CN106371434A - Method for controlling mobile apparatus to maintain balance, and mobile apparatus - Google Patents
Method for controlling mobile apparatus to maintain balance, and mobile apparatus Download PDFInfo
- Publication number
- CN106371434A CN106371434A CN201510437385.2A CN201510437385A CN106371434A CN 106371434 A CN106371434 A CN 106371434A CN 201510437385 A CN201510437385 A CN 201510437385A CN 106371434 A CN106371434 A CN 106371434A
- Authority
- CN
- China
- Prior art keywords
- mobile device
- acceleration
- guide rail
- balance weight
- balance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a method for controlling a mobile apparatus to maintain a balance, for solving the technical problem of easy overturn of a mobile robot. The method comprises the following steps: obtaining a first accelerated speed of the mobile apparatus; determining whether the first accelerated speed changes; if so, controlling a guide rail in a balance assembly of the mobile apparatus to rotate around the center of the balance assembly so as to enable the direction of the guide rail to be the same as the direction of the first accelerated speed, wherein the guide rail is provided with a first end and a second end, and a direction from the first end to the second end is the direction of the guide rail; and according to the value of the first accelerated speed, controlling a balance block on the guide rail to move to a second position from a first position so as to enable the mobile apparatus to maintain the balance. The invention further discloses a corresponding electronic device. The invention also discloses a corresponding mobile apparatus.
Description
Technical field
The present invention relates to field of computer technology, particularly to a kind of for controlling mobile device to keep balance
Method and mobile device.
Background technology
At present, mobile robot unexpected startup, braking and turn when it may occur that upset, especially
Starting loop, braking acceleration and turning acceleration ratio larger when, be very easy to produce upset, pole
The big development constraining mobile robot.
In prior art, the general speed using the motion reducing moving machine people, or by mobile robot
Center of gravity tries one's best the mode reducing avoiding mobile robot to overturn, although these modes can improve movement
The problem that robot easily overturns, increased the stability of mobile robot to a certain extent, if however,
By the way of the movement rate reducing mobile robot, mobile robot will be made can only to undertake some low speed
The task of motion, significantly limit the working range of mobile robot, moves machine according to reducing
The mode of people's center of gravity, must increase the weight of mobile robot bottom, can increase the work(of mobile robot again
Consumption.
It can be seen that, do not have preferable mode to solve the problems, such as that mobile robot easily overturns in prior art.
Content of the invention
The embodiment of the present invention provides a kind of method balancing for controlling mobile device to keep and mobile device, uses
In the technical problem solving the easy upset of mobile robot.
On the one hand, provide a kind of method for controlling mobile device to keep balance, comprising:
Obtain the first acceleration of described mobile device；
Judge whether described first acceleration changes；
If change, the guide rail in the balanced component of described mobile device is controlled to turn around the center of described balanced component
Dynamic, so that the direction of described guide rail is identical with the direction of described first acceleration；Wherein, described guide rail has
First end and the second end, the direction of described first end to described second end is the direction of described guide rail；
According to the value of described first acceleration, balance weight on described guide rail is controlled to move to the from primary importance
Two positions, so that described mobile device keeps balance.
Optionally, the guide rail in the balanced component controlling described mobile device is around the center of described balanced component
Before rotation, methods described also includes:
Obtain the changing value of described first acceleration；
Determine the first velocity of rotation that described guide rail is rotated for initial point with the center of described balanced component；Wherein,
Described first velocity of rotation is corresponding with the changing value of described first acceleration；
Determine that described balance weight moves to the first translational speed of the described second position from described primary importance；Its
In, described first translational speed is corresponding with the changing value of described first acceleration.
Optionally, methods described also includes:
According to the quality of described mobile device, the quality of described balance weight is set；Wherein, described balance weight
Quality is corresponding with the quality of described mobile device.
Optionally, in the value according to described first acceleration, control the balance weight on described guide rail from first
Put before moving to the second position, methods described also includes:
Judge whether the value of described first acceleration exceedes predetermined threshold value；Wherein, described predetermined threshold value refers to institute
State the acceleration of the maximum of mobile device permission；
According to the value of described first acceleration, balance weight on described guide rail is controlled to move to the from primary importance
Two positions, comprising:
If the value of described first acceleration exceedes described predetermined threshold value, control the balance weight on described guide rail from institute
State primary importance and move to the described second position, and control the brake component of described mobile device to be described movement
Device is braked, so that described mobile device keeps balance.
Optionally, the guide rail in the balanced component controlling described mobile device is around the center of described balanced component
Before rotation, methods described also includes:
Detect the quality of described mobile device.
On the other hand, provide a kind of electronic equipment, specifically include:
Body；
Balanced component, setting on the body, including guide rail and be arranged on the balance weight on described guide rail；
Wherein, described guide rail has first end and the second end, and the direction of described first end to described second end is described
The direction of guide rail；Described guide rail can be around the center rotating of described balanced component；
Acceleration transducer, arranges on the body, for obtaining the first acceleration of described mobile device；
Processor, arranges on the body, for judging whether described first acceleration changes；If change,
Control described guide rail around the center rotating of described balanced component, so that the direction of described guide rail adds with described first
The direction of speed is identical；According to the value of described first acceleration, control balance weight on described guide rail from first
Position moves to the second position, so that described mobile device keeps balance.
Optionally, described processor is additionally operable to:
Control described mobile device balanced component in guide rail around described balanced component center rotating it
Before, obtain the changing value of described first acceleration；
Determine the first velocity of rotation that described guide rail is rotated for initial point with the center of described balanced component；Wherein,
Described first velocity of rotation is corresponding with the changing value of described first acceleration；
Determine that described balance weight moves to the first translational speed of the described second position from described primary importance；Its
In, described first translational speed is corresponding with the changing value of described first acceleration.
