, the battle equipment traveling mode shifter that the present embodiment provides, by the traveling mode switching command sent according to operating device, switch to upright traveling mode by normal traveling mode, and control battle equipment further and perform predetermined action under upright traveling mode; Solve existing battle equipment to move with normal traveling mode, the problem that motion pattern is comparatively single; Reach on the basis of original normal traveling mode, it is the newly-increased a kind of upright traveling mode of battle equipment, and battle equipment can perform various motion under upright traveling mode, thus the effect of abundant battle equipment moving pattern.

Please refer to Fig. 5, it illustrates the block diagram of the battle equipment traveling mode shifter that another embodiment of the present invention provides. This pattern battle equipment traveling shifter realizes becoming the whole or a part of of battle equipment by the combination of hardware or software and hardware. This battle equipment traveling mode shifter comprises:

Receiver module 510, for the traveling mode switching command that receiving control apparatus sends, described traveling mode switching command is used to indicate battle equipment and switches to upright traveling mode, and described upright traveling mode refers to the pattern of motion under the erectility that described battle equipment lands at part wheel;

Handover module 520, for switching to described upright traveling mode according to described traveling mode switching command by normal traveling mode, described normal traveling mode refers to the pattern that described battle equipment moves under full wheel lands state;

Control module 530, performs predetermined action for controlling described battle equipment under described upright traveling mode.

In an optional embodiment, control module 530, comprising:

First control unit 531, stops original place for controlling described battle equipment under described upright traveling mode;

Or,

2nd control unit 532, for the mode of motion indicated by the movement instruction that sends according to described operating device, controlling described battle equipment to move under described upright traveling mode, described mode of motion comprises at least one in advance, retrogressing, left-hand rotation and right-hand rotation;

Or,

3rd control unit 533, for the attack mode indicated by the attack instruction that sends according to described operating device, control is attacked under described upright traveling mode at described battle equipment, and described attack mode comprises: at least one launched laser signal to other battle equipment and clash in other battle equipment.

In an optional embodiment, handover module 520, comprising:

First driving control unit 521, for, under described normal traveling mode, the power system controlling described battle equipment exports the first motivating force, described first motivating force is used for as described battle equipment provides the first acceleration along the first direction of motion;

2nd driving control unit 522, for when the speed of described battle equipment reaches pre-set velocity threshold value, the power system controlling described battle equipment exports two motivating force contrary with described first motivating force, described 2nd motivating force is used for as described battle equipment provides the 2nd acceleration along the 2nd direction of motion, and described 2nd direction of motion is contrary with described first direction of motion;

First calculating unit 523, for calculating the equipment inclination angle of described battle equipment according to the sensing data of sensor collection in described battle equipment, the angle that described equipment inclination angle is used to indicate between the body of described battle equipment and horizontal plane, described sensing data at least comprises acceleration information and angular velocity data;

Switch unit 524, if being greater than predetermined angle threshold value for described equipment inclination angle, then switches to described upright traveling mode by described normal traveling mode

Equilibrium unit 525, for being that described equipment inclination angle is carried out negative feedback control by benchmark taking target-angle; The angle that described target-angle is used to indicate between the body of described battle equipment when described battle equipment keeps balancing under described upright traveling mode and described horizontal plane.

In an optional embodiment, gathering the moment for kth, k > 1, first calculates unit 523, comprising:

First computation subunit 523A, for gathering the described acceleration information that collects of moment according to described kth, calculates described kth and gathers metering facility inclination angle corresponding to moment;

2nd computation subunit 523B, for gathering equipment inclination angle corresponding to moment according to the kth-1 that calculates and described kth-1 gathers the described angular velocity data that the moment collects, calculates described kth and gathers predict device inclination angle corresponding to moment;

3rd computation subunit 523C, for carrying out filtering process according to described metering facility inclination angle, described predict device inclination angle and Kalman gain, obtaining described kth and gather equipment inclination angle corresponding to moment, described Kalman gain calculates according to the covariance at described predict device inclination angle.

