WO2021042261A1 - Control method for toy car, and toy car - Google Patents

Control method for toy car, and toy car Download PDF

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Publication number
WO2021042261A1
WO2021042261A1 PCT/CN2019/104155 CN2019104155W WO2021042261A1 WO 2021042261 A1 WO2021042261 A1 WO 2021042261A1 CN 2019104155 W CN2019104155 W CN 2019104155W WO 2021042261 A1 WO2021042261 A1 WO 2021042261A1
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WO
WIPO (PCT)
Prior art keywords
wheel
rotation speed
speed
flywheel
turning
Prior art date
Application number
PCT/CN2019/104155
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French (fr)
Chinese (zh)
Inventor
尤中乾
Original Assignee
尤中乾
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 尤中乾 filed Critical 尤中乾
Priority to PCT/CN2019/104155 priority Critical patent/WO2021042261A1/en
Priority to CN201980005937.9A priority patent/CN111417444B/en
Publication of WO2021042261A1 publication Critical patent/WO2021042261A1/en

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/26—Details; Accessories
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/26—Details; Accessories
    • A63H17/266—Movable parts other than toy figures, driven by the wheels
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H29/00—Drive mechanisms for toys in general
    • A63H29/20—Flywheel driving mechanisms

Definitions

  • the application relates to the field of toys, and in particular to a method for controlling a toy vehicle that can be automatically turned over, and a toy vehicle controlled by the method.
  • the flywheel can provide a turning moment to the toy car to realize the body turning action of the toy car.
  • the toy car needs to have a certain degree of stability in order to maintain the stability of the car at high speed. Therefore, the flywheel mechanism provided in the toy vehicle needs to increase its energy storage capacity accordingly to provide sufficient turning torque for the toy vehicle when it needs to be turned over.
  • Increasing the energy storage capacity of the flywheel mechanism can be achieved by increasing the speed of the flywheel or increasing the mass of the flywheel. This not only brings about the increase of the power of the flywheel drive motor, the extension of the flywheel braking time, and the high braking noise. It will shorten the life of the flywheel drive motor.
  • This application proposes a toy vehicle control method that can reduce the energy storage capacity of the flywheel, which specifically includes the following technical solutions:
  • a toy vehicle control method includes the following steps:
  • the flywheel is braked so that the body of the toy car is turned over.
  • the determining that the rotation speed of the flywheel reaches the first turning speed includes:
  • the toy vehicle is controlled to maintain the current traveling state, and the flywheel is accelerated to reach the first turning speed.
  • controlling the rotation speeds of the first wheel and the second wheel symmetrically arranged on both sides of the vehicle body, so that the rotation speed of the first wheel and the rotation speed of the second wheel form an overturning speed difference including:
  • the vehicle speed of the first wheel is controlled to be greater than the vehicle speed of the second wheel, or
  • the rotation speed of the first wheel and the rotation speed of the second wheel are controlled to reach the turning speed difference.
  • controlling the rotation speed of the first wheel and the rotation speed of the second wheel to reach the difference of the turning rotation speed includes:
  • the determining that the rotation speed of the first wheel or the rotation speed of the second wheel reaches a first rotation speed value includes:
  • the toy vehicle is controlled to accelerate so that the rotation speed of the first wheel or the rotation speed of the second wheel reaches the first rotation speed value.
  • controlling the rotation speed of the first wheel and the rotation speed of the second wheel to reach the difference of the turning rotation speed includes:
  • the rotation speed of the second wheel or the rotation speed of the first wheel is controlled to reach a fourth rotation speed value, and the difference between the third rotation speed value and the fourth rotation speed value is greater than or equal to the turnover rotation speed difference.
  • controlling the rotation speed of the first wheel or the rotation speed of the second wheel to reach a third rotation speed value includes:
  • said simultaneously controlling the rotation speed of the second wheel or the rotation speed of the first wheel to reach a fourth rotation speed value includes:
  • the braking of the flywheel to make the body of the toy car turn over includes:
  • the flywheel is braked so that the body of the toy car is turned over.
  • the present application also relates to a toy vehicle, including a vehicle body, a flywheel arranged inside the vehicle body, and a first wheel and a second wheel symmetrically arranged on both sides of the vehicle body.
  • the toy vehicle adopts the above-mentioned toy vehicle control method Take control.
  • the toy vehicle control method of the present application after the toy vehicle receives a vehicle body turning instruction, it first determines that the rotation speed of the flywheel reaches the first turning speed to ensure that the flywheel can provide what is necessary for the toy vehicle to turn over. Flip torque. The method further controls the rotation speeds of the first wheel and the second wheel symmetrically arranged on both sides of the vehicle body, so that the rotation speed of the first wheel and the rotation speed of the second wheel form a turning speed difference. .
  • the vehicle body of the toy vehicle with a difference in rotational speed will tend to roll under the action of inertia, and its center of gravity will shift. At this time, braking the flywheel can make it easier for the toy car to form an overturned posture.
  • the toy vehicle controlled by the control method of the present application requires a smaller turning torque during the turning process, the braking time of the flywheel is shorter, and the noise emitted by the flywheel during braking is smaller.
  • the power consumption and cost of the toy car are effectively controlled.
  • Figure 1 is a schematic structural diagram of a toy vehicle provided in an embodiment of the present application.
  • Figure 2 is a flowchart of a toy vehicle control method in an embodiment of the present application
  • FIG. 3 is a flowchart of sub-steps of a toy vehicle control method S20 in an embodiment of the present application
  • Fig. 5 is a schematic diagram of the rotation track of the flywheel of the toy car in an embodiment of the present application
  • FIG. 6 is a flowchart of sub-steps of a toy vehicle control method S33 in an embodiment of the present application.
  • FIG. 7 is a flowchart of sub-steps of a toy vehicle control method S331 in an embodiment of the present application.
  • FIG. 8 is a flowchart of sub-steps of a toy vehicle control method S33 in another embodiment of the present application.
  • Fig. 9 is a flowchart of sub-steps of a toy vehicle control method S40 in an embodiment of the present application.
  • the toy vehicle 100 includes a body 101, a flywheel 30 arranged inside the body 101, and a first wheel 10 and a second wheel 20 located on both sides of the body 101.
  • the first wheel 10 and the second wheel 20 are symmetrically arranged with respect to the geometric centerline of the vehicle body 101.
  • the first wheel 10 and the second wheel 20 are independently connected to the vehicle body 101, and respectively rotate in a counterclockwise or clockwise direction relative to the vehicle body 101.
  • first wheel 10 is rotatably connected with the body 101
  • second wheel 20 is rotatably connected with the body 101, and there is no fixed connection mechanism between the first wheel 10 and the second wheel 20, so that the first wheel 10 of the toy car 100 And the second wheel 20 can be controlled separately.
  • the toy vehicle control method includes the following steps:
  • the toy vehicle 100 may trigger a turning instruction and control the vehicle body 101 to turn over by determining its real-time state or environment.
  • the toy vehicle 100 may also receive a vehicle body turning instruction by receiving an external signal instruction. That is, the turning instruction received by the toy vehicle 100 may be issued by itself or may be received by the outside world.
  • the flywheel 30 is arranged inside the body 101 of the toy vehicle 100, and the flywheel 30 is always rotating at a high speed in the toy vehicle 100.
  • the flywheel 30 may include a flywheel motor 31, and the flywheel motor 31 is used to drive the rotation of the flywheel 30.
  • a certain turning torque is required.
  • the rotation speed of the flywheel 30 becomes a factor that determines the turning moment of the flywheel 30.
  • the toy vehicle control method presets the first turning speed V01 corresponding to the rotation speed of the flywheel based on the torque required for turning of the toy vehicle 100. After the real-time rotation speed of the flywheel 30 reaches the preset first turning speed V01, the toy vehicle 100 can be ensured to turn over by braking the flywheel 30. It is understandable that after the toy car 100 is started, the flywheel motor 31 drives the flywheel 30 to start to rotate, accelerates the flywheel 30, and keeps rotating at a rotation speed not lower than the first turning speed V01, in order to receive the car body in the toy car 100 It has the required flipping torque when flipping commands.
  • the control method also needs to control the rotation speed of the first wheel 10 and the second wheel 20. Because the first wheel 10 and the second wheel 20 are respectively rotatably connected to the body 101, the toy vehicle 100 has the ability to separately control the rotation speed of the first wheel 10 and the second wheel 20.
  • the toy car 100 can control the rotation speed of the first wheel 10 by accelerating, maintaining a constant speed or decelerating.
  • the toy car 100 can control the rotation speed of the second vehicle 20 by accelerating, maintaining a constant speed or decelerating.
  • the toy vehicle 100 can increase the speed of the first wheel 10 or/and the second wheel 20 by accelerating by its own driving motor.
  • the toy vehicle 100 can achieve the purpose of deceleration by braking the first wheel 10 or/and the second wheel 20, or reducing the output power of the driving motor.
  • the control method of the present application does not limit the toy vehicle 100 to specifically adopt the method of accelerating, maintaining a constant speed or decelerating when controlling the rotation speed of the first wheel 10 and the second wheel 20. Any method can realize the speed control of the first wheel 10.
  • the speed control of the second wheel 20 can also be realized.
  • V2 forms a reversal speed difference V02.
  • the vehicle body 101 of the toy vehicle 100 has a speed difference between the wheels on both sides, its center of gravity will shift under the action of inertia.
  • the speed difference is large, the vehicle body 101 may also be lifted away from the bottom surface on one side due to the effect of inertia.
  • the flywheel 30 can provide a smaller turning moment, which can realize the turning of the body 101.
  • the body 101 of the toy vehicle 100 has shifted its center of gravity.
  • the braking action on the flywheel 30 is supplemented so that the flywheel 30 provides a turning moment, which can make the body 101 of the toy vehicle 100 turn over more easily.
