CN106371434B - Method for controlling mobile device to keep balance and mobile device - Google Patents
Method for controlling mobile device to keep balance and mobile device Download PDFInfo
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- CN106371434B CN106371434B CN201510437385.2A CN201510437385A CN106371434B CN 106371434 B CN106371434 B CN 106371434B CN 201510437385 A CN201510437385 A CN 201510437385A CN 106371434 B CN106371434 B CN 106371434B
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Abstract
The invention discloses a method for controlling a mobile device to keep balance, which is used for solving the technical problem that a mobile robot is easy to overturn. The method comprises the following steps: obtaining a first acceleration of the mobile device; judging whether the first acceleration changes or not; if the direction of the guide rail is changed, controlling the guide rail in the balance assembly of the moving device to rotate around the center of the balance assembly, so that the direction of the guide rail is the same as the direction of the first acceleration; wherein the guide rail has a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail; according to the value of the first acceleration, the balance weight on the guide rail is controlled to move from the first position to the second position, so that the moving device keeps balance, and the invention also discloses corresponding electronic equipment. The invention also discloses a corresponding mobile device.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method for controlling a mobile device to maintain balance and a mobile device.
Background
At present, the mobile robot can turn over when suddenly started, braked and turned, and particularly, the mobile robot is very easy to turn over when the starting acceleration, the braking acceleration and the turning acceleration are relatively high, so that the development of the mobile robot is greatly restricted.
In the prior art, the turning of the mobile robot is generally avoided by reducing the movement speed of the mobile robot or reducing the gravity center of the mobile robot as much as possible, although these methods can improve the problem that the mobile robot is easy to turn, and increase the stability of the mobile robot to a certain extent, if the method of reducing the movement speed of the mobile robot is adopted, the mobile robot can only undertake some low-speed movement tasks, the working range of the mobile robot is greatly limited, and if the method of reducing the gravity center of the mobile robot is adopted, the weight at the bottom of the mobile robot is inevitably increased, and the power consumption of the mobile robot is increased.
Therefore, the problem that the mobile robot is easy to turn over is not solved in a better mode in the prior art.
Disclosure of Invention
The embodiment of the invention provides a method for controlling a mobile device to keep balance and the mobile device, which are used for solving the technical problem that a mobile robot is easy to overturn.
In one aspect, a method for controlling a mobile device to maintain balance is provided, comprising:
obtaining a first acceleration of the mobile device;
judging whether the first acceleration changes or not;
if the direction of the guide rail is changed, controlling the guide rail in the balance assembly of the moving device to rotate around the center of the balance assembly, so that the direction of the guide rail is the same as the direction of the first acceleration; wherein the guide rail has a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail;
and controlling the balance weight on the guide rail to move from a first position to a second position according to the value of the first acceleration, so that the moving device keeps balance.
Optionally, before controlling the guide rail in the balancing assembly of the moving device to rotate around the center of the balancing assembly, the method further includes:
obtaining a change value of the first acceleration;
determining a first rotation speed at which the guide rail rotates with the center of the balance assembly as an origin; wherein the first rotation speed corresponds to a change value of the first acceleration;
determining a first movement velocity at which the weight moves from the first position to the second position; wherein the first moving speed corresponds to a change value of the first acceleration.
Optionally, the method further includes:
setting the mass of the balance weight according to the mass of the mobile device; wherein a mass of the weight corresponds to a mass of the mobile device.
Optionally, before controlling the counterweight on the guide rail to move from the first position to the second position according to the value of the first acceleration, the method further includes:
judging whether the value of the first acceleration exceeds a preset threshold value or not; wherein the preset threshold refers to a maximum acceleration allowed by the mobile device;
controlling a weight on the rail to move from a first position to a second position based on the value of the first acceleration, comprising:
and if the value of the first acceleration exceeds the preset threshold value, controlling a balance block on the guide rail to move from the first position to the second position, and controlling a braking component of the moving device to brake the moving device so as to keep the moving device balanced.