In an optional embodiment, equilibrium unit 525, comprising:

4th computation subunit 525A, for according to equipment inclination angle and target-angle, calculating adjustment inclination angle;

First process subelement 525B, for described adjustment inclination angle is carried out proportion integration differentiation PID process, obtains pulse width modulation (PWM) control data;

First control subelement 525C, drives the landing wheel of described battle equipment to rotate for controlling motor according to described PWM control data.

In an optional embodiment, also comprising Hall encoder in battle equipment, Hall encoder is for obtaining the wheel velocity of battle equipment;

Equilibrium unit 525, comprising:

5th computation subunit 525D, for according to equipment inclination angle and target-angle, calculating adjustment inclination angle;

2nd process subelement 525E, for described adjustment inclination angle is carried out proportion integration differentiation PID process, obtains pulse width modulation (PWM) control data;

6th computation subunit 525F, for calculating the transient acceleration of described battle equipment according to the wheel velocity of described Hall encoder collection;

7th computation subunit 525G, for according to described transient acceleration and described equipment Dip countion inclination factor, described inclination factor is used to indicate the current inclined degree of described battle equipment;

Determining subelement 525H, if being greater than predetermined coefficient for described inclination factor, then determining control data modified value according to described inclination factor;

Revise subelement 525I, for described PWM control data being revised according to described control data modified value;

2nd control subelement 525J, for driving the landing wheel of described battle equipment to rotate according to the described PWM control data control motor after correction.

In an optional embodiment, the first control unit 531, also remains unchanged for controlling described target-angle.

In an optional embodiment, when the described movement instruction that described operating device sends indicates described battle equipment advance or retreat,

2nd control unit 532, comprising:

Lower subelement 532A, for when indicating described battle equipment to advance under described upright traveling mode at described movement instruction, described target-angle being lowered the first predetermined number of degrees with respect;

Raise subelement 532B, for when indicating described battle equipment to retreat under described upright traveling mode at described movement instruction, described target-angle being raised the 2nd predetermined number of degrees with respect.

In an optional embodiment, when the described movement instruction that described operating device sends indicates described battle equipment turn left or turn right,

2nd control unit 532, also comprises:

Right rotor unit 532C, for when indicating described battle equipment to turn right under described upright traveling mode at described movement instruction, described PWM control data corresponding for the right landing wheel of described battle equipment is lowered the first predetermined value, and described PWM control data corresponding for the left landing wheel of described battle equipment is raised the 2nd predetermined value; The left landing wheel of described battle equipment and right landing wheel is driven to rotate according to the described PWM control data control motor after adjustment.

Left rotor unit 532D, for when indicating described battle equipment to turn left under described upright traveling mode at described movement instruction, described PWM control data corresponding for the right landing wheel of described battle equipment is raised the 3rd predetermined value, and described PWM control data corresponding for the left landing wheel of described battle equipment is lowered the 4th predetermined value; The left landing wheel of described battle equipment and right landing wheel is driven to rotate according to the described PWM control data control motor after adjustment.

In an optional embodiment, when the attack instruction that described operating device sends indicates described battle equipment to launch laser signal to other battle equipment under described upright traveling mode,

3rd control unit 533, comprising:

Modulation subunit 533A, for being modulated in described laser signal by the attack parameter carried in described attack instruction;

Launch subelement 533B, for launching the described laser signal after modulating by built-in Laser emission assembly.

In an optional embodiment, control module 530, also comprises:

4th control unit 534, under described upright traveling mode, the liftoff wheel controlling described battle equipment stops rotating.

In sum, the battle equipment traveling mode switching method that the present embodiment provides, by the traveling mode switching command sent according to operating device, switch to upright traveling mode by normal traveling mode, and control battle equipment further and perform predetermined action under upright traveling mode; Solve existing battle equipment to move with normal traveling mode, the problem that motion pattern is comparatively single; Reach on the basis of original normal traveling mode, it is the newly-increased a kind of upright traveling mode of battle equipment, and battle equipment can perform various motion under upright traveling mode, thus the effect of abundant battle equipment moving pattern.