  • the flywheel 30 and the rotation speed difference between the first wheel 10 and the second wheel 20 are used to achieve the effect of turning the body 101 over. Because the rotation speed V1 of the first wheel 10 can be independently controlled with respect to the rotation speed V2 of the second wheel 20, a predetermined turning speed difference V02 can be formed between the first wheel 10 and the second wheel 20. By reasonably setting the turning speed difference V02, a large center of gravity deviation can be formed for the body 101 of the toy vehicle 100. It is even possible to set a larger turning speed difference V02 to make the toy vehicle 100 form an empty posture on the side of the vehicle body 101 due to inertia before braking the flywheel 30.
  • the toy vehicle 100 requires a corresponding reduction in the turning torque required by the flywheel 30. Because the braking action of the flywheel 30 during high-speed rotation needs to form a relatively large friction force to provide a turning torque, the flywheel 30 needs to have a sufficiently fast speed during the braking process, and at the same time, a large amount of friction will be generated during the braking process. Braking noise.
  • the toy vehicle 100 of the present application assists the turning of the body 101 through the turning speed difference V02, the turning torque to be provided by the flywheel 30 is correspondingly reduced. As a result, the first turning speed V01 of the flywheel 30 can be reduced accordingly, thereby reducing the rated power of the flywheel motor 31, so that the power consumption of the toy vehicle 100 can be controlled.
  • the friction force generated during braking can also be reduced correspondingly, which brings about the effects of reducing braking noise and shortening braking time. . While improving the service life of the flywheel 30 and the flywheel motor 31, the noise pollution of the toy car is also reduced, and the user experience is improved.
  • FIG. 3 is a sub-step of step S20 in the toy vehicle control method shown in FIG. 2.
  • step S20 when it is determined that the rotation speed of the flywheel 30 reaches the first turning speed V01, the control method of the present application further includes:
  • the flywheel 30 is usually in a non-working state. Only after the toy car 100 is started, the flywheel 30 starts to rotate under the drive of the flywheel motor 31, and maintains a state of uniform rotation after the rotation speed reaches the first turning speed V01 or more. However, in order to maintain the rotation state of the first turning speed V01, there is still a phenomenon of high power consumption. Therefore, the toy vehicle 100 can maintain the flywheel 30 at a rotation speed close to the first turning speed V01. When the toy vehicle 100 receives the vehicle body turning instruction, the toy vehicle 100 continues to maintain the current traveling state, and at the same time, the flywheel motor 31 is used in a short time. The flywheel 30 is accelerated internally to reach the first turning speed V01 and realize turning. Such a control method can appropriately reduce the output power of the flywheel motor 31, thereby controlling the overall power consumption of the toy vehicle 100.
  • the toy car 100 when the toy car 100 just starts to start, if the rotation speed of the flywheel 30 has not reached the first turning speed V01, and the toy car 100 has received the vehicle body turning instruction. At this time, the toy car 100 is also unable to make a turning action because the flywheel 30 is not sufficient to provide a turning torque. At this time, the toy car 100 is also required to maintain the current traveling state. After the flywheel motor 31 raises the speed of the flywheel 30 to the first turning speed V01, it can ensure that sufficient turning torque is provided for the toy vehicle and the turning action is completed.
  • step S30 when the rotation speeds of the first wheel 10 and the second wheel 20 that are symmetrically arranged on both sides of the vehicle body 101 are controlled, so that the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 form a reversing speed difference V02.
  • Control methods also include:
  • the turning speed difference V02 two scenarios will appear when the turning speed difference V02 is formed.
  • One scenario is that the vehicle speed V1 of the first wheel 10 is greater than the vehicle speed V2 of the second wheel 20, and the other is that the vehicle speed V1 of the first wheel 10 is less than the vehicle speed V1 of the second wheel 20.
  • the vehicle speed of the two wheels 20 is V2. That is, when the toy vehicle 100 forms a turning speed difference V02, the body 101 will have a center of gravity deviation in two different directions. Normally, the vehicle body 101 will shift its center of gravity toward the wheel side where the vehicle speed is relatively low. Referring to FIG. 5, on the rotation trajectory of the flywheel 30, the rotation trajectory can be divided into an upper half area and a lower half area according to the horizontal line.
  • the rotation direction of the flywheel 30 is constant, the movement tendency of the flywheel is always from one side of the vehicle body 101 to the other side in the upper half of the flywheel rotation trajectory.
  • This arc-shaped movement trajectory and the movement direction are projected onto the horizontal plane, which can be set as the first direction 001.
  • the direction of the turning force provided by the flywheel 30 to the toy car 100 is also determined according to the first direction 001, that is, the toy car will turn in the direction of the first direction 001.
  • the toy car 100 needs to control the vehicle speed V2 of the second wheel 20 to be greater than the vehicle speed V1 of the first wheel 10. .
  • the first wheel 10 is on the side with a lower vehicle speed, so that the center of gravity of the toy car 100 is biased to the side of the first wheel 10, so that the turning speed difference V02 and the flywheel 30 form a resultant force, which together act on the body 101 to form a turning; If the first direction 001 is the extension direction of the first wheel 10 to the second wheel 20, the vehicle speed V1 of the first wheel 10 needs to be controlled to be greater than the vehicle speed V of the second wheel 20, so that the turning speed difference V02 and the flywheel 30 form a combined force .
  • the direction of rotation of the flywheel 30 is usually constant during the process of one rotation and braking to achieve turning.
  • the rotation direction of the flywheel 30 can be different each time it is started according to the needs of different scenarios, that is, the flywheel motor 31 can be implemented by a bidirectional motor. Therefore, according to the different rotation directions of the flywheel 30, when the toy car 100 controls the first wheel 10 and the second wheel 20 to form a turnover speed difference V02, it is necessary to set the higher speed side of the first wheel 10 or the second wheel 20 accordingly. In order to ensure the effective development of the control method of the present invention.
  • FIG. 6 is a sub-step of the sub-step S33 in the toy vehicle control method shown in FIG. 4.
  • Step S33 controlling the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 to reach the turning speed difference V02, further includes:
  • the toy vehicle 100 controls the first wheel 10 and the second wheel 20 to form the turning speed V02
  • the first wheel 10 and the second wheel 20 may be the driving wheels of the toy vehicle 100 or the driven wheels of the toy vehicle 100.
  • the braking action of the toy car 100 on the first wheel 10 or the second wheel 20 is a speed reduction control, it is required that the first wheel 10 and the second wheel 20 must first reach the first rotational speed that is sufficient to form the turnover speed difference V02. V011, and then brake the first wheel 10 or the second wheel 20 separately, so that the first wheel 10 or the second wheel 20 is reduced to the second rotation speed V012 to form the preset turning speed difference V02. See the following formula (1):
  • V011 V02. That is, when the toy vehicle 100 brakes the first wheel 10 or the second wheel 20 to form the reversing speed difference V02, it is necessary to ensure that the revolving speed of the second wheel 20 or the first wheel 10 is greater than or equal to the reversing speed difference V02.
  • step S331 determining that the rotation speed V1 of the first wheel 10 or the rotation speed V2 of the second wheel 20 reaches the first rotation speed value V011, further includes:
  • the toy vehicle 100 is controlled to accelerate so that the rotation speed V1 of the first wheel 10 or the rotation speed V2 of the second wheel 20 reaches the first rotation speed value V011.
  • the turning speed difference V02 may not be reached. Therefore, after the toy car 100 receives the vehicle body turning instruction, it needs to ensure that the first wheel 10 and the second wheel 20 reach the first rotational speed value V011. When the vehicle speed of the toy car 100 is low, it needs to accelerate for a period of time to reach or exceed the first rotational speed value V011, and then brake the first wheel 10 or the second wheel 20 separately to form the turning rotational speed difference V02.
  • step S33 controlling the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 to reach the turning speed difference V02, further includes:
  • the toy vehicle 100 can control the speed of the first wheel 10 and the second wheel 20 respectively, and does not need to perform speed control on one of the wheels after only accelerating. Braking to form the reversal speed difference V02.
  • the first wheel 10 and the second wheel 20 should be used as the driving wheels of the toy car 100, and the toy car 100 needs to be provided with a first driving motor 11 corresponding to the first wheel 10 and a first driving motor 11 corresponding to the second wheel 20, respectively.
  • the toy vehicle 100 controls the first wheel 10 and the second wheel 20 at the same time by controlling the first drive motor 11 and the second drive motor 12 at the same time. Speed, and make the difference between the rotation speed of the first wheel 10 and the second wheel 20 reach or exceed the purpose of turning the rotation speed difference V02.
  • the rotation speed V1 of the first wheel 10 is greater than the rotation speed V2 of the second wheel 20.
  • the first drive motor 11 may first control the speed V1 of the first wheel 10 to reach the third speed value V013.
  • the first driving motor 11 can make the rotation speed V1 of the first wheel 10 reach the third rotation speed value V013 by accelerating, maintaining a constant speed, or braking the first wheel 10.
  • the toy car 100 can control the second drive motor 12 to maintain or reduce the rotation speed V2 of the second wheel 20 by maintaining a constant speed, braking or reversing the second wheel 20, so that the rotation speed of the second wheel 20 V2 reaches the fourth speed value V014.
  • the difference between the third rotation speed value V013 and the fourth rotation speed value V014 is also greater than or equal to the reverse rotation speed difference V02.
  • the fourth rotation speed value V014 has a direction in the formula (2). Attribute. That is, when the first wheel 10 and the second wheel 20 rotate in the same direction, the difference between the third rotation speed value V013 and the fourth rotation speed value V014 needs to be greater than or equal to the reverse rotation speed difference V02; and when the first wheel 10 and the second wheel 20 When the direction of rotation is opposite, the sum of the absolute value of the third rotation speed value V013 and the absolute value of the fourth rotation speed value V014 is required to be greater than or equal to the absolute value of the reverse rotation speed difference V02.
  • the toy vehicle 100 synchronously controls the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 to form a reverse rotation speed difference between the first wheel 10 and the second wheel 20.
