CN111596591A - Motion control method, device and system of motion sensing game equipment and storage medium - Google Patents
Motion control method, device and system of motion sensing game equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/23—Input arrangements for video game devices for interfacing with the game device, e.g. specific interfaces between game controller and console
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
- A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1025—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals details of the interface with the game device, e.g. USB version detection
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/60—Methods for processing data by generating or executing the game program
- A63F2300/6045—Methods for processing data by generating or executing the game program for mapping control signals received from the input arrangement into game commands
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The application discloses a motion control method of motion sensing game equipment, which fully considers the computing power of a micro controller in a servo, respectively transmits data to be completed by each axis in a game action command to each axis servo controller through a bus, and transfers part of motion curve computing work which should be completed by the motion controller to the servo controller for computing, thereby reducing the computing performance requirement on the motion controller, replacing special expensive equipment by equipment with slightly weak computing power, reducing the use cost of the motion controller, simultaneously reducing the computing burden of the motion controller and improving the processing efficiency of a system. The application also provides a motion control device and system of the motion sensing game device and a readable storage medium, and the motion control device and system have the beneficial effects.
Description
Technical Field
The application relates to the technical field of motion sensing game equipment, in particular to a motion control method, a motion control device, a motion control system and a readable storage medium of the motion sensing game equipment.
Background
Nowadays, the game industry is developed increasingly, and with the progress of science and technology, the motion sensing game becomes the mainstream gradually. The motion sensing game machine equipment consists of a game host and a motion control system, wherein the motion control system consists of a motion controller and a servo controller. The current motion sensing game requires a player to move according to the game, then a game host sends an action command to a motion controller for analysis according to the operation of the player, obtains a control instruction corresponding to each axis servo controller through a motion algorithm, controls each axis to coordinate, synthesizes required game action, enables game equipment to move according to the operation of the player, and enables the player to be personally on the scene.
The motion controller controls the servo controller through a general bus, a large amount of motion calculation is concentrated on the motion controller, the motion controller is required to calculate a motion curve, certain requirements are required on the performance of the motion controller, and a high-performance processor is required, so that the cost of the controller is high, and the universality is poor.
Therefore, how to reduce the cost of the motion controller while improving the system efficiency is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
The motion control method of the motion sensing game device can improve system efficiency and reduce cost of a motion controller; another object of the present application is to provide a motion control apparatus of a motion sensing game device, a device and a readable storage medium.
In order to solve the technical problem, the present application provides a motion control method for a motion sensing game device, including:
the servo controller determines action data and motor running state feedback data; the motion data is obtained by analyzing motion data corresponding to each axis in a game motion command by the motion controller;
converting the motion data into a control instruction according to the motor running state feedback data;
and sending the control command to the servo control system through an API of the servo control system so that the servo control system can control the motion of the servo motor according to the control command.
Optionally, the control instruction includes: the method comprises the following steps that a servo motor motion control instruction and a motor running state periodic feedback instruction are carried out;
accordingly, the control command is sent to the servo control system through the API of the servo control system, including: and sending the motion control instruction of the servo motor and the periodic feedback instruction of the motor running state to the servo control system through an API (application program interface) of the servo control system, so that the servo control system can control the motion of the servo motor according to the control instruction and periodically feed the motor running state back to the servo controller.
Optionally, the motion control method of the motion sensing game device further includes:
the servo controller periodically aggregates the shaft state data and feeds the shaft state data back to the motion controller.
The application also provides a motion control device of the motion sensing game device, which is applied to a servo controller and comprises:
the data determining unit is used for determining action data and motor running state feedback data; the motion data is obtained by analyzing motion data corresponding to each axis in a game motion command by the motion controller;
the data conversion unit is used for converting the motion data into a control instruction according to the motor running state feedback data;
and the command sending unit is used for sending the control command to the servo control system through an API (application program interface) of the servo control system so that the servo control system can control the motion of the servo motor according to the control command.