In the present embodiment, the acceleration information that battle equipment gathers according to acceleration transducer and the angular velocity data that gyrostat gathers calculate the equipment inclination angle of battle equipment, and controlled by landing wheel according to the magnitude relationship between this equipment inclination angle and target-angle further, thus ensure that battle equipment keeps balance at upright traveling mode.

In the present embodiment, when calculating the equipment inclination angle of battle equipment according to acceleration information and angular velocity data, the equipment inclination angle corresponding according to a upper collection moment and angular velocity data obtain predict device inclination angle, metering facility inclination angle is obtained according to the current acceleration information gathering moment collection, and predict device inclination angle and metering facility inclination angle are carried out filtering process, thus reduce the Dip countion error that acceleration information skew produces, it is to increase the accuracy of control under upright traveling mode.

In the present embodiment, owing to, under upright traveling mode, liftoff wheel does not participate in the entirety motion of battle equipment, therefore, when starting upright traveling mode, fight liftoff wheel of device control and stop rotating, thus reduce the overall power under upright traveling mode.

In the present embodiment, battle equipment is by regulating the size of target-angle, it is achieved the forward-reverse of battle equipment under upright traveling mode; By the PWM count certificate regulating each landing wheel corresponding so that there is velocity contrast between each landing wheel, then realize the left-hand rotation under upright traveling mode and turn right, enriched the motion pattern of battle equipment, added the interest of battle equipment.

In the present embodiment, battle equipment is according to the data of Hall encoder collection and the equipment inclination angle of battle equipment that calculates, the PWM control data exported is regulated, thus control the speed of battle equipment landing wheel, avoid battle equipment to topple under upright traveling mode, improve the stability that battle equipment moves under upright traveling mode further.

Fig. 6 shows the structural representation of the battle equipment that one embodiment of the invention provides. Specifically:

Battle equipment 600 comprises battle apparatus body 610, wheel 620, control chip 630, communications component 640, sensor 650, Hall encoder 660, timer 670, drives assembly 680 and storer 690.

It is inner that control chip 630, communications component 640, sensor 650, Hall encoder 660, timer 670, driving assembly 680 and storer 690 are all arranged on battle apparatus body 610, and drive assembly 680 to be connected by linkage structure with wheel 620, thus band motor car wheel 620 rotates.

Each control pin of control chip 630 is electrical connected with communications component 640, sensor 650, Hall encoder 660, timer 670, driving assembly 680 and storer 690 respectively, for controlling the overall operation of battle equipment 600.

Communications component 640 is for carrying out short range wireless transmission with operating device, and this communications component 640 can be WIFI (wirelessfidelity, Wireless Fidelity) module, bluetooth module or infrared rays module etc. Battle equipment 600 communications component of setting corresponding on operating device can carry out the transmission of information by communications component 640.

Sensor 650 specifically comprises acceleration transducer and gyrostat. Wherein, acceleration transducer is for gathering the acceleration information of battle equipment 600; Gyrostat is for gathering the angular velocity data of battle equipment 600.

Hall encoder 660 is for gathering the wheel velocity of battle equipment 600.

Timer 670 is for controlling sensor 650 and Hall encoder 660 according to predetermined frequency acquisition image data, and the data of collection are sent to control chip 630.

Drive the PWM control data CD-ROM drive motor work of assembly 680 for producing according to control chip 630, and drive corresponding vehicle wheel rotation by linkage structure.

The storage media that storer 690 adopts comprises RAM, ROM, EPROM, EEPROM, flash memory or its technology of other solid-state storage, CD-ROM, DVD or other optical storage, tape cassete, tape, disk storage or other magnetic storage apparatus etc. Storing one or more than one program in this storer 690, this program is configured to perform by control chip 630.