  • V02 can reach the turning speed difference V02 in a shorter time, shorten the reaction time of the toy car 100 after receiving the body turning command, and make the body turning action more timely.
  • FIG. 9 is a sub-step of step S40 in the toy vehicle control method shown in FIG. 2.
  • step S40 when the flywheel 30 is braked so that the body 101 of the toy car 100 is turned over, the method further includes:
  • the flywheel 30 of the toy vehicle 100 reaches the first turning speed V01, and the turning speed difference V02 is formed between the rotational speed V1 of the first wheel 10 and the rotational speed V2 of the second wheel 20, the toy vehicle 100 still needs to travel a certain distance In order to reflect the turning speed difference V02 on the deflection attitude of the center of gravity of the vehicle body 101. Therefore, before braking the flywheel 30, the toy vehicle 100 needs to be given enough travel time, that is, after waiting for the first time interval T, the flywheel 30 is braked. At this time, because the center of gravity of the body 101 of the toy car 100 has shifted, it can be ensured that the body 101 completes the turning action of the body 101 under the combined action of the turning speed difference V02 and the turning torque provided by the flywheel 30.

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Abstract

A control method for a toy car (100). The method comprises: upon a toy car (100) receiving a car body flip-over instruction, determining whether a rotation speed of a flywheel (30) has reached a first flip-over speed, and controlling rotation speeds of a first wheel (10) and a second wheel (20) symmetrically disposed on two sides of a car body, such that a flip-over rotation speed difference is established between the rotation speed of the first wheel (10) and the rotation speed of the second wheel (20); and after the rotation speed of the flywheel (30) and the flip-over rotation speed difference between the first wheel (10) and the second wheel (20) have been established, braking the flywheel (30), such that the car body (101) of the toy car (100) flips over. The control method for the toy car (100) causes, by means of the flip-over rotation speed difference between the first wheel (10) and the second wheel (20), the car body (101) of the toy car (100) to be more likely to flip-over under the action of inertia, and then flips the toy car (100) over with the assistance of a flip-over torque provided by the flywheel (30). The method lowers a flip-over torque required by the flywheel (30), and reduces power consumption and a cost of the toy car (100).

Description

玩具车控制方法及玩具车Toy car control method and toy car 技术领域Technical field
本申请涉玩具领域，尤其涉及一种可自动翻转的玩具车控制方法，以及采用本方法控制的玩具车。The application relates to the field of toys, and in particular to a method for controlling a toy vehicle that can be automatically turned over, and a toy vehicle controlled by the method.
背景技术Background technique
当前市场上的玩具车产品，出于增加趣味性的目的，出现了一部分内置有飞轮的玩具车。飞轮作为一种储能机构，可以对玩具车提供翻转力矩，以实现玩具车的车身翻转动作。但玩具车基于自身基本功能的需要，其车身需要具备一定的稳定性，才能保持高速行进时的车身平稳。由此，设置于玩具车内的飞轮机构需要相应提升其储能容量，才能在需要实现翻转时提供玩具车足够的翻转力矩。提升飞轮机构的储能容量可以通过加大飞轮转速或加大飞轮质量等方式来实现，这样不但带来了飞轮驱动电机的功率增大，飞轮制动时间延长、制动噪音高等缺陷，同时也会缩减飞轮驱动电机的寿命。In the current toy car products on the market, for the purpose of increasing interest, some toy cars with built-in flywheels have appeared. As a kind of energy storage mechanism, the flywheel can provide a turning moment to the toy car to realize the body turning action of the toy car. However, based on the needs of its own basic functions, the toy car needs to have a certain degree of stability in order to maintain the stability of the car at high speed. Therefore, the flywheel mechanism provided in the toy vehicle needs to increase its energy storage capacity accordingly to provide sufficient turning torque for the toy vehicle when it needs to be turned over. Increasing the energy storage capacity of the flywheel mechanism can be achieved by increasing the speed of the flywheel or increasing the mass of the flywheel. This not only brings about the increase of the power of the flywheel drive motor, the extension of the flywheel braking time, and the high braking noise. It will shorten the life of the flywheel drive motor.
发明内容Summary of the invention
本申请提出一种可减小飞轮储能容量的玩具车控制方法，具体包括如下技术方案：This application proposes a toy vehicle control method that can reduce the energy storage capacity of the flywheel, which specifically includes the following technical solutions:
一种玩具车控制方法，包括以下步骤：A toy vehicle control method includes the following steps:
收到车身翻转指令；Receipt of the vehicle body turning instruction;
确定到飞轮的转速达到第一翻转速度；It is determined that the rotation speed of the flywheel reaches the first turning speed;
控制对称设置于所述车身两侧的第一车轮和第二车轮的转速，以使得所述第一车轮的转速和所述第二车轮的转速形成翻转转速差；Controlling the rotation speeds of the first wheel and the second wheel symmetrically arranged on both sides of the vehicle body, so that the rotation speed of the first wheel and the rotation speed of the second wheel form a turning speed difference;
对所述飞轮制动，以使得所述玩具车的车身翻转。The flywheel is braked so that the body of the toy car is turned over.
其中，所述确定到飞轮的转速达到第一翻转速度，包括：Wherein, the determining that the rotation speed of the flywheel reaches the first turning speed includes:
确定到所述飞轮的转速未达到所述第一翻转速度；It is determined that the rotation speed of the flywheel has not reached the first turning speed;
控制所述玩具车保持当前行进状态，并对所述飞轮加速以达到所述第一翻 转速度。The toy vehicle is controlled to maintain the current traveling state, and the flywheel is accelerated to reach the first turning speed.
其中，所述控制对称设置于所述车身两侧的第一车轮和第二车轮的转速，以使得所述第一车轮的转速和所述第二车轮的转速形成翻转转速差，包括：Wherein, the controlling the rotation speeds of the first wheel and the second wheel symmetrically arranged on both sides of the vehicle body, so that the rotation speed of the first wheel and the rotation speed of the second wheel form an overturning speed difference, including:
基于所述飞轮的旋向，设定所述飞轮旋转轨迹的上半区运动趋势投影到水平面上的方向为第一方向；Based on the rotation direction of the flywheel, setting the direction in which the movement trend of the upper half of the flywheel rotation trajectory is projected onto the horizontal plane as the first direction;
当所述第一方向为所述第一车轮至所述第二车轮的延伸方向时，控制所述第一车轮的车速大于所述第二车轮的车速，或When the first direction is the extending direction from the first wheel to the second wheel, the vehicle speed of the first wheel is controlled to be greater than the vehicle speed of the second wheel, or
当所述第一方向为所述第二车轮至所述第一车轮的延伸方向时，控制所述第二车轮的车速大于所述第一车轮的车速；When the first direction is the extending direction from the second wheel to the first wheel, controlling the vehicle speed of the second wheel to be greater than the vehicle speed of the first wheel;
控制所述第一车轮的转速和所述第二车轮的转速达到所述翻转转速差。The rotation speed of the first wheel and the rotation speed of the second wheel are controlled to reach the turning speed difference.
其中，所述控制所述第一车轮的转速和所述第二车轮的转速达到所述翻转转速差，包括：Wherein, the controlling the rotation speed of the first wheel and the rotation speed of the second wheel to reach the difference of the turning rotation speed includes:
确定所述第一车轮的转速或所述第二车轮的转速达到第一转速值；Determining that the rotation speed of the first wheel or the rotation speed of the second wheel reaches a first rotation speed value;
对所述第二车轮或所述第一车轮制动以使得所述第二车轮的转速或所述第一车轮的转速达到第二转速值，且所述第一转速值与所述第二转速值的差值大于或等于所述翻转转速差。Braking the second wheel or the first wheel so that the rotational speed of the second wheel or the rotational speed of the first wheel reaches a second rotational speed value, and the first rotational speed value and the second rotational speed The difference between the values is greater than or equal to the difference in the turning speed.
其中，所述确定所述第一车轮的转速或所述第二车轮的转速达到第一转速值，包括：Wherein, the determining that the rotation speed of the first wheel or the rotation speed of the second wheel reaches a first rotation speed value includes:
确定到所述第一车轮的转速或所述第二车轮的转速未达到所述第一转速值；It is determined that the rotation speed of the first wheel or the rotation speed of the second wheel does not reach the first rotation speed value;
控制所述玩具车加速以使得所述第一车轮的转速或所述第二车轮的转速达到所述第一转速值。The toy vehicle is controlled to accelerate so that the rotation speed of the first wheel or the rotation speed of the second wheel reaches the first rotation speed value.
其中，所述控制所述第一车轮的转速和所述第二车轮的转速达到所述翻转转速差，包括：Wherein, the controlling the rotation speed of the first wheel and the rotation speed of the second wheel to reach the difference of the turning rotation speed includes:
控制所述第一车轮的转速或所述第二车轮的转速达到第三转速值；Controlling the rotation speed of the first wheel or the rotation speed of the second wheel to reach a third rotation speed value;
同时控制所述第二车轮的转速或所述第一车轮的转速达到第四转速值，且所述第三转速值与所述第四转速值的差值大于或等于所述翻转转速差。At the same time, the rotation speed of the second wheel or the rotation speed of the first wheel is controlled to reach a fourth rotation speed value, and the difference between the third rotation speed value and the fourth rotation speed value is greater than or equal to the turnover rotation speed difference.
其中，所述控制所述第一车轮的转速或所述第二车轮的转速达到第三转速值，包括：Wherein, the controlling the rotation speed of the first wheel or the rotation speed of the second wheel to reach a third rotation speed value includes:
对所述第一车轮或所述第二车轮加速、保持匀速或制动，以控制所述第一车轮的转速或所述第二车轮的转速达到所述第三转速值。Accelerate, maintain a constant speed, or brake the first wheel or the second wheel to control the rotation speed of the first wheel or the second wheel to reach the third rotation speed value.