Optionally, described processor is additionally operable to:
According to the quality of described mobile device, the quality of described balance weight is set；Wherein, described balance weight
Quality is corresponding with the quality of described mobile device.
Optionally, described processor is additionally operable to:
In the value according to described first acceleration, the balance weight on described guide rail is controlled to move to from primary importance
Before the second position, judge whether the value of described first acceleration exceedes predetermined threshold value；Wherein, described default
Threshold value refers to the acceleration of the maximum that described mobile device allows；If the value of described first acceleration exceedes described
Predetermined threshold value, controls the balance weight on described guide rail to move to the described second position from described primary importance, and
The brake component controlling described mobile device is described mobile device braking, so that described mobile device keeps
Balance.
Optionally, described mobile device also includes:
Pressure transducer, for the guide rail in the balanced component controlling described mobile device around described balance group
Before the center rotating of part, detect the quality of described mobile device.
Said one in the embodiment of the present invention or multiple technical scheme, at least have following one or more skill
Art effect and advantage:
In the embodiment of the present invention, balanced component is set on the mobile device, if the acceleration of mobile device is (i.e.
First acceleration) change, then control the guide rail on balanced component to rotate, and control on guide rail
Balance weight shift position, make balance weight with respect to mobile device center of gravity produce a moment, to balance shifting
The moment of inertia that dynamic device produces when acceleration changes, such that it is able to make mobile device keep flat as far as possible
Weighing apparatus, efficiently solves the technical problem of mobile device easily upset in motion.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
Example or description of the prior art in required use accompanying drawing be briefly described it should be apparent that, below describe
In accompanying drawing be only embodiments of the invention, for those of ordinary skill in the art, do not paying wound
On the premise of the property made work, other accompanying drawings can also be obtained according to the accompanying drawing providing.
Fig. 1 is the flow chart in the embodiment of the present invention for controlling mobile device to keep the method for balance；
Fig. 2 a, Fig. 2 b are the top view of balanced component and side view in the embodiment of the present invention；
Fig. 3 a, Fig. 3 b are the schematic diagram of the guide rail in balanced component in the embodiment of the present invention and balance weight；
Fig. 4 a, Fig. 4 b are the schematic diagram during mobile device work in the embodiment of the present invention；
Fig. 5 is the structural representation of the mobile device in the embodiment of the present invention；
Fig. 6 is the structural representation of the mobile device with pressure transducer in the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention provides a kind of method for controlling mobile device to keep balance, and methods described is concrete
Including:
Obtain the first acceleration of mobile device；
Judge whether the first acceleration changes；
If change, control the guide rail in the balanced component of mobile device around the center rotating of balanced component, so that
The direction of guide rail is identical with the direction of the first acceleration；Wherein, guide rail has first end and the second end, and first
Hold the direction for guide rail for the direction at the second end；
According to the value of the first acceleration, the balance weight on guide rail is controlled to move to the second position from primary importance,
So that mobile device keeps balance.
In the embodiment of the present invention, balanced component is set on the mobile device, if the acceleration of mobile device is (i.e.
First acceleration) change, then control the guide rail on balanced component to rotate, and control on guide rail
Balance weight shift position, make balance weight with respect to mobile device center of gravity produce a moment, to balance shifting
The moment of inertia that dynamic device produces when acceleration changes, such that it is able to make mobile device keep flat as far as possible
Weighing apparatus, efficiently solves the technical problem of mobile device easily upset in motion.
For making the object, technical solutions and advantages of the present invention become more apparent, real below in conjunction with the present invention
Apply the accompanying drawing in example, the technical scheme in the embodiment of the present invention is clearly and completely described it is clear that
Described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on this
Embodiment in bright, the institute that those of ordinary skill in the art are obtained under the premise of not making creative work
There is other embodiment, broadly fall into the scope of protection of the invention.Reality in the case of not conflicting, in the present invention
Applying feature in example and embodiment can mutual combination in any.And although show logic in flow charts
Sequentially, but in some cases, can be with the step shown or described different from order execution herein.
In addition, the terms "and/or", a kind of only incidence relation of description affiliated partner, expression can
There are three kinds of relations, for example, a and/or b, can represent: individualism a, exist simultaneously a and
These three situations of b, individualism b.In addition, character "/" herein, in the case of not illustrating,
Typically represent forward-backward correlation to as if a kind of relation of "or".
Below in conjunction with the accompanying drawings the preferred embodiment of the present invention is described in detail.
Refer to Fig. 1, the embodiment of the present invention provides a kind of method for controlling mobile device to keep balance, institute
The flow process stating method is described as follows.
S101: obtain the first acceleration of mobile device.
In the embodiment of the present invention, the acceleration of mobile device is referred to as the first acceleration.
In the embodiment of the present invention, for example, it is provided with acceleration transducer on the mobile device, for example, can only set
Put an acceleration transducer, or multiple acceleration transducers can also be set.For example, it is possible to move
On the position of the center of gravity of device arrange an acceleration transducer, or for example, it is possible in mobile device four
Individual orientation, that is, forward and backward, left and right respectively one acceleration transducer of setting, etc..Here setting position
Put and simply illustrate, in specific implementation process, according to different situations, acceleration transducer can be arranged on
Different positions.