The application also provides a motion control method of the motion sensing game device, which comprises the following steps:
the motion controller acquires a game motion instruction which is generated by the motion sensing game and used for controlling the motor to complete corresponding motion;
analyzing the game action command and determining a target action;
calculating motion data corresponding to each axis in the target motion;
and respectively sending the action data to corresponding servo controllers so that the servo controllers control the servo motors to move according to the motion curves according to the action data.
The application also provides a motion control device of the motion sensing game device, which is applied to a motion controller and comprises:
the instruction acquisition unit is used for acquiring a game action instruction which is generated by the motion sensing game and is used for controlling the motor to complete corresponding action;
the action analysis unit is used for analyzing the game action command and determining a target action;
the data calculation unit is used for calculating motion data corresponding to each axis in the target motion;
and the data sending unit is used for respectively sending the action data to the corresponding servo controllers so that the servo controllers control the servo motors to move according to the motion curves according to the action data.
The application also provides a motion control system of the motion sensing game device, which comprises:
the motion controller is used for acquiring a game motion instruction which is generated by the motion sensing game and is used for controlling the motor to complete corresponding motion; analyzing the game action command and determining a target action; calculating motion data corresponding to each axis in the target motion; respectively sending the action data to corresponding servo controllers;
the servo controller is used for determining the action data and the motor running state feedback data; converting the motion data into a control instruction according to the motor running state feedback data; and sending the control command to the servo control system through an API of the servo control system so that the servo control system can control the motion of the servo motor according to the control command.
Optionally, data transmission between the motion controller and the servo controller is realized through a CAN bus.
Optionally, the motion controller is an internet of things application platform based on a cortix-A8 processor.
The present application further provides a readable storage medium having stored thereon a program that, when executed by a processor, performs the steps of a motion sensing game device motion control method applied to a motion controller and/or a motion sensing game device motion control method applied to a motion controller.
The motion control method of the motion sensing game device fully considers the computing power of a micro controller in a servo, data required to be completed by each axis in a game action command is respectively transmitted to each axis servo controller through a bus, and part of motion curve computing work which should be completed by the motion controller is transferred to the servo controller for computing, so that the computing performance requirement on the motion controller is reduced, special expensive equipment can be replaced by equipment with slightly weak computing power, the use cost of the motion controller is reduced, meanwhile, the computing burden of the motion controller can be reduced, and the system processing efficiency is improved.
The application also provides a motion control device and system of the motion sensing game device and a readable storage medium, which have the beneficial effects and are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a motion control method of a motion sensing game device applied to a motion controller according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a conventional motion controller;
FIG. 3 is a schematic diagram of a motion controller and a servo controller according to an embodiment of the present disclosure;
fig. 4 is a block diagram of a motion control device of a motion sensing game device applied to a motion controller according to an embodiment of the present application;
fig. 5 is a flowchart of a motion control method of a motion sensing game device applied to a servo controller according to an embodiment of the present application;
fig. 6 is a schematic diagram of a communication protocol implementation provided in the embodiment of the present application;
FIG. 7 is a flow chart of a servo controller process according to an embodiment of the present application;
fig. 8 is a block diagram of a motion control device of a motion sensing game device applied to a servo controller according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a motion control method of the motion sensing game equipment, and the method can improve the system efficiency and reduce the cost of a motion controller; the other core of the application is to provide a motion control device and system of the motion sensing game device and a readable storage medium.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
Referring to fig. 1, fig. 1 is a flowchart of a motion control method of a motion sensing game device according to this embodiment, where the method is mainly applied to a motion controller, and the method mainly includes:
step s110, the motion controller acquires a game action command which is generated by the motion sensing game and used for controlling the motor to complete corresponding action;
the game action command is generated in the motion sensing game in the game host and is used for controlling the motor to complete the action control command of corresponding action. The specific generation mode is not limited in this embodiment, and the seat rollover command may be generated according to a game scene of the motion sensing game and a state of the servo motor, for example, according to the game scene and a current seat state of the user, where the seat rollover command is game action data in this embodiment.