其中，所述同时控制所述第二车轮的转速或所述第一车轮的转速达到第四转速值，包括：Wherein, said simultaneously controlling the rotation speed of the second wheel or the rotation speed of the first wheel to reach a fourth rotation speed value includes:
对所述第二车轮或所述第一车轮保持匀速、制动或反转，以同时控制所述第二车轮的转速或所述第一车轮的转速达到第四转速值。Maintain a constant speed, brake or reverse rotation of the second wheel or the first wheel to simultaneously control the rotation speed of the second wheel or the rotation speed of the first wheel to reach a fourth rotation speed value.
其中，所述对所述飞轮制动，以使得所述玩具车的车身翻转，包括：Wherein, the braking of the flywheel to make the body of the toy car turn over includes:
等待第一时间间隔；Wait for the first time interval;
对所述飞轮制动，以使得所述玩具车的车身翻转。The flywheel is braked so that the body of the toy car is turned over.
本申请还涉及一种玩具车，包括车身、设置于所述车身内部的飞轮，以及对称设置于所述车身两侧的第一车轮和第二车轮，所述玩具车采用上述的玩具车控制方法进行控制。The present application also relates to a toy vehicle, including a vehicle body, a flywheel arranged inside the vehicle body, and a first wheel and a second wheel symmetrically arranged on both sides of the vehicle body. The toy vehicle adopts the above-mentioned toy vehicle control method Take control.
本申请所述玩具车控制方法，在所述玩具车收到车身翻转指令后，先通过确定所述飞轮的转速达到第一翻转速度，来保证所述飞轮能提供所述玩具车翻转时必须的翻转力矩。本方法还通过分别控制对称设置于所述车身两侧的所述第一车轮和所述第二车轮的转速，以使得所述第一车轮的转速和所述第二车轮的转速形成翻转转速差。存在转速差的所述玩具车的所述车身会在惯性作用下形成侧倾的趋势，其重心发生偏移。此时再对所述飞轮制动，可以使得所述玩具车更容易的形成翻转的姿态。通过本申请控制方法控制的所述玩具车在翻转的过程中所需的翻转力矩更小，所述飞轮的制动时间更短，且所述飞轮在制动时发出的噪音更小。所述玩具车的功耗和成本均得到有效控制。In the toy vehicle control method of the present application, after the toy vehicle receives a vehicle body turning instruction, it first determines that the rotation speed of the flywheel reaches the first turning speed to ensure that the flywheel can provide what is necessary for the toy vehicle to turn over. Flip torque. The method further controls the rotation speeds of the first wheel and the second wheel symmetrically arranged on both sides of the vehicle body, so that the rotation speed of the first wheel and the rotation speed of the second wheel form a turning speed difference. . The vehicle body of the toy vehicle with a difference in rotational speed will tend to roll under the action of inertia, and its center of gravity will shift. At this time, braking the flywheel can make it easier for the toy car to form an overturned posture. The toy vehicle controlled by the control method of the present application requires a smaller turning torque during the turning process, the braking time of the flywheel is shorter, and the noise emitted by the flywheel during braking is smaller. The power consumption and cost of the toy car are effectively controlled.
附图说明Description of the drawings
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例描述中所需要使用的附图作简单地介绍。In order to describe the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments of the present application.
图1是本申请一种实施例中提供的玩具车的结构示意图；Figure 1 is a schematic structural diagram of a toy vehicle provided in an embodiment of the present application;
图2是本申请一种实施例中玩具车控制方法的流程图；Figure 2 is a flowchart of a toy vehicle control method in an embodiment of the present application;
图3是本申请一种实施例中玩具车控制方法S20的子步骤流程图；3 is a flowchart of sub-steps of a toy vehicle control method S20 in an embodiment of the present application;
图4是本申请一种实施例中玩具车控制方法S30的子步骤流程图；4 is a flowchart of sub-steps of a toy vehicle control method S30 in an embodiment of the present application;
图5是本申请一种实施例中玩具车的飞轮旋转轨迹的示意图；Fig. 5 is a schematic diagram of the rotation track of the flywheel of the toy car in an embodiment of the present application;
图6是本申请一种实施例中玩具车控制方法S33的子步骤流程图；6 is a flowchart of sub-steps of a toy vehicle control method S33 in an embodiment of the present application;
图7是本申请一种实施例中玩具车控制方法S331的子步骤流程图；FIG. 7 is a flowchart of sub-steps of a toy vehicle control method S331 in an embodiment of the present application;
图8是本申请另一种实施例中玩具车控制方法S33的子步骤流程图；FIG. 8 is a flowchart of sub-steps of a toy vehicle control method S33 in another embodiment of the present application;
图9是本申请一种实施例中玩具车控制方法S40的子步骤流程图。Fig. 9 is a flowchart of sub-steps of a toy vehicle control method S40 in an embodiment of the present application.
具体实施方式detailed description
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其它实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.
请参看图1所示的本申请玩具车100。玩具车100包括车身101，设置于车身101内部的飞轮30，以及位于车身101两侧的第一车轮10和第二车轮20。其中第一车轮10与第二车轮20相对于车身101的几何中心线对称设置。且第一车轮10与第二车轮20分别独立连接于车身101上，且分别相对于车身101沿着逆时针或顺时针方向转动。即第一车轮10与车身101转动连接，第二车轮20与车身101也转动连接，且第一车轮10与第二车轮20之间没有固定连接的机构，以使得玩具车100的第一车轮10和第二车轮20可以分开控制。Please refer to the toy vehicle 100 of the present application shown in FIG. 1. The toy vehicle 100 includes a body 101, a flywheel 30 arranged inside the body 101, and a first wheel 10 and a second wheel 20 located on both sides of the body 101. The first wheel 10 and the second wheel 20 are symmetrically arranged with respect to the geometric centerline of the vehicle body 101. In addition, the first wheel 10 and the second wheel 20 are independently connected to the vehicle body 101, and respectively rotate in a counterclockwise or clockwise direction relative to the vehicle body 101. That is, the first wheel 10 is rotatably connected with the body 101, and the second wheel 20 is rotatably connected with the body 101, and there is no fixed connection mechanism between the first wheel 10 and the second wheel 20, so that the first wheel 10 of the toy car 100 And the second wheel 20 can be controlled separately.
本申请玩具车控制方法请参见图2，如图2所示，所述玩具车控制方法包括以下步骤：Please refer to Figure 2 for the toy vehicle control method of this application. As shown in Figure 2, the toy vehicle control method includes the following steps:
S10、收到车身翻转指令；S10. Receipt of a vehicle body turning instruction;
具体的，玩具车100通过对自身实时状态或环境的判定，可能触发翻转指令并控制车身101发生翻转。或者，玩具车100还可以通过接收外界信号指令来收到车身翻转指令。即玩具车100接收到的翻转指令可以是自身发出的，也可以是外界接收到的。Specifically, the toy vehicle 100 may trigger a turning instruction and control the vehicle body 101 to turn over by determining its real-time state or environment. Alternatively, the toy vehicle 100 may also receive a vehicle body turning instruction by receiving an external signal instruction. That is, the turning instruction received by the toy vehicle 100 may be issued by itself or may be received by the outside world.
S20、确定到飞轮30的转速达到第一翻转速度V01；S20. Determine that the rotation speed of the flywheel 30 reaches the first turning speed V01;
具体的，当玩具车100收到翻转指令后，需要通过飞轮30来提供翻转力矩，以实现车身101的翻转动作。飞轮30设置于玩具车100的车身101内部，飞轮30在玩具车100内一直处于高速旋转的状态。如图1所示，飞轮30可以 包括有飞轮电机31，飞轮电机31用于驱动飞轮30的旋转。而玩具车100在地面上要实现翻转车身101的动作，需要一定的翻转力矩。在飞轮30的质量恒定的前提下，飞轮30的转速成为决定飞轮30的翻转力矩的因素。本玩具车控制方法基于玩具车100的翻转所需力矩，预设了对应飞轮旋转速度的第一翻转速度V01。当飞轮30的实时转速达到预设的第一翻转速度V01之后，通过对飞轮30制动可以保证玩具车100发生翻转动作。可以理解的，在玩具车100启动之后，飞轮电机31即带动飞轮30开始旋转，并使得飞轮30加速，并以不低于第一翻转速度V01的转速保持旋转，才能在玩具车100接收到车身翻转指令时具备翻转所需的翻转力矩。Specifically, after the toy vehicle 100 receives the turning instruction, it needs to provide the turning torque through the flywheel 30 to realize the turning action of the body 101. The flywheel 30 is arranged inside the body 101 of the toy vehicle 100, and the flywheel 30 is always rotating at a high speed in the toy vehicle 100. As shown in FIG. 1, the flywheel 30 may include a flywheel motor 31, and the flywheel motor 31 is used to drive the rotation of the flywheel 30. In order for the toy car 100 to turn the body 101 on the ground, a certain turning torque is required. On the premise that the mass of the flywheel 30 is constant, the rotation speed of the flywheel 30 becomes a factor that determines the turning moment of the flywheel 30. The toy vehicle control method presets the first turning speed V01 corresponding to the rotation speed of the flywheel based on the torque required for turning of the toy vehicle 100. After the real-time rotation speed of the flywheel 30 reaches the preset first turning speed V01, the toy vehicle 100 can be ensured to turn over by braking the flywheel 30. It is understandable that after the toy car 100 is started, the flywheel motor 31 drives the flywheel 30 to start to rotate, accelerates the flywheel 30, and keeps rotating at a rotation speed not lower than the first turning speed V01, in order to receive the car body in the toy car 100 It has the required flipping torque when flipping commands.