For example, it is respectively arranged an acceleration sensing in forward and backward, left and right four orientation of mobile device
Device, in initial time, mobile device can be passed through four acceleration transducers respectively and obtain adding of four orientation
The acceleration in this four orientation afterwards, can be synthesized by speed, adding after final one synthesis of acquisition
Speed, and can using synthesis after acceleration as mobile device acceleration.Specifically multiple acceleration are entered
The method of row synthesis can adopt the methods such as well-known to one skilled in the art parallelogram, is embodied as
Mode refers to prior art, and the present invention seldom repeats.
In the embodiment of the present invention, arranging multiple acceleration transducers on the mobile device can more accurately obtain
Obtain the acceleration of mobile device, and single acceleration transducer is set on the mobile device and can effectively control
The cost of mobile device, saves hardware resource.Therefore, one of ordinary skill in the art can be according to practical situation
Using different set-up modes, the present invention is not construed as limiting to this.
S102: judge whether the first acceleration changes.
In the embodiment of the present invention, it is additionally provided with processor on the mobile device, as miniature in one can be arranged
Central processing unit (central processing unit, cpu), this central processing unit can store acceleration and pass
The acceleration that sensor obtains, and whether the acceleration that can more currently obtain and the acceleration obtaining before
Identical, if do not changed by comparing determination acceleration, the balance in mobile device can be controlled
Guide rail in assembly or balance weight are not moved.And if there occurs change by comparing determination acceleration,
Guide rail or balance weight can be controlled to be moved.
S103: if change, control the guide rail in the balanced component of mobile device around the center rotating of balanced component,
So that the direction of guide rail is identical with the direction of the first acceleration；Wherein, guide rail has first end and the second end,
First end to the second end direction be guide rail direction.
Refer to Fig. 2 a and Fig. 2 b, in order that the embodiment of the present invention is more full and accurate, briefly introduce one first
Balanced component in the lower embodiment of the present invention.This balanced component includes guide rail 201, balance weight 202, balance group
The shell 203 of part.Wherein, in order that guide rail 201 can carry out the free motion in the range of [0,360 °],
The shell 203 of balanced component can be shaped to cylinder, so, the shell 203 of balanced component
Top view be circular (referring to Fig. 2 a), side view is flat rectangle (referring to Fig. 2 b), similar to
Circular dial plate.In addition, being provided centrally with guide rail 201 in mobile device, similar to the pointer in dial plate,
On guide rail, 201 are provided with balance weight 202, and balance weight 202 can slide along guide rail 201 on guide rail.
Certainly, above-mentioned set-up mode is used only for citing and introduces the present invention, is not limitation of the invention.
Refer to Fig. 3 a, in the embodiment of the present invention, as the acceleration a (i.e. the first acceleration) of mobile device
When changing, first, mobile device will control guide rail 201 to move, and makes the direction of guide rail 201 (i.e.
First end points to the direction at the second end) consistent with the direction of the first acceleration a, so, in balance weight 202
After movement, balance weight 202 will be with the first acceleration a with respect to moment produced by the center of gravity of mobile device
It is located on straight line with respect to moment produced by the center of gravity of mobile device, so, in control afterwards
Cheng Zhong, mobile device only may can produce the torque of inertia, in brief, mobile device on this straight line
The deflection beyond this straight line place direction typically will not be produced, afterwards it is only necessary to control balance weight 202 to exist
This linear motion, and then control mobile device balance, without considering other directions, so,
With respect to needing in prior art to consider the acceleration change in multiple directions, the balance of mobile device is controlled
Say, simplify control process, improve control efficiency.
S104: according to the value of the first acceleration, control the balance weight on guide rail to move to second from primary importance
Position, so that mobile device keeps balance.
Refer to Fig. 3 b, in the embodiment of the present invention, identical with the direction of the first acceleration in guide rail 201 direction
Afterwards, mobile device can control the balance weight 202 on guide rail 201 to be moved, and moves from primary importance
Move the second position, and work as after balance weight 202 moves to the second position, in the balance weight of second position
202 with the center of gravity of mobile device as fulcrum, will produce a moment, and the power of this moment is the weight of balance weight 202
Power, the arm of force of this moment for the second position to mobile device center of gravity be located, perpendicular to horizontal plane straight line
With the distance of the intersection point of balanced component place plane, preferably, can be by the center of balanced component and mobile dress
The center of gravity put is arranged on same straight line, and this straight line is perpendicular to horizontal plane, and so, the second position arrives
The distance at the center of balanced component is the arm of force of balance weight 202, and now, balance weight 202 is with respect to movement
The center of gravity of device just creates moment, and the direction () of this moment is clockwise taking Fig. 3 b as a example, and the
The direction () of the moment with respect to the center of gravity of mobile device for one acceleration is counterclockwise taking Fig. 3 b as a example,
Because the direction of this two moments is contrary, and after obtaining the first acceleration, the first acceleration phase
Moment for the center of gravity of mobile device is constant, so, by adjustment block 202 location,
Different moments can be obtained, so, when balance weight 202 moves to suitable position (i.e. the second position)
When, this two moments equal in magnitude, and in opposite direction, mobile device will not be affected by inertia,
Keep the balance of mobile device.
In the embodiment of the present invention, the present invention is described it is assumed that a kind of scene in order to more full and accurate: initial time,
Mobile device remains static, and balance weight 202 is in primary importance, and now primary importance is exactly to balance
The position that the center of assembly is located.Such as mobile device weighs 10 kilograms, and its center of gravity is point a, balance weight 202
Weigh 2 kilograms, mobile device centroidal distance horizontal plane height h be 0.5 meter, now, balanced component
By level acceleration a to the right, for example, 5 meter/square seconds, so, mobile device will be by one
Individual inertia force f, refers to Fig. 4 a, and inertia force with respect to moment of inertia produced by the center of gravity of mobile device is
25 Newton meters, due to the presence of this moment of inertia, mobile device can not keep balancing, it will to the inverse time
Pin direction overturns.Now, in order that mobile device keeps balance, according to moment of inertia, and balance weight 202
Gravity, by calculate can obtain that balance weight 202 moves right apart from x, such as x is about 1.25 meters,
Refer to Fig. 4 b, mobile device can control balance weight 202 to move to the second position afterwards, now, mobile
Device is subject to identical, the in opposite direction moment of two sizes simultaneously, and this two moments are cancelled out each other, mobile dress
Put and will not overturn, maintain balance.