Optionally, before controlling the guide rail in the balancing assembly of the moving device to rotate around the center of the balancing assembly, the method further includes:
detecting a mass of the mobile device.
In another aspect, an electronic device is provided, which specifically includes:
a body;
the balance assembly is arranged on the body and comprises a guide rail and a balance block arranged on the guide rail; the guide rail is provided with a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail; the guide rail can rotate around the center of the balancing component;
the acceleration sensor is arranged on the body and used for obtaining a first acceleration of the mobile device;
the processor is arranged on the body and used for judging whether the first acceleration changes or not; if the direction of the guide rail is changed, the guide rail is controlled to rotate around the center of the balance assembly, so that the direction of the guide rail is the same as the direction of the first acceleration; and controlling the balance weight on the guide rail to move from a first position to a second position according to the value of the first acceleration, so that the moving device keeps balance.
Optionally, the processor is further configured to:
obtaining a change value of the first acceleration before controlling a guide rail in a balancing assembly of the mobile device to rotate around the center of the balancing assembly;
determining a first rotation speed at which the guide rail rotates with the center of the balance assembly as an origin; wherein the first rotation speed corresponds to a change value of the first acceleration;
determining a first movement velocity at which the weight moves from the first position to the second position; wherein the first moving speed corresponds to a change value of the first acceleration.
Optionally, the processor is further configured to:
setting the mass of the balance weight according to the mass of the mobile device; wherein a mass of the weight corresponds to a mass of the mobile device.
Optionally, the processor is further configured to:
before controlling a balance block on the guide rail to move from a first position to a second position according to the value of the first acceleration, judging whether the value of the first acceleration exceeds a preset threshold value; wherein the preset threshold refers to a maximum acceleration allowed by the mobile device; and if the value of the first acceleration exceeds the preset threshold value, controlling a balance block on the guide rail to move from the first position to the second position, and controlling a braking component of the moving device to brake the moving device so as to keep the moving device balanced.
Optionally, the mobile device further includes:
the pressure sensor is used for detecting the mass of the mobile device before controlling the guide rail in the balance assembly of the mobile device to rotate around the center of the balance assembly.
One or more technical solutions in the embodiments of the present invention at least have one or more of the following technical effects and advantages:
in the embodiment of the invention, the balance component is arranged on the moving device, and if the acceleration (namely the first acceleration) of the moving device changes, the guide rail on the balance component is controlled to rotate, and the moving position of the balance block on the guide rail is controlled, so that the balance block generates a moment relative to the gravity center of the moving device, and the moment of inertia generated when the acceleration of the moving device changes is balanced, thereby keeping the moving device balanced as much as possible, and effectively solving the technical problem that the moving device is easy to turn over during movement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling a mobile device to maintain balance in an embodiment of the present invention;
FIGS. 2A and 2B are top and side views of a balancing assembly in an embodiment of the present invention;
FIGS. 3A and 3B are schematic views of a guide rail and a balance weight of a balance assembly according to an embodiment of the invention;
fig. 4A and 4B are schematic diagrams illustrating the operation of the mobile device according to the embodiment of the invention;
FIG. 5 is a schematic structural diagram of a mobile device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a mobile device with a pressure sensor according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a method for controlling a mobile device to keep balance, which specifically comprises the following steps:
obtaining a first acceleration of the mobile device;
judging whether the first acceleration changes;
if the direction of the guide rail is changed, the guide rail in the balance assembly of the moving device is controlled to rotate around the center of the balance assembly, so that the direction of the guide rail is the same as the direction of the first acceleration; the guide rail is provided with a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail;
according to the value of the first acceleration, the balance weight on the guide rail is controlled to move from the first position to the second position, so that the moving device keeps balance.