S30、控制对称设置于车身101两侧的第一车轮10和第二车轮20的转速，以使得第一车轮10的转速V1和第二车轮20的转速V2形成翻转转速差V02；S30. Control the rotation speeds of the first wheel 10 and the second wheel 20 symmetrically arranged on both sides of the vehicle body 101, so that the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 form a turnover speed difference V02;
具体的，在玩具车100接收到车身翻转指令之后，本控制方法还需要控制第一车轮10和第二车轮20的转速。因为第一车轮10和第二车轮20分别与车身101转动连接，因此玩具车100具备了分开单独控制第一车轮10和第二车轮20的转速的能力。玩具车100对第一车轮10的转速控制可以包括加速、保持匀速或减速的方式来完成，玩具车100对第二车辆20的转速控制方式也可以包括加速、保持匀速或减速的方式来完成。对于加速控制，玩具车100可以通过自身的驱动电机加速来提高第一车轮10或/和第二车轮20的速度。对于减速控制，玩具车100可以通过对第一车轮10或/和第二车轮20制动、或驱动电机减小输出功率等方式来达到减速的目的。本申请控制方法并不限定玩具车100对第一车轮10和第二车轮20的转速进行控制时具体采用加速、保持匀速或减速的方式，任意方式都可以实现对第一车轮10的速度控制，也可以实现对第二车轮20的速度控制。Specifically, after the toy vehicle 100 receives the vehicle body turning instruction, the control method also needs to control the rotation speed of the first wheel 10 and the second wheel 20. Because the first wheel 10 and the second wheel 20 are respectively rotatably connected to the body 101, the toy vehicle 100 has the ability to separately control the rotation speed of the first wheel 10 and the second wheel 20. The toy car 100 can control the rotation speed of the first wheel 10 by accelerating, maintaining a constant speed or decelerating. The toy car 100 can control the rotation speed of the second vehicle 20 by accelerating, maintaining a constant speed or decelerating. For acceleration control, the toy vehicle 100 can increase the speed of the first wheel 10 or/and the second wheel 20 by accelerating by its own driving motor. For deceleration control, the toy vehicle 100 can achieve the purpose of deceleration by braking the first wheel 10 or/and the second wheel 20, or reducing the output power of the driving motor. The control method of the present application does not limit the toy vehicle 100 to specifically adopt the method of accelerating, maintaining a constant speed or decelerating when controlling the rotation speed of the first wheel 10 and the second wheel 20. Any method can realize the speed control of the first wheel 10. The speed control of the second wheel 20 can also be realized.
通过玩具车100对第一车轮10的转速V1的单独控制，和/或玩具车100对第二车轮20的转速V2的单独控制，可以在第一车轮10的转速V1和第二车轮20的转速V2之间形成翻转转速差V02。玩具车100的车身101在两侧车轮出现速度差的情况下，其重心在惯性作用下会发生偏移。当速度差较大时，车身101还可能因为惯性作用而一侧被抬起离开底面。因为飞轮30的翻转力矩也是要形成车身101的重心偏移并突破玩具车100自身的支撑平衡才能使得 车身101发生翻转，因此在第一车轮10和第二车轮20之间存在翻转转速差V02的配合作用下，飞轮30可以提供更小的翻转力矩，即可实现车身101的翻转。Through the independent control of the rotation speed V1 of the first wheel 10 by the toy car 100 and/or the independent control of the rotation speed V2 of the second wheel 20 by the toy car 100, the rotation speed V1 of the first wheel 10 and the rotation speed V1 of the second wheel 20 can be adjusted separately. V2 forms a reversal speed difference V02. When the vehicle body 101 of the toy vehicle 100 has a speed difference between the wheels on both sides, its center of gravity will shift under the action of inertia. When the speed difference is large, the vehicle body 101 may also be lifted away from the bottom surface on one side due to the effect of inertia. Because the turning moment of the flywheel 30 is also to form the center of gravity deviation of the body 101 and break through the support balance of the toy car 100 itself to make the body 101 turn over, so there is a turning speed difference V02 between the first wheel 10 and the second wheel 20 Under the coordinated action, the flywheel 30 can provide a smaller turning moment, which can realize the turning of the body 101.
S40、对飞轮30制动，以使得玩具车100的车身101翻转。S40. Braking the flywheel 30 to make the body 101 of the toy car 100 turn over.
具体的，在第一车轮10的转速V1和第二车轮20的转速V2之间形成翻转转速差V02之后，玩具车100的车身101已经发生了重心偏移。此时再辅以对飞轮30的制动动作，使得飞轮30提供翻转力矩，可以更容易的使得玩具车100的车身101产生翻转。Specifically, after the rotation speed difference V02 is formed between the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20, the body 101 of the toy vehicle 100 has shifted its center of gravity. At this time, the braking action on the flywheel 30 is supplemented so that the flywheel 30 provides a turning moment, which can make the body 101 of the toy vehicle 100 turn over more easily.
本申请玩具车控制方法，同时通过飞轮30和第一车轮10与第二车轮20之间的转速差作用，来实现车身101翻转的效果。因为第一车轮10的转速V1可以相对于第二车轮20的转速V2单独控制，因此在第一车轮10和第二车轮20之间可以形成预定的翻转转速差V02。通过合理设置翻转转速差V02，可以对玩具车100的车身101形成较大的重心偏移。甚至可以通过设置较大的翻转转速差V02来使得玩具车100在对飞轮30进行制动之前就因为惯性作用形成车身101一侧腾空的姿态。此时玩具车100对于飞轮30所需提供的翻转力矩要求相应减小。因为飞轮30在高速旋转过程中的制动动作需要形成较大的摩擦力来提供翻转力矩，因此飞轮30在制动过程中需要具备足够快的转速，同时在制动过程中会产生较大的制动噪声。本申请玩具车100在通过翻转转速差V02辅助车身101翻转时，相应减小了飞轮30所要提供的翻转力矩。由此飞轮30的第一翻转速度V01可以相应的减小，从而降低飞轮电机31的额定功率，使得玩具车100的功耗得以控制。同时，因为飞轮30的翻转力矩减小之后第一翻转速度V01的减小，其制动时产生的摩擦力也可以相应减小，并随之带来制动噪音减小和制动时间缩短等效果。在提高飞轮30和飞轮电机31的使用寿命的同时，也减少了玩具车的噪声污染，提升用户的使用体验。In the toy vehicle control method of the present application, the flywheel 30 and the rotation speed difference between the first wheel 10 and the second wheel 20 are used to achieve the effect of turning the body 101 over. Because the rotation speed V1 of the first wheel 10 can be independently controlled with respect to the rotation speed V2 of the second wheel 20, a predetermined turning speed difference V02 can be formed between the first wheel 10 and the second wheel 20. By reasonably setting the turning speed difference V02, a large center of gravity deviation can be formed for the body 101 of the toy vehicle 100. It is even possible to set a larger turning speed difference V02 to make the toy vehicle 100 form an empty posture on the side of the vehicle body 101 due to inertia before braking the flywheel 30. At this time, the toy vehicle 100 requires a corresponding reduction in the turning torque required by the flywheel 30. Because the braking action of the flywheel 30 during high-speed rotation needs to form a relatively large friction force to provide a turning torque, the flywheel 30 needs to have a sufficiently fast speed during the braking process, and at the same time, a large amount of friction will be generated during the braking process. Braking noise. When the toy vehicle 100 of the present application assists the turning of the body 101 through the turning speed difference V02, the turning torque to be provided by the flywheel 30 is correspondingly reduced. As a result, the first turning speed V01 of the flywheel 30 can be reduced accordingly, thereby reducing the rated power of the flywheel motor 31, so that the power consumption of the toy vehicle 100 can be controlled. At the same time, because the first turning speed V01 decreases after the turning torque of the flywheel 30 is reduced, the friction force generated during braking can also be reduced correspondingly, which brings about the effects of reducing braking noise and shortening braking time. . While improving the service life of the flywheel 30 and the flywheel motor 31, the noise pollution of the toy car is also reduced, and the user experience is improved.
一种实施例请参见图3，图3是图2所示的玩具车控制方法中步骤S20的子步骤。在步骤S20、确定到飞轮30的转速达到第一翻转速度V01时，本申请控制方法还包括：Please refer to FIG. 3 for an embodiment. FIG. 3 is a sub-step of step S20 in the toy vehicle control method shown in FIG. 2. In step S20, when it is determined that the rotation speed of the flywheel 30 reaches the first turning speed V01, the control method of the present application further includes:
S21、确定到飞轮30的转速未达到第一翻转速度V01；S21. It is determined that the rotation speed of the flywheel 30 has not reached the first turning speed V01;
S22、控制玩具车100保持当前行进状态，并对飞轮30加速以达到第一翻 转速度V01。S22. Control the toy car 100 to maintain the current traveling state, and accelerate the flywheel 30 to reach the first turning speed V01.
具体的，出于功耗的考虑，玩具车100在处于静止状态时，飞轮30通常处于非工作状态。只有玩具车100在启动之后飞轮30才在飞轮电机31的驱动下开始转动，并在转速达到第一翻转速度V01以上之后保持匀速旋转的状态。但要保持第一翻转速度V01的旋转状态，依然存在功耗较大的现象。因此玩具车100可以将飞轮30保持在接近第一翻转速度V01的转速下，待玩具车100接收到车身翻转指令时，玩具车100继续保持当前的行进状态，同时通过飞轮电机31在较短时间内对飞轮30进行加速来达到第一翻转速度V01并实现翻转。这样的控制方式可以适当降低飞轮电机31的输出功率，进而控制玩具车100的整体功耗。Specifically, due to power consumption considerations, when the toy vehicle 100 is in a stationary state, the flywheel 30 is usually in a non-working state. Only after the toy car 100 is started, the flywheel 30 starts to rotate under the drive of the flywheel motor 31, and maintains a state of uniform rotation after the rotation speed reaches the first turning speed V01 or more. However, in order to maintain the rotation state of the first turning speed V01, there is still a phenomenon of high power consumption. Therefore, the toy vehicle 100 can maintain the flywheel 30 at a rotation speed close to the first turning speed V01. When the toy vehicle 100 receives the vehicle body turning instruction, the toy vehicle 100 continues to maintain the current traveling state, and at the same time, the flywheel motor 31 is used in a short time. The flywheel 30 is accelerated internally to reach the first turning speed V01 and realize turning. Such a control method can appropriately reduce the output power of the flywheel motor 31, thereby controlling the overall power consumption of the toy vehicle 100.