Optionally, in the embodiment of the present invention, the guide rail in the balanced component controlling mobile device is around balance group
Before the center rotating of part, the method also includes:
Obtain the changing value of the first acceleration；
Determine the first velocity of rotation that guide rail is rotated for initial point with the center of balanced component；Wherein, the first rotation
Speed is corresponding with the changing value of the first acceleration；
Determine that balance weight moves to the first translational speed of the second position from primary importance；Wherein, first is mobile
Speed is corresponding with the changing value of the first acceleration.
In the embodiment of the present invention, the hopping amplitude of acceleration can be very big, for example: the acceleration of initial time
For 0, mobile device is likely to be at resting state, or linear uniform motion state, post-acceleration from 0
May directly change into for 10 meter/square seconds.Certainly the hopping amplitude of acceleration is likely to very little, e.g., from initial
1 meter/square second the change in moment turned to for 2 meter/square seconds, now, the mobile speed of the guide rail 201 in mobile device
Degree can also be different according to the pace of change of acceleration.Continue with the description of above-mentioned example, when mobile dress
Put when being subject to suddenly a larger acceleration, it is most likely that can lead to move when that is, acceleration rapidly changes
Device overturns at once, now, in order that mobile device keeps balancing as early as possible, it is to avoid mobile device overturns, example
As the translational speed of guide rail 201 being set to 10 meter per seconds, in the same manner, for example can be by balance weight 202
Translational speed is set to 15 meter per seconds, so can keep balance with shorter time control mobile device.And such as
The acceleration change of fruit mobile device is less, and mobile device may will not overturn at once, then can will lead
The translational speed of the translational speed of rail 201 and balance weight 202 is set to a rational speed more, should
Speed will not be too fast, for example, may be configured as 3 meter per seconds, so both can guarantee that mobile device will not overturn,
Also the power consumption because quickly driving guide rail 201 and mobile the brought motor of balance weight 202 can be reduced, effectively
The energy resource saving mobile device.
Optionally, in the embodiment of the present invention, the method also includes:
According to the quality of mobile device, the quality of balance weight is set；Wherein, the quality of balance weight and mobile dress
The quality put corresponds to.
In the embodiment of the present invention, generally, the quality of mobile device is known, at this point it is possible to root
Quality according to mobile device configures suitable balance weight for mobile device, for example: if the weight of mobile device
Ratio is larger, then corresponding in order to reach good counterbalance effect, balance weight should also be as the heavier of setting, and
When the weight of mobile device is less, equally for more preferable counterbalance effect, it is less that balance weight should be arranged,
So, mobile device according to the quality of its own, can arrange the balance weight of different quality, makes mobile device
There is more preferable counterbalance effect.
Optionally, in the embodiment of the present invention, in the value according to the first acceleration, control the balance weight on guide rail
Before primary importance moves to the second position, the method also includes:
Judge whether the value of the first acceleration exceedes predetermined threshold value；Wherein, predetermined threshold value refers to that mobile device permits
The acceleration of the maximum permitted；
According to the value of the first acceleration, the balance weight on guide rail is controlled to move to the second position from primary importance,
Including:
If the value of the first acceleration exceedes predetermined threshold value, the balance weight on guide rail is controlled to move to from primary importance
The second position, and control the brake component of mobile device to brake for mobile device, so that mobile device keeps
Balance.
In the embodiment of the present invention, in a practical situation, in order to not affect the attractive in appearance of mobile device, balanced component
Typically there is the size of a fixation that is to say, that when balance weight 202 moves to the edge of balanced component,
In general the maximum moment that this balance weight 202 can be generated by with respect to the center of gravity of mobile device is to determine.
In general the acceleration of the actually maximum that mobile device can bear also is to determine, when mobile device
Acceleration suddenly change to the maximum that can be supported by more than mobile device acceleration (i.e. predetermined threshold value) when,
In order to mobile device can be kept with the current kinestate of an acceleration change faster, simultaneously again will not
Mobile device is made to overturn, mobile device can start brakes, for reducing the acceleration of mobile device,
Meanwhile, balance weight 202 can be controlled to move to apart from the farthest position of the center of gravity of mobile device, i.e. guide rail 201
Marginal portion, such that it is able to produce maximum moment, so, mobile device can be in situation about not overturning
Under, the acceleration of the maximum supporting to change current kinestate.
Optionally, the method also includes:
Before the center rotating of balanced component, detection moves guide rail in the balanced component controlling mobile device
The quality of dynamic device.
It is assumed that mobile device has the ability of carry load in the embodiment of the present invention, i.e. the quality of mobile device
May change, then need when the acceleration of mobile device changes, detection obtains the matter of mobile device
Amount, effectively to calculate balance weight to need the distance of movement, being more accurately controlled mobile device and keeping
Balance.
The present invention is in embodiment, can detect the quality obtaining mobile device, example by pressure transducer
On the bearing of tire, pressure transducer can also be arranged near the position of tire of mobile device, example
As similar to tyre pressure sensor, calculated the quality of mobile device using tire pressure.