Battle equipment 600 also comprises to the power supply (not shown) that each parts are powered, preferably, power supply can be connected with control chip 630 logic by power-supply management system, thus realized the functions such as management charging, electric discharge and power managed by power-supply management system. Power supply can also comprise one or more direct current or AC power, recharges system, power failure detection circuit, Power convert device or the random component such as invertor, power supply status indicator.

It should be noted that, battle equipment 600 can also comprise laser transmitting-receiving device, this laser transmitting-receiving device is for receiving from the laser signal of other battle equipment or sends laser signal to other battle equipment, thus realizes the effect simulating battle, and the present embodiment does not repeat them here.

It should be understood that the battle equipment traveling mode shifter that above-described embodiment provides, only it is illustrated with the division of above-mentioned each function module, in practical application, can complete by different function modules as required and by above-mentioned functions distribution, it is divided into different function modules, to complete all or part of function described above by the internal structure of battle equipment. In addition, the battle equipment traveling mode shifter that above-described embodiment provides belongs to same design with battle equipment traveling mode switching method embodiment, and its specific implementation process refers to embodiment of the method, repeats no more here.

Should be understood that, used herein, unless exception clearly supported in context, odd number form " " (" a ", " an ", " the ") is intended to also comprise plural form. It will be further understood that refer in "and/or" used herein and comprise any of one or more than one project listed explicitly and likely combine.

Above-mentioned embodiment of the present invention sequence number, just to describing, does not represent the quality of embodiment.

One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can be completed by hardware, can also be completed by the hardware that program carrys out instruction relevant, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage media mentioned can be read-only storage, disk or CD etc.

The foregoing is only the better embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment of doing, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (23)

1. a battle equipment traveling mode switching method, it is characterised in that, described method comprises:

The traveling mode switching command that receiving control apparatus sends, described traveling mode switching command is used to indicate battle equipment and switches to upright traveling mode, and described upright traveling mode refers to the pattern of motion under the erectility that described battle equipment lands at part wheel;

Switching to described upright traveling mode according to described traveling mode switching command by normal traveling mode, described normal traveling mode refers to the pattern that described battle equipment moves under full wheel lands state;

Control described battle equipment and perform predetermined action under described upright traveling mode.

2. method according to claim 1, it is characterised in that, described control described battle equipment performs predetermined action under described upright traveling mode, comprising:

Control described battle equipment and stop original place under described upright traveling mode;

Or,

Mode of motion indicated by the movement instruction that described operating device sends, controls described battle equipment and moves under described upright traveling mode, and described mode of motion comprises at least one in advance, retrogressing, left-hand rotation and right-hand rotation;

Or,

Attack mode indicated by the attack instruction that described operating device sends, control is attacked under described upright traveling mode at described battle equipment, and described attack mode comprises: at least one launched laser signal to other battle equipment and clash in other battle equipment.

3. method according to claim 2, it is characterised in that, described switch to described upright traveling mode according to described traveling mode switching command by normal traveling mode, comprising:

Under described normal traveling mode, the power system controlling described battle equipment exports the first motivating force, and described first motivating force is used for as described battle equipment provides the first acceleration along the first direction of motion;

When the speed of described battle equipment reaches pre-set velocity threshold value, the power system controlling described battle equipment exports two motivating force contrary with described first motivating force, described 2nd motivating force is used for as described battle equipment provides the 2nd acceleration along the 2nd direction of motion, and described 2nd direction of motion is contrary with described first direction of motion;

Sensing data according to sensor collection in described battle equipment calculates the equipment inclination angle of described battle equipment, the angle that described equipment inclination angle is used to indicate between the body of described battle equipment and horizontal plane, described sensing data at least comprises acceleration information and angular velocity data;

If described equipment inclination angle is greater than predetermined angle threshold value, then switch to described upright traveling mode by described normal traveling mode;

It is that described equipment inclination angle is carried out negative feedback control by benchmark taking target-angle; The angle that described target-angle is used to indicate between the body of described battle equipment when described battle equipment keeps balancing under described upright traveling mode and described horizontal plane.