另一种场景，在玩具车100刚开始启动的阶段，如果飞轮30的转速还未达到第一翻转速度V01，而玩具车100又已经接收到了车身翻转指令。此时玩具车100还因为飞轮30不足以提供翻转力矩而无法做出翻转动作。此时也需要玩具车100保持当前的行进状态，待飞轮电机31将飞轮30的转速提升至第一翻转速度V01之后，才能保证为玩具车提供足够的翻转力矩，并完成翻转动作。In another scenario, when the toy car 100 just starts to start, if the rotation speed of the flywheel 30 has not reached the first turning speed V01, and the toy car 100 has received the vehicle body turning instruction. At this time, the toy car 100 is also unable to make a turning action because the flywheel 30 is not sufficient to provide a turning torque. At this time, the toy car 100 is also required to maintain the current traveling state. After the flywheel motor 31 raises the speed of the flywheel 30 to the first turning speed V01, it can ensure that sufficient turning torque is provided for the toy vehicle and the turning action is completed.
一种实施例请参见图4，图4是图2所示的玩具车控制方法中步骤S30的子步骤。在步骤S30、控制对称设置于车身101两侧的第一车轮10和第二车轮20的转速，以使得第一车轮10的转速V1和第二车轮20的转速V2形成翻转转速差V02时，本控制方法还包括：Please refer to FIG. 4 for an embodiment, which is a sub-step of step S30 in the toy vehicle control method shown in FIG. 2. In step S30, when the rotation speeds of the first wheel 10 and the second wheel 20 that are symmetrically arranged on both sides of the vehicle body 101 are controlled, so that the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 form a reversing speed difference V02. Control methods also include:
S31、基于飞轮30的旋向，设定飞轮30旋转轨迹的上半区运动趋势投影到水平面上的方向为第一方向001；S31. Based on the rotation direction of the flywheel 30, set the direction in which the movement trend of the upper half of the rotation trajectory of the flywheel 30 is projected onto the horizontal plane as the first direction 001;
S32、当第一方向001为第一车轮10至第二车轮20的延伸方向时，控制第一车轮10的车速V1大于第二车轮20的车速V2，或S32. When the first direction 001 is the extending direction of the first wheel 10 to the second wheel 20, control the vehicle speed V1 of the first wheel 10 to be greater than the vehicle speed V2 of the second wheel 20, or
当第一方向001为第二车轮20至第一车轮10的延伸方向时，控制第二车轮20的车速V2大于第一车轮10的车速V1；When the first direction 001 is the extending direction from the second wheel 20 to the first wheel 10, control the vehicle speed V2 of the second wheel 20 to be greater than the vehicle speed V1 of the first wheel 10;
S33、控制第一车轮10的转速V1和第二车轮20的转速V2达到翻转转速差V02。S33. Control the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 to reach the reversal rotation speed difference V02.
具体的，在形成翻转转速差V02的时候会出现两种场景，一种场景是第 一车轮10的车速V1大于第二车轮20的车速V2，另一种是第一车轮10的车速V1小于第二车轮20的车速V2。也即玩具车100在形成翻转转速差V02的时候，车身101会出现两个不同方向的重心偏移情况。通常的，车身101会朝向车速较小的车轮一侧重心偏移。请参见图5，在飞轮30的旋转轨迹上，可以根据水平线将旋转轨迹分为上半区和下半区。因为飞轮30的旋向是一定的，因此在飞轮旋转轨迹的上半区内，飞轮的运动趋势始终是从车身101的一侧运动至另一侧。这个弧形的运动轨迹连同运动方向投影到水平面上，可以被设定为第一方向001。飞轮30为玩具车100提供的翻转力的方向也随第一方向001而确定，即玩具车会朝向第一方向001的方向形成翻转。Specifically, two scenarios will appear when the turning speed difference V02 is formed. One scenario is that the vehicle speed V1 of the first wheel 10 is greater than the vehicle speed V2 of the second wheel 20, and the other is that the vehicle speed V1 of the first wheel 10 is less than the vehicle speed V1 of the second wheel 20. The vehicle speed of the two wheels 20 is V2. That is, when the toy vehicle 100 forms a turning speed difference V02, the body 101 will have a center of gravity deviation in two different directions. Normally, the vehicle body 101 will shift its center of gravity toward the wheel side where the vehicle speed is relatively low. Referring to FIG. 5, on the rotation trajectory of the flywheel 30, the rotation trajectory can be divided into an upper half area and a lower half area according to the horizontal line. Because the rotation direction of the flywheel 30 is constant, the movement tendency of the flywheel is always from one side of the vehicle body 101 to the other side in the upper half of the flywheel rotation trajectory. This arc-shaped movement trajectory and the movement direction are projected onto the horizontal plane, which can be set as the first direction 001. The direction of the turning force provided by the flywheel 30 to the toy car 100 is also determined according to the first direction 001, that is, the toy car will turn in the direction of the first direction 001.
此时，如果第一方向001为第二车轮20至第一车轮10的延伸方向时，为了配合车身101的翻转，玩具车100需要控制第二车轮20的车速V2大于第一车轮10的车速V1。即第一车轮10为车速更小的一侧，以此将玩具车100的重心偏向第一车轮10一侧，才能使得翻转转速差V02与飞轮30形成合力，共同作用于车身101形成翻转；反之，如果第一方向001为第一车轮10至第二车轮20的延伸方向时，需要控制第一车轮10的车速V1大于第二车轮20的车速V，才能使得翻转转速差V02与飞轮30形成合力。At this time, if the first direction 001 is the extension direction of the second wheel 20 to the first wheel 10, in order to cooperate with the turning of the body 101, the toy car 100 needs to control the vehicle speed V2 of the second wheel 20 to be greater than the vehicle speed V1 of the first wheel 10. . That is, the first wheel 10 is on the side with a lower vehicle speed, so that the center of gravity of the toy car 100 is biased to the side of the first wheel 10, so that the turning speed difference V02 and the flywheel 30 form a resultant force, which together act on the body 101 to form a turning; If the first direction 001 is the extension direction of the first wheel 10 to the second wheel 20, the vehicle speed V1 of the first wheel 10 needs to be controlled to be greater than the vehicle speed V of the second wheel 20, so that the turning speed difference V02 and the flywheel 30 form a combined force .
此处需要提出的是，飞轮30在一次旋转-制动以实现翻转的过程中，其旋转方向通常为一定的。但飞轮30根据不同场景的需要，在每次启动的时候其旋转方向可以不同，即飞轮电机31可以采用双向电机来实现。因此根据飞轮30不同的旋向，玩具车100在控制第一车轮10和第二车轮20形成翻转转速差V02时，都需要对应设置第一车轮10或第二车轮20的转速较高一侧，才能保证本发明控制方法的有效开展。What needs to be mentioned here is that the direction of rotation of the flywheel 30 is usually constant during the process of one rotation and braking to achieve turning. However, the rotation direction of the flywheel 30 can be different each time it is started according to the needs of different scenarios, that is, the flywheel motor 31 can be implemented by a bidirectional motor. Therefore, according to the different rotation directions of the flywheel 30, when the toy car 100 controls the first wheel 10 and the second wheel 20 to form a turnover speed difference V02, it is necessary to set the higher speed side of the first wheel 10 or the second wheel 20 accordingly. In order to ensure the effective development of the control method of the present invention.
一种实施例请参见图6，图6是图4所示的玩具车控制方法中子步骤S33的子步骤。步骤S33、控制第一车轮10的转速V1和第二车轮20的转速V2达到翻转转速差V02，还包括：Please refer to FIG. 6 for an embodiment. FIG. 6 is a sub-step of the sub-step S33 in the toy vehicle control method shown in FIG. 4. Step S33, controlling the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 to reach the turning speed difference V02, further includes:
S331、确定第一车轮10的转速V1或第二车轮20的转速V2达到第一转速值V011；S331. Determine that the rotation speed V1 of the first wheel 10 or the rotation speed V2 of the second wheel 20 reaches the first rotation speed value V011;
S332、对第二车轮20或第一车轮10制动以使得第二车轮20的转速V2或第一车轮10的转速V1达到第二转速值V012，且第一转速值V011与第二 转速值V012的差值大于或等于翻转转速差V02。S332. Braking the second wheel 20 or the first wheel 10 so that the rotation speed V2 of the second wheel 20 or the rotation speed V1 of the first wheel 10 reaches the second rotation speed value V012, and the first rotation speed value V011 and the second rotation speed value V012 The difference of is greater than or equal to the reversal speed difference V02.
具体的，在玩具车100控制第一车轮10和第二车轮20之间形成翻转转速V02的过程中，可以通过单独对第一车轮10或第二车轮20制动来实现。此时第一车轮10和第二车轮20可以为玩具车100的驱动轮，也可以为玩具车100的从动轮。因为玩具车100对第一车轮10或第二车轮20的制动动作都属于降速控制，也就要求第一车轮10和第二车轮20需要先共同达到足够形成翻转速度差V02的第一转速V011，然后对第一车轮10或第二车轮20单独进行制动，使得第一车轮10或第二车轮20降速至第二转速V012，才能形成预设的翻转速度差V02。参见如下公式(1)：Specifically, when the toy vehicle 100 controls the first wheel 10 and the second wheel 20 to form the turning speed V02, it can be achieved by separately braking the first wheel 10 or the second wheel 20. At this time, the first wheel 10 and the second wheel 20 may be the driving wheels of the toy vehicle 100 or the driven wheels of the toy vehicle 100. Because the braking action of the toy car 100 on the first wheel 10 or the second wheel 20 is a speed reduction control, it is required that the first wheel 10 and the second wheel 20 must first reach the first rotational speed that is sufficient to form the turnover speed difference V02. V011, and then brake the first wheel 10 or the second wheel 20 separately, so that the first wheel 10 or the second wheel 20 is reduced to the second rotation speed V012 to form the preset turning speed difference V02. See the following formula (1):
V011－V012≥V02   (1)V011－V012≥V02 (1)
从公式(1)中可以看出，当V012＝0时，V011可以取值到最小，即：It can be seen from the formula (1) that when V012=0, V011 can be the smallest value, namely:
V011＝V02。即玩具车100在通过对第一车轮10或第二车轮20制动来形成翻转转速差V02时，需要保证第二车轮20或第一车轮10的转速大于或等于翻转转速差V02。V011=V02. That is, when the toy vehicle 100 brakes the first wheel 10 or the second wheel 20 to form the reversing speed difference V02, it is necessary to ensure that the revolving speed of the second wheel 20 or the first wheel 10 is greater than or equal to the reversing speed difference V02.