In the embodiment of the invention, the balance component is arranged on the moving device, and if the acceleration (namely the first acceleration) of the moving device changes, the guide rail on the balance component is controlled to rotate, and the moving position of the balance block on the guide rail is controlled, so that the balance block generates a moment relative to the gravity center of the moving device, and the moment of inertia generated when the acceleration of the moving device changes is balanced, thereby keeping the moving device balanced as much as possible, and effectively solving the technical problem that the moving device is easy to turn over during movement.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The embodiments and features of the embodiments of the present invention may be arbitrarily combined with each other without conflict. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this document generally indicates that the preceding and following related objects are in an "or" relationship unless otherwise specified.
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the invention provides a method for controlling a mobile device to keep balance, and a flow of the method is described as follows.
S101: a first acceleration of the mobile device is obtained.
The acceleration of the mobile device is referred to as a first acceleration in the embodiment of the present invention.
In the embodiment of the present invention, for example, an acceleration sensor is provided on the mobile device, and for example, only one acceleration sensor may be provided, or a plurality of acceleration sensors may be provided. For example, one acceleration sensor may be provided at the position of the center of gravity of the mobile device, or for example, one acceleration sensor may be provided at each of four orientations of the mobile device, i.e., front, rear, left, and right, and so on. The setting positions are only examples, and in the implementation process, the acceleration sensor can be set at different positions according to different situations.
For example, one acceleration sensor is provided in each of the front, rear, left, and right directions of the mobile device, and at an initial time, the mobile device may obtain accelerations in the four directions from the four acceleration sensors, respectively, and then may combine the accelerations in the four directions to finally obtain one combined acceleration, and may use the combined acceleration as the acceleration of the mobile device. Specifically, the method for synthesizing the plurality of accelerations may adopt methods such as a parallelogram and the like well known to those skilled in the art, and the detailed description of the present invention is omitted for reference to the prior art.
In the embodiment of the invention, the acceleration of the mobile device can be more accurately obtained by arranging the plurality of acceleration sensors on the mobile device, and the cost of the mobile device can be effectively controlled by arranging a single acceleration sensor on the mobile device, so that the hardware resource is saved. Therefore, those skilled in the art can adopt different arrangements according to the actual situation, and the invention is not limited to this.
S102: and judging whether the first acceleration changes.
In the embodiment of the present invention, a processor is further disposed on the mobile device, for example, a micro Central Processing Unit (CPU) may be disposed, and the CPU may store the acceleration obtained by the acceleration sensor, compare whether the currently obtained acceleration is the same as the previously obtained acceleration, and control the guide rail or the balance block in the balance assembly in the mobile device not to move if it is determined that the acceleration is not changed through the comparison. And if the acceleration is determined to be changed through comparison, the guide rail or the balance weight can be controlled to move.
S103: if the direction of the guide rail is changed, the guide rail in the balance assembly of the moving device is controlled to rotate around the center of the balance assembly, so that the direction of the guide rail is the same as the direction of the first acceleration; the guide rail is provided with a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail.
Referring to fig. 2A and fig. 2B, in order to make the embodiment of the present invention more detailed, a brief description is first provided for the balancing component in the embodiment of the present invention. The balance assembly comprises a guide rail 201, a balance block 202 and a balance assembly outer shell 203. In order to allow the guide rail 201 to freely move in the range of 0, 360 degrees, the housing 203 of the balance assembly may be shaped as a cylinder, so that the top view of the housing 203 of the balance assembly is circular (see fig. 2A) and the side view is flat and rectangular (see fig. 2B), similar to a circular dial. In addition, a guide rail 201 is provided at the center of the mobile device, a weight 202 is provided on the guide rail 201 similarly to a pointer in a dial, and the weight 202 can slide on the guide rail along the guide rail 201. Of course, the above-mentioned arrangement is only used for illustrating the present invention and is not meant to limit the present invention.