Preferably, in the embodiment of the present invention, mobile device may be configured as the shape of more rule, continuing with ginseng
Examine Fig. 4 a and Fig. 4 b.As mobile device being set to the dolly that side view is " shape of falling t ", bottom
Disk is the rectangle of rule, and middle setting has vertical fix bar, and balanced component is set to hollow ring, sheathed
In fix bar, with the shape of season load and being shaped like of balanced component, i.e. load and balanced component group
Concentrically justify, in this case, the quality of the load according to mobile device can more easily be determined
The center of gravity of mobile device, and can ensure that the center of gravity of mobile device all the time on the straight line that fix bar is located.
So, the center of gravity according to mobile device is located position and the quality of the mobile device detecting, permissible
Accurately calculate the moment of inertia itself being subject to, such that it is able to flat such that it is able to relatively accurately determine
Weighing apparatus block 202 needs the distance of movement, greatly improves balanced component and controls mobile device to keep the standard of balance
Really property, reduces error when controlling.
In the embodiment of the present invention, the sensor of mobile device for example can in real time, timing or when being triggered (
When acceleration change is detected) quality of monitoring mobile device, the present invention is not construed as limiting to this.
Optionally, in the embodiment of the present invention, in the first acceleration change, information can also be exported；
Wherein, information is used for pointing out user, and mobile device is in unbalanced state.
In the embodiment of the present invention, when the acceleration of mobile device changes, mobile device can be actively defeated
Go out information, information can be for example audio frequency, or can also be other possible informations.
For example, it is assumed that a kind of situation, load in mobile device is some dangerous materials, once overturning,
These dangerous materials will may threaten the safety of people around, now, when mobile device it may happen that upset when,
Mobile device can actively export information, for example, can sound the alarm, and so can effectively point out
The people of surrounding hides as early as possible, and can simultaneously be effectively prompting staff prevents mobile device from overturning, to the greatest extent
Amount avoids the generation of danger.
Refer to Fig. 5, based on same inventive concept, the embodiment of the present invention also provides a kind of mobile device, comprising:
Body 501；
Balanced component 502, is arranged on body 501, including guide rail 201 and be arranged on guide rail 201
Balance weight 202；Wherein, guide rail 201 has first end and the second end, and the direction of first end to the second end is to lead
The direction of rail；Guide rail can be around the center rotating of balanced component；
Acceleration transducer 505, is arranged on body 501, for obtaining the first acceleration of mobile device；
Processor 506, is arranged on body 501, for judging whether the first acceleration changes；If change,
Control guide rail 201 around the center rotating of balanced component 502, so that the direction of guide rail 201 and the first acceleration
Direction identical；According to the value of the first acceleration, balance weight 202 is controlled to move to second from primary importance
Put, so that mobile device keeps balance.
Optionally, in the embodiment of the present invention, processor 506 is additionally operable to:
Guide rail 201 in the balanced component controlling mobile device, before the center rotating of balanced component, obtains
Obtain the changing value of the first acceleration；Determine that guide rail 201 is rotated with the center of balanced component 502 for initial point
One velocity of rotation；Wherein, the first velocity of rotation is corresponding with the changing value of the first acceleration；Determine balance weight 202
Move to the first translational speed of the second position from primary importance；Wherein, the first translational speed and the first acceleration
The changing value of degree corresponds to.
Optionally, in the embodiment of the present invention, processor 506 is additionally operable to:
According to the quality of mobile device, the quality of balance weight 202 is set；Wherein, the quality of balance weight 202
Corresponding with the quality of mobile device.
Optionally, in the embodiment of the present invention, processor 506 is additionally operable to:
In the value according to the first acceleration, the balance weight 202 on guide rail 201 is controlled to move to from primary importance
Before the second position, judge whether the value of the first acceleration exceedes predetermined threshold value；Wherein, predetermined threshold value refers to
The acceleration of the maximum that mobile device allows；If the value of the first acceleration exceedes described predetermined threshold value, control is led
Balance weight 202 on rail 201 moves to the second position from primary importance, and controls the braking parts of mobile device
Part is braked for mobile device, so that mobile device keeps balance.
Optionally, refer to Fig. 6, in the embodiment of the present invention, mobile device also includes:
Pressure transducer 507, for the guide rail in the balanced component controlling mobile device in balanced component
Before the heart rotates, the quality of detection mobile device.
It should be noted that in the embodiment of the present invention, processor 506 is sightless, for the ease of more
Describe the present invention full and accurately, marked with dashed rectangle here.
Electronic equipment in the embodiment of the present invention is corresponded with foregoing method for information display, embodiment party
Formula can mutually reference, therefore describe electronic equipment when for repeat content partly seldom repeat.
Said one in the embodiment of the present invention or multiple technical scheme, at least have following one or more skill
Art effect and advantage:
In the embodiment of the present invention, balanced component is set on the mobile device, if the acceleration of mobile device is (i.e.
First acceleration) change, then control the guide rail on balanced component to rotate, and control on guide rail
Balance weight shift position, make balance weight with respect to mobile device center of gravity produce a moment, to balance shifting
The moment of inertia that dynamic device produces when acceleration changes, such that it is able to make mobile device keep flat as far as possible
Weighing apparatus, efficiently solves the technical problem of mobile device easily upset in motion.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned
The division of each functional module is illustrated, and in practical application, can divide above-mentioned functions as desired
Join and completed by different functional units, the internal structure of device will be divided into different functional units, with complete
Become all or part of function described above.The specific works mistake of the system, apparatus, and unit of foregoing description
Journey, may be referred to the corresponding process in preceding method embodiment, will not be described here.