一种实施例参见图7，在步骤S331、确定第一车轮10的转速V1或第二车轮20的转速V2达到第一转速值V011中，还包括：For an embodiment, referring to FIG. 7, in step S331, determining that the rotation speed V1 of the first wheel 10 or the rotation speed V2 of the second wheel 20 reaches the first rotation speed value V011, further includes:
S3311、确定到第一车轮10的转速V1或第二车轮20的转速V2未达到第一转速值V011；S3311, it is determined that the rotation speed V1 of the first wheel 10 or the rotation speed V2 of the second wheel 20 does not reach the first rotation speed value V011;
S3312、控制玩具车100加速以使得第一车轮10的转速V1或第二车轮20的转速V2达到第一转速值V011。S3312. The toy vehicle 100 is controlled to accelerate so that the rotation speed V1 of the first wheel 10 or the rotation speed V2 of the second wheel 20 reaches the first rotation speed value V011.
具体的，如上述所描述的，当玩具车100的车速较低时，仅凭对第一车轮10或第二车轮20制动，可能无法达到翻转转速差V02。因此，当玩具车100在接收到车身翻转指令之后，需要先确保第一车轮10和第二车轮20达到第一转速值V011。当玩具车100的车速较低时，需要通过加速行进一段时间来达到或超过第一转速值V011，然后再通过单独对第一车轮10或第二车轮20制动，来形成翻转转速差V02。Specifically, as described above, when the vehicle speed of the toy vehicle 100 is low, only by braking the first wheel 10 or the second wheel 20, the turning speed difference V02 may not be reached. Therefore, after the toy car 100 receives the vehicle body turning instruction, it needs to ensure that the first wheel 10 and the second wheel 20 reach the first rotational speed value V011. When the vehicle speed of the toy car 100 is low, it needs to accelerate for a period of time to reach or exceed the first rotational speed value V011, and then brake the first wheel 10 or the second wheel 20 separately to form the turning rotational speed difference V02.
另一些实施例，玩具车100还可以通过更多的方式来形成翻转转速差V02。请参见图8，步骤S33、控制第一车轮10的转速V1和第二车轮20的转速V2达到翻转转速差V02，还包括：In other embodiments, the toy vehicle 100 can also form the reversing speed difference V02 in more ways. Referring to FIG. 8, step S33, controlling the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 to reach the turning speed difference V02, further includes:
S331a、控制第一车轮10的转速V1或第二车轮20的转速V2达到第三转速值V013；S331a. Control the rotation speed V1 of the first wheel 10 or the rotation speed V2 of the second wheel 20 to reach a third rotation speed value V013;
S332a、同时控制第二车轮20的转速V2或第一车轮10的转速V1达到第四转速值V014，且第三转速值V013与第四转速值V014的差值大于或等于翻转转速差V02。S332a. Simultaneously control the rotational speed V2 of the second wheel 20 or the rotational speed V1 of the first wheel 10 to reach the fourth rotational speed value V014, and the difference between the third rotational speed value V013 and the fourth rotational speed value V014 is greater than or equal to the overturning rotational speed difference V02.
具体的，区别于步骤S331的实施例，在图8的实施例中，玩具车100可以分别对第一车轮10和第二车轮20进行速度控制，而不需要仅通过加速后对其中一个车轮进行制动来形成翻转转速差V02。此时的第一车轮10和第二车轮20应当作为玩具车100的驱动轮，且玩具车100需要分别设置对应到第一车轮10的第一驱动电机11，以及对应到第二车轮20的第二驱动电机12。可以理解的，在玩具车100接收到车身翻转指令之后，玩具车100通过同时控制第一驱动电机11和第二驱动电机12，来实现同一时间内分别控制第一车轮10和第二车轮20的速度，并使得第一车轮10和第二车轮20的转速差达到或超过翻转转速差V02的目的。Specifically, different from the embodiment of step S331, in the embodiment of FIG. 8, the toy vehicle 100 can control the speed of the first wheel 10 and the second wheel 20 respectively, and does not need to perform speed control on one of the wheels after only accelerating. Braking to form the reversal speed difference V02. At this time, the first wheel 10 and the second wheel 20 should be used as the driving wheels of the toy car 100, and the toy car 100 needs to be provided with a first driving motor 11 corresponding to the first wheel 10 and a first driving motor 11 corresponding to the second wheel 20, respectively. Two driving motor 12. It is understandable that after the toy vehicle 100 receives the vehicle body turning instruction, the toy vehicle 100 controls the first wheel 10 and the second wheel 20 at the same time by controlling the first drive motor 11 and the second drive motor 12 at the same time. Speed, and make the difference between the rotation speed of the first wheel 10 and the second wheel 20 reach or exceed the purpose of turning the rotation speed difference V02.
以第一车轮10的转速V1大于第二车轮20的转速V2举例。当玩具车100通过同步控制第一驱动电机11和第二驱动电机12的工作来形成翻转转速差V02时，可以先通过第一驱动电机11控制第一车轮10的转速V1达到第三转速值V013。第一驱动电机11可以通过对第一车轮10进行加速、保持匀速或者制动的方式来使得第一车轮10的转速V1达到第三转速值V013。与此同时，玩具车100可以控制第二驱动电机12通过对第二车轮20进行保持匀速、制动或反转的方式来保持或降低第二车轮20的转速V2，使得第二车轮20的转速V2达到第四转速值V014。且第三转速值V013与第四转速值V014的差值也大于或等于反转转速差V02。参见下述公式(2)：Take the example that the rotation speed V1 of the first wheel 10 is greater than the rotation speed V2 of the second wheel 20. When the toy car 100 synchronously controls the operations of the first drive motor 11 and the second drive motor 12 to form the reversal speed difference V02, the first drive motor 11 may first control the speed V1 of the first wheel 10 to reach the third speed value V013. . The first driving motor 11 can make the rotation speed V1 of the first wheel 10 reach the third rotation speed value V013 by accelerating, maintaining a constant speed, or braking the first wheel 10. At the same time, the toy car 100 can control the second drive motor 12 to maintain or reduce the rotation speed V2 of the second wheel 20 by maintaining a constant speed, braking or reversing the second wheel 20, so that the rotation speed of the second wheel 20 V2 reaches the fourth speed value V014. And the difference between the third rotation speed value V013 and the fourth rotation speed value V014 is also greater than or equal to the reverse rotation speed difference V02. See the following formula (2):
V013－V014≥V02   (2)V013－V014≥V02 (2)
需要提出的是，因为第二驱动电机12在对第二车轮20进行速度控制时，可能包括驱动第二车轮反转的情况，此时第四转速值V014在公式(2)中是带有方向属性的。即第一车轮10与第二车轮20旋向相同时，需要第三转速值V013与第四转速值V014的差值大于或等于反转转速差V02；而当第一车轮10与第二车轮20旋向相反时，需要第三转速值V013的绝对值与第四转速值 V014的绝对值之和，大于或等于反转转速差V02的绝对值。What needs to be mentioned is that when the second drive motor 12 controls the speed of the second wheel 20, it may include driving the second wheel to reverse rotation. At this time, the fourth rotation speed value V014 has a direction in the formula (2). Attribute. That is, when the first wheel 10 and the second wheel 20 rotate in the same direction, the difference between the third rotation speed value V013 and the fourth rotation speed value V014 needs to be greater than or equal to the reverse rotation speed difference V02; and when the first wheel 10 and the second wheel 20 When the direction of rotation is opposite, the sum of the absolute value of the third rotation speed value V013 and the absolute value of the fourth rotation speed value V014 is required to be greater than or equal to the absolute value of the reverse rotation speed difference V02.
反之，当需要控制第二车轮20的转速V2大于第一车轮10的转速V1时，也可以采用上述的方式来实现。由此，在本实施例中，玩具车100通过同步控制第一车轮10的转速V1，以及第二车轮20的转速V2，来使得第一车轮10与第二车轮20之间形成反转转速差V02，可以在更短的时间内达到翻转转速差V02，缩短玩具车100在接收到车身翻转指令后的反应时间，更及时的做出车身翻转的动作。Conversely, when it is necessary to control the rotation speed V2 of the second wheel 20 to be greater than the rotation speed V1 of the first wheel 10, it can also be implemented in the above-mentioned manner. Therefore, in this embodiment, the toy vehicle 100 synchronously controls the rotation speed V1 of the first wheel 10 and the rotation speed V2 of the second wheel 20 to form a reverse rotation speed difference between the first wheel 10 and the second wheel 20. V02 can reach the turning speed difference V02 in a shorter time, shorten the reaction time of the toy car 100 after receiving the body turning command, and make the body turning action more timely.
一种实施例请参见图9，图9是图2所示的玩具车控制方法中步骤S40的子步骤。在步骤S40、对飞轮30制动，以使得玩具车100的车身101翻转时，还包括：For an embodiment, please refer to FIG. 9. FIG. 9 is a sub-step of step S40 in the toy vehicle control method shown in FIG. 2. In step S40, when the flywheel 30 is braked so that the body 101 of the toy car 100 is turned over, the method further includes:
S41、等待第一时间间隔T；S41. Wait for the first time interval T;
S42、对飞轮30制动，以使得玩具车100的车身101翻转。S42. Braking the flywheel 30 to make the body 101 of the toy car 100 turn over.