4. method according to claim 3, it is characterised in that, gathered for kth, k > 1 moment, the described sensing data according to sensor collection in described battle equipment calculates the equipment inclination angle of described battle equipment, comprising:

Gather the described acceleration information that collects of moment according to described kth, calculate described kth and gather metering facility inclination angle corresponding to moment;

Gather equipment inclination angle corresponding to moment according to the kth-1 that calculates and described kth-1 gathers the described angular velocity data that the moment collects, calculate described kth and gather predict device inclination angle corresponding to moment;

Carrying out filtering process according to described metering facility inclination angle, described predict device inclination angle and Kalman gain, obtain described kth and gather equipment inclination angle corresponding to moment, described Kalman gain calculates according to the covariance at described predict device inclination angle.

5. method according to claim 3 or 4, it is characterised in that, described is that described equipment inclination angle is carried out negative feedback control by benchmark taking target-angle, comprising:

According to described equipment inclination angle and described target-angle, calculate adjustment inclination angle;

Described adjustment inclination angle is carried out proportion integration differentiation PID process, obtains pulse width modulation (PWM) control data;

Controlling motor according to described PWM control data drives the landing wheel of described battle equipment to rotate.

6. method according to claim 3 or 4, it is characterised in that, described battle equipment also comprises Hall encoder, described Hall encoder is for obtaining the wheel velocity of described battle equipment;

Described is that described equipment inclination angle is carried out feedback control by benchmark taking target-angle, comprising:

According to described equipment inclination angle and described target-angle, calculate adjustment inclination angle;

Described adjustment inclination angle is carried out proportion integration differentiation PID process, obtains pulse width modulation (PWM) control data;

Wheel velocity according to described Hall encoder collection calculates the transient acceleration of described battle equipment;

According to described transient acceleration and described equipment Dip countion inclination factor, described inclination factor is used to indicate the current inclined degree of described battle equipment;

If described inclination factor is greater than predetermined coefficient, then determine control data modified value according to described inclination factor;

According to described control data modified value, described PWM control data is revised;

The landing wheel of described battle equipment is driven to rotate according to the described PWM control data control motor after revising.

7. method according to claim 3, it is characterised in that, described control described battle equipment stops original place under described upright traveling mode, comprising:

Control described target-angle to remain unchanged.

8. method according to claim 3, it is characterised in that, when the described movement instruction that described operating device sends indicates described battle equipment advance or retreat,

Mode of motion indicated by the described movement instruction sent according to described operating device, controls described battle equipment and moves under described upright traveling mode, comprising:

When indicating described battle equipment to advance under described upright traveling mode at described movement instruction, described target-angle is lowered the first predetermined number of degrees with respect;

When indicating described battle equipment to retreat under described upright traveling mode at described movement instruction, described target-angle is raised the 2nd predetermined number of degrees with respect.

9. method according to claim 5 or 6, it is characterised in that, when the described movement instruction that described operating device sends indicates described battle equipment turn left or turn right,

Mode of motion indicated by the described movement instruction sent according to described operating device, controls described battle equipment and moves under described upright traveling mode, also comprise:

When indicating described battle equipment to turn right under described upright traveling mode at described movement instruction, described PWM control data corresponding for the right landing wheel of described battle equipment is lowered the first predetermined value, and described PWM control data corresponding for the left landing wheel of described battle equipment is raised the 2nd predetermined value; The left landing wheel of described battle equipment and right landing wheel is driven to rotate according to the described PWM control data control motor after adjustment.

When indicating described battle equipment to turn left under described upright traveling mode at described movement instruction, described PWM control data corresponding for the right landing wheel of described battle equipment is raised the 3rd predetermined value, and described PWM control data corresponding for the left landing wheel of described battle equipment is lowered the 4th predetermined value; The left landing wheel of described battle equipment and right landing wheel is driven to rotate according to the described PWM control data control motor after adjustment.