The game host generates a game action command and then sends the game action command to the motion controller for analysis.
Step s120, analyzing the game action command and determining a target action;
the motion controller analyzes the game action command and determines the action to be completed by the game, namely the target action. The specific implementation manner of analyzing the game action command to determine the target action may refer to a conventional action analysis manner, which is not limited herein.
Step s130, calculating motion data corresponding to each axis in the target motion;
the motion sensing game comprises a multi-axis servo controller and a servo motor, all axes are matched to finish target actions, action data corresponding to all axes in the target actions are determined, and all axes are controlled to perform motion control according to the action data.
And step s140, respectively sending the motion data to corresponding servo controllers so that the servo controllers control the servo motors to move according to the motion curves according to the motion data.
The motion controller analyzes the motion data corresponding to each axis and sends the motion data to the servo controller corresponding to each axis,
the traditional motion controller not only needs to analyze game action instructions in an HTTP format, but also needs to calculate a motion curve and control and monitor the motion state of the servo controller, and as shown in FIG. 2, the work flow diagram of the traditional motion controller is shown, so that the traditional motion controller has heavy processing tasks, certain requirements on the performance of the traditional motion controller are met, high-performance equipment needs to be adopted for realization, the use cost is improved, and the task processing efficiency is limited; and motion controllers among all motion sensing games cannot be generally used, and general motion sensing games realize motion control by using corresponding special motion controllers, so that the current motion controllers are generally high in price and low in efficiency.
In the motion control method provided in this embodiment, after game motion data in HTTP format is received and analyzed, in order to fully utilize the computing power of the servo internal microcontroller and reduce the processing load of the motion controller, the motion required by each axis is transmitted to each axis servo controller through the bus, and the servo controller calculates the motion curve and executes it according to the motion requirement. The performance requirement of the motion controller is reduced by reducing the calculation amount of the motion controller, so that a low-price processor (such as an IOT (internet of things) platform, a cotex-A8 processor or a mobile CPU (central processing unit) and the like) can be used for replacing a high-price special motion controller, the motion cost of the motion controller is reduced, and the motion controller is high in universality. After the task processing burden is reduced, the whole task processing time is greatly shortened, and the realization of high-efficiency motion control is facilitated. It should be noted that the reduced calculation amount in the motion controller is calculated by the MCU of the servo controller, so the servo controller needs to add a CAN communication system and a single-axis motion curve calculation and control system on the original servo motor control system.
In this embodiment, the connection mode between the motion controller and the servo controller is not limited, and preferably, the connection mode between the motion controller and the servo controller may be the connection mode shown in fig. 3, where servo 1 to servo n, that is, the servo controllers corresponding to n axes in the drawing, and the motor, that is, the servo motor connected to each axis servo controller. In the mode, the motion controller realizes the control of the servo controller through a bus, control instructions can be respectively transmitted to the servo controllers of all the shafts through one bus, the number of the shafts can be freely expanded, wiring is reduced, the device is prevented from being overstaffed, and meanwhile the universality is enhanced. In this embodiment, only the connection manner shown in fig. 2 is taken as an example for description, and the motion control process in other connection manners can refer to the description of this embodiment, which is not described herein again.
Based on the above description, in the motion control method of motion-sensing game device based on motion controller provided in this embodiment, the computing power of the micro controller in the servo is fully considered, the data that needs to be completed in each axis in the game action command is respectively transmitted to each axis servo controller through the bus, and part of the motion curve computing work that should be completed by the motion controller is transferred to the servo controller for computing, so that the computing performance requirement on the motion controller is reduced, a device with slightly weak computing power can replace a dedicated expensive device, the use cost of the motion controller is reduced, the computing burden of the motion controller can be reduced, and the system processing efficiency is improved.