具体的，在玩具车100的飞轮30达到第一翻转速度V01，且第一车轮10的转速V1和第二车轮20的转速V2之间形成翻转转速差V02之后，玩具车100还需要行进一段距离，才能将翻转转速差V02反映到车身101的重心偏移姿态上。因此在对飞轮30制动之前，需要给予玩具车100足够的行进时间，即等待第一时间间隔T之后，再对飞轮30进行制动。此时因为玩具车100的车身101重心已经发生偏移，因此可以保证车身101在翻转转速差V02和飞轮30提供的翻转力矩共同作用下，完成车身101翻转的动作。Specifically, after the flywheel 30 of the toy vehicle 100 reaches the first turning speed V01, and the turning speed difference V02 is formed between the rotational speed V1 of the first wheel 10 and the rotational speed V2 of the second wheel 20, the toy vehicle 100 still needs to travel a certain distance In order to reflect the turning speed difference V02 on the deflection attitude of the center of gravity of the vehicle body 101. Therefore, before braking the flywheel 30, the toy vehicle 100 needs to be given enough travel time, that is, after waiting for the first time interval T, the flywheel 30 is braked. At this time, because the center of gravity of the body 101 of the toy car 100 has shifted, it can be ensured that the body 101 completes the turning action of the body 101 under the combined action of the turning speed difference V02 and the turning torque provided by the flywheel 30.
以上所述的实施方式，并不构成对该技术方案保护范围的限定。任何在上述实施方式的精神和原则之内所作的修改、等同替换和改进等，均应包含在该技术方案的保护范围之内。The above-mentioned embodiments do not constitute a limitation on the protection scope of the technical solution. Any modification, equivalent replacement and improvement made within the spirit and principle of the above-mentioned embodiments shall be included in the protection scope of the technical solution.

Claims (10)

  1. 一种玩具车控制方法，其特征在于，包括以下步骤：A toy vehicle control method is characterized in that it comprises the following steps:
    收到车身翻转指令；Receipt of the vehicle body turning instruction;
    确定到飞轮的转速达到第一翻转速度；It is determined that the rotation speed of the flywheel reaches the first turning speed;
    控制对称设置于所述车身两侧的第一车轮和第二车轮的转速，以使得所述第一车轮的转速和所述第二车轮的转速形成翻转转速差；Controlling the rotation speeds of the first wheel and the second wheel symmetrically arranged on both sides of the vehicle body, so that the rotation speed of the first wheel and the rotation speed of the second wheel form a turning speed difference;
    对所述飞轮制动，以使得所述玩具车的车身翻转。The flywheel is braked so that the body of the toy car is turned over.
  2. 根据权利要求1所述的玩具车控制方法，其特征在于，所述确定到飞轮的转速达到第一翻转速度，包括：The toy vehicle control method according to claim 1, wherein the determining that the rotation speed of the flywheel reaches the first turning speed comprises:
    确定到所述飞轮的转速未达到所述第一翻转速度；It is determined that the rotation speed of the flywheel has not reached the first turning speed;
    控制所述玩具车保持当前行进状态，并对所述飞轮加速以达到所述第一翻转速度。The toy vehicle is controlled to maintain the current traveling state, and the flywheel is accelerated to reach the first turning speed.
  3. 根据权利要求1所述的玩具车控制方法，其特征在于，所述控制对称设置于所述车身两侧的第一车轮和第二车轮的转速，以使得所述第一车轮的转速和所述第二车轮的转速形成翻转转速差，包括：The toy vehicle control method according to claim 1, wherein the control is symmetrical to the rotation speed of the first wheel and the second wheel on both sides of the vehicle body, so that the rotation speed of the first wheel is the same as the rotation speed of the second wheel. The rotation speed of the second wheel forms the difference in the turning rotation speed, including:
    基于所述飞轮的旋向，设定所述飞轮旋转轨迹的上半区运动趋势投影到水平面上的方向为第一方向；Based on the rotation direction of the flywheel, setting the direction in which the movement trend of the upper half of the flywheel rotation trajectory is projected onto the horizontal plane as the first direction;
    当所述第一方向为所述第一车轮至所述第二车轮的延伸方向时，控制所述第一车轮的车速大于所述第二车轮的车速，或When the first direction is the extending direction from the first wheel to the second wheel, the vehicle speed of the first wheel is controlled to be greater than the vehicle speed of the second wheel, or
    当所述第一方向为所述第二车轮至所述第一车轮的延伸方向时，控制所述第二车轮的车速大于所述第一车轮的车速；When the first direction is the extending direction from the second wheel to the first wheel, controlling the vehicle speed of the second wheel to be greater than the vehicle speed of the first wheel;
    控制所述第一车轮的转速和所述第二车轮的转速达到所述翻转转速差。The rotation speed of the first wheel and the rotation speed of the second wheel are controlled to reach the turning speed difference.
  4. 根据权利要求3所述的玩具车控制方法，其特征在于，所述控制所述第一车轮的转速和所述第二车轮的转速达到所述翻转转速差，包括：The toy vehicle control method according to claim 3, wherein said controlling the rotation speed of the first wheel and the rotation speed of the second wheel to reach the difference of the turning speed difference comprises:
    确定所述第一车轮的转速或所述第二车轮的转速达到第一转速值；Determining that the rotation speed of the first wheel or the rotation speed of the second wheel reaches a first rotation speed value;
    对所述第二车轮或所述第一车轮制动以使得所述第二车轮的转速或所述第一车轮的转速达到第二转速值，且所述第一转速值与所述第二转速值的差值大于或等于所述翻转转速差。Braking the second wheel or the first wheel so that the rotational speed of the second wheel or the rotational speed of the first wheel reaches a second rotational speed value, and the first rotational speed value and the second rotational speed The difference between the values is greater than or equal to the difference in the turning speed.
  5. 根据权利要求4所述的玩具车控制方法，其特征在于，所述确定所述第一车轮的转速或所述第二车轮的转速达到第一转速值，包括：The toy vehicle control method according to claim 4, wherein the determining that the rotation speed of the first wheel or the rotation speed of the second wheel reaches a first rotation speed value comprises:
    确定到所述第一车轮的转速或所述第二车轮的转速未达到所述第一转速值；It is determined that the rotation speed of the first wheel or the rotation speed of the second wheel does not reach the first rotation speed value;
    控制所述玩具车加速以使得所述第一车轮的转速或所述第二车轮的转速达到所述第一转速值。The toy vehicle is controlled to accelerate so that the rotation speed of the first wheel or the rotation speed of the second wheel reaches the first rotation speed value.
  6. 根据权利要求3所述的玩具车控制方法，其特征在于，所述控制所述第一车轮的转速和所述第二车轮的转速达到所述翻转转速差，包括：The toy vehicle control method according to claim 3, wherein said controlling the rotation speed of the first wheel and the rotation speed of the second wheel to reach the difference of the turning speed difference comprises:
    控制所述第一车轮的转速或所述第二车轮的转速达到第三转速值；Controlling the rotation speed of the first wheel or the rotation speed of the second wheel to reach a third rotation speed value;
    同时控制所述第二车轮的转速或所述第一车轮的转速达到第四转速值，且所述第三转速值与所述第四转速值的差值大于或等于所述翻转转速差。At the same time, the rotation speed of the second wheel or the rotation speed of the first wheel is controlled to reach a fourth rotation speed value, and the difference between the third rotation speed value and the fourth rotation speed value is greater than or equal to the turnover rotation speed difference.
  7. 根据权利要求6所述的玩具车控制方法，其特征在于，所述控制所述第一车轮的转速或所述第二车轮的转速达到第三转速值，包括：The toy vehicle control method according to claim 6, wherein the controlling the rotation speed of the first wheel or the rotation speed of the second wheel to reach a third rotation speed value comprises:
    对所述第一车轮或所述第二车轮加速、保持匀速或制动，以控制所述第一车轮的转速或所述第二车轮的转速达到所述第三转速值。Accelerate, maintain a constant speed, or brake the first wheel or the second wheel to control the rotation speed of the first wheel or the second wheel to reach the third rotation speed value.
  8. 根据权利要求1所述的玩具车控制方法，其特征在于，所述同时控制所述第二车轮的转速或所述第一车轮的转速达到第四转速值，包括：The toy vehicle control method according to claim 1, wherein said simultaneously controlling the rotation speed of the second wheel or the rotation speed of the first wheel to reach a fourth rotation speed value comprises:
    对所述第二车轮或所述第一车轮保持匀速、制动或反转，以同时控制所述第二车轮的转速或所述第一车轮的转速达到第四转速值。Maintain a constant speed, brake or reverse rotation of the second wheel or the first wheel to simultaneously control the rotation speed of the second wheel or the rotation speed of the first wheel to reach a fourth rotation speed value.
  9. 根据权利要求1所述的玩具车控制方法，其特征在于，所述对所述飞轮制动，以使得所述玩具车的车身翻转，包括：The toy vehicle control method according to claim 1, wherein the braking the flywheel to cause the body of the toy vehicle to turn over comprises:
    等待第一时间间隔；Wait for the first time interval;
    对所述飞轮制动，以使得所述玩具车的车身翻转。The flywheel is braked so that the body of the toy car is turned over.
  10. 一种玩具车，其特征在于，所述玩具车包括车身、设置于所述车身内部的飞轮，以及对称设置于所述车身两侧的第一车轮和第二车轮，所述玩具车采用如权利要求1-9任一项所述的玩具车控制方法进行控制。A toy car, characterized in that, the toy car includes a body, a flywheel arranged inside the body, and a first wheel and a second wheel symmetrically arranged on both sides of the body. The toy car adopts The toy vehicle control method described in any one of 1-9 is required for control.
PCT/CN2019/104155 2019-09-03 2019-09-03 Control method for toy car, and toy car WO2021042261A1 (en)

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