It should be understood that disclosed system, device and side in several embodiments provided by the present invention
Method, can realize by another way.For example, device embodiment described above is only schematically
, for example, the division of described module or unit, only a kind of division of logic function, actual can when realizing
There to be other dividing mode, for example multiple units or assembly can in conjunction with or be desirably integrated into another and be
Unite, or some features can be ignored, or do not execute.Another, shown or discussed coupling each other
Close or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or communication
Connect, can be electrical, mechanical or other forms.
The described unit illustrating as separating component can be or may not be physically separate, as
The part that unit shows can be or may not be physical location, you can with positioned at a place, or
Can also be distributed on multiple NEs.Can select therein some or all of according to the actual needs
Unit is realizing the purpose of this embodiment scheme.
In addition, can be integrated in a processing unit in each functional unit in each embodiment of the present invention,
Can also be that unit is individually physically present it is also possible to two or more units are integrated in a unit
In.Above-mentioned integrated unit both can be to be realized in the form of hardware, it would however also be possible to employ SFU software functional unit
Form is realized.
If described integrated unit realized using in the form of SFU software functional unit and as independent production marketing or
During use, can be stored in a computer read/write memory medium.Based on such understanding, the present invention
The part that substantially in other words prior art contributed of technical scheme or this technical scheme whole or
Partly can be embodied in the form of software product, this computer software product is stored in a storage medium
In, including some instructions with so that computer equipment (can be personal computer, server, or
Person's network equipment etc.) or processor (processor) execute each embodiment methods described of the present invention whole or
Part steps.And aforesaid storage medium includes: u disk, portable hard drive, read only memory (read-only
Memory, rom), random access memory (random access memory, ram), magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Specifically, the method that one of embodiment of the present invention is used for controlling mobile device to keep balance corresponds to
Computer program instructions can be stored in CD, hard disk, on the storage medium such as u disk, work as storage medium
In with a kind of for control mobile device keep balance the corresponding computer program instructions of method by an electronics
When equipment reads or is performed, comprise the steps:
Obtain the first acceleration of described mobile device；
Judge whether described first acceleration changes；
If change, the guide rail in the balanced component of described mobile device is controlled to turn around the center of described balanced component
Dynamic, so that the direction of described guide rail is identical with the direction of described first acceleration；Wherein, described guide rail has
First end and the second end, the direction of described first end to described second end is the direction of described guide rail；
According to the value of described first acceleration, balance weight on described guide rail is controlled to move to the from primary importance
Two positions, so that described mobile device keeps balance.
Optionally, in described storage medium storage and step: control described mobile device balanced component
In guide rail around described balanced component center rotating, corresponding computer instruction being specifically performed before,
Specifically include following steps:
Obtain the changing value of described first acceleration；
Determine the first velocity of rotation that described guide rail is rotated for initial point with the center of described balanced component；Wherein,
Described first velocity of rotation is corresponding with the changing value of described first acceleration；
Determine that described balance weight moves to the first translational speed of the described second position from described primary importance；Its
In, described first translational speed is corresponding with the changing value of described first acceleration.
Optionally, in described storage medium, the computer instruction corresponding with step of storage had specifically been performed
Cheng Zhong, specifically includes following steps:
According to the quality of described mobile device, the quality of described balance weight is set；Wherein, described balance weight
Quality is corresponding with the quality of described mobile device.
Optionally, in described storage medium storage and step: according to the value of described first acceleration, control
Balance weight on described guide rail moves to the second position from primary importance, and corresponding computer instruction is in specifically quilt
Before execution, specifically include following steps:
Judge whether the value of described first acceleration exceedes predetermined threshold value；Wherein, described predetermined threshold value refers to institute
State the acceleration of the maximum of mobile device permission；
According to the value of described first acceleration, balance weight on described guide rail is controlled to move to the from primary importance
Two positions, comprising:
If the value of described first acceleration exceedes described predetermined threshold value, control the balance weight on described guide rail from institute
State primary importance and move to the described second position, and control the brake component of described mobile device to be described movement
Device is braked, so that described mobile device keeps balance.
Optionally, in described storage medium storage and step: control control described mobile device balance group
Guide rail in part is specifically being performed process around the center rotating of described balanced component, corresponding computer instruction
Before, following steps are specifically included:
Detect the quality of described mobile device.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know base
This creative concept, then can make other change and modification to these embodiments.So, appended right will
Ask and be intended to be construed to including preferred embodiment and fall into being had altered and changing of the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without deviating from this to the present invention
Bright spirit and scope.So, if the present invention these modification and modification belong to the claims in the present invention and
Within the scope of its equivalent technologies, then the present invention is also intended to comprise these changes and modification.
Claims (10)
1. a kind of method for controlling mobile device to keep balance, methods described includes:
Obtain the first acceleration of described mobile device；
Judge whether described first acceleration changes；
If change, the guide rail in the balanced component of described mobile device is controlled to turn around the center of described balanced component
Dynamic, so that the direction of described guide rail is identical with the direction of described first acceleration；Wherein, described guide rail has
First end and the second end, the direction of described first end to described second end is the direction of described guide rail；
According to the value of described first acceleration, balance weight on described guide rail is controlled to move to the from primary importance
Two positions, so that described mobile device keeps balance.
2. the method for claim 1 it is characterised in that control described mobile device balance group
Before the center rotating of described balanced component, methods described also includes guide rail in part:
Obtain the changing value of described first acceleration；
Determine the first velocity of rotation that described guide rail is rotated for initial point with the center of described balanced component；Wherein,
Described first velocity of rotation is corresponding with the changing value of described first acceleration；
Determine that described balance weight moves to the first translational speed of the described second position from described primary importance；Its
In, described first translational speed is corresponding with the changing value of described first acceleration.