10. method according to claim 2, it is characterised in that, when the attack instruction that described operating device sends indicates described battle equipment to launch laser signal to other battle equipment under described upright traveling mode,

Attack mode indicated by the described attack instruction sent according to described operating device, controls to attack under described upright traveling mode at described battle equipment, comprising:

The attack parameter carried in described attack instruction is modulated in described laser signal;

The described laser signal after modulating is launched by built-in Laser emission assembly.

11. according to the arbitrary described method of claim 1 to 10, it is characterised in that, described control described battle equipment performs predetermined action under described upright traveling mode, also comprises:

Under described upright traveling mode, the liftoff wheel controlling described battle equipment stops rotating.

12. 1 kinds of battle equipment traveling mode shifters, it is characterised in that, described device comprises:

Receiver module, for the traveling mode switching command that receiving control apparatus sends, described traveling mode switching command is used to indicate battle equipment and switches to upright traveling mode, and described upright traveling mode refers to the pattern of motion under the erectility that described battle equipment lands at part wheel;

Handover module, for switching to described upright traveling mode according to described traveling mode switching command by normal traveling mode, described normal traveling mode refers to the pattern that described battle equipment moves under full wheel lands state;

Control module, performs predetermined action for controlling described battle equipment under described upright traveling mode.

13. devices according to claim 12, it is characterised in that, described control module, comprising:

First control unit, stops original place for controlling described battle equipment under described upright traveling mode;

Or,

2nd control unit, for the mode of motion indicated by the movement instruction that sends according to described operating device, controls described battle equipment and moves under described upright traveling mode, and described mode of motion comprises advance, retrogressing, turns left and at least one in turning right;

Or,

3rd control unit, for the attack mode indicated by the attack instruction that sends according to described operating device, control is attacked under described upright traveling mode at described battle equipment, and described attack mode comprises: at least one launched laser signal to other battle equipment and clash in other battle equipment.

14. devices according to claim 13, it is characterised in that, described handover module, comprising:

First driving control unit, for, under described normal traveling mode, the power system controlling described battle equipment exports the first motivating force, described first motivating force is used for as described battle equipment provides the first acceleration along the first direction of motion;

2nd driving control unit, for when the speed of described battle equipment reaches pre-set velocity threshold value, the power system controlling described battle equipment exports two motivating force contrary with described first motivating force, described 2nd motivating force is used for as described battle equipment provides the 2nd acceleration along the 2nd direction of motion, and described 2nd direction of motion is contrary with described first direction of motion;

First calculating unit, for calculating the equipment inclination angle of described battle equipment according to the sensing data of sensor collection in described battle equipment, the angle that described equipment inclination angle is used to indicate between the body of described battle equipment and horizontal plane, described sensing data at least comprises acceleration information and angular velocity data;

Switch unit, if being greater than predetermined angle threshold value for described equipment inclination angle, then switches to described upright traveling mode by described normal traveling mode;

Equilibrium unit, for being that described equipment inclination angle is carried out negative feedback control by benchmark taking target-angle; The angle that described target-angle is used to indicate between the body of described battle equipment when described battle equipment keeps balancing under described upright traveling mode and described horizontal plane.

15. devices according to claim 14, it is characterised in that, gathered for kth, k > 1 moment, described first calculating unit, comprising:

First computation subunit, for gathering the described acceleration information that collects of moment according to described kth, calculates described kth and gathers metering facility inclination angle corresponding to moment;

2nd computation subunit, for gathering equipment inclination angle corresponding to moment according to the kth-1 that calculates and described kth-1 gathers the described angular velocity data that the moment collects, calculates described kth and gathers predict device inclination angle corresponding to moment;

3rd computation subunit, for carrying out filtering process according to described metering facility inclination angle, described predict device inclination angle and Kalman gain, obtaining described kth and gather equipment inclination angle corresponding to moment, described Kalman gain calculates according to the covariance at described predict device inclination angle.

16. devices according to claims 14 or 15, it is characterised in that, described equilibrium unit, comprising:

4th computation subunit, for according to described equipment inclination angle and described target-angle, calculating adjustment inclination angle;

First process subelement, for described adjustment inclination angle is carried out proportion integration differentiation PID process, obtains pulse width modulation (PWM) control data;

First control subelement, drives the landing wheel of described battle equipment to rotate for controlling motor according to described PWM control data.

17. devices according to claims 14 or 15, it is characterised in that, described battle equipment also comprises Hall encoder, described Hall encoder is for obtaining the wheel velocity of described battle equipment;

Described equilibrium unit, comprising:

5th computation subunit, for according to described equipment inclination angle and described target-angle, calculating adjustment inclination angle;

2nd process subelement, for described adjustment inclination angle is carried out proportion integration differentiation PID process, obtains pulse width modulation (PWM) control data;

6th computation subunit, for calculating the transient acceleration of described battle equipment according to the wheel velocity of described Hall encoder collection;

7th computation subunit, for according to described transient acceleration and described equipment Dip countion inclination factor, described inclination factor is used to indicate the current inclined degree of described battle equipment;

Determining subelement, if being greater than predetermined coefficient for described inclination factor, then determining control data modified value according to described inclination factor;

Revise subelement, for described PWM control data being revised according to described control data modified value;

2nd control subelement, for driving the landing wheel of described battle equipment to rotate according to the described PWM control data control motor after correction.

18. devices according to claim 14, it is characterised in that, described first control unit, also remains unchanged for controlling described target-angle.

19. devices according to claim 14, it is characterised in that, when the described movement instruction that described operating device sends indicates described battle equipment advance or retreat,

Described 2nd control unit, comprising:

Lower subelement, for when indicating described battle equipment to advance under described upright traveling mode at described movement instruction, described target-angle being lowered the first predetermined number of degrees with respect;

Raise subelement, for when indicating described battle equipment to retreat under described upright traveling mode at described movement instruction, described target-angle being raised the 2nd predetermined number of degrees with respect.

20. devices according to claim 16 or 17, it is characterised in that, when the described movement instruction that described operating device sends indicates described battle equipment turn left or turn right,

Described 2nd control unit, also comprises:

Right rotor unit, for when indicating described battle equipment to turn right under described upright traveling mode at described movement instruction, described PWM control data corresponding for the right landing wheel of described battle equipment is lowered the first predetermined value, and described PWM control data corresponding for the left landing wheel of described battle equipment is raised the 2nd predetermined value; The left landing wheel of described battle equipment and right landing wheel is driven to rotate according to the described PWM control data control motor after adjustment.

Left rotor unit, for when indicating described battle equipment to turn left under described upright traveling mode at described movement instruction, described PWM control data corresponding for the right landing wheel of described battle equipment is raised the 3rd predetermined value, and described PWM control data corresponding for the left landing wheel of described battle equipment is lowered the 4th predetermined value; The left landing wheel of described battle equipment and right landing wheel is driven to rotate according to the described PWM control data control motor after adjustment.

21. devices according to claim 13, it is characterised in that, when the attack instruction that described operating device sends indicates described battle equipment to launch laser signal to other battle equipment under described upright traveling mode,

Described 3rd control unit, comprising:

Modulation subunit, for being modulated in described laser signal by the attack parameter carried in described attack instruction;

Launch subelement, for launching the described laser signal after modulating by built-in Laser emission assembly.

22. according to claim 12 to 21 arbitrary described devices, it is characterised in that, described control module, also comprises:

4th control unit, under described upright traveling mode, the liftoff wheel controlling described battle equipment stops rotating.

23. 1 kinds of battle equipment, it is characterised in that, described battle equipment comprises: battle apparatus body, wheel, control chip, communications component, sensor module and driving assembly;

It is inner that described control chip, described communications component, described sensor module and described driving assembly are arranged on described battle apparatus body;

Described driving assembly is connected by linkage structure with described wheel;

Described control chip is electrical connected with described communications component, described sensor module and described driving assembly respectively;

Described control chip comprise as arbitrary in claim 12 to 22 as described in battle equipment traveling mode shifter.