Referring to fig. 4, fig. 4 is a block diagram of a motion control device of a motion sensing game device applied to a motion controller according to this embodiment; the device mainly includes: instruction acquisition unit 110, motion analysis unit 120, data calculation unit 130, and data transmission unit 140. The motion control device of the motion sensing game device provided in this embodiment can be compared with the motion control method of the motion sensing game device based on the motion controller described in the above embodiment.
The instruction obtaining unit 110 is mainly used for obtaining a game action instruction generated by the motion sensing game and used for controlling the motor to complete a corresponding action;
the action analysis unit 120 is mainly used for analyzing game action instructions and determining target actions;
the data calculation unit 130 is mainly used for calculating motion data corresponding to each axis in the target motion;
the data sending unit 140 is mainly configured to send the motion data to the corresponding servo controllers, so that the servo controllers control the servo motors to move according to the motion curves according to the motion data.
Referring to fig. 5, fig. 5 is a flowchart of a motion control method of a motion sensing game device according to this embodiment, where the method is mainly applied to a servo controller, and the method mainly includes:
step s210, the servo controller determines action data and motor running state feedback data;
the motion data is obtained by analyzing motion data corresponding to each axis in the game motion command by the motion controller, and the specific generation process may refer to the description of the motion control method embodiment of the motion sensing game device applied to the motion controller in the above embodiment, and is not described herein again.
The servo controller can firstly judge whether the received motion data is the axis data after receiving the motion data sent by the motion controller, if so, the servo controller can directly process the data, if not, the servo controller indicates that the axis data distribution of the motion controller possibly has errors, and can feed back feedback information of the motion data distribution errors to the motion controller so as to prompt the motion controller to redistribute the motion data. Of course, the data may be processed directly after receiving the motion data transmitted by the motion controller, and the data is not determined, and the present invention is not limited thereto.
The motor running state feedback data, namely the feedback data generated after the motor runs according to the control of the servo controller, specifically comprises the data types which are not limited and are set according to the actual use requirement. In addition, in this embodiment, the obtaining manner of the feedback data of the motor running state is not limited, and the feedback data may be actively fed back to the servo controller by the motor or actively obtained by the servo controller.
Step s220, converting the motion data into a control instruction according to the motor running state feedback data;
and converting the motor motion data into a control command according to the fed back motor running state so as to realize the control of the servo motor. The specific implementation algorithm is not described in detail in this embodiment, and reference may be made to the conversion process of the control instruction under the conventional motion controller.
And step s230, sending the control instruction to the servo control system through the API of the servo control system so that the servo control system can control the motion of the servo motor according to the control instruction.
After the servo controller converts the motor motion data into a control instruction according to the fed-back motor running state, the control instruction is sent to a servo control system through an API of the servo control system, the servo control system performs motion control on the servo motor according to the control instruction, and meanwhile, the running state of the servo motor is fed back to a motion curve control system through the API, so that the motion control process of the motor forms a closed loop system, and the shaft moves strictly according to the motion curve.
Based on the above description, the motion control method for motion sensing game equipment provided by this embodiment can fully utilize the processing capability of the servo controller, reduce the calculation load of the motion controller, improve the universality of the motion controller, and simultaneously, not generate too heavy calculation pressure on the servo controller, balance the calculation pressure among the equipments, thereby improving the overall processing efficiency.
In the above embodiment, the obtaining manner of the feedback data of the motor operating state is not limited, and preferably, the control instruction may include: the method comprises the following steps that a servo motor motion control instruction and a motor running state periodic feedback instruction are carried out; accordingly, the control command is sent to the servo control system through the API of the servo control system, including: and sending the motion control instruction of the servo motor and the periodic feedback instruction of the motor running state to the servo control system through an API of the servo control system, so that the servo control system can control the motion of the servo motor according to the control instruction and periodically feed the motor running state back to the servo controller.
The type of the bus between the motion controller and the servo controller is not limited, and preferably, the motion controller and the servo controller transmit data through a CAN bus. The data transmission bus between the motion controller and the servo controller needs to have the characteristics of real-time performance, high efficiency, anti-interference performance and the like, the CAN bus does not have the required characteristics, the price is low, the technology is mature, the cost performance is high, and the embodiment is introduced by taking the CAN bus connection as an example.
The current practical CAN bus servo control protocol is CANOPEN protocol, but the CANOPEN protocol has more functions, the traditional communication protocol is to better let the motion controller control servo, so various functions are complete, the operation is complex, data needs to be frequently interacted, the bus load is larger, the high-frequency control with more axes is not beneficial, the actual control efficiency is lower, therefore, the embodiment provides a communication protocol between the servo controller and the motion controller, the communication protocol changes the data interaction between the traditional servo controller and the motion controller from question-answer to receiving execution and then uploading the motion state at regular time, as shown in figure 6, the communication protocol implementation diagram provided by the embodiment creates a simple CAN communication protocol with high integration efficiency and simple integration, so that the game host directly sends the control command to servo, each axis servo controller controls the motion curve of the axis servo controller.
Accordingly, to ensure a motion controller knows the motion state of each axis in time, the servo controller may periodically gather axis state data and feed the axis state data back to the motion controller. Fig. 7 is a flowchart illustrating a processing procedure of the servo controller according to this embodiment.
In the embodiment, the communication protocol between the motion controller and the servo controller is simplified, and the control efficiency and the frequency are favorably improved.
Referring to fig. 8, fig. 8 is a block diagram illustrating a motion control device of a motion sensing game device applied to a servo controller according to an embodiment of the present invention; the device mainly includes: a data determination unit 210, a data conversion unit 220, and an instruction transmission unit 230. The motion control device of the motion sensing game device provided in this embodiment can be compared with the motion control method of the motion sensing game device based on the servo controller described in the above embodiments.
The data determining unit 210 is mainly used for determining motion data and motor running state feedback data; the motion data is obtained by analyzing motion data corresponding to each axis in the game motion command by the motion controller;
the data conversion unit 220 is mainly used for converting the motion data into a control instruction according to the motor running state feedback data;
the command sending unit 230 is mainly configured to send a control command to the servo control system through an API of the servo control system, so that the servo control system performs motion control on the servo motor according to the control command.
The embodiment provides a motion control system of a motion sensing game device, which mainly comprises a motion controller and a servo controller.
The motion controller is connected with the game host and used for acquiring game action instructions generated by the motion sensing game and used for controlling the motor to complete corresponding actions so as to analyze the game action instructions, determine target actions and calculate action data corresponding to each axis in the target actions; the motion controller is also connected with the servo controller and is used for respectively sending the motion data corresponding to each axis to the corresponding servo controller.
The servo controller is connected with the motion controller and the servo motor and used for determining motion data and motor running state feedback data so as to convert the motion data into a control instruction according to the motor running state feedback data, and the control instruction is sent to the servo control system through an API (application program interface) of the servo control system so that the servo control system can control the motion of the servo motor according to the control instruction.
The connection between the motion controller and the servo controller can be described with reference to fig. 2, and will not be described herein.
In order to reduce the cost, data transmission is realized between the motion controller and the servo controller through a CAN bus, and meanwhile, an Internet of things application platform based on a cotex-A8 processor CAN be selected as the motion controller.
The motion control system of the motion sensing game device can improve the efficiency of the motion control system and reduce the use cost of the motion controller.
The present embodiment discloses a readable storage medium, on which a program is stored, and the program, when executed by a processor, implements the steps of the motion control method for motion sensing game device based on motion controller and/or the motion control method for motion sensing game device based on servo controller described in the above embodiments, which may specifically refer to the description of the above embodiments and will not be repeated herein.
The readable storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various other readable storage media capable of storing program codes.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The motion control method, device and system of the motion sensing game device and the readable storage medium provided by the application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. A motion control method of a motion sensing game device is characterized by comprising the following steps:
the servo controller determines action data and motor running state feedback data; the motion data is obtained by analyzing motion data corresponding to each axis in a game motion command by the motion controller;
converting the motion data into a control instruction according to the motor running state feedback data;
and sending the control command to the servo control system through an API of the servo control system so that the servo control system can control the motion of the servo motor according to the control command.
2. The motion sensing game device motion control method of claim 1, wherein the control instruction comprises: the method comprises the following steps that a servo motor motion control instruction and a motor running state periodic feedback instruction are carried out;
accordingly, the control command is sent to the servo control system through the API of the servo control system, including: and sending the motion control instruction of the servo motor and the periodic feedback instruction of the motor running state to the servo control system through an API (application program interface) of the servo control system, so that the servo control system can control the motion of the servo motor according to the control instruction and periodically feed the motor running state back to the servo controller.
3. The motion sensing game device motion control method of claim 1, further comprising:
the servo controller periodically aggregates the shaft state data and feeds the shaft state data back to the motion controller.
4. The utility model provides a motion control device of body sensing game device, is applied to servo controller, its characterized in that includes:
the data determining unit is used for determining action data and motor running state feedback data; the motion data is obtained by analyzing motion data corresponding to each axis in a game motion command by the motion controller;
the data conversion unit is used for converting the motion data into a control instruction according to the motor running state feedback data;
and the command sending unit is used for sending the control command to the servo control system through an API (application program interface) of the servo control system so that the servo control system can control the motion of the servo motor according to the control command.
5. A motion control method of a motion sensing game device is characterized by comprising the following steps:
the motion controller acquires a game motion instruction which is generated by the motion sensing game and used for controlling the motor to complete corresponding motion;
analyzing the game action command and determining a target action;
calculating motion data corresponding to each axis in the target motion;
and respectively sending the action data to corresponding servo controllers so that the servo controllers control the servo motors to move according to the motion curves according to the action data.
6. The utility model provides a body sense game device motion control device, is applied to motion controller, its characterized in that includes:
the instruction acquisition unit is used for acquiring a game action instruction which is generated by the motion sensing game and is used for controlling the motor to complete corresponding action;
the action analysis unit is used for analyzing the game action command and determining a target action;
the data calculation unit is used for calculating motion data corresponding to each axis in the target motion;
and the data sending unit is used for respectively sending the action data to the corresponding servo controllers so that the servo controllers control the servo motors to move according to the motion curves according to the action data.
7. A motion control system for a motion sensing gaming device, comprising:
the motion controller is used for acquiring a game motion instruction which is generated by the motion sensing game and is used for controlling the motor to complete corresponding motion; analyzing the game action command and determining a target action; calculating motion data corresponding to each axis in the target motion; respectively sending the action data to corresponding servo controllers;
the servo controller is used for determining the action data and the motor running state feedback data; converting the motion data into a control instruction according to the motor running state feedback data; and sending the control command to the servo control system through an API of the servo control system so that the servo control system can control the motion of the servo motor according to the control command.
8. The motion sensing game device motion control system of claim 7, wherein data transmission between the motion controller and the servo controller is achieved through a CAN bus.
9. The motion sensing gaming device motion control system of claim 7, wherein the motion controller is an internet of things application platform based on a cotex-A8 processor.
10. A readable storage medium having stored thereon a program which, when executed by a processor, performs the steps of the motion control method of the motion sensing game device according to any one of claims 1 to 3 and/or the motion control method of the motion sensing game device according to claim 5.
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| CN202010481853.7A CN111596591A (en) | 2020-05-28 | 2020-05-28 | Motion control method, device and system of motion sensing game equipment and storage medium |
| PCT/CN2020/094266 WO2021237771A1 (en) | 2020-05-28 | 2020-06-04 | Somatosensory game equipment operation control method, apparatus, and system, and storage medium |
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