Referring to fig. 3A, in the embodiment of the present invention, when the acceleration a (i.e. the first acceleration) of the moving device changes, first, the moving device controls the guide rail 201 to move, so that the direction of the guide rail 201 (i.e. the direction from the first end to the second end) is the same as the direction of the first acceleration a, so that after the counterweight 202 moves, the moment generated by the counterweight 202 relative to the center of gravity of the moving device and the moment generated by the first acceleration a relative to the center of gravity of the moving device are located on a straight line, so that in the following control process, the moving device may only generate an inertial torque on the straight line, in short, the moving device generally does not generate a deflection beyond the direction of the straight line, and then only needs to control the counterweight 202 to move on the straight line, thereby controlling the moving device to balance, without considering other directions, therefore, compared with the prior art that the acceleration change in a plurality of directions needs to be considered to control the balance of the mobile device, the control process is simplified, and the control efficiency is improved.
S104: according to the value of the first acceleration, the balance weight on the guide rail is controlled to move from the first position to the second position, so that the moving device keeps balance.
Referring to fig. 3B, in the embodiment of the invention, after the direction of the guide rail 201 is the same as the direction of the first acceleration, the moving device may control the counterweight 202 on the guide rail 201 to move, i.e. move from the first position to the second position, and after the counterweight 202 moves to the second position, the counterweight 202 at the second position takes the center of gravity of the moving device as a fulcrum, so as to generate a moment, the force of the moment is the gravity of the counterweight 202, the moment arm is the distance between the second position and the intersection point of the line perpendicular to the horizontal plane where the center of gravity of the moving device is located and the plane where the balance assembly is located, preferably, the center of the balance assembly and the center of gravity of the moving device may be arranged on the same straight line, and the straight line is perpendicular to the horizontal plane, so that the distance between the second position and the center of the balance assembly is the moment arm of the counterweight 202, at this moment is generated by the counterweight 202 relative to the center of the, the direction of the moment (as shown in fig. 3B) is clockwise, and the direction of the first acceleration relative to the moment of the center of gravity of the mobile device (as shown in fig. 3B) is counterclockwise, since the directions of the two moments are opposite, and the moment of the first acceleration relative to the center of gravity of the mobile device is unchanged after the first acceleration is obtained, so that different moments can be obtained by adjusting the position of the counterweight 202, so that when the counterweight 202 is moved to a proper position (i.e., the second position), the two moments are equal in magnitude and opposite in direction, and the mobile device will not be affected by inertia, thereby keeping the balance of the mobile device.
In the embodiment of the present invention, in order to describe the present invention more specifically, a scenario is assumed: initially, the mobile device is at rest and the counterweight 202 is in a first position, which is the center of the balance assembly. For example, the mobile device weighs 10 kg and its center of gravity is point a, the counterweight 202 weighs 2 kg, and the height H of the center of gravity of the mobile device from the horizontal plane is 0.5 m, at which time the balance assembly is subjected to an acceleration a of horizontal to the right, for example 5 m/s, so that the mobile device is subjected to an inertial force F, see fig. 4A, which is 25 n · m relative to the moment of inertia generated by the center of gravity of the mobile device, and due to the moment of inertia, the mobile device will not be balanced and will turn over in the counterclockwise direction. At this time, in order to keep the moving device balanced, the distance X of the balance weight 202 moving to the right can be obtained by calculation according to the inertia moment and the gravity of the balance weight 202, for example, X is about 1.25 m, please refer to fig. 4B, and then the moving device can control the balance weight 202 to move to the second position, at this time, the moving device receives two moments with the same magnitude and opposite directions at the same time, and the two moments cancel each other, so that the moving device will not turn over, and the balance is kept.
Optionally, in an embodiment of the present invention, before controlling the guide rail in the balancing assembly of the moving device to rotate around the center of the balancing assembly, the method further includes:
obtaining a change value of the first acceleration;
determining a first rotation speed of the guide rail rotating by taking the center of the balance assembly as an origin; wherein the first rotation speed corresponds to a change value of the first acceleration;
determining a first movement velocity of the weight from the first position to the second position; wherein the first moving speed corresponds to a change value of the first acceleration.
In the embodiment of the present invention, the jump amplitude of the acceleration may be very large, for example: the acceleration at the initial moment is 0, the mobile device may be in a stationary state or in a state of uniform linear motion, and then the acceleration may be directly changed from 0 to 10 m/s. Of course, the jump amplitude of the acceleration may be small, for example, 1 m/s to 2 m/s from the initial time, and the moving speed of the guide rail 201 in the moving device may also be different according to the changing speed of the acceleration. Continuing with the above example, when the mobile device is suddenly subjected to a large acceleration, i.e. the acceleration changes rapidly, it is very likely to cause the mobile device to turn over immediately, and at this time, in order to balance the mobile device as soon as possible and avoid the mobile device from turning over, the moving speed of the guide rail 201 may be set to 10 m/s, and similarly, the moving speed of the counterweight 202 may be set to 15 m/s, for example, so that the mobile device can be controlled to balance in a short time. If the acceleration change of the mobile device is small, the mobile device may not turn over immediately, and the moving speed of the guide rail 201 and the moving speed of the balance block 202 may be set to a reasonable speed, which is not too fast, for example, 3 m/s, so that the mobile device may not turn over, and power consumption of a motor caused by fast driving the guide rail 201 and the balance block 202 to move may be reduced, thereby effectively saving energy resources of the mobile device.
Optionally, in the embodiment of the present invention, the method further includes:
setting the mass of the balance block according to the mass of the mobile device; wherein the mass of the balance weight corresponds to the mass of the moving device.
In the embodiment of the present invention, the mass of the mobile device is generally known, and in this case, an appropriate balance weight may be configured for the mobile device according to the mass of the mobile device, for example: if the mobile device's weight is bigger, then corresponding in order to reach good balanced effect, the balancing piece should also be set up heavier, and when the mobile device's weight is less, also for better balanced effect, the balancing piece should be set up less, like this, the mobile device can set up the balancing piece of different quality according to its self quality, makes the mobile device have better balanced effect.
Optionally, in an embodiment of the present invention, before controlling the counterweight on the guide rail to move from the first position to the second position according to the value of the first acceleration, the method further includes:
judging whether the value of the first acceleration exceeds a preset threshold value or not; the preset threshold refers to the maximum acceleration allowed by the mobile device;
controlling the weight on the rail to move from a first position to a second position based on the value of the first acceleration, comprising:
and if the value of the first acceleration exceeds a preset threshold value, controlling a balance block on the guide rail to move from a first position to a second position, and controlling a braking component of the moving device to brake the moving device so as to keep the moving device balanced.
In practical applications, the balancing component is generally of a fixed size so as not to affect the aesthetic appearance of the mobile device, that is, when the weight 202 moves to the edge of the balancing component, the maximum moment that the weight 202 can generate with respect to the center of gravity of the mobile device is generally determined. In practice, the maximum acceleration that the mobile device can withstand is also generally determined, and when the acceleration of the mobile device suddenly changes to a value that is larger than the maximum acceleration that the mobile device can support (i.e., a preset threshold), in order to keep the mobile device changing the current motion state at a faster acceleration without turning over the mobile device, the mobile device may activate a braking system for reducing the acceleration of the mobile device, and at the same time, may control the weight 202 to move to a position farthest from the center of gravity of the mobile device, i.e., an edge portion of the guide rail 201, so that a maximum moment may be generated, so that the mobile device may change the current motion state at the maximum acceleration that the mobile device can support without turning over the mobile device.
Optionally, the method further includes:
the mass of the mobile device is detected before controlling the guide rail in the balancing assembly of the mobile device to rotate around the center of the balancing assembly.
In the embodiment of the present invention, if the mobile device has a load bearing capability, that is, the mass of the mobile device may change, the mass of the mobile device needs to be detected and obtained when the acceleration of the mobile device changes, so as to effectively calculate the distance that the balance weight needs to move, and more accurately control the mobile device to keep balance.
In the embodiment of the present invention, the mass of the mobile device, such as the bearing of the tire, can be detected by the pressure sensor, and the pressure sensor can be arranged near the position of the tire of the mobile device, for example, similar to a tire pressure sensor, that is, the mass of the mobile device can be calculated by using the tire pressure.