3. the method for claim 1 is it is characterised in that methods described also includes:
According to the quality of described mobile device, the quality of described balance weight is set；Wherein, described balance weight
Quality is corresponding with the quality of described mobile device.
4. described method as arbitrary in claim 1-3 it is characterised in that
In the value according to described first acceleration, the balance weight on described guide rail is controlled to move to from primary importance
Before the second position, methods described also includes:
Judge whether the value of described first acceleration exceedes predetermined threshold value；Wherein, described predetermined threshold value refers to institute
State the acceleration of the maximum of mobile device permission；
According to the value of described first acceleration, balance weight on described guide rail is controlled to move to the from primary importance
Two positions, comprising:
If the value of described first acceleration exceedes described predetermined threshold value, control the balance weight on described guide rail from institute
State primary importance and move to the described second position, and control the brake component of described mobile device to be described movement
Device is braked, so that described mobile device keeps balance.
5. the method for claim 1 it is characterised in that control described mobile device balance group
Before the center rotating of described balanced component, methods described also includes guide rail in part:
Detect the quality of described mobile device.
6. a kind of mobile device, comprising:
Body；
Balanced component, setting on the body, including guide rail and be arranged on the balance weight on described guide rail；
Wherein, described guide rail has first end and the second end, and the direction of described first end to described second end is described
The direction of guide rail；Described guide rail can be around the center rotating of described balanced component；
Acceleration transducer, arranges on the body, for obtaining the first acceleration of described mobile device；
Processor, arranges on the body, for judging whether described first acceleration changes；If change,
Control described guide rail around the center rotating of described balanced component, so that the direction of described guide rail adds with described first
The direction of speed is identical；According to the value of described first acceleration, described balance weight is controlled to move from primary importance
To the second position, so that described mobile device keeps balance.
7. mobile device as claimed in claim 6 is it is characterised in that described processor is additionally operable to:
Control described mobile device balanced component in guide rail around described balanced component center rotating it
Before, obtain the changing value of described first acceleration；
Determine the first velocity of rotation that described guide rail is rotated for initial point with the center of described balanced component；Wherein,
Described first velocity of rotation is corresponding with the changing value of described first acceleration；
Determine that described balance weight moves to the first translational speed of the described second position from described primary importance；Its
In, described first translational speed is corresponding with the changing value of described first acceleration.
8. mobile device as claimed in claim 6 is it is characterised in that described processor is additionally operable to:
According to the quality of described mobile device, the quality of described balance weight is set；Wherein, described balance weight
Quality is corresponding with the quality of described mobile device.
9. described mobile device as arbitrary in claim 6-8 is it is characterised in that described processor is additionally operable to:
In the value according to described first acceleration, the balance weight on described guide rail is controlled to move to from primary importance
Before the second position, judge whether the value of described first acceleration exceedes predetermined threshold value；Wherein, described default
Threshold value refers to the acceleration of the maximum that described mobile device allows；
If the value of described first acceleration exceedes described predetermined threshold value, control the balance weight on described guide rail from institute
State primary importance and move to the described second position, and control the brake component of described mobile device to be described movement
Device is braked, so that described mobile device keeps balance.
10. mobile device as claimed in claim 6 is it is characterised in that described mobile device also includes:
Pressure transducer, for the guide rail in the balanced component controlling described mobile device around described balance group
Before the center rotating of part, detect the quality of described mobile device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510437385.2A CN106371434B (en) | 2015-07-23 | 2015-07-23 | Method for controlling mobile device to keep balance and mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510437385.2A CN106371434B (en) | 2015-07-23 | 2015-07-23 | Method for controlling mobile device to keep balance and mobile device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106371434A true CN106371434A (en) | 2017-02-01 |
| CN106371434B CN106371434B (en) | 2020-06-23 |
Family
ID=57880070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510437385.2A Active CN106371434B (en) | 2015-07-23 | 2015-07-23 | Method for controlling mobile device to keep balance and mobile device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106371434B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109547595A (en) * | 2018-11-22 | 2019-03-29 | Oppo广东移动通信有限公司 | Electronic device |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0053994A1 (en) * | 1980-12-09 | 1982-06-16 | Ecole Nationale Supérieure d'Electricité et de Radioélectricté de Bordeaux E.N.S.E.R.B. | Robot asparagus harvester |
| JPS5932007A (en) * | 1982-08-17 | 1984-02-21 | Komatsu Ltd | Truck driving device |