Preferably, in the embodiment of the present invention, the mobile device may be configured to have a more regular shape, please refer to fig. 4A and fig. 4B. If can set up the mobile device into the dolly that the side view is "shape of falling T", the chassis is regular rectangle, the centre is provided with vertical dead lever, the balance assembly sets up to hollow ring, the cover is established on the dead lever, make the shape of load similar with the shape of balance assembly simultaneously, the load forms the concentric circle with the balance assembly promptly, under this condition, can relatively portably confirm the focus of mobile device according to the quality of mobile device's load, can guarantee moreover that the focus of mobile device is on the straight line that the dead lever was located all the time. Therefore, according to the position of the gravity center of the mobile device and the detected mass of the mobile device, the moment of inertia received by the mobile device can be calculated accurately, so that the distance of the balance block 202 to be moved can be determined accurately, the accuracy of the balance assembly for controlling the mobile device to keep balance is greatly improved, and the error in control is reduced.
In an embodiment of the present invention, the sensor of the mobile device may monitor the mass of the mobile device in real time, at regular time, or triggered (i.e., when the acceleration change is detected), for example, but the present invention is not limited thereto.
Optionally, in the embodiment of the present invention, when the first acceleration changes, a prompt message may also be output; wherein the prompting information is used for prompting the user that the mobile device is in an unbalanced state.
In the embodiment of the present invention, when the acceleration of the mobile device changes, the mobile device may actively output a prompt message, where the prompt message may be, for example, an audio, or may be another possible prompt message.
For example, if a situation is assumed, some dangerous goods are loaded in the mobile device, and once the mobile device is turned over, the dangerous goods may threaten the safety of people around, at this time, when the mobile device may be turned over, the mobile device may actively output a prompt message, for example, an alarm sound may be given, so that people around may be effectively prompted to avoid as soon as possible, and meanwhile, the worker may be effectively prompted to prevent the mobile device from being turned over, so as to avoid the occurrence of danger as much as possible.
Referring to fig. 5, based on the same inventive concept, an embodiment of the present invention further provides a mobile device, including:
a body 501;
the balance assembly 502 is arranged on the body 501 and comprises a guide rail 201 and a balance block 202 arranged on the guide rail 201; the guide rail 201 has a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail; the guide rail can rotate around the center of the balance assembly;
an acceleration sensor 505, disposed on the body 501, for obtaining a first acceleration of the mobile device;
a processor 506, disposed on the body 501, for determining whether the first acceleration changes; if the direction of the first acceleration is changed, the guide rail 201 is controlled to rotate around the center of the balancing assembly 502, so that the direction of the guide rail 201 is the same as the direction of the first acceleration; the weight 202 is controlled to move from the first position to the second position based on the value of the first acceleration such that the mobile device remains balanced.
Optionally, in this embodiment of the present invention, the processor 506 is further configured to:
obtaining a change value of a first acceleration before controlling the guide rail 201 in the balancing assembly of the mobile device to rotate around the center of the balancing assembly; determining a first rotation speed at which the guide rail 201 rotates with the center of the balance member 502 as an origin; wherein the first rotation speed corresponds to a change value of the first acceleration; determining a first movement velocity at which the weight 202 moves from the first position to the second position; wherein the first moving speed corresponds to a change value of the first acceleration.
Optionally, in this embodiment of the present invention, the processor 506 is further configured to:
setting the mass of the counterbalance 202 according to the mass of the mobile device; wherein the mass of the counterbalance 202 corresponds to the mass of the mobile device.
Optionally, in this embodiment of the present invention, the processor 506 is further configured to:
before the balance weight 202 on the control guide rail 201 moves from the first position to the second position according to the value of the first acceleration, judging whether the value of the first acceleration exceeds a preset threshold value; the preset threshold refers to the maximum acceleration allowed by the mobile device; if the value of the first acceleration exceeds the preset threshold, the counterweight 202 on the guide rail 201 is controlled to move from the first position to the second position, and the braking component of the moving device is controlled to brake the moving device, so that the moving device keeps balance.
Optionally, referring to fig. 6, in an embodiment of the present invention, the mobile device further includes:
a pressure sensor 507 for detecting the mass of the mobile device before controlling the guide rail in the balancing assembly of the mobile device to rotate around the center of the balancing assembly.
It should be noted that in the embodiment of the present invention, the processor 506 is not visible, and is marked by a dashed box for facilitating the more detailed description of the present invention.
The electronic device in the embodiment of the present invention corresponds to the information display method described above one to one, and the embodiments may refer to each other, so that repeated content parts are not described repeatedly when describing the electronic device.
One or more technical solutions in the embodiments of the present invention at least have one or more of the following technical effects and advantages:
in the embodiment of the invention, the balance component is arranged on the moving device, and if the acceleration (namely the first acceleration) of the moving device changes, the guide rail on the balance component is controlled to rotate, and the moving position of the balance block on the guide rail is controlled, so that the balance block generates a moment relative to the gravity center of the moving device, and the moment of inertia generated when the acceleration of the moving device changes is balanced, thereby keeping the moving device balanced as much as possible, and effectively solving the technical problem that the moving device is easy to turn over during movement.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional units according to needs, that is, the internal structure of the device is divided into different functional units to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Specifically, computer program instructions corresponding to a method for controlling balance of a mobile device in the embodiment of the present invention may be stored on a storage medium such as an optical disc, a hard disc, a usb disk, or the like, and when the computer program instructions corresponding to the method for controlling balance of a mobile device in the storage medium are read or executed by an electronic device, the method includes the steps of:
obtaining a first acceleration of the mobile device;
judging whether the first acceleration changes or not;
if the direction of the guide rail is changed, controlling the guide rail in the balance assembly of the moving device to rotate around the center of the balance assembly, so that the direction of the guide rail is the same as the direction of the first acceleration; wherein the guide rail has a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail;
and controlling the balance weight on the guide rail to move from a first position to a second position according to the value of the first acceleration, so that the moving device keeps balance.
Optionally, the step of storing in the storage medium: before the corresponding computer instructions are executed, the method specifically comprises the following steps:
obtaining a change value of the first acceleration;
determining a first rotation speed at which the guide rail rotates with the center of the balance assembly as an origin; wherein the first rotation speed corresponds to a change value of the first acceleration;
determining a first movement velocity at which the weight moves from the first position to the second position; wherein the first moving speed corresponds to a change value of the first acceleration.
Optionally, in a specific executed process, the computer instructions stored in the storage medium and corresponding to the steps specifically include the following steps:
setting the mass of the balance weight according to the mass of the mobile device; wherein a mass of the weight corresponds to a mass of the mobile device.
Optionally, the step of storing in the storage medium: controlling the balance weight on the guide rail to move from a first position to a second position according to the value of the first acceleration, wherein the corresponding computer instructions specifically comprise the following steps before being specifically executed:
judging whether the value of the first acceleration exceeds a preset threshold value or not; wherein the preset threshold refers to a maximum acceleration allowed by the mobile device;
controlling a weight on the rail to move from a first position to a second position based on the value of the first acceleration, comprising:
and if the value of the first acceleration exceeds the preset threshold value, controlling a balance block on the guide rail to move from the first position to the second position, and controlling a braking component of the moving device to brake the moving device so as to keep the moving device balanced.
Optionally, the step of storing in the storage medium: the method specifically comprises the following steps of controlling and controlling a guide rail in a balancing assembly of the mobile device to rotate around the center of the balancing assembly, wherein the corresponding computer instruction is executed before the specific process is executed:
detecting a mass of the mobile device.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A method for controlling a mobile device to remain balanced, the method comprising:
obtaining a first acceleration of the mobile device;
judging whether the first acceleration changes or not;
if the direction of the guide rail is changed, controlling the guide rail in the balance assembly of the moving device to rotate around the center of the balance assembly, so that the direction of the guide rail is the same as the direction of the first acceleration; wherein the guide rail has a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail;
controlling a balance weight on the guide rail to move from a first position to a second position according to the value of the first acceleration, so that the moving device keeps balance;
before controlling the guide rail in the balancing assembly of the mobile device to rotate around the center of the balancing assembly, the method further comprises:
obtaining a change value of the first acceleration;
determining a first rotation speed at which the guide rail rotates with the center of the balance assembly as an origin; wherein the first rotation speed corresponds to a change value of the first acceleration;
determining a first movement velocity at which the weight moves from the first position to the second position; wherein the first moving speed corresponds to a change value of the first acceleration.
2. The method of claim 1, wherein the method further comprises:
setting the mass of the balance weight according to the mass of the mobile device; wherein a mass of the weight corresponds to a mass of the mobile device.
3. The method of any of claims 1-2,
before controlling a weight on the rail to move from a first position to a second position based on the value of the first acceleration, the method further comprises:
judging whether the value of the first acceleration exceeds a preset threshold value or not; wherein the preset threshold refers to a maximum acceleration allowed by the mobile device;
controlling a weight on the rail to move from a first position to a second position based on the value of the first acceleration, comprising:
and if the value of the first acceleration exceeds the preset threshold value, controlling a balance block on the guide rail to move from the first position to the second position, and controlling a braking component of the moving device to brake the moving device so as to keep the moving device balanced.
4. The method of claim 1, wherein prior to controlling the rotation of the guide rail in the balancing assembly of the mobile device about the center of the balancing assembly, the method further comprises:
detecting a mass of the mobile device.
5. A mobile device, comprising:
a body;
the balance assembly is arranged on the body and comprises a guide rail and a balance block arranged on the guide rail; the guide rail is provided with a first end and a second end, and the direction from the first end to the second end is the direction of the guide rail; the guide rail can rotate around the center of the balancing component;
the acceleration sensor is arranged on the body and used for obtaining a first acceleration of the mobile device;
the processor is arranged on the body and used for judging whether the first acceleration changes or not; if the direction of the guide rail is changed, the guide rail is controlled to rotate around the center of the balance assembly, so that the direction of the guide rail is the same as the direction of the first acceleration; controlling the balance weight to move from a first position to a second position according to the value of the first acceleration, so that the moving device keeps balance; wherein the processor is further configured to:
obtaining a change value of the first acceleration before controlling a guide rail in a balancing assembly of the mobile device to rotate around the center of the balancing assembly;
determining a first rotation speed at which the guide rail rotates with the center of the balance assembly as an origin; wherein the first rotation speed corresponds to a change value of the first acceleration;
determining a first movement velocity at which the weight moves from the first position to the second position; wherein the first moving speed corresponds to a change value of the first acceleration.
6. The mobile device of claim 5, wherein the processor is further configured to:
setting the mass of the balance weight according to the mass of the mobile device; wherein a mass of the weight corresponds to a mass of the mobile device.
7. The mobile device of any of claims 5-6, wherein the processor is further configured to:
before controlling a balance block on the guide rail to move from a first position to a second position according to the value of the first acceleration, judging whether the value of the first acceleration exceeds a preset threshold value; wherein the preset threshold refers to a maximum acceleration allowed by the mobile device;
and if the value of the first acceleration exceeds the preset threshold value, controlling a balance block on the guide rail to move from the first position to the second position, and controlling a braking component of the moving device to brake the moving device so as to keep the moving device balanced.
8. The mobile device of claim 5, wherein the mobile device further comprises:
the pressure sensor is used for detecting the mass of the mobile device before controlling the guide rail in the balance assembly of the mobile device to rotate around the center of the balance assembly.
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| CN109547595B (en) * | 2018-11-22 | 2021-03-23 | Oppo广东移动通信有限公司 | Electronic device |
| 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 |
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