| JPS6388603A (en) * | 1986-10-02 | 1988-04-19 | Agency Of Ind Science & Technol | Traveling control method for marine robot |
| JPH04135189A (en) * | 1990-09-21 | 1992-05-08 | Hitachi Ltd | Robot-controlling system |
| CN201525025U (en) * | 2009-07-08 | 2010-07-14 | 北京工业大学 | Single-wheel robot system |
| CN101850548A (en) * | 2010-04-16 | 2010-10-06 | 北京工业大学 | Inverted pendulum balancing control system based on flywheel |
| CN201856757U (en) * | 2010-10-18 | 2011-06-08 | 长安大学 | Inertial wheel two-wheeled robot stabilizing device |
| CN102405449A (en) * | 2009-04-28 | 2012-04-04 | 丰田自动车株式会社 | Control portion for inverted vehicle |
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN102520720A (en) * | 2011-12-09 | 2012-06-27 | 东南大学 | Single-wheel robot capable of realizing self balance |
| CN102749919A (en) * | 2012-06-15 | 2012-10-24 | 华中科技大学 | Balance control method of multi-leg robot |
| CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
| CN103744297A (en) * | 2014-01-07 | 2014-04-23 | 北京工业大学 | Small-sized self-balance robot gesture simulator |
| CN203732988U (en) * | 2013-12-04 | 2014-07-23 | 桂林电子科技大学 | Unicycle robot capable of achieving self balancing |
| CN103984351A (en) * | 2014-05-30 | 2014-08-13 | 联想(北京)有限公司 | Balance control method and device of self-walking device |
| CN104749955A (en) * | 2015-03-19 | 2015-07-01 | 杭州电子科技大学 | Finite time self-balance control method of single-wheel robot |
| CN204462849U (en) * | 2015-01-30 | 2015-07-08 | 李俊红 | A kind of dead-weight balanced coaxial two wheels robot for Smart Home |
-
2015
- 2015-07-23 CN CN201510437385.2A patent/CN106371434B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0053994A1 (en) * | 1980-12-09 | 1982-06-16 | Ecole Nationale Supérieure d'Electricité et de Radioélectricté de Bordeaux E.N.S.E.R.B. | Robot asparagus harvester |
| JPS5932007A (en) * | 1982-08-17 | 1984-02-21 | Komatsu Ltd | Truck driving device |
| JPS6388603A (en) * | 1986-10-02 | 1988-04-19 | Agency Of Ind Science & Technol | Traveling control method for marine robot |
| JPH04135189A (en) * | 1990-09-21 | 1992-05-08 | Hitachi Ltd | Robot-controlling system |
| CN102405449A (en) * | 2009-04-28 | 2012-04-04 | 丰田自动车株式会社 | Control portion for inverted vehicle |
| CN201525025U (en) * | 2009-07-08 | 2010-07-14 | 北京工业大学 | Single-wheel robot system |
| CN101850548A (en) * | 2010-04-16 | 2010-10-06 | 北京工业大学 | Inverted pendulum balancing control system based on flywheel |
| CN201856757U (en) * | 2010-10-18 | 2011-06-08 | 长安大学 | Inertial wheel two-wheeled robot stabilizing device |
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN102520720A (en) * | 2011-12-09 | 2012-06-27 | 东南大学 | Single-wheel robot capable of realizing self balance |
| CN102749919A (en) * | 2012-06-15 | 2012-10-24 | 华中科技大学 | Balance control method of multi-leg robot |
| CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
| CN203732988U (en) * | 2013-12-04 | 2014-07-23 | 桂林电子科技大学 | Unicycle robot capable of achieving self balancing |
| CN103744297A (en) * | 2014-01-07 | 2014-04-23 | 北京工业大学 | Small-sized self-balance robot gesture simulator |
| CN103984351A (en) * | 2014-05-30 | 2014-08-13 | 联想(北京)有限公司 | Balance control method and device of self-walking device |
| CN204462849U (en) * | 2015-01-30 | 2015-07-08 | 李俊红 | A kind of dead-weight balanced coaxial two wheels robot for Smart Home |
| CN104749955A (en) * | 2015-03-19 | 2015-07-01 | 杭州电子科技大学 | Finite time self-balance control method of single-wheel robot |
Non-Patent Citations (2)
| Title |
|---|
| 刘金国等: "《变形机器人倾翻稳定性仿真分析》", 《***仿真学报》 * |
| 杨兴明等: "自平衡控制***的平衡性仿真", 《自平衡控制***的平衡性仿真》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109547595A (en) * | 2018-11-22 | 2019-03-29 | Oppo广东移动通信有限公司 | Electronic device |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
| CN111085446B (en) * | 2020-01-03 | 2023-07-18 | 华南理工大学 | Logistics robot with quick response balance and regulation and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106371434B (en) | 2020-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101413840B (en) | Device and method for measuring object mass center | |
| CN103984350B (en) | Toppling prevention mobile device and toppling prevention method thereof | |
| CN106137209A (en) | A kind of athletic posture detection method and Wearable device | |
| CN103674422B (en) | A kind of testboard bay | |
| CN106525071B (en) | A kind of motion state monitoring method and device | |
| CN106200614A (en) | A kind of spacecraft appearance control test system and method using the true moment of control-moment gyro | |
| CN105253775B (en) | Tower crane jacking and balancing control system, method and device and tower crane | |
| CN106371434A (en) | Method for controlling mobile apparatus to maintain balance, and mobile apparatus | |
| CN105046886B (en) | Realize driving behavior supervision and method, vehicle and the mobile terminal reminded | |
| CN206348922U (en) | A kind of body-sensing remote control | |
| CN105478245B (en) | The double freedom precision centrifuge countershaft unbalancing value discrimination method detected based on spindle vibration | |
| CN105939766B (en) | Stir defoaming device | |
| KR20150113230A (en) | Game method and system using bicycle holder and smart device | |
| CN108393882A (en) | Robot pose control method and robot | |
| CN106092441B (en) | A kind of simulator stand measuring dynamic balancing data | |
| JP2021168848A (en) | Ball behavior analyzer | |
| CN106017419B (en) | Horizontal universal angle measuring device and measuring method | |
| CN103185652A (en) | Article falling prevention device and article falling prevention method | |
| CN102290045B (en) | Method and device for controlling music rhythm and mobile terminal | |
| CN105317217B (en) | Rotary vibration of cantilever crane suppresses equipment, system, method and engineering machinery | |
| JP2018159659A (en) | Pseudo vibrator | |
| CN103033209A (en) | Three-dimensional motion testing device | |
| CN110113476B (en) | Protection method and device | |
| CN208282923U (en) | A kind of turntable applied to human body rotating weighing | |
| CN108201699B (en) | Tumbler control method and module and tumbler |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |